Test

upstream_utils/libdogleg.py

@@ -16,14 +16,29 @@ def copy_upstream_src(wpilib_root):
     ]:
         shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
 
-    walk_cwd_and_copy_if(
+    files = walk_cwd_and_copy_if(
         lambda dp, f: f.endswith("dogleg.h"),
         os.path.join(wpical, "src/main/native/thirdparty/libdogleg/include"),
     )
-    walk_cwd_and_copy_if(
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+        content = content.replace(
+            "#include <cholmod.h>", "#include <suitesparse/cholmod.h>"
+        )
+        with open(f, "w") as file:
+            file.write(content)
+
+    files = walk_cwd_and_copy_if(
         lambda dp, f: f.endswith("dogleg.c"),
         os.path.join(wpical, "src/main/native/thirdparty/libdogleg/src"),
     )
+    for f in files:
+        with open(f) as file:
+            content = file.read()
+        content = content.replace("#warning", "// #warning")
+        with open(f, "w") as file:
+            file.write(content)
 
 
 def main():

upstream_utils/mrcal.py

@@ -3,7 +3,7 @@
 import os
 import shutil
 
-from upstream_utils import Lib, walk_cwd_and_copy_if
+from upstream_utils import Lib, comment_out_invalid_includes, walk_cwd_and_copy_if
 
 
 def copy_upstream_src(wpilib_root):
@@ -16,14 +16,28 @@ def copy_upstream_src(wpilib_root):
     ]:
         shutil.rmtree(os.path.join(wpical, d), ignore_errors=True)
 
-    walk_cwd_and_copy_if(
+    files = walk_cwd_and_copy_if(
         lambda dp, f: (f.endswith(".h") or f.endswith(".hh"))
         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(
+    for f in files:
+        comment_out_invalid_includes(
+            f,
+            [
+                os.path.join(wpical, "src/main/native/thirdparty/mrcal/include"),
+                os.path.join(wpical, "src/main/native/thirdparty/mrcal/generated"),
+            ],
+        )
+        # with open(f) as file:
+        #     content = file.read()
+        # content = content.replace(r"typedef struct {}", r"// typedef struct {}")
+        # with open(f, "w") as file:
+        #     file.write(content)
+
+    files = 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")
@@ -34,12 +48,20 @@ def copy_upstream_src(wpilib_root):
         and not dp.startswith(os.path.join(".", "test")),
         os.path.join(wpical, "src/main/native/thirdparty/mrcal/src"),
     )
+    for f in files:
+        comment_out_invalid_includes(
+            f,
+            [
+                os.path.join(wpical, "src/main/native/thirdparty/mrcal/include"),
+                os.path.join(wpical, "src/main/native/thirdparty/mrcal/generated"),
+            ],
+        )
 
 
 def main():
     name = "mrcal"
     url = "https://github.com/dkogan/mrcal"
-    tag = "71c89c4e9f268a0f4fb950325e7d551986a281ec"
+    tag = "0d5426b5851be80dd8e51470a0784a73565a3006"
 
     mrcal = Lib(name, url, tag, copy_upstream_src)
     mrcal.main()

wpical/build.gradle

@@ -71,6 +71,21 @@ tasks.withType(CppCompile) {
     dependsOn generateCppVersion
 }
 
+// Suppress sign-compare warnings
+nativeUtils.platformConfigs.each {
+    if (it.name.contains('windows')) {
+    } else if (it.name.contains('osx')) {
+        it.cCompiler.args.add("-Wno-format-nonliteral")
+        it.cCompiler.args.add("-Wno-unused-function")
+        it.cCompiler.args.remove("-pedantic")
+        it.cppCompiler.args.add("-Wno-extern-c-compat")
+        it.cppCompiler.args.remove("-pedantic")
+    } else {
+        it.cCompiler.args.add("-Wno-format-nonliteral")
+        it.cppCompiler.args.add("-Wno-missing-field-initializers")
+        it.cppCompiler.args.remove("-pedantic")
+    }
+}
 model {
     components {
         // By default, a development executable will be generated. This is to help the case of

wpical/src/main/native/thirdparty/libdogleg/include/dogleg.h

@@ -5,7 +5,7 @@
 
 #pragma once
 
-#include <cholmod.h>
+#include <suitesparse/cholmod.h>
 #include <stdbool.h>
 
 typedef void (dogleg_callback_t)(const double*   p,

wpical/src/main/native/thirdparty/libdogleg/src/dogleg.c

@@ -1812,7 +1812,7 @@ static void accum_outlierness_factor(// output
   }
 
 
-#warning This is a hack. The threshold should be 1.0, and the scaling should make sure that is the case. I am leaving it for now
+// #warning This is a hack. The threshold should be 1.0, and the scaling should make sure that is the case. I am leaving it for now
   k /= 8.;