mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
51a3876330
This hooks up the bazel build to the robotpyExamples. It can use the (formly pyfrc or whatever) automatic unit tests for an example, as well as exposing the ability to run the example in simulation, with or without `halsim_gui` with a command such as `bazel run //robotpyExamples:AddressableLED-sim` This required building and using wheels instead of just a normal `py_library`, so that things like `ENTRY_POINTS` can be used. I took a bare bones approach to building and naming the wheels (for example the native ones don't have the OS info or python version in them, so they wouldn't be suitable publish to pypi, but that can always be updated later.
219 lines
8.3 KiB
Python
Generated
219 lines
8.3 KiB
Python
Generated
# THIS FILE IS AUTO GENERATED
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load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
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load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "robotpy_library")
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load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
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load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
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def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
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ROMI_HEADER_GEN = [
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struct(
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class_name = "OnBoardIO",
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yml_file = "semiwrap/OnBoardIO.yml",
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header_root = "$(execpath :robotpy-native-romi.copy_headers)",
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header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/OnBoardIO.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::romi::OnBoardIO", "wpi__romi__OnBoardIO.hpp"),
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],
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),
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struct(
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class_name = "RomiGyro",
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yml_file = "semiwrap/RomiGyro.yml",
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header_root = "$(execpath :robotpy-native-romi.copy_headers)",
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header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/RomiGyro.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::romi::RomiGyro", "wpi__romi__RomiGyro.hpp"),
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],
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),
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struct(
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class_name = "RomiMotor",
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yml_file = "semiwrap/RomiMotor.yml",
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header_root = "$(execpath :robotpy-native-romi.copy_headers)",
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header_file = "$(execpath :robotpy-native-romi.copy_headers)/wpi/romi/RomiMotor.hpp",
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tmpl_class_names = [],
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trampolines = [
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("wpi::romi::RomiMotor", "wpi__romi__RomiMotor.hpp"),
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],
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),
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]
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resolve_casters(
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name = "romi.resolve_casters",
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caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
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casters_pkl_file = "romi.casters.pkl",
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dep_file = "romi.casters.d",
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)
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gen_libinit(
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name = "romi.gen_lib_init",
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output_file = "src/main/python/romi/_init__romi.py",
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modules = ["native.romi._init_robotpy_native_romi", "wpilib._init__wpilib", "wpimath._init__wpimath"],
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)
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gen_pkgconf(
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name = "romi.gen_pkgconf",
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libinit_py = "romi._init__romi",
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module_pkg_name = "romi._romi",
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output_file = "romi.pc",
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pkg_name = "romi",
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install_path = "src/main/python/romi",
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project_file = "src/main/python/pyproject.toml",
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package_root = "src/main/python/romi/__init__.py",
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)
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gen_modinit_hpp(
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name = "romi.gen_modinit_hpp",
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input_dats = [x.class_name for x in ROMI_HEADER_GEN],
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libname = "_romi",
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output_file = "semiwrap_init.romi._romi.hpp",
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)
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run_header_gen(
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name = "romi",
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casters_pickle = "romi.casters.pkl",
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header_gen_config = ROMI_HEADER_GEN,
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trampoline_subpath = "src/main/python/romi",
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deps = header_to_dat_deps,
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local_native_libraries = [
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"//datalog:robotpy-native-datalog.copy_headers",
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"//hal:robotpy-native-wpihal.copy_headers",
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"//ntcore:robotpy-native-ntcore.copy_headers",
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"//romiVendordep:robotpy-native-romi.copy_headers",
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"//wpilibc:robotpy-native-wpilib.copy_headers",
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"//wpimath:robotpy-native-wpimath.copy_headers",
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"//wpinet:robotpy-native-wpinet.copy_headers",
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"//wpiutil:robotpy-native-wpiutil.copy_headers",
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],
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)
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create_pybind_library(
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name = "romi",
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install_path = "src/main/python/romi/",
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extension_name = "_romi",
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generated_srcs = [":romi.generated_srcs"],
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semiwrap_header = [":romi.gen_modinit_hpp"],
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deps = [
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":romi.tmpl_hdrs",
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":romi.trampoline_hdrs",
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"//romiVendordep:romiVendordep",
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"//wpilibc:wpilib_pybind_library",
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"//wpilibc:wpilibc",
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"//wpimath:wpimath",
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"//wpimath:wpimath_pybind_library",
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],
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dynamic_deps = [
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"//romiVendordep:shared/romiVendordep",
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"//wpilibc:shared/wpilibc",
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"//wpimath:shared/wpimath",
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],
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extra_hdrs = extra_hdrs,
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extra_srcs = srcs,
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includes = includes,
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)
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native.filegroup(
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name = "romi.generated_files",
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srcs = [
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"romi.gen_modinit_hpp.gen",
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"romi.header_gen_files",
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"romi.gen_pkgconf",
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"romi.gen_lib_init",
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],
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tags = ["manual", "robotpy"],
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)
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def define_pybind_library(name, pkgcfgs = []):
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# Helper used to generate all files with one target.
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native.filegroup(
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name = "{}.generated_files".format(name),
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srcs = [
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"romi.generated_files",
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],
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tags = ["manual", "robotpy"],
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visibility = ["//visibility:public"],
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)
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# Files that will be included in the wheel as data deps
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native.filegroup(
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name = "{}.generated_pkgcfg_files".format(name),
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srcs = [
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"src/main/python/romi/romi.pc",
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],
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tags = ["manual", "robotpy"],
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visibility = ["//visibility:public"],
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)
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# Contains all of the non-python files that need to be included in the wheel
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native.filegroup(
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name = "{}.extra_files".format(name),
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srcs = native.glob(["src/main/python/romi/**"], exclude = ["src/main/python/romi/**/*.py"], allow_empty = True),
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tags = ["manual", "robotpy"],
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)
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generate_version_file(
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name = "{}.generate_version".format(name),
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output_file = "src/main/python/romi/version.py",
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template = "//shared/bazel/rules/robotpy:version_template.in",
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)
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robotpy_library(
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name = name,
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srcs = native.glob(["src/main/python/romi/**/*.py"]) + [
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"src/main/python/romi/_init__romi.py",
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"{}.generate_version".format(name),
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],
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data = [
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"{}.generated_pkgcfg_files".format(name),
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"{}.extra_files".format(name),
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":src/main/python/romi/_romi",
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":romi.trampoline_hdr_files",
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],
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imports = ["src/main/python"],
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deps = [
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"//romiVendordep:robotpy-native-romi",
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"//simulation/halsim_ws_core:robotpy-halsim-ws",
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"//wpilibc:robotpy-wpilib",
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],
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strip_path_prefixes = ["romiVendordep/src/main/python", "romiVendordep"],
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summary = "Binary wrapper for WPILib Romi Vendor library",
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project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
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author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
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requires = ["robotpy-native-romi==0.0.0", "wpilib==0.0.0", "robotpy-halsim-ws==0.0.0"],
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entry_points = {
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"pkg_config": ["romi = romi"],
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"robotpy_cli.2027": ["run-romi = romi.cli:RunRomi"],
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},
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visibility = ["//visibility:public"],
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)
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update_yaml_files(
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name = "{}-update-yaml".format(name),
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yaml_output_directory = "src/main/python/semiwrap",
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extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
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"//datalog:robotpy-native-datalog.copy_headers",
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"//hal:robotpy-native-wpihal.copy_headers",
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"//ntcore:robotpy-native-ntcore.copy_headers",
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"//romiVendordep:robotpy-native-romi.copy_headers",
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"//wpilibc:robotpy-native-wpilib.copy_headers",
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"//wpimath:robotpy-native-wpimath.copy_headers",
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"//wpinet:robotpy-native-wpinet.copy_headers",
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"//wpiutil:robotpy-native-wpiutil.copy_headers",
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],
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package_root_file = "src/main/python/romi/__init__.py",
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pkgcfgs = pkgcfgs,
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pyproject_toml = "src/main/python/pyproject.toml",
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yaml_files = native.glob(["src/main/python/semiwrap/**"]),
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)
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scan_headers(
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name = "{}-scan-headers".format(name),
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extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
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"//romiVendordep:robotpy-native-romi.copy_headers",
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],
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package_root_file = "src/main/python/romi/__init__.py",
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pkgcfgs = pkgcfgs,
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pyproject_toml = "src/main/python/pyproject.toml",
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)
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