Update robotpy-apriltag to semiwrap

Author: virtuald

subprojects/robotpy-apriltag/.gitignore

@@ -12,8 +12,7 @@ __pycache__
 
 /robotpy_apriltag/include
 /robotpy_apriltag/lib
-/robotpy_apriltag/_init_apriltag.py
-/robotpy_apriltag/pkgcfg.py
+/robotpy_apriltag/_init__apriltag.py
+/robotpy_apriltag/apriltag.pc
 /robotpy_apriltag/version.py
-/robotpy_apriltag/py.typed
-/robotpy_apriltag/rpy-include
+/robotpy_apriltag/trampolines

subprojects/robotpy-apriltag/meson.build

@@ -0,0 +1,11 @@
+project('robotpy-apriltag', ['cpp'],
+        default_options: ['warning_level=1', 'cpp_std=c++20',
+                          'b_colorout=auto', 'optimization=2', 'b_pie=true'])
+
+subdir('semiwrap')
+
+apriltag_sources += files(
+    'robotpy_apriltag/src/main.cpp',
+)
+
+subdir('semiwrap/modules')

subprojects/robotpy-apriltag/pyproject.toml

@@ -1,24 +1,45 @@
-[tool.robotpy-build.metadata]
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "semiwrap~=0.1",
+    "hatch-meson~=0.1.0b2",
+    "hatch-robotpy~=0.2",
+    "hatchling",
+    "robotpy-native-apriltag==2025.3.2",
+    "robotpy-wpiutil==2025.3.2.2",
+    "robotpy-wpimath==2025.3.2.2",
+]
+
+[project]
 name = "robotpy-apriltag"
+version = "2025.3.2.2"
 description = "RobotPy bindings for WPILib's AprilTag library"
-author = "RobotPy Development Team"
-author_email = "[email protected]"
-url = "https://github.com/robotpy/robotpy-cscore"
+authors = [
+    {name = "RobotPy Development Team", email = "[email protected]"},
+]
 license = "BSD-3-Clause"
-install_requires = [
-    "robotpy-wpiutil==THIS_VERSION",
-    "robotpy-wpimath==THIS_VERSION",
+dependencies = [
+    "robotpy-native-apriltag==2025.3.2",
+    "robotpy-wpiutil==2025.3.2.2",
+    "robotpy-wpimath==2025.3.2.2",
 ]
 
-[build-system]
-requires = [
-    "robotpy-build~=2025.1.0",
-    "robotpy-wpiutil~=2025.3.2",
-    "robotpy-wpimath~=2025.3.2",
-]
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "robotpy_apriltag/version.py"
 
-[tool.robotpy-build]
-base_package = "robotpy_apriltag"
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+[tool.hatch.build.targets.wheel]
+packages = ["robotpy_apriltag"]
+
+
+[tool.semiwrap]
 update_init = [
   "robotpy_apriltag robotpy_apriltag._apriltag"
 ]
@@ -36,25 +57,12 @@ scan_headers_ignore = [
   "tag36h11.h",
 ]
 
-[tool.robotpy-build.wrappers."robotpy_apriltag".maven_lib_download]
-artifact_id = "apriltag-cpp"
-group_id = "edu.wpi.first.apriltag"
-repo_url = "https://frcmaven.wpi.edu/artifactory/release"
-version = "2025.3.2"
-
-libs = ["apriltag"]
-
-[tool.robotpy-build.wrappers."robotpy_apriltag"]
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag"]
 name = "apriltag"
+wraps = ["robotpy-native-apriltag"]
+depends = ["wpiutil", "wpimath"]
 
-sources = [
-  "robotpy_apriltag/src/main.cpp",
-]
-
-depends = ["wpiutil", "wpimath_cpp"]
-generation_data = "gen"
-
-[tool.robotpy-build.wrappers."robotpy_apriltag".autogen_headers]
+[tool.semiwrap.extension_modules."robotpy_apriltag._apriltag".headers]
 # frc/apriltag
 AprilTag = "frc/apriltag/AprilTag.h"
 AprilTagDetection = "frc/apriltag/AprilTagDetection.h"

subprojects/robotpy-apriltag/robotpy_apriltag/__init__.py

@@ -1,6 +1,6 @@
-from . import _init_apriltag
+from . import _init__apriltag
 
-# autogenerated by 'robotpy-build create-imports robotpy_apriltag robotpy_apriltag._apriltag'
+# autogenerated by 'semiwrap create-imports robotpy_apriltag robotpy_apriltag._apriltag'
 from ._apriltag import (
     AprilTag,
     AprilTagDetection,

subprojects/robotpy-apriltag/robotpy_apriltag/py.typed

@@ -1,4 +1,4 @@
 
-#include "rpygen_wrapper.hpp"
+#include "semiwrap_init.robotpy_apriltag._apriltag.hpp"
 
-RPYBUILD_PYBIND11_MODULE(m) { initWrapper(m); }
+SEMIWRAP_PYBIND11_MODULE(m) { initWrapper(m); }

subprojects/robotpy-apriltag/robotpy_apriltag/src/main.cpp

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

subprojects/robotpy-apriltag/semiwrap/.gitignore

@@ -1,12 +1,11 @@
----
 
 functions:
   to_json:
     ignore: true
   from_json:
     ignore: true
 classes:
-  AprilTag:
+  frc::AprilTag:
     attributes:
       ID:
       pose:

subprojects/robotpy-apriltag/gen/AprilTag.yml renamed to subprojects/robotpy-apriltag/semiwrap/AprilTag.yml

@@ -1,10 +1,9 @@
----
 
 extra_includes:
 - pybind11/eigen.h
 
 classes:
-  AprilTagDetection:
+  frc::AprilTagDetection:
     methods:
       GetFamily:
       GetId:
@@ -20,7 +19,7 @@ classes:
         return py::str("<AprilTagDetection tag_family={} tag_id={} hamming={} decision_margin={} center={}>")
           .format(self.GetFamily(), self.GetId(), self.GetHamming(), self.GetDecisionMargin(), self.GetCenter());
       })
-  AprilTagDetection::Point:
+  frc::AprilTagDetection::Point:
     attributes:
       x:
       y:

subprojects/robotpy-apriltag/gen/AprilTagDetection.yml renamed to subprojects/robotpy-apriltag/semiwrap/AprilTagDetection.yml

@@ -1,10 +1,9 @@
----
 
 extra_includes:
 - pybind11_typing.h
 
 classes:
-  AprilTagDetector:
+  frc::AprilTagDetector:
     methods:
       AprilTagDetector:
       SetConfig:
@@ -61,7 +60,7 @@ classes:
           :return: list of results
         )doc"
       )
-  AprilTagDetector::Config:
+  frc::AprilTagDetector::Config:
     attributes:
       numThreads:
       quadDecimate:
@@ -71,7 +70,7 @@ classes:
       debug:
     methods:
       operator==:
-  AprilTagDetector::QuadThresholdParameters:
+  frc::AprilTagDetector::QuadThresholdParameters:
     attributes:
       minClusterPixels:
       maxNumMaxima:
@@ -81,15 +80,15 @@ classes:
       deglitch:
     methods:
       operator==:
-  AprilTagDetector::Results:
+  frc::AprilTagDetector::Results:
     rename: _Results
     ignored_bases:
     - std::span<const AprilTagDetection* const>
     force_no_trampoline: true
     methods:
       Results:
         overloads:
-          "":
+          '':
             ignore: true
           void*, const private_init&:
             ignore: true