Update robotpy-cscore to semiwrap

Author: virtuald

subprojects/robotpy-cscore/.gitignore

@@ -3,16 +3,16 @@
 __pycache__
 *.so
 *.dll
+*.pybind11.json
+*.pc
 
-/cscore/_init_cscore.py
+/cscore/_init__cscore.py
+/cscore/trampolines
+/cscore/version.py
 
-dist
-build
-version.py
-
-/cscore/pkgcfg.py
-/cscore/py.typed
-/cscore/_cscore
+/lib
+/dist
+/build
 
 .project
 .pydevproject

subprojects/robotpy-cscore/cscore/__init__.py

@@ -1,4 +1,4 @@
-from . import _init_cscore
+from . import _init__cscore
 
 # autogenerated by 'robotpy-build create-imports cscore cscore._cscore'
 from ._cscore import (

subprojects/robotpy-cscore/cscore/src/main.cpp

@@ -1,5 +1,5 @@
 
-#include <rpygen_wrapper.hpp>
+#include <semiwrap_init.cscore._cscore.hpp>
 
 #include "cscore_cpp.h"
 
@@ -9,7 +9,7 @@ extern "C" {
 }
 #endif
 
-RPYBUILD_PYBIND11_MODULE(m) {
+SEMIWRAP_PYBIND11_MODULE(m) {
     initWrapper(m);
 
     static int unused; // the capsule needs something to reference

subprojects/robotpy-cscore/meson.build

@@ -0,0 +1,26 @@
+project('robotpy-cscore', ['cpp'],
+        default_options: ['warning_level=1', 'cpp_std=c++20',
+                          'b_colorout=auto', 'optimization=2', 'b_pie=true'])
+
+subdir('semiwrap')
+
+cscore_sources += files(
+  'cscore/src/main.cpp',
+  'cscore/cvnp/cvnp.cpp',
+  'cscore/cvnp/cvnp_synonyms.cpp',
+)
+
+#
+# Statically link to cscore/opencv to avoid exporting opencv symbols
+#
+
+cpp = meson.get_compiler('cpp')
+libs_path = meson.current_source_dir() + '/lib/lib'
+
+cscore_deps += [
+    cpp.find_library('opencv480', dirs: libs_path),
+    cpp.find_library('cscore', dirs: libs_path),
+    cpp.find_library('cameraserver', dirs: libs_path),
+]
+
+subdir('semiwrap/modules')

subprojects/robotpy-cscore/pyproject.toml

@@ -1,68 +1,92 @@
-[tool.robotpy-build.metadata]
-name = "robotpy-cscore"
-description = "RobotPy bindings for cscore image processing library"
-author = "RobotPy Development Team"
-author_email = "[email protected]"
-url = "https://github.com/robotpy/robotpy-cscore"
-license = "BSD-3-Clause"
-install_requires = [
-    "robotpy-wpiutil==THIS_VERSION",
-    "robotpy-wpinet==THIS_VERSION",
-    "pyntcore==THIS_VERSION",
-]
-
 [build-system]
+build-backend = "hatchling.build"
 requires = [
-    "robotpy-build~=2025.1.0",
-    "robotpy-wpiutil~=2025.3.2",
-    "robotpy-wpinet~=2025.3.2",
-    "pyntcore~=2025.3.2",
+    "semiwrap~=0.1",
+    "hatch-meson~=0.1.0b2",
+    "hatch-robotpy~=0.2",
+    "hatchling",
+    "robotpy-wpiutil==2025.3.2.2",
+    "robotpy-wpinet==2025.3.2.2",
+    "pyntcore==2025.3.2.2",
     # "numpy", # required for pybind11-stubgen to not complain, broken in raspbian CI
 ]
 
-[tool.robotpy-build]
-base_package = "cscore"
-update_init = [
-  "cscore"
+[project]
+name = "robotpy-cscore"
+version = "2025.3.2.2"
+description = "RobotPy bindings for cscore image processing library"
+authors = [
+    {name = "RobotPy Development Team", email = "[email protected]"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-wpiutil==2025.3.2.2",
+    "robotpy-wpinet==2025.3.2.2",
+    "pyntcore==2025.3.2.2",
 ]
 
-[tool.robotpy-build.static_libs."cscore_cpp".maven_lib_download]
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+[tool.hatch.build.targets.wheel]
+packages = ["cscore"]
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "cscore/version.py"
+
+#
+# cscore is different -- we download everything as a static library
+# and don't include them in the wheel to avoid OpenCV symbol conflicts
+#
+
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cscore-cpp"
 group_id = "edu.wpi.first.cscore"
 repo_url = "https://frcmaven.wpi.edu/artifactory/release"
 version = "2025.3.2"
 
-libs = ["cscore"]
+staticlibs = ["cscore"]
+extract_to = "lib"
 
-[tool.robotpy-build.static_libs."cameraserver_cpp".maven_lib_download]
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "cameraserver-cpp"
 group_id = "edu.wpi.first.cameraserver"
 repo_url = "https://frcmaven.wpi.edu/artifactory/release"
 version = "2025.3.2"
 
-libs = ["cameraserver"]
+staticlibs = ["cameraserver"]
+extract_to = "lib"
 
-[tool.robotpy-build.static_libs."opencv_cpp".maven_lib_download]
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "opencv-cpp"
 group_id = "edu.wpi.first.thirdparty.frc2024.opencv"
 repo_url = "https://frcmaven.wpi.edu/artifactory/release"
 version = "4.8.0-1"
 
-libs = ["opencv480"]
+staticlibs = ["opencv480"]
+extract_to = "lib"
 
-[tool.robotpy-build.wrappers."cscore"]
-name = "cscore"
 
-sources = [
-  "cscore/src/main.cpp",
-  "cscore/cvnp/cvnp.cpp",
-  "cscore/cvnp/cvnp_synonyms.cpp",
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+
+[tool.semiwrap]
+update_init = [
+    "cscore"
 ]
 
-depends = ["wpiutil", "wpinet", "ntcore", "opencv_cpp", "cscore_cpp", "cameraserver_cpp", ]
-generation_data = "gen"
+[tool.semiwrap.extension_modules."cscore._cscore"]
+name = "cscore"
+
+depends = ["wpiutil", "wpinet", "ntcore", "cscore-casters"]
+includes = [
+    "lib/include"
+]
 
-[tool.robotpy-build.wrappers."cscore".autogen_headers]
+[tool.semiwrap.extension_modules."cscore._cscore".headers]
 # cameraserver
 CameraServer = "cameraserver/CameraServer.h"
 
@@ -72,6 +96,10 @@ cscore_oo = "cscore_oo.h"
 cscore_cv = "cscore_cv.h"
 cscore_runloop = "cscore_runloop.h"
 
-[[tool.robotpy-build.wrappers."cscore".type_casters]]
+[tool.semiwrap.export_type_casters.cscore-casters]
+pypackage = "cscore"
+includedir = ["cscore"]
+
+[[tool.semiwrap.export_type_casters.cscore-casters.headers]]
 header = "cvnp/cvnp.h"
 types = ["cv::Mat"]

subprojects/robotpy-cscore/semiwrap/.gitignore

@@ -0,0 +1,3 @@
+/meson.build
+/modules/meson.build
+/trampolines/meson.build

subprojects/robotpy-cscore/gen/CameraServer.yml renamed to subprojects/robotpy-cscore/semiwrap/CameraServer.yml

@@ -1,10 +1,9 @@
----
 
 extra_includes:
 - optional
 
 classes:
-  CameraServer:
+  frc::CameraServer:
     attributes:
       kBasePort:
       kSize640x480:
@@ -56,7 +55,7 @@ classes:
       AddCamera:
       RemoveCamera:
       SetSize:
-    inline_code: |
+    inline_code: |-
       .def_static("waitForever", []() {
         auto time_module = py::module::import("time");
         while (true) {
@@ -66,4 +65,4 @@ classes:
       .def_static("enableLogging", [](std::optional<int> level) {
         auto lm = py::module::import("cscore._logging");
         lm.attr("enableLogging")(level);
-      }, py::arg("level") = py::none(), py::doc("Enable cscore logging"))
+      }, py::arg("level") = py::none(), py::doc("Enable cscore logging"))

subprojects/robotpy-cscore/gen/cscore_cpp.yml renamed to subprojects/robotpy-cscore/semiwrap/cscore_cpp.yml

@@ -1,4 +1,3 @@
----
 
 functions:
   GetPropertyKind:
@@ -242,15 +241,15 @@ functions:
   GetNetworkInterfaces:
     ignore: true
 classes:
-  UsbCameraInfo:
+  cs::UsbCameraInfo:
     attributes:
       dev:
       path:
       name:
       otherPaths:
       vendorId:
       productId:
-  VideoMode:
+  cs::VideoMode:
     force_no_trampoline: true
     ignored_bases:
     - CS_VideoMode
@@ -269,7 +268,7 @@ classes:
       .def_readwrite("width", &VideoMode::width)
       .def_readwrite("height", &VideoMode::height)
       .def_readwrite("fps", &VideoMode::fps)
-  RawEvent:
+  cs::RawEvent:
     attributes:
       kind:
         ignore: true

subprojects/robotpy-cscore/gen/cscore_cv.yml renamed to subprojects/robotpy-cscore/semiwrap/cscore_cv.yml

@@ -1,4 +1,3 @@
----
 
 extra_includes:
 - opencv2/core/core.hpp
@@ -24,7 +23,7 @@ functions:
   GrabSinkFrameTimeout:
     ignore: true
 classes:
-  CvSource:
+  cs::CvSource:
     doc: A source for user code to provide OpenCV images as video frames.
     force_no_trampoline: true
     methods:
@@ -35,7 +34,7 @@ classes:
           std::string_view, const VideoMode&:
           std::string_view, VideoMode::PixelFormat, int, int, int:
       PutFrame:
-  CvSink:
+  cs::CvSink:
     doc: A sink for user code to accept video frames as OpenCV images.
     force_no_trampoline: true
     methods: