mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
141 lines
4.0 KiB
Python
Executable File
141 lines
4.0 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 subprocess
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from upstream_utils import clone_repo, comment_out_invalid_includes, copy_to, walk_if
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def drake_main_cpp_inclusions(dp, f):
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"""Returns true if the given source file in the drake git repo should be
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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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return f in [
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"drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"
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]
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def drake_main_h_inclusions(dp, f):
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"""Returns true if the given header file in the drake git repo should be
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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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return f in [
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"drake_assert.h", "drake_assertion_error.h", "is_approx_equal_abstol.h",
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"never_destroyed.h", "drake_copyable.h", "drake_throw.h",
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"discrete_algebraic_riccati_equation.h"
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]
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def drake_test_cpp_inclusions(dp, f):
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"""Returns true if the given source file in the drake git repo should be
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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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return f == "discrete_algebraic_riccati_equation_test.cc"
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def drake_test_h_inclusions(dp, f):
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"""Returns true if the given header file in the drake git repo should be
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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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return f == "eigen_matrix_compare.h"
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def main():
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wpimath = os.getcwd()
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clone_repo("https://github.com/RobotLocomotion/drake", "v0.31.0")
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repo = os.getcwd()
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# Copy drake source files into allwpilib
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files = walk_if(".", drake_main_cpp_inclusions)
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dest = os.path.join(wpimath, "src/main/native/cpp/drake")
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copy_to(files, dest)
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for i in range(len(files)):
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# Files moved to dest
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files[i] = os.path.join(dest, files[i])
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# copy_to() renames .cc files to .cpp
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if files[i].endswith(".cc"):
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files[i] = os.path.splitext(files[i])[0] + ".cpp"
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for f in files:
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comment_out_invalid_includes(
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f, [os.path.join(wpimath, "src/main/native/include")])
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# Copy drake test source files into allwpilib
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os.chdir(os.path.join(repo, "math/test"))
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files = walk_if(".", drake_test_cpp_inclusions)
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dest = os.path.join(wpimath, "src/test/native/cpp/drake")
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copy_to(files, dest)
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os.chdir(repo)
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for i in range(len(files)):
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# Files moved to dest
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files[i] = os.path.join(dest, files[i])
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# copy_to() renames .cc files to .cpp
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if files[i].endswith(".cc"):
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files[i] = os.path.splitext(files[i])[0] + ".cpp"
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for f in files:
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comment_out_invalid_includes(f, [
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os.path.join(wpimath, "src/main/native/include"),
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os.path.join(wpimath, "src/test/native/include")
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])
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# Copy drake header files into allwpilib
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files = walk_if(".", drake_main_h_inclusions)
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dest = os.path.join(wpimath, "src/main/native/include/drake")
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copy_to(files, dest)
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# Files moved to dest
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for i in range(len(files)):
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files[i] = os.path.join(dest, files[i])
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for f in files:
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comment_out_invalid_includes(
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f, [os.path.join(wpimath, "src/main/native/include")])
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# Copy drake test header files into allwpilib
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files = walk_if(".", drake_test_h_inclusions)
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dest = os.path.join(wpimath, "src/test/native/include/drake")
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copy_to(files, dest)
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# Files moved to dest
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for i in range(len(files)):
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files[i] = os.path.join(dest, files[i])
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for f in files:
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comment_out_invalid_includes(
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f, [os.path.join(wpimath, "src/main/native/include")])
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# Apply patches
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os.chdir(wpimath)
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subprocess.check_output(["git", "apply", "drake-dare-qrn.patch"])
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subprocess.check_output(["git", "apply", "drake-dare-qrn-tests.patch"])
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subprocess.check_output(
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["git", "apply", "drake-replace-noreturn-attributes.patch"])
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subprocess.check_output(
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["git", "apply", "drake-replace-dense-with-core.patch"])
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if __name__ == "__main__":
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main()
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