Merge pull request #223 from virtuald/commands

Move robotpy-commands-v2 into mostrobotpy

Author: virtuald

.github/workflows/dist.yml

@@ -71,7 +71,38 @@ jobs:
         ./rdev.sh ci check-tag
 
   #
-  # Build other wheels first (OS-specific, not python specific)
+  # Build pure wheels first
+  #
+
+  build-pure:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Install python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.13'
+
+    - name: Install deps
+      shell: bash
+      run: |
+        python -m pip --disable-pip-version-check install -r rdev_requirements.txt
+
+    - name: Build + test wheels
+      shell: bash
+      run: |
+        ./rdev.sh ci build-pure-wheels
+
+    - uses: actions/upload-artifact@v4
+      with:
+        name: "pypi-pure"
+        path: dist
+
+  #
+  # Build other wheels next (OS-specific, not python specific)
   #
 
   build-other:
@@ -120,7 +151,7 @@ jobs:
 
   build-meson:
     runs-on: ${{ matrix.os }}
-    needs: [setup_concurrency, build-other]
+    needs: [setup_concurrency, build-other, build-pure]
     strategy:
       max-parallel: ${{ fromJSON(needs.setup_concurrency.outputs.max-parallel).v }}
       fail-fast: true
@@ -169,6 +200,12 @@ jobs:
         path: dist-other
         merge-multiple: true
 
+    - uses: actions/download-artifact@v4
+      with:
+        pattern: "pypi-pure"
+        path: dist-other
+        merge-multiple: true
+
     #
     # Platform specific setup
     #
@@ -215,6 +252,12 @@ jobs:
         SCCACHE_WEBDAV_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
         SCCACHE_WEBDAV_PASSWORD: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
 
+    # install + test pure wheels here because this covers all platforms and they need
+    # the meson wheels to run
+    - name: Install and test pure wheels
+      run: |
+        python -m devtools ci install-test-pure-wheels
+
     - name: Ensure all headers are accounted for
       run: |
         python -m devtools ci scan-headers
@@ -394,6 +437,12 @@ jobs:
         path: dist/
         merge-multiple: true
 
+    - uses: actions/download-artifact@v4
+      with:
+        pattern: pypi-pure
+        path: dist/
+        merge-multiple: true
+
     - name: Publish to PyPI
       uses: pypa/gh-action-pypi-publish@release/v1
       with:

README.md

@@ -33,6 +33,7 @@ Next install dependencies using pip:
 
 Then run these commands to build all the wheels for the current operating system.
 
+    ./rdev.sh ci build-pure-wheels
     ./rdev.sh ci build-other-wheels
     ./rdev.sh ci build-meson-wheels
 

devtools/__main__.py

@@ -47,19 +47,24 @@ def info(ctx: Context):
 
 @main.command()
 @click.argument("package", required=False)
+@click.option("--test", default=False, is_flag=True)
 @click.pass_obj
-def develop(ctx: Context, package: str):
+def develop(ctx: Context, package: str, test: bool):
     """Install robotpy packages in editable mode"""
     if package:
         for project in ctx.subprojects.values():
             if project.name == package:
                 project.develop()
+                if test:
+                    project.test()
                 break
         else:
             raise click.BadParameter(f"invalid package {package}")
     else:
         for project in ctx.subprojects.values():
             project.develop()
+            if test:
+                project.test()
 
 
 @main.command()

devtools/ci.py

@@ -69,7 +69,7 @@ def build_other_wheels(ctx: Context, no_test: bool):
     """
 
     for project in ctx.subprojects.values():
-        if project.is_meson_project():
+        if project.is_meson_project() or not project.is_native_project():
             continue
 
         with ctx.handle_exception(project.name):
@@ -130,6 +130,34 @@ def build_meson_wheels(ctx: Context, no_test: bool, cross: T.Optional[str]):
                 project.test(install_requirements=True)
 
 
+@ci.command()
+@click.pass_obj
+def build_pure_wheels(ctx: Context):
+    for project in ctx.subprojects.values():
+        if project.is_meson_project() or project.is_native_project():
+            continue
+
+        ctx.install_build_deps(subproject=project)
+        project.build_wheel(
+            wheel_path=ctx.wheel_path,
+            other_wheel_path=ctx.other_wheel_path,
+            install=False,
+            config_settings=[],
+        )
+
+
+@ci.command()
+@click.pass_obj
+def install_test_pure_wheels(ctx: Context):
+    for project in ctx.subprojects.values():
+        if project.is_meson_project() or project.is_native_project():
+            continue
+
+        with ctx.handle_exception(project.name):
+            ctx.install_from_wheel(subproject=project)
+            project.test(install_requirements=True)
+
+
 @ci.command()
 @click.pass_obj
 def scan_headers(ctx: Context):

devtools/ctx.py

@@ -142,6 +142,17 @@ def install_build_deps(
                 *[str(req) for req in internal],
             )
 
+    def install_from_wheel(self, *, subproject: Subproject):
+        self.run_pip(
+            "install",
+            "--no-index",
+            "--find-links",
+            str(self.wheel_path),
+            "--find-links",
+            str(self.other_wheel_path),
+            subproject.pyproject_name,
+        )
+
     def run_pip(self, *args: str, cwd=None, installing_build_deps: bool = False):
         if installing_build_deps:
             python = self.build_python

devtools/subproject.py

@@ -44,6 +44,13 @@ def is_semiwrap_project(self) -> bool:
     def is_meson_project(self) -> bool:
         return (self.path / "meson.build").exists()
 
+    def is_native_project(self) -> bool:
+        for req in self.build_requires:
+            if req.name == "hatch-robotpy":
+                return True
+
+        return False
+
     #
     # Tasks
     #

devtools/update_pyproject.py

@@ -160,7 +160,8 @@ def update_requirements(self):
     def _update_maven(self, info: ProjectInfo):
         data = info.data
         iter = (
-            data["tool"]["hatch"]["build"]["hooks"]
+            data["tool"]["hatch"]["build"]
+            .get("hooks", {})
             .get("robotpy", {})
             .get("maven_lib_download", [])
         )

docs/api.rst

@@ -145,3 +145,28 @@ These are special devices for use with the XRP product.
   :maxdepth: 1
 
   xrp
+
+.. _command_v2_api:
+
+Commands V2 API
+---------------
+
+Objects in this package allow you to implement a robot using the 
+latest version of WPILib's Command-based programming.  Command
+based programming is a design pattern to help you organize your
+robot programs, by organizing your robot program into components
+based on :class:`.Command` and :class:`.Subsystem`
+
+Each one of the objects in the Command framework has detailed
+documentation available. If you need more information, for examples,
+tutorials, and other detailed information on programming your robot
+using this pattern, we recommend that you consult the Java version of the
+`FRC Control System documentation <https://docs.wpilib.org/en/latest/docs/software/commandbased/index.html>`_
+
+
+.. toctree::
+
+  commands2
+  commands2.button
+  commands2.cmd
+  commands2.sysid

docs/conf.py

@@ -111,3 +111,9 @@
 
 # XRP
 gen_package(root, "xrp")
+
+# Commands
+gen_package(root, "commands2")
+gen_package(root, "commands2.button")
+gen_package(root, "commands2.cmd")
+gen_package(root, "commands2.sysid")

rdev.toml

@@ -140,3 +140,7 @@ robot = false
 [subprojects."robotpy-xrp"]
 py_version = "wrapper"
 robot = false
+
+[subprojects."robotpy-commands-v2"]
+py_version = "wrapper"
+robot = true