| Austin Schuh | 812d0d1 | 2021-11-04 20:16:48 -0700 | [diff] [blame^] | 1 | #!/usr/bin/env python3 |
| 2 | |
| 3 | import os |
| 4 | import shutil |
| 5 | |
| 6 | from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if, apply_patches |
| 7 | |
| 8 | |
| 9 | def main(): |
| 10 | root, repo = setup_upstream_repo("https://github.com/RobotLocomotion/drake", |
| 11 | "v0.35.0") |
| 12 | wpimath = os.path.join(root, "wpimath") |
| 13 | |
| 14 | # Delete old install |
| 15 | for d in [ |
| 16 | "src/main/native/cpp/drake", "src/main/native/include/drake", |
| 17 | "src/test/native/cpp/drake", "src/test/native/include/drake" |
| 18 | ]: |
| 19 | shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True) |
| 20 | |
| 21 | # Copy drake source files into allwpilib |
| 22 | src_files = walk_cwd_and_copy_if( |
| 23 | lambda dp, f: f in |
| 24 | ["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"], |
| 25 | os.path.join(wpimath, "src/main/native/cpp/drake")) |
| 26 | |
| 27 | # Copy drake header files into allwpilib |
| 28 | include_files = walk_cwd_and_copy_if( |
| 29 | lambda dp, f: f in [ |
| 30 | "drake_assert.h", "drake_assertion_error.h", |
| 31 | "is_approx_equal_abstol.h", "never_destroyed.h", "drake_copyable.h", |
| 32 | "drake_throw.h", "discrete_algebraic_riccati_equation.h" |
| 33 | ], os.path.join(wpimath, "src/main/native/include/drake")) |
| 34 | |
| 35 | # Copy drake test source files into allwpilib |
| 36 | os.chdir(os.path.join(repo, "math/test")) |
| 37 | test_src_files = walk_cwd_and_copy_if( |
| 38 | lambda dp, f: f == "discrete_algebraic_riccati_equation_test.cc", |
| 39 | os.path.join(wpimath, "src/test/native/cpp/drake")) |
| 40 | os.chdir(repo) |
| 41 | |
| 42 | # Copy drake test header files into allwpilib |
| 43 | test_include_files = walk_cwd_and_copy_if( |
| 44 | lambda dp, f: f == "eigen_matrix_compare.h", |
| 45 | os.path.join(wpimath, "src/test/native/include/drake")) |
| 46 | |
| 47 | for f in src_files: |
| 48 | comment_out_invalid_includes( |
| 49 | f, [os.path.join(wpimath, "src/main/native/include")]) |
| 50 | for f in include_files: |
| 51 | comment_out_invalid_includes( |
| 52 | f, [os.path.join(wpimath, "src/main/native/include")]) |
| 53 | for f in test_src_files: |
| 54 | comment_out_invalid_includes(f, [ |
| 55 | os.path.join(wpimath, "src/main/native/include"), |
| 56 | os.path.join(wpimath, "src/test/native/include") |
| 57 | ]) |
| 58 | for f in test_include_files: |
| 59 | comment_out_invalid_includes(f, [ |
| 60 | os.path.join(wpimath, "src/main/native/include"), |
| 61 | os.path.join(wpimath, "src/test/native/include") |
| 62 | ]) |
| 63 | |
| 64 | apply_patches(root, [ |
| 65 | "upstream_utils/drake-replace-dense-with-core.patch", |
| 66 | "upstream_utils/drake-dllexport-dare.patch", |
| 67 | "upstream_utils/drake-fix-doxygen.patch" |
| 68 | ]) |
| 69 | |
| 70 | |
| 71 | if __name__ == "__main__": |
| 72 | main() |