mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
e8f8c0ceb0
There hasn't been a release in 2.5 years. There's performance improvements for some NEON instructions, UB fixes, a lot of internal cleanup with the jump from C++11 to C++14, and more constexpr.
148 lines
3.7 KiB
Python
Executable File
148 lines
3.7 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import re
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import shutil
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from upstream_utils import (
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get_repo_root,
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clone_repo,
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comment_out_invalid_includes,
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walk_cwd_and_copy_if,
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git_am,
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)
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def eigen_inclusions(dp, f):
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"""Returns true if the given file in the "Eigen" include directory of the
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Eigen git repo should be copied into allwpilib
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Keyword arguments:
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dp -- directory path
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f -- filename
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"""
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if not dp.startswith("./Eigen"):
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return False
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abspath = os.path.join(dp, f)
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# Exclude NonMPL2.h since all non-MPL2 code will be excluded anyway
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if f == "NonMPL2.h":
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return False
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# Exclude BLAS support
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if f.endswith("_BLAS.h") or "blas" in f:
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return False
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# Exclude LAPACK support
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if f.endswith("_LAPACKE.h") or "lapack" in f:
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return False
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# Exclude MKL support
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if "MKL" in f:
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return False
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# Include architectures we care about
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if "Core/arch/" in abspath:
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return (
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"arch/AVX/" in abspath
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or "arch/Default" in abspath
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or "arch/NEON" in abspath
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or "arch/SSE" in abspath
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)
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# Include the following modules
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modules = [
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"Cholesky",
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"Core",
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"Eigenvalues",
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"Householder",
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"IterativeLinearSolvers",
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"Jacobi",
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"LU",
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"OrderingMethods",
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"QR",
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"SVD",
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"SparseCholesky",
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"SparseCore",
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"SparseLU",
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"SparseQR",
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"misc",
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"plugins",
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]
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return bool(re.search(r"|".join("/" + m for m in modules), abspath))
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def unsupported_inclusions(dp, f):
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"""Returns true if the given file in the "unsupported" include directory of
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the Eigen git repo should be copied into allwpilib
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Keyword arguments:
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dp -- directory path
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f -- filename
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"""
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if not dp.startswith("./unsupported"):
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return False
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abspath = os.path.join(dp, f)
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# Exclude build system and READMEs
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if f == "CMakeLists.txt" or "README" in f:
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return False
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# Include the MatrixFunctions module
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return "MatrixFunctions" in abspath
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def main():
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upstream_root = clone_repo(
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"https://gitlab.com/libeigen/eigen.git",
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# master on 2023-12-01
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"96880810295b65d77057f4a7fb83a99a590122ad",
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shallow=False,
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)
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wpilib_root = get_repo_root()
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wpimath = os.path.join(wpilib_root, "wpimath")
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# Apply patches to upstream Git repo
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os.chdir(upstream_root)
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for f in [
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"0001-Disable-warnings.patch",
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"0002-Intellisense-fix.patch",
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]:
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git_am(os.path.join(wpilib_root, "upstream_utils/eigen_patches", f))
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# Delete old install
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for d in ["src/main/native/thirdparty/eigen/include"]:
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shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
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# Copy Eigen headers into allwpilib
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eigen_files = walk_cwd_and_copy_if(
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eigen_inclusions,
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os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"),
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)
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# Copy unsupported headers into allwpilib
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unsupported_files = walk_cwd_and_copy_if(
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unsupported_inclusions,
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os.path.join(wpimath, "src/main/native/thirdparty/eigen/include"),
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)
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for f in eigen_files:
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comment_out_invalid_includes(
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f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
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)
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for f in unsupported_files:
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comment_out_invalid_includes(
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f, [os.path.join(wpimath, "src/main/native/thirdparty/eigen/include")]
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)
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shutil.copyfile(
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os.path.join(upstream_root, ".clang-format"),
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os.path.join(wpimath, "src/main/native/thirdparty/eigen/include/.clang-format"),
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)
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if __name__ == "__main__":
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main()
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