Squash

.bazelignore

@@ -2,6 +2,7 @@ build_cmake
 build-cmake
 
 # Auto generated by vscode
+apriltag/bin
 cameraserver/bin
 cameraserver/multiCameraServer/bin
 cscore/bin

.bazelversion

@@ -1 +1 @@
-6.1.1
+6.2.1

.github/workflows/gradle.yml

@@ -119,10 +119,6 @@ jobs:
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}
-      - uses: actions/upload-artifact@v2
-        with:
-          name: ${{ matrix.artifact-name }} BUILD OPTIONS
-          path: "**/build/tmp/**/options.txt"
 
   build-documentation:
     name: "Build - Documentation"

.github/workflows/upstream-utils.yml

@@ -64,4 +64,4 @@ jobs:
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output
-        run: git --no-pager diff --exit-code HEAD ':!*.bazel'
+        run: git --no-pager diff --exit-code HEAD

.styleguide

@@ -19,7 +19,6 @@ generatedFileExclude {
   simulation/gz_msgs/src/include/simulation/gz_msgs/msgs\.h$
   fieldImages/src/main/native/resources/
   apriltag/src/test/resources/
-  BUILD.bazel
 }
 
 repoRootNameOverride {

BUILD.bazel

@@ -1,5 +1,7 @@
 load("@rules_python//python:pip.bzl", "compile_pip_requirements")
 
+exports_files(["requirements_lock.txt"])
+
 # bazel build //:requirements.lock
 compile_pip_requirements(
     name = "requirements",

WORKSPACE

@@ -3,52 +3,62 @@ load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
 # Rules Python
 http_archive(
     name = "rules_python",
-    sha256 = "48a838a6e1983e4884b26812b2c748a35ad284fd339eb8e2a6f3adf95307fbcd",
-    strip_prefix = "rules_python-0.16.2",
-    url = "https://github.com/bazelbuild/rules_python/archive/refs/tags/0.16.2.tar.gz",
+    sha256 = "94750828b18044533e98a129003b6a68001204038dc4749f40b195b24c38f49f",
+    strip_prefix = "rules_python-0.21.0",
+    url = "https://github.com/bazelbuild/rules_python/releases/download/0.21.0/rules_python-0.21.0.tar.gz",
 )
 
 # Download Extra java rules
-RULES_JVM_EXTERNAL_TAG = "4.5"
-
-RULES_JVM_EXTERNAL_SHA = "b17d7388feb9bfa7f2fa09031b32707df529f26c91ab9e5d909eb1676badd9a6"
-
 http_archive(
     name = "rules_jvm_external",
-    sha256 = RULES_JVM_EXTERNAL_SHA,
-    strip_prefix = "rules_jvm_external-%s" % RULES_JVM_EXTERNAL_TAG,
-    url = "https://github.com/bazelbuild/rules_jvm_external/archive/refs/tags/%s.zip" % RULES_JVM_EXTERNAL_TAG,
+    sha256 = "f86fd42a809e1871ca0aabe89db0d440451219c3ce46c58da240c7dcdc00125f",
+    strip_prefix = "rules_jvm_external-5.2",
+    url = "https://github.com/bazelbuild/rules_jvm_external/releases/download/5.2/rules_jvm_external-5.2.tar.gz",
 )
 
 load("@rules_jvm_external//:repositories.bzl", "rules_jvm_external_deps")
 
 rules_jvm_external_deps()
 
+# TODO temporary
+http_archive(
+    name = "rules_bzlmodrio_toolchains",
+    sha256 = "5cc49c34a56cef8560446146d4ad124b61b3af6e3068a5cdba0df09861eaba97",
+    strip_prefix = "rules_bzlmodrio_toolchains-8ed5bdadbca20c0f6e7c3c1e8d0f8089fe449706",
+    url = "https://github.com/bzlmodRio/rules_bzlmodrio_toolchains/archive/8ed5bdadbca20c0f6e7c3c1e8d0f8089fe449706.zip",
+)
+
 # local_repository(
 #     name = "bzlmodRio",
-#     path = "../bzlmodRio/bzlmodRio",
+#     path = "../bzlmodRio/monorepo/bzlmodRio",
 # )
 http_archive(
     name = "bzlmodRio",
-    sha256 = "4d2fab5423f47df9bb7f2b697104f1cf1794823de9b8501e50aa14d4338bd3a4",
-    strip_prefix = "bzlmodRio-6145f3f8e26590740cce628aba10348c1f64c3bd",
-    url = "https://github.com/bzlmodRio/bzlmodRio/archive/6145f3f8e26590740cce628aba10348c1f64c3bd.tar.gz",
+    sha256 = "90928c94a79a715276b2cb9e70c9cabb5e4e9778d782ec381d03a0bba481620b",
+    strip_prefix = "bzlmodRio-7e05a206c4e123075e1b7b88e03a63e7627fec23",
+    url = "https://github.com/bzlmodRio/bzlmodRio/archive/7e05a206c4e123075e1b7b88e03a63e7627fec23.tar.gz",
 )
 
 load("@bzlmodRio//private/non_bzlmod:download_dependencies.bzl", "download_dependencies")
 
 download_dependencies(
-    # allwpilib_version = "local",
+    allwpilib_version = None,
     apriltaglib_version = "3.2.0-3",
     imgui_version = "1.89.1-1",
     libssh_version = "0.95-6",
-    # navx_version = "local",
+    local_monorepo_base = "../bzlmodRio/monorepo",
+    navx_version = None,
     ni_version = "2023.3.0",
-    opencv_version = "4.6.0-4",  # TODO different than wpilib
-    # phoenix_version = "local",
-    # revlib_version = "local",
-    rules_bazelrio_version = "0.0.9",
-    rules_roborio_toolchain_version = "2023-7",
+    opencv_version = "4.6.0-4",
+    phoenix_version = None,
+    revlib_version = None,
+    rules_bazelrio_version = "0.0.10",
+    rules_checkstyle_version = None,
+    rules_pmd_version = None,
+    rules_spotless_version = None,
+    rules_toolchains_version = None,
+    rules_wpi_styleguide_version = None,
+    rules_wpiformat_version = None,
 )
 
 load("@bzlmodRio//private/non_bzlmod:setup_dependencies.bzl", "setup_dependencies")
@@ -67,3 +77,34 @@ install_deps()
 load("@maven//:defs.bzl", "pinned_maven_install")
 
 pinned_maven_install()
+
+http_archive(
+    name = "pybind11_bazel",
+    sha256 = "b72c5b44135b90d1ffaba51e08240be0b91707ac60bea08bb4d84b47316211bb",
+    strip_prefix = "pybind11_bazel-b162c7c88a253e3f6b673df0c621aca27596ce6b",
+    urls = ["https://github.com/pybind/pybind11_bazel/archive/b162c7c88a253e3f6b673df0c621aca27596ce6b.zip"],
+)
+
+# We still require the pybind library.
+http_archive(
+    name = "pybind11",
+    build_file = "@pybind11_bazel//:pybind11.BUILD",
+    sha256 = "e8b9202508419fe577b10c8d69483c96af8de2530c48adabd9a4cd2d5785d3e7",
+    strip_prefix = "pybind11-f1a7573b0c279513e0019b95a99ce8fb6830cd83",
+    urls = ["https://github.com/pybind/pybind11/archive/f1a7573b0c279513e0019b95a99ce8fb6830cd83.tar.gz"],
+)
+
+load("@pybind11_bazel//:python_configure.bzl", "python_configure")
+load("@rules_python//python:repositories.bzl", "python_register_toolchains")
+
+python_register_toolchains(
+    name = "python3_10",
+    python_version = "3.10.6",
+)
+
+load("@python3_10//:defs.bzl", "interpreter")
+
+python_configure(
+    name = "local_config_python",
+    python_interpreter_target = interpreter,
+)

apriltag/src/main/native/BUILD.bazel

@@ -1,6 +1,12 @@
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_static_and_shared_library")
 load("//shared/bazel/rules/jni:cc_jni.bzl", "wpilib_jni_cc_library")
 
+filegroup(
+    name = "headers",
+    srcs = glob(["include/**/*"]),
+    visibility = ["//visibility:public"],
+)
+
 wpilib_cc_static_and_shared_library(
     name = "apriltag",
     srcs = ["//apriltag/src/main/native/resources:generate-resources"] + glob(

apriltag/src/main/python/BUILD.bazel

@@ -0,0 +1,48 @@
+load("//shared/bazel/rules/python/pybind_generator:python_wrapper.bzl", "create_python_library", "create_robotpy_project", "generate_robotpy_package")
+
+create_robotpy_project(name = "apriltag")
+
+APRILTAG_GENERATED_PYBIND_FILES = [
+    "pybind_gen/apriltag/AprilTag.cpp",
+    "pybind_gen/apriltag/AprilTagDetection.cpp",
+    "pybind_gen/apriltag/AprilTagDetector.cpp",
+    "pybind_gen/apriltag/AprilTagFieldLayout.cpp",
+    "pybind_gen/apriltag/AprilTagFields.cpp",
+    "pybind_gen/apriltag/AprilTagPoseEstimate.cpp",
+    "pybind_gen/apriltag/AprilTagPoseEstimator.cpp",
+    "pybind_gen/apriltag/rpygen_wrapper.hpp",
+]
+
+APRILTAG_PYTHON_FILES = [
+    "apriltag/pkgcfg.py",
+    "apriltag/_init_apriltag.py",
+]
+
+APRILTAG_PYTHON_PACKAGES = [
+]
+
+generate_robotpy_package(
+    name = "apriltag",
+    config = "config.toml",
+    generated_pybind_files = [] + APRILTAG_GENERATED_PYBIND_FILES,
+    generated_python_files = [] + APRILTAG_PYTHON_FILES,
+    headers = "//apriltag/src/main/native:headers",
+    pybind_subprojects = ["apriltag"],
+)
+
+create_python_library(
+    name = "apriltag",
+    cc_deps = [
+        "//apriltag/src/main/native:apriltag.shared",
+        "//wpiutil/src/main/python:_wpiutil",
+    ],
+    generated_pybind_files = APRILTAG_GENERATED_PYBIND_FILES,
+    headers = "//apriltag/src/main/native:headers",
+    pybind_extra_includes = [],
+    pybind_extra_srcs = [],
+    pybind_main = "apriltag/src/main.cpp",
+    python_deps = [
+        "//wpiutil/src/main/python:wpiutil",
+    ],
+    python_subpackages = APRILTAG_PYTHON_PACKAGES,
+)

apriltag/src/main/python/apriltag/src/main.cpp

@@ -0,0 +1,4 @@
+
+#include "rpygen_wrapper.hpp"
+
+RPYBUILD_PYBIND11_MODULE(m) { initWrapper(m); }

apriltag/src/main/python/config.toml

@@ -0,0 +1,50 @@
+[tool.robotpy-build.metadata]
+name = "robotpy-apriltag"
+description = "RobotPy bindings for WPILib's AprilTag library"
+author = "RobotPy Development Team"
+author_email = "robotpy@googlegroups.com"
+url = "https://github.com/robotpy/robotpy-cscore"
+license = "BSD-3-Clause"
+install_requires = [
+    "robotpy-wpiutil~=2023.4.3",
+    "robotpy-wpimath~=2023.4.3",
+]
+
+[build-system]
+requires = [
+    "robotpy-build<2024.0.0,>=2023.1.1",
+    "robotpy-wpiutil~=2023.4.3",
+    "robotpy-wpimath~=2023.4.3",
+]
+
+[tool.robotpy-build]
+base_package = "apriltag"
+
+[tool.robotpy-build.wrappers."apriltag".maven_lib_download]
+artifact_id = "apriltag-cpp"
+group_id = "edu.wpi.first.apriltag"
+repo_url = "https://frcmaven.wpi.edu/artifactory/release"
+version = "2023.4.3"
+
+libs = ["apriltag"]
+
+[tool.robotpy-build.wrappers."apriltag"]
+name = "apriltag"
+
+sources = [
+  "apriltag/src/main.cpp",
+]
+
+depends = ["wpiutil"]
+generation_data = "gen"
+
+[tool.robotpy-build.wrappers."apriltag".autogen_headers]
+# frc/apriltag
+AprilTag = "frc/apriltag/AprilTag.h"
+AprilTagDetection = "frc/apriltag/AprilTagDetection.h"
+AprilTagDetector = "frc/apriltag/AprilTagDetector.h"
+# AprilTagDetector_cv = "frc/apriltag/AprilTagDetector_cv.h"
+AprilTagFieldLayout = "frc/apriltag/AprilTagFieldLayout.h"
+AprilTagFields = "frc/apriltag/AprilTagFields.h"
+AprilTagPoseEstimate = "frc/apriltag/AprilTagPoseEstimate.h"
+AprilTagPoseEstimator = "frc/apriltag/AprilTagPoseEstimator.h"

apriltag/src/main/python/gen/AprilTag.yml

@@ -0,0 +1,14 @@
+---
+
+functions:
+  to_json:
+    ignore: true
+  from_json:
+    ignore: true
+classes:
+  AprilTag:
+    attributes:
+      ID:
+      pose:
+    methods:
+      operator==:

apriltag/src/main/python/gen/AprilTagDetection.yml

@@ -0,0 +1,34 @@
+---
+
+extra_includes:
+- pybind11/eigen.h
+
+classes:
+  AprilTagDetection:
+    methods:
+      GetFamily:
+      GetId:
+      GetHamming:
+      GetDecisionMargin:
+      GetHomography:
+      GetHomographyMatrix:
+      GetCenter:
+      GetCorner:
+      GetCorners:
+    inline_code: |
+      .def("__repr__", [](const AprilTagDetection &self) {
+        return py::str("<AprilTagDetection tag_family={} tag_id={} hamming={} decision_margin={} center={}>")
+          .format(self.GetFamily(), self.GetId(), self.GetHamming(), self.GetDecisionMargin(), self.GetCenter());
+      })
+  AprilTagDetection::Point:
+    attributes:
+      x:
+      y:
+    inline_code: |
+      .def(py::init([](double x, double y) {
+        AprilTagDetection::Point pt{x, y};
+        return std::make_unique<AprilTagDetection::Point>(std::move(pt));
+      }), py::arg("x"), py::arg("y"))
+      .def("__repr__", [](const AprilTagDetection::Point &self) {
+        return py::str("Point(x={}, y={})").format(self.x, self.y);
+      })