mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
5adf50d93c
* Root folder variable names are now more descriptive * clone_repo() now restores the current working directory * Removed setup_upstream_repo() since it's now identical to clone_repo() * Moved am_patches()'s for loop into user scripts so the filename prefix doesn't need to be included in every patch filename * Renamed am_patches() to git_am() since its only job now is to run "git am" * Removed unused apply_patches() function * Fixed typo in git_am()'s ignore_whitespace arg name
101 lines
3.1 KiB
Python
Executable File
101 lines
3.1 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 (
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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 main():
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upstream_root = clone_repo("https://github.com/RobotLocomotion/drake", "v1.6.0")
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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-Replace-Eigen-Dense-with-Eigen-Core.patch",
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"0002-Add-WPILIB_DLLEXPORT-to-DARE-function-declarations.patch",
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]:
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git_am(os.path.join(wpilib_root, "upstream_utils/drake_patches", f))
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# Delete old install
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for d in [
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"src/main/native/thirdparty/drake/src",
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"src/main/native/thirdparty/drake/include",
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"src/test/native/cpp/drake",
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"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
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in ["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"],
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os.path.join(wpimath, "src/main/native/thirdparty/drake/src"),
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)
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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
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in [
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"drake_assert.h",
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"drake_assertion_error.h",
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"is_approx_equal_abstol.h",
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"never_destroyed.h",
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"drake_copyable.h",
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"drake_throw.h",
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"discrete_algebraic_riccati_equation.h",
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],
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os.path.join(wpimath, "src/main/native/thirdparty/drake/include/drake"),
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)
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# Copy drake test source files into allwpilib
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os.chdir(os.path.join(upstream_root, "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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)
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os.chdir(upstream_root)
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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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)
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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/thirdparty/drake/include")]
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)
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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/thirdparty/drake/include")]
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)
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for f in test_src_files:
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comment_out_invalid_includes(
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f,
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[
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os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
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os.path.join(wpimath, "src/test/native/include"),
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],
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)
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for f in test_include_files:
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comment_out_invalid_includes(
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f,
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[
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os.path.join(wpimath, "src/main/native/thirdparty/drake/include"),
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os.path.join(wpimath, "src/test/native/include"),
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],
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)
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if __name__ == "__main__":
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main()
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