feat: build python wheel

Author: Meow404

BUILD.bazel

@@ -1,2 +1,28 @@
-# This is an empty BUILD file, to ensure that the project's root directory is a
-# bazel package.
+LIBC3_COMPONENTS = [
+    "//core:core",
+    "//multibody:multibody",
+    "//systems:systems",
+]
+
+package(default_visibility = ["//visibility:public"])
+
+# Filegroup collecting all headers
+filegroup(
+    name = "c3_headers",
+    srcs = [
+        "//core:headers",
+        "//multibody:headers",
+        "//systems:headers",
+    ],
+)
+
+# Combined target that provides both the shared library and headers
+cc_library(
+    name = "libc3",
+    hdrs = [":c3_headers"],  # Changed from srcs to hdrs for headers
+    deps = LIBC3_COMPONENTS + [
+        "@drake//:drake_shared_library",
+    ],
+    include_prefix = "c3",
+    visibility = ["//visibility:public"],
+)

bindings/pyc3/BUILD.bazel

@@ -35,7 +35,6 @@ pybind_py_library(
     cc_srcs = ["c3_multibody_py.cc"],
     py_deps = [
         ":module_py",
-        "@drake//bindings/pydrake"
     ],
     py_imports = ["."],
 )
@@ -53,7 +52,6 @@ pybind_py_library(
     cc_srcs = ["c3_systems_py.cc"],
     py_deps = [
         ":module_py",
-        "@drake//bindings/pydrake"
     ],
     py_imports = ["."],
 )
@@ -100,12 +98,16 @@ py_package(
 
 py_wheel(
     name = "pyc3_wheel",
+    author = "DAIRLab",
     # Package data. We're building "example_minimal_package-0.0.1-py3-none-any.whl"
     distribution = "pyc3",
     license = "MIT",
     platform = "linux_x86_64",
     python_tag = "py3",
     strip_path_prefixes = ["bindings/"],
+    requires_file = "//bindings/pyc3:requirements.txt",
     version = "0.0.2",
-    deps = [":c3_pkg"],
+    deps = [
+        ":c3_pkg",
+    ],
 )

bindings/pyc3/__init__.py

@@ -1,4 +1,5 @@
 # Importing everything in this directory to this package
+import pydrake
 from . import *
 from .c3 import *
 from .systems import *

bindings/pyc3/requirements.txt

@@ -0,0 +1,2 @@
+drake
+

core/BUILD.bazel

@@ -3,6 +3,16 @@
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "core",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":c3",
+        ":options",
+        ":lcs",
+    ],
+)
+
 cc_library(
     name = "options",
     hdrs = ["c3_options.h",
@@ -12,6 +22,13 @@ cc_library(
     ],
 )
 
+filegroup(
+    name = "default_solver_options",
+    srcs = [
+        "configs/solver_options_default.yaml",
+    ],
+)
+
 cc_library(
     name = "c3",
     srcs = [
@@ -30,11 +47,11 @@ cc_library(
         "c3_miqp.h",
         "c3_qp.h",
     ],
+    data = [
+        ":default_solver_options",
+    ],
     copts = ["-fopenmp"],
     linkopts = ["-fopenmp"],
-    data = glob([
-        "configs/**",
-    ]),
     deps = [
         ":lcs",
         ":options",
@@ -43,6 +60,7 @@ cc_library(
          "//tools:with_gurobi": ["@gurobi//:gurobi_cxx"],
          "//conditions:default": [],
     }),
+    includes = ['.']
 )
 
 cc_library(
@@ -83,4 +101,11 @@ cc_test(
     ],
 )
 
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+    ]),
+    visibility = ["//visibility:public"],
+)
 

multibody/BUILD.bazel

@@ -3,6 +3,15 @@
 
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "multibody",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":lcs_factory",
+        ":options"
+    ],
+)
+
 cc_library(
     name = "lcs_factory",
     srcs = ["lcs_factory.cc",
@@ -47,5 +56,12 @@ cc_test(
         ":lcs_factory",
         "@gtest//:main",
     ],
+)
 
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+    ]),
+    visibility = ["//visibility:public"],
 )

systems/BUILD.bazel

@@ -4,43 +4,79 @@
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "vector",
+    name = "systems",
+    visibility = ["//visibility:public"],
+    deps = [
+        ":framework",
+        ":options",
+        ":c3_controller",
+        ":lcs_simulator",
+        ":lcs_factory_system",
+    ]
+)
+
+cc_library(
+    name = "framework",
     srcs = [
+        "framework/c3_output.cc",
         "framework/timestamped_vector.cc",
     ],
     hdrs = [
+        "framework/c3_output.h",
         "framework/timestamped_vector.h",
     ],
     deps = [
         "@drake//:drake_shared_library",
     ],
 )
 
-cc_library(
-    name = "systems",
+cc_library( name = "c3_controller",
     srcs = [
         "c3_controller.cc",
-        "lcs_simulator.cc",
-        "framework/c3_output.cc",
-        "lcs_factory_system.cc",
     ],
     hdrs = [
         "c3_controller.h",
-        "lcs_simulator.h",
-        "framework/c3_output.h",
-        "lcs_factory_system.h",
-        
-        ],
+    ],
     deps = [
-        ":vector",
         ":options",
+        ":framework",
         "//core:c3",
         "//core:options",
         "//multibody:lcs_factory",
         "@drake//:drake_shared_library",
     ],
 )
 
+cc_library( name = "lcs_simulator",
+    srcs = [
+        "lcs_simulator.cc",
+    ],
+    hdrs = [
+        "lcs_simulator.h",
+    ],
+    deps = [
+        "//core:lcs",
+        "@drake//:drake_shared_library",
+    ],
+)
+
+cc_library(
+    name = "lcs_factory_system",
+    srcs = [
+        "lcs_factory_system.cc",
+    ],
+    hdrs = [
+        "lcs_factory_system.h",
+    ],
+    deps = [
+        ":framework",
+        "//core:lcs",
+        "//core:options",
+        "//multibody:lcs_factory",
+        "@drake//:drake_shared_library",
+    ],
+)
+
 cc_library(
     name = "options",
     hdrs = [
@@ -64,7 +100,6 @@ cc_library(
         "@drake//:drake_shared_library",
     ],
 )
-
 cc_test(
     name = "systems_test",
     srcs = [
@@ -91,7 +126,16 @@ cc_test(
     ],
     deps = [
         ":systems",
-        ":vector",
+        ":framework",
         "@gtest//:main",
     ],
 )
+
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+        "**/*.h",
+    ]),
+    visibility = ["//visibility:public"],
+)