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Update robotpy-hal to semiwrap
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‎subprojects/robotpy-hal/.gitignore

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.vscode
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__pycache__
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/hal/include
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/hal/lib
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/hal/rpy-include
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/hal/_init_wpiHal.py
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/hal/py.typed
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/hal/pkgcfg.py
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/hal/trampolines
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/hal/_init__wpiHal.py
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/hal/version.py
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/hal/simulation/_init_simulation.py
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/hal/simulation/pkgcfg.py
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/hal/wpihal.pc
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/hal/simulation/_init__simulation.py
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/hal/simulation/hal_simulation.pc
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/hal/simulation/trampolines
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/dist
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/build

‎subprojects/robotpy-hal/hal/__init__.py

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from . import _initialize
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from .exceptions import HALError
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from . import _init_wpiHal
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from . import _init__wpiHal
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from ._wpiHal import *
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from ._wpiHal import __hal_simulation__
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del _init_wpiHal
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del _init__wpiHal

‎subprojects/robotpy-hal/hal/_initialize.py

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@@ -1,4 +1,4 @@
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from . import exceptions, _init_wpiHal, _wpiHal
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from . import exceptions, _init__wpiHal, _wpiHal
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# Always initialize HAL here, disable extension notice because we'll handle
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# that for users

‎subprojects/robotpy-hal/hal/py.typed

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‎subprojects/robotpy-hal/hal/simulation/__init__.py

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@@ -1,4 +1,4 @@
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from . import _init_simulation
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from . import _init__simulation
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from ._simulation import *
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del _init_simulation
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del _init__simulation

‎subprojects/robotpy-hal/hal/simulation/main.cpp

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@@ -1,13 +1,13 @@
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2-
#include <rpygen_wrapper.hpp>
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#include <semiwrap_init.hal.simulation._simulation.hpp>
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#include <pybind11/functional.h>
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#include "sim_cb.h"
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#include "sim_value_cb.h"
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void HALSIM_ResetGlobalHandles();
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RPYBUILD_PYBIND11_MODULE(m) {
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SEMIWRAP_PYBIND11_MODULE(m) {
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py::class_<SimCB> cls_SimCB(m, "SimCB");
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cls_SimCB.doc() = "Simulation callback handle";

‎subprojects/robotpy-hal/hal/src/hal.cpp

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@@ -3,13 +3,13 @@
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#include <hal/HALBase.h>
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#include <hal/DriverStation.h>
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#include <hal/Value.h>
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#include <rpygen_wrapper.hpp>
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#include <semiwrap_init.hal._wpiHal.hpp>
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using namespace pybind11::literals;
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static py::module_ sys_module;
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RPYBUILD_PYBIND11_MODULE(m) {
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SEMIWRAP_PYBIND11_MODULE(m) {
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// Add this manually so it can be used from SimValue
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py::enum_<HAL_Type>(m, "Type")

‎subprojects/robotpy-hal/meson.build

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project('robotpy-hal', ['cpp'],
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default_options: ['warning_level=1', 'cpp_std=c++20',
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'b_colorout=auto', 'optimization=2', 'b_pie=true'])
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subdir('semiwrap')
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wpihal_sources += files(
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'hal/src/hal.cpp',
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)
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hal_simulation_sources += files(
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'hal/simulation/main.cpp',
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'hal/simulation/resethandles.cpp',
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)
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subdir('semiwrap/modules')

‎subprojects/robotpy-hal/pyproject.toml

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@@ -1,27 +1,49 @@
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[tool.robotpy-build.metadata]
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[build-system]
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build-backend = "hatchling.build"
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requires = [
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"semiwrap~=0.1",
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"hatch-meson~=0.1.0b2",
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"hatchling",
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"robotpy-native-wpihal==2025.3.2",
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"robotpy-wpiutil==2025.3.2.2",
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]
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[project]
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name = "robotpy-hal"
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version = "2025.3.2.2"
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description = "Binary wrapper for FRC HAL"
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author = "RobotPy Development Team"
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author_email = "[email protected]"
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url = "https://github.com/robotpy/robotpy-hal"
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authors = [
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{name = "RobotPy Development Team", email = "[email protected]"},
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]
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license = "BSD-3-Clause"
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install_requires = [
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"robotpy-wpiutil==THIS_VERSION",
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dependencies = [
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"robotpy-native-wpihal==2025.3.2",
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"robotpy-wpiutil==2025.3.2.2",
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]
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[build-system]
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requires = [
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"robotpy-build~=2025.1.0",
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"robotpy-wpiutil~=2025.3.2",
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]
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[project.urls]
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"Source code" = "https://github.com/robotpy/mostrobotpy"
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[tool.hatch.build.hooks.robotpy]
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version_file = "hal/version.py"
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[tool.hatch.build.hooks.semiwrap]
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[tool.hatch.build.hooks.meson]
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[tool.robotpy-build]
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base_package = "hal"
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[tool.hatch.build.targets.wheel]
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packages = ["hal"]
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[tool.semiwrap]
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update_init = []
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scan_headers_ignore = [
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"hal/ChipObject.h",
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"hal/DMA.h",
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"hal/Errors.h",
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"hal/HAL.h",
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"hal/UsageReporting.h",
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"hal/Types.h",
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"hal/Value.h",
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"hal/simulation/SPIData.h",
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"hal/simulation/SimCallbackRegistry.h",
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"hal/simulation/SimDataValue.h",
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]
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[tool.robotpy-build.wrappers."hal".maven_lib_download]
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artifact_id = "hal-cpp"
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group_id = "edu.wpi.first.hal"
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# repo_url = "https://frcmaven.wpi.edu/artifactory/release"
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repo_url = "https://frcmaven.wpi.edu/artifactory/release"
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version = "2025.3.2"
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libs = ["wpiHal"]
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[tool.robotpy-build.wrappers."hal"]
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name = "wpiHal"
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sources = [
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"hal/src/hal.cpp"
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"sim_cb.h",
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"sim_value_cb.h",
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]
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generation_data = "gen"
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[tool.semiwrap.extension_modules."hal._wpiHal"]
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name = "wpihal"
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wraps = ["robotpy-native-wpihal"]
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depends = ["wpiutil"]
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[tool.robotpy-build.wrappers."hal".autogen_headers]
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[tool.semiwrap.extension_modules."hal._wpiHal".headers]
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# hal
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Accelerometer = "hal/Accelerometer.h"
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AddressableLED = "hal/AddressableLED.h"
@@ -116,7 +126,7 @@ Threads = "hal/Threads.h"
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# Value = "hal/Value.h"
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# hal/cpp
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# SerialHelper = "hal/cpp/SerialHelper.h"
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SerialHelper = { header="hal/cpp/SerialHelper.h", enable_if="platform_machine == 'roborio'" }
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# UnsafeDIO = "hal/cpp/UnsafeDIO.h"
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# fpga_clock = "hal/cpp/fpga_clock.h"
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# HMB = "hal/roborio/HMB.h"
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# InterruptManager = "hal/roborio/InterruptManager.h"
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[tool.robotpy-build.wrappers."hal".autogen_headers.override.platform_linux_athena]
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SerialHelper = "hal/cpp/SerialHelper.h"
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[tool.robotpy-build.wrappers."hal.simulation"]
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[tool.semiwrap.extension_modules."hal.simulation._simulation"]
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name = "hal_simulation"
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extension = "_simulation"
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sources = [
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"hal/simulation/main.cpp",
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"hal/simulation/resethandles.cpp",
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]
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generation_data = "gen/simulation"
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depends = ["wpiutil", "wpiHal"]
149+
wraps = ["robotpy-native-wpihal"]
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depends = ["wpiutil"]
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yaml_path = "semiwrap/simulation"
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[tool.robotpy-build.wrappers."hal.simulation".autogen_headers]
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[tool.semiwrap.extension_modules."hal.simulation._simulation".headers]
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AccelerometerData = "hal/simulation/AccelerometerData.h"
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AddressableLEDData = "hal/simulation/AddressableLEDData.h"
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AnalogGyroData = "hal/simulation/AnalogGyroData.h"

‎subprojects/robotpy-hal/semiwrap/.gitignore

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/meson.build
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/modules/meson.build
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/trampolines/meson.build

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