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Conception/drake-master/bindings/pydrake/BUILD.bazel

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load("@drake//tools/install:install.bzl", "install")
load(
"@drake//tools/skylark:drake_cc.bzl",
"drake_cc_googletest",
"drake_cc_library",
)
load(
"@drake//tools/skylark:drake_py.bzl",
"drake_py_binary",
"drake_py_library",
"drake_py_unittest",
)
load(
"@drake//tools/skylark:pybind.bzl",
"add_pybind_coverage_data",
"drake_pybind_cc_googletest",
"drake_pybind_library",
"generate_pybind_coverage",
"generate_pybind_documentation_header",
"get_drake_py_installs",
"get_pybind_package_info",
)
load("//bindings/pydrake:pydrake.bzl", "add_lint_tests_pydrake")
load("//bindings/pydrake:stubgen.bzl", "generate_python_stubs")
load("//tools/workspace:generate_file.bzl", "generate_file")
package(default_visibility = [
"//bindings:__subpackages__",
])
exports_files([
".clang-format",
])
# This determines how `PYTHONPATH` is configured, and how to install the
# bindings.
PACKAGE_INFO = get_pybind_package_info(base_package = "//bindings")
# This provides `pydrake.__init__`, as well as `pydrake.common.__init__` (and
# `.deprecation`). Downstream libraries should expect that these transitive
# dependencies will be available, and thus do not need to explicitly depend on
# these modules.
drake_py_library(
name = "module_py",
srcs = [
"__init__.py",
],
deps = [
# We use `common:_init_py` to avoid dependency cycles.
"//bindings:bazel_workaround_4594_libdrake_py",
"//bindings/pydrake/common:_init_py",
"//bindings/pydrake/common:deprecation_py",
],
)
generate_pybind_documentation_header(
name = "generate_pybind_documentation_header",
out = "documentation_pybind.h",
ignore_dirs_for_coverage = [
"drake/common/proto",
"drake/common/yaml",
"drake/examples",
],
out_xml = "documentation_pybind.xml",
root_name = "pydrake_doc",
targets = [
"//tools/install/libdrake:drake_headers",
],
)
drake_cc_library(
name = "documentation_pybind",
hdrs = ["documentation_pybind.h"],
declare_installed_headers = 0,
tags = ["nolint"],
)
drake_cc_library(
name = "pydrake_pybind",
hdrs = ["pydrake_pybind.h"],
declare_installed_headers = 0,
visibility = ["//visibility:public"],
)
drake_cc_library(
name = "test_util_pybind",
testonly = 1,
hdrs = ["test/test_util_pybind.h"],
declare_installed_headers = 0,
visibility = ["//visibility:public"],
)
drake_cc_library(
name = "autodiff_types_pybind",
hdrs = ["autodiff_types_pybind.h"],
declare_installed_headers = 0,
visibility = ["//visibility:public"],
deps = ["//:drake_shared_library"],
)
drake_pybind_library(
name = "autodiffutils_py",
cc_deps = [
":autodiff_types_pybind",
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake:math_operators_pybind",
],
cc_srcs = ["autodiffutils_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake/common:deprecation_py",
],
py_srcs = [
"_autodiffutils_extra.py",
"forwarddiff.py",
],
)
drake_pybind_library(
name = "lcm_py",
cc_deps = [
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake/common:deprecation_pybind",
"//bindings/pydrake/common:serialize_pybind",
],
cc_srcs = ["lcm_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
],
py_srcs = ["_lcm_extra.py"],
)
drake_cc_library(
name = "math_operators_pybind",
hdrs = ["math_operators_pybind.h"],
declare_installed_headers = 0,
deps = ["//:drake_shared_library"],
)
drake_pybind_library(
name = "math_py",
cc_deps = [
"//bindings/pydrake:autodiff_types_pybind",
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake:math_operators_pybind",
"//bindings/pydrake:symbolic_types_pybind",
"//bindings/pydrake/common:cpp_template_pybind",
"//bindings/pydrake/common:default_scalars_pybind",
"//bindings/pydrake/common:eigen_pybind",
"//bindings/pydrake/common:type_pack",
"//bindings/pydrake/common:value_pybind",
],
cc_srcs = ["math_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake:autodiffutils_py",
"//bindings/pydrake:symbolic_py",
"//bindings/pydrake/common:eigen_geometry_py",
"//bindings/pydrake/common:value_py",
],
py_srcs = ["_math_extra.py"],
)
drake_pybind_library(
name = "perception_py",
cc_deps = [
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake/common:value_pybind",
],
cc_srcs = ["perception_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake/common:value_py",
"//bindings/pydrake/systems:sensors_py",
],
)
drake_cc_library(
name = "polynomial_types_pybind",
hdrs = ["polynomial_types_pybind.h"],
declare_installed_headers = 0,
visibility = ["//visibility:public"],
deps = ["//:drake_shared_library"],
)
drake_pybind_library(
name = "polynomial_py",
cc_deps = [
":polynomial_types_pybind",
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake/common:default_scalars_pybind",
],
cc_srcs = ["polynomial_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake:autodiffutils_py",
"//bindings/pydrake:symbolic_py",
"//bindings/pydrake/common:value_py",
],
)
drake_cc_library(
name = "symbolic_types_pybind",
hdrs = ["symbolic_types_pybind.h"],
declare_installed_headers = 0,
visibility = ["//visibility:public"],
deps = [
"//:drake_shared_library",
"//bindings/pydrake:documentation_pybind",
],
)
drake_pybind_library(
name = "symbolic_py",
cc_deps = [
":symbolic_types_pybind",
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake:math_operators_pybind",
"//bindings/pydrake/common:eigen_pybind",
],
cc_srcs = [
"symbolic_py.cc",
"symbolic_py_unapply.cc",
"symbolic_py_unapply.h",
],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake/common:compatibility_py",
],
py_srcs = ["_symbolic_extra.py"],
)
drake_pybind_library(
name = "trajectories_py",
cc_deps = [
":polynomial_types_pybind",
"//bindings/pydrake:documentation_pybind",
"//bindings/pydrake/common:default_scalars_pybind",
"//bindings/pydrake/common:deprecation_pybind",
],
cc_srcs = ["trajectories_py.cc"],
package_info = PACKAGE_INFO,
py_deps = [
":module_py",
"//bindings/pydrake:autodiffutils_py",
"//bindings/pydrake:polynomial_py",
"//bindings/pydrake:symbolic_py",
"//bindings/pydrake/common:value_py",
],
py_srcs = [
"_trajectories_extra.py",
],
)
drake_py_library(
name = "tutorials_py",
srcs = [
"tutorials.py",
],
deps = [
":module_py",
],
)
PYBIND_SUBPACKAGES_FOR_COVERAGE = [
"//bindings/pydrake/common",
"//bindings/pydrake/geometry",
"//bindings/pydrake/manipulation",
"//bindings/pydrake/multibody",
"//bindings/pydrake/planning",
"//bindings/pydrake/solvers",
"//bindings/pydrake/systems",
"//bindings/pydrake/visualization",
]
PY_LIBRARIES_WITH_INSTALL = [
":autodiffutils_py",
":lcm_py",
":math_py",
":perception_py",
":polynomial_py",
":symbolic_py",
":trajectories_py",
"//bindings/pydrake/examples",
"//bindings/pydrake/examples/multibody",
] + PYBIND_SUBPACKAGES_FOR_COVERAGE
add_pybind_coverage_data(
subpackages = PYBIND_SUBPACKAGES_FOR_COVERAGE,
)
PY_LIBRARIES = [
":module_py",
":tutorials_py",
]
# Symbol roll-up (for user ease).
drake_py_library(
name = "all_py",
srcs = ["all.py"],
# pycodestyle gets confused by the top `with` statement. This should be
# removed once no modules with deprecation warnings are imported.
tags = ["nolint"],
deps = PY_LIBRARIES_WITH_INSTALL + PY_LIBRARIES,
)
# Package roll-up (for Bazel dependencies).
drake_py_library(
name = "pydrake",
visibility = ["//visibility:public"],
deps = [":all_py"],
)
# Roll-up for publicly accessible testing utilities (for development with
# workflows like drake-external-examples/drake_bazel_external).
drake_py_library(
name = "test_utilities_py",
testonly = 1,
visibility = ["//visibility:public"],
deps = [
# N.B. We depend on pydrake so as to keep symmetry with the currently
# offered public targets (rollup only, no granular access).
":pydrake",
"//bindings/pydrake/common/test_utilities",
],
)
drake_cc_googletest(
name = "documentation_pybind_test",
deps = [
":documentation_pybind",
],
)
# N.B. Due to dependency on `common` (#7912), this is not a fully isolated /
# decoupled test.
drake_pybind_cc_googletest(
name = "pydrake_pybind_test",
cc_deps = ["//bindings/pydrake:test_util_pybind"],
py_deps = [":module_py"],
py_srcs = ["test/_pydrake_pybind_test_extra.py"],
)
drake_py_binary(
name = "print_symbol_collisions",
testonly = 1,
srcs = ["test/print_symbol_collisions.py"],
add_test_rule = 1,
deps = [":all_py"],
)
drake_py_unittest(
name = "all_test",
timeout = "moderate",
data = ["//examples/pendulum:models"],
deps = [
":all_py",
"//bindings/pydrake/common/test_utilities:deprecation_py",
],
)
drake_py_unittest(
name = "all_each_import_test",
shard_count = 8,
deps = [
":all_py",
"//bindings/pydrake/common/test_utilities:meta_py",
],
)
drake_py_library(
name = "algebra_test_util_py",
testonly = 1,
srcs = [
"test/__init__.py",
"test/algebra_test_util.py",
],
visibility = ["//visibility:private"],
deps = [":math_py"],
)
# Test ODR (One Definition Rule).
drake_pybind_library(
name = "autodiffutils_test_util_py",
testonly = 1,
add_install = False,
cc_deps = [
":autodiff_types_pybind",
"//bindings/pydrake:documentation_pybind",
],
cc_so_name = "test/autodiffutils_test_util",
cc_srcs = ["test/autodiffutils_test_util_py.cc"],
package_info = PACKAGE_INFO,
py_srcs = ["test/__init__.py"],
visibility = ["//visibility:private"],
)
drake_py_unittest(
name = "autodiffutils_test",
deps = [
":algebra_test_util_py",
":autodiffutils_py",
":autodiffutils_test_util_py",
":math_py",
"//bindings/pydrake/common/test_utilities:numpy_compare_py",
"//bindings/pydrake/common/test_utilities:pickle_compare_py",
],
)
# Test ODR (One Definition Rule).
drake_pybind_library(
name = "odr_test_module_py",
testonly = 1,
add_install = False,
cc_deps = [
":symbolic_types_pybind",
"//bindings/pydrake:documentation_pybind",
],
cc_so_name = "test/odr_test_module",
cc_srcs = ["test/odr_test_module_py.cc"],
package_info = PACKAGE_INFO,
py_srcs = ["test/__init__.py"],
visibility = ["//visibility:private"],
)
drake_py_unittest(
name = "odr_test",
deps = [
":odr_test_module_py",
":symbolic_py",
],
)
drake_py_library(
name = "mock_torch_py",
testonly = 1,
srcs = ["test/mock_torch/torch.py"],
imports = ["test/mock_torch"],
)
drake_py_unittest(
name = "rtld_global_warning_test",
deps = [
":mock_torch_py",
":module_py",
],
)
drake_py_unittest(
name = "forward_diff_test",
deps = [
":autodiffutils_py",
"//bindings/pydrake/common/test_utilities",
],
)
drake_py_unittest(
name = "lcm_test",
deps = [
":lcm_py",
"//bindings/pydrake/common/test_utilities:deprecation_py",
"//lcmtypes:lcmtypes_drake_py",
],
)
drake_py_unittest(
name = "math_test",
deps = [
":math_py",
"//bindings/pydrake/common/test_utilities",
],
)
drake_py_unittest(
name = "math_overloads_test",
deps = [
":autodiffutils_py",
":math_py",
":symbolic_py",
],
)
drake_py_unittest(
name = "perception_test",
deps = [
":perception_py",
],
)
drake_py_unittest(
name = "polynomial_test",
deps = [
":polynomial_py",
"//bindings/pydrake/common/test_utilities:numpy_compare_py",
],
)
drake_py_unittest(
name = "symbolic_test",
deps = [
":algebra_test_util_py",
":symbolic_py",
"//bindings/pydrake/common:containers_py",
"//bindings/pydrake/common/test_utilities",
"//bindings/pydrake/common/test_utilities:numpy_compare_py",
],
)
drake_py_unittest(
name = "trajectories_test",
deps = [
":math_py",
":trajectories_py",
"//bindings/pydrake/common:eigen_geometry_py",
"//bindings/pydrake/common:yaml_py",
"//bindings/pydrake/common/test_utilities:numpy_compare_py",
"//bindings/pydrake/common/test_utilities:pickle_compare_py",
],
)
drake_py_binary(
name = "math_example",
srcs = ["math_example.py"],
add_test_rule = 1,
isolate = 1,
deps = [
":math_py",
],
)
drake_py_unittest(
name = "parse_models_test",
deps = [":pydrake"],
)
drake_py_unittest(
name = "dot_clang_format_test",
data = [
"//:.clang-format",
"//bindings/pydrake:.clang-format",
],
tags = ["lint"],
)
generate_pybind_coverage(
name = "generate_pybind_coverage",
class_coverage = ":class_coverage.csv",
file_coverage = ":file_coverage.csv",
pybind_coverage_data = [":pybind_coverage_data"],
xml_docstrings = ":documentation_pybind.xml",
)
drake_py_binary(
name = "stubgen",
srcs = ["stubgen.py"],
deps = [
":all_py",
"@mypy_internal//:mypy",
],
)
# TODO(jwnimmer-tri): This list should be automatically generated.
PYI_FILES = [
"pydrake/__init__.pyi",
"pydrake/all.pyi",
"pydrake/autodiffutils.pyi",
"pydrake/common/__init__.pyi",
"pydrake/common/_module_py.pyi",
"pydrake/common/all.pyi",
"pydrake/common/compatibility.pyi",
"pydrake/common/containers.pyi",
"pydrake/common/cpp_param.pyi",
"pydrake/common/cpp_template.pyi",
"pydrake/common/deprecation.pyi",
"pydrake/common/eigen_geometry.pyi",
"pydrake/common/jupyter.pyi",
"pydrake/common/pybind11_version.pyi",
"pydrake/common/schema.pyi",
"pydrake/common/value.pyi",
"pydrake/common/yaml.pyi",
"pydrake/examples/__init__.pyi",
"pydrake/examples/_examples_extra.pyi",
"pydrake/examples/acrobot.pyi",
"pydrake/examples/compass_gait.pyi",
"pydrake/examples/manipulation_station.pyi",
"pydrake/examples/multibody/__init__.pyi",
"pydrake/examples/multibody/cart_pole_passive_simulation.pyi",
"pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.pyi",
"pydrake/examples/multibody/run_planar_scenegraph_visualizer.pyi",
"pydrake/examples/pendulum.pyi",
"pydrake/examples/quadrotor.pyi",
"pydrake/examples/rimless_wheel.pyi",
"pydrake/examples/van_der_pol.pyi",
"pydrake/forwarddiff.pyi",
"pydrake/geometry/__init__.pyi",
"pydrake/lcm.pyi",
"pydrake/manipulation/__init__.pyi",
"pydrake/math.pyi",
"pydrake/multibody/__init__.pyi",
"pydrake/multibody/all.pyi",
"pydrake/multibody/benchmarks.pyi",
"pydrake/multibody/inverse_kinematics.pyi",
"pydrake/multibody/jupyter_widgets.pyi",
"pydrake/multibody/math.pyi",
"pydrake/multibody/meshcat.pyi",
"pydrake/multibody/optimization.pyi",
"pydrake/multibody/parsing.pyi",
"pydrake/multibody/plant.pyi",
"pydrake/multibody/tree.pyi",
"pydrake/perception.pyi",
"pydrake/planning.pyi",
"pydrake/polynomial.pyi",
"pydrake/solvers/__init__.pyi",
# "pydrake/stubgen.pyi", Don't include this; why is it even generated?
"pydrake/symbolic.pyi",
"pydrake/systems/__init__.pyi",
"pydrake/systems/_resample_interp1d.pyi",
"pydrake/systems/all.pyi",
"pydrake/systems/analysis.pyi",
"pydrake/systems/controllers.pyi",
"pydrake/systems/drawing.pyi",
"pydrake/systems/framework.pyi",
"pydrake/systems/jupyter_widgets.pyi",
"pydrake/systems/lcm.pyi",
"pydrake/systems/perception.pyi",
"pydrake/systems/planar_scenegraph_visualizer.pyi",
"pydrake/systems/primitives.pyi",
"pydrake/systems/pyplot_visualizer.pyi",
"pydrake/systems/rendering.pyi",
"pydrake/systems/scalar_conversion.pyi",
"pydrake/systems/sensors.pyi",
"pydrake/trajectories.pyi",
"pydrake/tutorials.pyi",
"pydrake/visualization/__init__.pyi",
"pydrake/visualization/meldis.pyi",
"pydrake/visualization/model_visualizer.pyi",
]
# TODO(mwoehlke-kitware): genrule inappropriately gives execute permission to
# all its outputs; see https://github.com/bazelbuild/bazel/issues/3359.
# (Applies to both :pydrake_pyi and, below, :pydrake_typed.)
generate_python_stubs(
name = "pydrake_pyi",
outs = PYI_FILES,
package = "pydrake",
tool = ":stubgen",
)
# PEP 561 marker file; tells tools that type information is available.
genrule(
name = "pydrake_typed",
srcs = [],
outs = ["pydrake/py.typed"],
cmd = "echo '# Marker file for PEP 561.' > $@",
)
generate_file(
name = "_pyi_files",
content = "\n".join(PYI_FILES),
visibility = ["//visibility:private"],
)
drake_py_unittest(
name = "stubgen_test",
data = [
":_pyi_files",
":pydrake_pyi",
":pydrake_typed",
],
deps = [
"@bazel_tools//tools/python/runfiles",
"@mypy_internal//:mypy",
],
)
install(
name = "install",
install_tests = [
":test/all_install_test.py",
":test/common_install_test.py",
],
targets = PY_LIBRARIES + [":all_py"],
py_dest = PACKAGE_INFO.py_dest,
data = [
":pydrake_pyi",
":pydrake_typed",
],
data_dest = "@PYTHON_SITE_PACKAGES@",
visibility = ["//visibility:public"],
deps = get_drake_py_installs(PY_LIBRARIES_WITH_INSTALL),
)
add_lint_tests_pydrake(
python_lint_extra_srcs = [
":test/all_install_test.py",
":test/common_install_test.py",
],
)
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