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AustinSchuhAustinSchuh
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[bazel] Put eigen in an external repo like bzlmod (#8169)
This sets us up to use AOS, which wants @eigen to resolve, without introducing a second version or copy of eigen.
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13 files changed

+869
-9
lines changed

13 files changed

+869
-9
lines changed

‎WORKSPACE‎

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@@ -116,6 +116,14 @@ http_archive(
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url = "https://github.com/TendTo/rules_doxygen/releases/download/2.4.2/rules_doxygen-2.4.2.tar.gz",
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)
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# This gives us a repository layout which matches what normal BCR modules expect.
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# The goal here is to make it easier to depend on external projects which already
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# include @eigen without introducing multiple eigen versions.
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local_repository(
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name = "eigen",
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path = "wpimath/src/main/native/thirdparty/eigen/include/",
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)
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load("@bazel_features//:deps.bzl", "bazel_features_deps")
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bazel_features_deps()

‎shared/bazel/rules/packaging.bzl‎

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@@ -2,6 +2,40 @@ load("@rules_pkg//:mappings.bzl", "pkg_filegroup", "pkg_files")
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load("@rules_pkg//pkg:zip.bzl", "pkg_zip")
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load("//shared/bazel/rules:publishing.bzl", "architectures_pkg_zip", "platform_prefix", "wpilib_maven_export")
44

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def _headers_impl(ctx):
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# Get the CcInfo provider from the dependency.
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# We only expect one dependency, so we take the first from the list.
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target_cc_info = ctx.attr.dep[CcInfo]
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# Extract the set of public headers from the compilation context.
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headers = target_cc_info.compilation_context.headers
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# Return the generated archive as a default output.
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return [DefaultInfo(files = headers)]
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_headers = rule(
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implementation = _headers_impl,
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attrs = {
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"dep": attr.label(
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providers = [CcInfo],
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mandatory = True,
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doc = "The cc_library target whose headers should be extracted.",
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),
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},
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doc = "Extracts the public headers of a C/C++ library.",
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)
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def pkg_files_headers(name, dep):
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"""Makes a pkg_files out of the headers of a cc_library target."""
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_headers(name = name + "-headers", dep = dep)
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pkg_files(
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name = name,
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srcs = [
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":" + name + "-headers",
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],
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strip_prefix = "",
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)
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def pkg_java_src_files(name):
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pkg_files(
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name = name + "-java-srcs",

‎upstream_utils/eigen.py‎

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@@ -136,10 +136,19 @@ def copy_upstream_src(wpilib_root: Path):
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f, [wpimath / "src/main/native/thirdparty/eigen/include"]
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)
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shutil.copyfile(
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for f in [
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".clang-format",
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wpimath / "src/main/native/thirdparty/eigen/include/.clang-format",
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)
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"BUILD.bazel",
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"COPYING.APACHE",
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"COPYING.BSD",
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"COPYING.MINPACK",
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"COPYING.MPL2",
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"WORKSPACE",
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]:
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shutil.copyfile(
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f,
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wpimath / "src/main/native/thirdparty/eigen/include" / f,
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)
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def main():

‎upstream_utils/eigen_patches/0001-Disable-warnings.patch‎

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@@ -1,7 +1,7 @@
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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: Tyler Veness <[email protected]>
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Date: Wed, 18 May 2022 09:14:24 -0700
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Subject: [PATCH 1/2] Disable warnings
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Subject: [PATCH 1/3] Disable warnings
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---
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Eigen/src/Core/util/DisableStupidWarnings.h | 9 +++++++++

‎upstream_utils/eigen_patches/0002-Intellisense-fix.patch‎

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@@ -1,7 +1,7 @@
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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: Peter Johnson <[email protected]>
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Date: Fri, 20 Jan 2023 23:41:56 -0800
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Subject: [PATCH 2/2] Intellisense fix
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Subject: [PATCH 2/3] Intellisense fix
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---
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Eigen/src/Core/util/ConfigureVectorization.h | 7 +++++++

‎upstream_utils/eigen_patches/0003-Add-build-files-from-bzlmod-for-eigen.patch‎

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From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
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From: Austin Schuh <[email protected]>
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Date: Sat, 9 Aug 2025 12:45:23 -0700
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Subject: [PATCH 3/3] Add build files from bzlmod for eigen
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This makes it so our vendored version of eigen matches the same API as
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the upstream eigen in bcr.
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---
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BUILD.bazel | 64 +++++++++++++++++++++++++++++++++++++++++++++++++++++
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WORKSPACE | 0
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2 files changed, 64 insertions(+)
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create mode 100644 BUILD.bazel
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create mode 100644 WORKSPACE
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diff --git a/BUILD.bazel b/BUILD.bazel
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new file mode 100644
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index 0000000000000000000000000000000000000000..38ce6cb417485fb37cafaf1e0f536e7ac56706b0
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--- /dev/null
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+++ b/BUILD.bazel
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@@ -0,0 +1,64 @@
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+load("@rules_cc//cc:cc_library.bzl", "cc_library")
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+load("@rules_license//rules:license.bzl", "license")
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+
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+package(
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+ default_applicable_licenses = [
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+ ":license.APACHE",
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+ ":license.BSD",
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+ ":license.MINPACK", # Only used by unsupported/** not by Eigen/**.
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+ ":license.MPL2",
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+ ],
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+)
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+
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+exports_files(glob(["COPYING.*"]))
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+
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+# Note: Eigen is primarily an MPL2 library with small bits of code under other
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+# licenses. Previous versions of Eigen contained LGPL code which needed to be
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+# carefully excluded, but as of approximately 2023-02-07 all LGPL code has been
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+# removed upstream so does not need any special handling here.
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+
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+license(
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+ name = "license.APACHE",
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+ license_kinds = ["@rules_license//licenses/spdx:Apache-2.0"],
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+ license_text = "COPYING.APACHE",
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+)
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+
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+license(
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+ name = "license.BSD",
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+ license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause"],
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+ license_text = "COPYING.BSD",
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+)
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+
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+license(
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+ name = "license.MINPACK",
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+ license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause-Attribution"],
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+ license_text = "COPYING.MINPACK",
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+)
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+
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+license(
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+ name = "license.MPL2",
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+ license_kinds = ["@rules_license//licenses/spdx:MPL-2.0"],
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+ license_text = "COPYING.MPL2",
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+)
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+
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+HDRS = glob(
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+ [
66+
+ "Eigen/**",
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+ "unsupported/Eigen/**",
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+ ],
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+ exclude = [
70+
+ # We don't want any documentation files.
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+ "**/*.md",
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+ "**/*.txt",
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+ "unsupported/Eigen/NonLinearOptimization",
74+
+ #"unsupported/Eigen/MatrixFunctions",
75+
+ "unsupported/Eigen/Polynomials",
76+
+ ],
77+
+)
78+
+
79+
+cc_library(
80+
+ name = "eigen",
81+
+ hdrs = HDRS,
82+
+ includes = ["."],
83+
+ visibility = ["//visibility:public"],
84+
+)
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diff --git a/WORKSPACE b/WORKSPACE
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new file mode 100644
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index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391

‎wpimath/BUILD.bazel‎

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@@ -7,7 +7,7 @@ load("@rules_python//python:defs.bzl", "py_binary")
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load("//shared/bazel/rules:cc_rules.bzl", "generate_def_windows", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
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load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test")
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load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
10-
load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project")
10+
load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project", "pkg_files_headers")
1111
load("//wpimath:generate.bzl", "generate_wpimath")
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1313
filegroup(
@@ -99,12 +99,17 @@ filegroup(
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srcs = glob(["src/generated/main/java/**/*.java"]),
100100
)
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102-
third_party_cc_lib_helper(
103-
name = "eigen",
104-
include_root = "src/main/native/thirdparty/eigen/include",
102+
alias(
103+
name = "eigen-headers",
104+
actual = "@eigen",
105105
visibility = ["//visibility:public"],
106106
)
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108+
pkg_files_headers(
109+
name = "eigen-hdrs-pkg",
110+
dep = "@eigen",
111+
)
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108113
third_party_cc_lib_helper(
109114
name = "gcem",
110115
include_root = "src/main/native/thirdparty/gcem/include",

‎wpimath/src/main/native/thirdparty/eigen/include/BUILD.bazel‎

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load("@rules_cc//cc:cc_library.bzl", "cc_library")
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load("@rules_license//rules:license.bzl", "license")
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package(
5+
default_applicable_licenses = [
6+
":license.APACHE",
7+
":license.BSD",
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":license.MINPACK", # Only used by unsupported/** not by Eigen/**.
9+
":license.MPL2",
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],
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)
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exports_files(glob(["COPYING.*"]))
14+
15+
# Note: Eigen is primarily an MPL2 library with small bits of code under other
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# licenses. Previous versions of Eigen contained LGPL code which needed to be
17+
# carefully excluded, but as of approximately 2023-02-07 all LGPL code has been
18+
# removed upstream so does not need any special handling here.
19+
20+
license(
21+
name = "license.APACHE",
22+
license_kinds = ["@rules_license//licenses/spdx:Apache-2.0"],
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license_text = "COPYING.APACHE",
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)
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26+
license(
27+
name = "license.BSD",
28+
license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause"],
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license_text = "COPYING.BSD",
30+
)
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32+
license(
33+
name = "license.MINPACK",
34+
license_kinds = ["@rules_license//licenses/spdx:BSD-3-Clause-Attribution"],
35+
license_text = "COPYING.MINPACK",
36+
)
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license(
39+
name = "license.MPL2",
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license_kinds = ["@rules_license//licenses/spdx:MPL-2.0"],
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license_text = "COPYING.MPL2",
42+
)
43+
44+
HDRS = glob(
45+
[
46+
"Eigen/**",
47+
"unsupported/Eigen/**",
48+
],
49+
exclude = [
50+
# We don't want any documentation files.
51+
"**/*.md",
52+
"**/*.txt",
53+
"unsupported/Eigen/NonLinearOptimization",
54+
#"unsupported/Eigen/MatrixFunctions",
55+
"unsupported/Eigen/Polynomials",
56+
],
57+
)
58+
59+
cc_library(
60+
name = "eigen",
61+
hdrs = HDRS,
62+
includes = ["."],
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visibility = ["//visibility:public"],
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)

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