[upstream_utils] Add mrcal

.github/workflows/comment-command.yml

@@ -87,8 +87,8 @@ jobs:
           python-version: 3.9
       - name: Install jinja
         run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Install protobuf and perl dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler liblist-moreutils-perl && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Regenerate all
         run: ./.github/workflows/pregen_all.py --quickbuf_plugin=protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Commit

.github/workflows/pregen_all.py

@@ -19,6 +19,7 @@ def main(argv):
     subprocess.run(["python", f"{REPO_ROOT}/hal/generate_usage_reporting.py"])
     subprocess.run(["python", f"{REPO_ROOT}/ntcore/generate_topics.py"])
     subprocess.run(["python", f"{REPO_ROOT}/wpimath/generate_numbers.py"])
+    subprocess.run(["python", f"{REPO_ROOT}/wpimath/generate_mrcal.py"])
     subprocess.run(
         [
             "python",

.github/workflows/pregenerate.yml

@@ -24,8 +24,8 @@ jobs:
           python-version: 3.9
       - name: Install jinja
         run: python -m pip install jinja2
-      - name: Install protobuf dependencies
-        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
+      - name: Install protobuf and perl dependencies
+        run: sudo apt-get update && sudo apt-get install -y protobuf-compiler liblist-moreutils-perl && wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.3/protoc-gen-quickbuf-1.3.3-linux-x86_64.exe && chmod +x protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Regenerate all
         run: python ./.github/workflows/pregen_all.py --quickbuf_plugin protoc-gen-quickbuf-1.3.3-linux-x86_64.exe
       - name: Add untracked files to index so they count as changes

upstream_utils/mrcal.py

@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+import subprocess
+
+from upstream_utils import (
+    walk_cwd_and_copy_if,
+    Lib,
+)
+
+
+def copy_upstream_src(wpilib_root):
+    wpical = os.path.join(wpilib_root, "wpimath")
+
+    # Delete old install
+    for d in [
+        "src/main/native/thirdparty/mrcal/src",
+        "src/main/native/thirdparty/mrcal/include",
+    ]:
+        shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
+
+    walk_cwd_and_copy_if(
+        lambda dp, f: (f.endswith(".h") or f.endswith(".hh"))
+        and not f.endswith("mrcal-image.h")
+        and not f.endswith("stereo.h")
+        and not f.endswith("stereo-matching-libelas.h")
+        and not dp.startswith(os.path.join(".", "test")),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal/include"),
+    )
+    walk_cwd_and_copy_if(
+        lambda dp, f: (f.endswith(".c") or f.endswith(".cc") or f.endswith(".pl"))
+        and not f.endswith("mrcal-pywrap.c")
+        and not f.endswith("image.c")
+        and not f.endswith("stereo.c")
+        and not f.endswith("stereo-matching-libelas.cc")
+        and not f.endswith("uncertainty.c")
+        and not dp.startswith(os.path.join(".", "doc"))
+        and not dp.startswith(os.path.join(".", "test")),
+        os.path.join(wpical, "src/main/native/thirdparty/mrcal/src"),
+    )
+
+
+def main():
+    name = "mrcal"
+    url = "https://github.com/dkogan/mrcal"
+    tag = "71c89c4e9f268a0f4fb950325e7d551986a281ec"
+
+    mrcal = Lib(name, url, tag, copy_upstream_src)
+    mrcal.main()
+
+
+if __name__ == "__main__":
+    main()

wpimath/generate_mrcal.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+
+
+import os
+import subprocess
+import sys
+import argparse
+from pathlib import Path
+
+
+def main(argv):
+    script_path = Path(__file__).resolve()
+    dirname = script_path.parent
+
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--output_directory",
+        help="Optional. If set, will output the generated files to this directory, otherwise it will use a path relative to the script",
+        default=dirname / "src/main/native/thirdparty/mrcal/generated/",
+        type=Path,
+    )
+    args = parser.parse_args(argv)
+
+    args.output_directory.mkdir(parents=True, exist_ok=True)
+    result = subprocess.run(
+        f"{dirname}/src/main/native/thirdparty/mrcal/src/minimath/minimath_generate.pl",
+        capture_output=True,
+    )
+    (args.output_directory / "minimath_generated.h").write_text(
+        str(result.stdout, encoding="UTF8")
+    )
+
+
+if __name__ == "__main__":
+    main(sys.argv[1:])