[bazel] MVP for building wpilibc + commands framework

.bazelrc

@@ -8,6 +8,8 @@ build --java_runtime_version=roboriojdk_17
 build --tool_java_language_version=17
 build --tool_java_runtime_version=remotejdk_17
 
+build --proto_toolchain_for_cc=//:proto_cc_toolchain
+
 test --test_output=errors
 test --test_verbose_timeout_warnings
 

WORKSPACE

@@ -98,3 +98,55 @@ setup_legacy_bzlmodrio_opencv_cpp_dependencies()
 load("@bzlmodrio-opencv//:maven_java_deps.bzl", "setup_legacy_bzlmodrio_opencv_java_dependencies")
 
 setup_legacy_bzlmodrio_opencv_java_dependencies()
+
+http_archive(
+    name = "com_google_protobuf",
+    patch_args = ["-p1"],
+    patches = [
+        "//upstream_utils/protobuf_patches:0001-Fix-sign-compare-warnings.patch",
+        "//upstream_utils/protobuf_patches:0002-Remove-redundant-move.patch",
+        "//upstream_utils/protobuf_patches:0003-Fix-maybe-uninitialized-warnings.patch",
+        "//upstream_utils/protobuf_patches:0004-Fix-coded_stream-WriteRaw.patch",
+        "//upstream_utils/protobuf_patches:0005-Suppress-enum-enum-conversion-warning.patch",
+        "//upstream_utils/protobuf_patches:0006-Fix-noreturn-function-returning.patch",
+        "//upstream_utils/protobuf_patches:0007-Work-around-GCC-12-restrict-warning-compiler-bug.patch",
+        "//upstream_utils/protobuf_patches:0008-Disable-MSVC-switch-warning.patch",
+        "//upstream_utils/protobuf_patches:0009-Disable-unused-function-warning.patch",
+        "//upstream_utils/protobuf_patches:0010-Disable-pedantic-warning.patch",
+        "//upstream_utils/protobuf_patches:0011-Avoid-use-of-sprintf.patch",
+    ],
+    sha256 = "f7042d540c969b00db92e8e1066a9b8099c8379c33f40f360eb9e1d98a36ca26",
+    strip_prefix = "protobuf-3.21.12",
+    urls = [
+        "https://github.com/protocolbuffers/protobuf/archive/refs/tags/v3.21.12.zip",
+    ],
+)
+
+load("@com_google_protobuf//:protobuf_deps.bzl", "protobuf_deps")
+
+protobuf_deps()
+
+# Rules Python
+http_archive(
+    name = "rules_python",
+    sha256 = "c68bdc4fbec25de5b5493b8819cfc877c4ea299c0dcb15c244c5a00208cde311",
+    strip_prefix = "rules_python-0.31.0",
+    url = "https://github.com/bazelbuild/rules_python/releases/download/0.31.0/rules_python-0.31.0.tar.gz",
+)
+
+load("@rules_python//python:repositories.bzl", "py_repositories")
+
+py_repositories()
+
+http_archive(
+    name = "build_bazel_apple_support",
+    sha256 = "c4bb2b7367c484382300aee75be598b92f847896fb31bbd22f3a2346adf66a80",
+    url = "https://github.com/bazelbuild/apple_support/releases/download/1.15.1/apple_support.1.15.1.tar.gz",
+)
+
+load(
+    "@build_bazel_apple_support//lib:repositories.bzl",
+    "apple_support_dependencies",
+)
+
+apple_support_dependencies()

apriltag/BUILD.bazel

@@ -0,0 +1,112 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_java//java:defs.bzl", "java_binary", "java_library")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+cc_library(
+    name = "thirdparty-apriltag",
+    srcs = glob(["src/main/native/thirdparty/apriltag/src/**"]),
+    hdrs = glob(["src/main/native/thirdparty/apriltag/include/**"]),
+    copts = select({
+        "@bazel_tools//src/conditions:darwin": [
+            "-Wno-format-nonliteral",
+            "-Wno-gnu-zero-variadic-macro-arguments",
+            "-Wno-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+        "@bazel_tools//src/conditions:windows": [
+            "/wd4005",
+            "/wd4018",
+            "/wd4244",
+            "/wd4267",
+            "/wd4996",
+        ],
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": [
+            "-Wno-format-nonliteral",
+            "-Wno-maybe-uninitialized",
+            "-Wno-sign-compare",
+            "-Wno-type-limits",
+        ],
+    }),
+    includes = ["src/main/native/thirdparty/apriltag/include/common"],
+    strip_include_prefix = "src/main/native/thirdparty/apriltag/include",
+    visibility = ["//visibility:public"],
+)
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "frc",
+    prefix = "APRILTAG",
+    resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "apriltag.static",
+    srcs = [":generate-resources"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    defines = ["WPILIB_EXPORTS"],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":thirdparty-apriltag",
+        "//wpimath:wpimath.static",
+        "//wpiutil:wpiutil.static",
+    ],
+)
+
+java_library(
+    name = "apriltag-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    resource_strip_prefix = "apriltag/src/main/native/resources",
+    resources = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpimath:wpimath-java",
+        "//wpiutil:wpiutil-java",
+        "@bzlmodrio-opencv//libraries/java/opencv",
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_core",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)
+
+cc_test(
+    name = "apriltag-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/cpp/**"]),
+    tags = [
+        "no-asan",
+    ],
+    deps = [
+        ":apriltag.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":apriltag.static",
+    ],
+)
+
+java_binary(
+    name = "DevMain-Java",
+    srcs = ["src/dev/java/edu/wpi/first/apriltag/DevMain.java"],
+    main_class = "edu.wpi.first.apriltag.DevMain",
+    deps = [
+        ":apriltag-java",
+    ],
+)
+
+py_binary(
+    name = "convert_apriltag_layouts",
+    srcs = ["convert_apriltag_layouts.py"],
+    tags = ["manual"],
+)

cameraserver/BUILD.bazel

@@ -1,6 +1,22 @@
-load("@rules_cc//cc:defs.bzl", "cc_binary")
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 
+cc_library(
+    name = "cameraserver.static",
+    srcs = glob(["src/main/native/cpp/**"]),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//cscore:cscore.static",
+        "//ntcore:ntcore.static",
+    ],
+)
+
 java_library(
     name = "cameraserver-java",
     srcs = glob(["src/main/java/**/*.java"]),
@@ -16,10 +32,21 @@ java_library(
     ],
 )
 
+cc_test(
+    name = "cameraserver-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cameraserver.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
 cc_binary(
     name = "DevMain-Cpp",
     srcs = ["src/dev/native/cpp/main.cpp"],
     deps = [
+        ":cameraserver.static",
     ],
 )
 

cscore/BUILD.bazel

@@ -1,5 +1,76 @@
+load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test", "objc_library")
 load("@rules_java//java:defs.bzl", "java_binary", "java_library")
 
+WIN_SRCS = glob([
+    "src/main/native/windows/**/*.cpp",
+    "src/main/native/windows/**/*.h",
+])
+
+LINUX_SRCS = glob([
+    "src/main/native/linux/**/*.cpp",
+    "src/main/native/linux/**/*.h",
+])
+
+MAC_SRCS = glob(["src/main/native/osx/**/*.cpp"])
+
+filegroup(
+    name = "native-srcs",
+    srcs = select({
+        "@bazel_tools//src/conditions:darwin": MAC_SRCS,
+        "@bazel_tools//src/conditions:windows": WIN_SRCS,
+        "@rules_bzlmodrio_toolchains//constraints/combined:is_linux": LINUX_SRCS,
+    }),
+)
+
+objc_library(
+    name = "cscore-mac",
+    srcs = glob([
+        "src/main/native/objcpp/**/*.mm",
+        "src/main/native/cpp/*.h",
+    ]),
+    hdrs = glob([
+        "src/main/native/include/**/*",
+        "src/main/native/objcpp/**/*.h",
+    ]),
+    copts = [
+        "-std=c++20",
+    ],
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+        "src/main/native/objcpp",
+    ],
+    tags = ["manual"],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ],
+)
+
+cc_library(
+    name = "cscore.static",
+    srcs = [":native-srcs"] + glob(
+        ["src/main/native/cpp/**"],
+        exclude = ["src/main/native/cpp/jni/**"],
+    ),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    includes = [
+        "src/main/native/cpp",
+        "src/main/native/include",
+    ],
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+    deps = [
+        "//wpinet:wpinet.static",
+        "//wpiutil:wpiutil.static",
+        "@bzlmodrio-opencv//libraries/cpp/opencv",
+    ] + select({
+        "@bazel_tools//src/conditions:darwin": [":cscore-mac"],
+        "//conditions:default": [],
+    }),
+)
+
 java_library(
     name = "cscore-java",
     srcs = glob(["src/main/java/**/*.java"]),
@@ -10,6 +81,24 @@ java_library(
     ],
 )
 
+cc_test(
+    name = "cscore-cpp-test",
+    size = "small",
+    srcs = glob(["src/test/native/**"]),
+    deps = [
+        ":cscore.static",
+        "//thirdparty/googletest:googletest.static",
+    ],
+)
+
+cc_binary(
+    name = "DevMain-Cpp",
+    srcs = ["src/dev/native/cpp/main.cpp"],
+    deps = [
+        ":cscore.static",
+    ],
+)
+
 java_binary(
     name = "DevMain-Java",
     srcs = ["src/dev/java/edu/wpi/first/cscore/DevMain.java"],

epilogue-processor/BUILD.bazel

@@ -0,0 +1,22 @@
+load("@rules_java//java:defs.bzl", "java_library", "java_plugin")
+
+java_library(
+    name = "processor",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    runtime_deps = [
+        "//wpilibNewCommands:wpilibNewCommands-java",
+    ],
+    deps = [
+        "//epilogue-runtime:epilogue",
+    ],
+)
+
+java_plugin(
+    name = "plugin",
+    processor_class = "edu.wpi.first.epilogue.processor.AnnotationProcessor",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":processor",
+    ],
+)

epilogue-runtime/BUILD.bazel

@@ -0,0 +1,12 @@
+load("@rules_java//java:defs.bzl", "java_library")
+
+java_library(
+    name = "epilogue",
+    srcs = glob(["src/main/java/**/*.java"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "//ntcore:networktables-java",
+        "//wpiunits",
+        "//wpiutil:wpiutil-java",
+    ],
+)

fieldImages/BUILD.bazel

@@ -0,0 +1,31 @@
+load("@rules_cc//cc:defs.bzl", "cc_library")
+load("@rules_java//java:defs.bzl", "java_library")
+load("//shared/bazel/rules/gen:gen-resources.bzl", "generate_resources")
+
+generate_resources(
+    name = "generate-resources",
+    namespace = "fields",
+    prefix = "FIELDS",
+    resource_files = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+)
+
+cc_library(
+    name = "fieldImages",
+    srcs = [":generate-resources"] + glob(["src/main/native/cpp/**"]),
+    hdrs = glob(["src/main/native/include/**/*"]),
+    strip_include_prefix = "src/main/native/include",
+    visibility = ["//visibility:public"],
+)
+
+java_library(
+    name = "fieldImages-java",
+    srcs = glob(["src/main/java/**/*.java"]),
+    resource_strip_prefix = "fieldImages/src/main/native/resources",
+    resources = glob(["src/main/native/resources/**"]),
+    visibility = ["//visibility:public"],
+    deps = [
+        "@maven//:com_fasterxml_jackson_core_jackson_annotations",
+        "@maven//:com_fasterxml_jackson_core_jackson_databind",
+    ],
+)