Replace setup.py with pyproject.toml for Python package builds

The direct invocation of setup.py for building wheels and sdists is
deprecated by setuptools.  Migrate both moteus and moteus_gui packages
to use pyproject.toml (PEP 621) for metadata and `python3 -m build`
for package creation.

Author: jpieper

.github/workflows/ci.yml

@@ -12,7 +12,7 @@ jobs:
     - name: setup
       run: |
         sudo apt update
-        sudo apt install -y python3-can python3-serial python3-setuptools python3-pyelftools python3-qtpy python3-wheel python3-importlib-metadata python3-scipy python3-usb mypy nodejs
+        sudo apt install -y python3-build python3-can python3-serial python3-setuptools python3-pyelftools python3-qtpy python3-wheel python3-importlib-metadata python3-scipy python3-usb mypy nodejs
         wget http://security.ubuntu.com/ubuntu/pool/universe/n/ncurses/libtinfo5_6.3-2ubuntu0.1_amd64.deb
         sudo apt install -y ./libtinfo5_6.3-2ubuntu0.1_amd64.deb
     - name: test

CLAUDE.md

@@ -24,7 +24,7 @@ To run the python unit tests, the following Ubuntu python packages must be insta
 
 ```
 sudo apt update
-sudo apt install -y python3-can python3-serial python3-setuptools python3-pyelftools python3-qtpy python3-wheel python3-importlib-metadata python3-scipy python3-usb mypy nodejs
+sudo apt install -y python3-build python3-can python3-serial python3-setuptools python3-pyelftools python3-qtpy python3-wheel python3-importlib-metadata python3-scipy python3-usb mypy nodejs
 ```
 
 The apt packages (numpy, scipy, etc.) are built for the system Python 3.12. If `/usr/local/bin/python3` exists and points to a different Python version, it will shadow the system Python and cause import failures. Remove or rename it:

lib/python/BUILD

@@ -29,8 +29,8 @@ test_suite(
 )
 
 template_file(
-    name = "setup.py",
-    src = "setup.py.TPL",
+    name = "pyproject.toml",
+    src = "pyproject.toml.TPL",
     substitutions = {
         "{{VERSION}}" : '"{}"'.format(VERSION),
     },
@@ -39,7 +39,7 @@ template_file(
 genrule(
     name = "bdist_wheel",
     srcs = [
-        "setup.py",
+        "pyproject.toml",
         "README.md",
         "//lib/python/moteus",
         "//lib/python/moteus:version.py",
@@ -53,11 +53,10 @@ genrule(
         "RELOUT=$$(realpath --relative-to $$(dirname $(location README.md)) " +
         "          $$(dirname $(location moteus-{ver}.tar.gz))) && " +
         "SRCROOT=$$(dirname $(location README.md)) && " +
-        "ln -s $$(realpath $(location setup.py)) $$SRCROOT/setup.py && " +
+        "ln -s $$(realpath $(location pyproject.toml)) $$SRCROOT/pyproject.toml && " +
         "ln -s $$(realpath $(location //lib/python/moteus:version.py)) $$SRCROOT/moteus/version.py && " +
         "cd $$SRCROOT && " +
-        "python3 setup.py sdist --dist-dir $$RELOUT 1>/dev/null && " +
-        "python3 setup.py bdist_wheel --dist-dir $$RELOUT 1> /dev/null " +
+        "python3 -m build --no-isolation --outdir $$RELOUT 1>/dev/null " +
         ""
     ).format(ver=VERSION),
 )

lib/python/pyproject.toml

@@ -0,0 +1,53 @@
+[build-system]
+requires = ["setuptools", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "moteus"
+version = {{VERSION}}
+description = "moteus brushless controller library and tools"
+readme = "README.md"
+license = {text = "Apache-2.0"}
+requires-python = ">=3.7, <4"
+authors = [{name = "mjbots Robotic Systems", email = "info@mjbots.com"}]
+keywords = ["moteus"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "License :: OSI Approved :: Apache Software License",
+    "Programming Language :: Python :: 3",
+]
+dependencies = [
+    "pyserial>=3.5",
+    "python-can>=3.3",
+    "pyelftools>=0.26",
+    "scipy>=1.8.0",
+    "importlib_metadata>=3.6",
+    "pywin32; platform_system == 'Windows'",
+    "packaging",
+]
+
+[project.urls]
+Homepage = "https://github.com/mjbots/moteus"
+
+[project.scripts]
+moteus_tool = "moteus.moteus_tool:main"
+
+[tool.setuptools]
+packages = ["moteus"]
+
+[tool.mypy]
+python_version = "3.11"
+warn_unused_configs = true
+ignore_missing_imports = true
+
+# Start with basic checking, not strict
+# These are disabled to allow gradual adoption
+disallow_untyped_defs = false
+check_untyped_defs = false
+warn_return_any = false
+
+# Exclude test files from checks initially
+[[tool.mypy.overrides]]
+module = ["moteus.test.*"]
+ignore_errors = true

lib/python/pyproject.toml.TPL

@@ -95,7 +95,7 @@ fi
 
 # Python dependencies
 echo "Installing Python dependencies..."
-apt-get install -y python3-can python3-serial python3-setuptools python3-pyelftools \
+apt-get install -y python3-build python3-can python3-serial python3-setuptools python3-pyelftools \
     python3-qtpy python3-wheel python3-importlib-metadata python3-scipy python3-usb mypy nodejs
 
 echo ""

lib/python/setup.py.TPL

@@ -27,16 +27,16 @@ test_suite(
 )
 
 template_file(
-    name = "setup.py",
-    src = "setup.py.TPL",
+    name = "pyproject.toml",
+    src = "pyproject.toml.TPL",
     substitutions = {
         "{{VERSION}}" : '"{}"'.format(VERSION),
     },
 )
 
 genrule(
     name = "bdist_wheel",
-    srcs = ["setup.py", "README.md", "//utils/gui/moteus_gui:tview",
+    srcs = ["pyproject.toml", "README.md", "//utils/gui/moteus_gui:tview",
             # We separately list :datafiles because bazel does not have
             # any way for py_library/binary rules to carry around non-.py
             # dependencies for "compile-time" use.  This lets us get
@@ -53,11 +53,10 @@ genrule(
         "RELOUT=$$(realpath --relative-to $$(dirname $(location README.md)) " +
         "          $$(dirname $(location moteus_gui-{ver}.tar.gz))) && " +
         "SRCROOT=$$(dirname $(location README.md)) && " +
-        "ln -s $$(realpath $(location setup.py)) $$SRCROOT/setup.py && " +
+        "ln -s $$(realpath $(location pyproject.toml)) $$SRCROOT/pyproject.toml && " +
         "ln -s $$(realpath $(location //utils/gui/moteus_gui:version.py)) $$SRCROOT/moteus_gui/version.py && " +
         "cd $$SRCROOT && " +
-        "python3 setup.py sdist --dist-dir $$RELOUT 1>/dev/null && " +
-        "python3 setup.py bdist_wheel --dist-dir $$RELOUT 1> /dev/null " +
+        "python3 -m build --no-isolation --outdir $$RELOUT 1>/dev/null " +
         ""
     ).format(ver=VERSION),
 )

utils/download_bazel_deps.sh

@@ -0,0 +1,43 @@
+[build-system]
+requires = ["setuptools", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "moteus_gui"
+version = {{VERSION}}
+description = "moteus brushless controller graphical user interfaces"
+readme = "README.md"
+license = {text = "Apache-2.0"}
+requires-python = ">=3.7, <4"
+authors = [{name = "mjbots Robotic Systems", email = "info@mjbots.com"}]
+keywords = ["moteus"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "License :: OSI Approved :: Apache Software License",
+    "Programming Language :: Python :: 3",
+]
+dependencies = [
+    "asyncqt>=0.8",
+    "moteus~=0.3.92",
+    "matplotlib>=3.9",
+    # For some reason, matplotlib can barf without this, but
+    # doesn't actually list it as a dependency on Windows.
+    "msvc-runtime; platform_system == 'Windows' and python_version < '3.12'",
+    "PySide6>=6.6",
+    "qtconsole>=5.6",
+    "qtpy>=2.0.1",
+    "scipy>=1.14",
+]
+
+[project.urls]
+Homepage = "https://github.com/mjbots/moteus"
+
+[project.scripts]
+tview = "moteus_gui.tview:main"
+
+[tool.setuptools]
+packages = ["moteus_gui"]
+
+[tool.setuptools.package-data]
+moteus_gui = ["tview_main_window.ui"]