mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
bfc209b120
Also refactored upstream_utils to make writing and maintaining new upstream repo extractions easier.
70 lines
2.5 KiB
Python
Executable File
70 lines
2.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import shutil
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from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if, apply_patches
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def main():
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root, repo = setup_upstream_repo(
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"https://github.com/RobotLocomotion/drake",
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"8b72428dce6959d077e17c3c3a7a5ef4a17107ee")
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wpimath = os.path.join(root, "wpimath")
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# Delete old install
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for d in [
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"src/main/native/cpp/drake", "src/main/native/include/drake",
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"src/test/native/cpp/drake", "src/test/native/include/drake"
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]:
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shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
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# Copy drake source files into allwpilib
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src_files = walk_cwd_and_copy_if(
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lambda dp, f: f in
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["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"],
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os.path.join(wpimath, "src/main/native/cpp/drake"))
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# Copy drake header files into allwpilib
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include_files = walk_cwd_and_copy_if(
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lambda dp, f: f in [
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"drake_assert.h", "drake_assertion_error.h",
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"is_approx_equal_abstol.h", "never_destroyed.h", "drake_copyable.h",
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"drake_throw.h", "discrete_algebraic_riccati_equation.h"
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], os.path.join(wpimath, "src/main/native/include/drake"))
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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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test_src_files = walk_cwd_and_copy_if(
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lambda dp, f: f == "discrete_algebraic_riccati_equation_test.cc",
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os.path.join(wpimath, "src/test/native/cpp/drake"))
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os.chdir(repo)
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# Copy drake test header files into allwpilib
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test_include_files = walk_cwd_and_copy_if(
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lambda dp, f: f == "eigen_matrix_compare.h",
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os.path.join(wpimath, "src/test/native/include/drake"))
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for f in src_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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for f in include_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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for f in test_src_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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for f in test_include_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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apply_patches(root, ["upstream_utils/drake-replace-dense-with-core.patch"])
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if __name__ == "__main__":
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main()
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