Add python support

.github/workflows/ci.yml

@@ -153,4 +153,82 @@ jobs:
         with:
           path: "depjson"
           destination: "grapple-frc-maven"
-          parent: false
+          parent: false
+
+  linux-py:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target: [x86_64, x86, aarch64, armv7, s390x, ppc64le]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 17
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
+      - name: Install Clang
+        run: sudo apt-get update && sudo apt-get install -y libclang1-15 clang llvm gcc-multilib
+      - name: Prepare Rust Libs
+        run: ./gradlew updateRustLibs --max-workers 1
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release -m grpl-py/Cargo.toml -i 3.12
+          sccache: 'true'
+          manylinux: auto
+
+  windows-py:
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        target: [x64, x86]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 17
+      - uses: actions/setup-python@v4
+        with:
+          python-version: '3.12'
+      - name: Setup Rust
+        uses: ATiltedTree/setup-rust@v1
+        with:
+          rust-version: stable
+      - name: Setup Rust Toolchain (Windows Arm64)
+        run: rustup target add aarch64-pc-windows-msvc
+      - name: Prepare Rust Libs
+        run: ./gradlew updateRustLibs --max-workers 1
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release -m grpl-py/Cargo.toml -i 3.12
+          sccache: 'true'
+
+  # macos-py:
+  #   runs-on: macos-latest
+  #   strategy:
+  #     matrix:
+  #       target: [x86_64, aarch64]
+  #   steps:
+  #     - uses: actions/checkout@v3
+  #     - uses: actions/setup-java@v3
+  #       with:
+  #         distribution: 'zulu'
+  #         java-version: 17
+  #     - uses: actions/setup-python@v4
+  #       with:
+  #         python-version: '3.12'
+  #     - name: Prepare Rust Libs
+  #       run: ./gradlew updateRustLibs --max-workers 1
+  #     - name: Build wheels
+  #       uses: PyO3/maturin-action@v1
+  #       with:
+  #         target: ${{ matrix.target }}
+  #         args: --release -m grpl-py/Cargo.toml
+  #         sccache: 'true'

.gitignore

@@ -158,3 +158,80 @@ bin/
 
 
 # End of https://www.gitignore.io/api/c++,java,linux,macos,gradle,windows,visualstudiocode
+
+#pyo3
+/target
+
+# env
+.env
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+.pytest_cache/
+*.py[cod]
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+.venv/
+env/
+bin/
+build/
+develop-eggs/
+dist/
+eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+include/
+man/
+venv/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+pip-selfcheck.json
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.cache
+nosetests.xml
+coverage.xml
+
+# Translations
+*.mo
+
+# Mr Developer
+.mr.developer.cfg
+.project
+.pydevproject
+
+# Rope
+.ropeproject
+
+# Django stuff:
+*.log
+*.pot
+
+.DS_Store
+
+# Sphinx documentation
+docs/_build/
+
+# PyCharm
+.idea/
+
+# VSCode
+.vscode/
+
+# Pyenv
+.python-version

.vscode/settings.json

@@ -14,6 +14,96 @@
     "system_error": "cpp",
     "*.tcc": "cpp",
     "optional": "cpp",
-    "ranges": "cpp"
+    "ranges": "cpp",
+    "any": "cpp",
+    "array": "cpp",
+    "atomic": "cpp",
+    "bit": "cpp",
+    "bitset": "cpp",
+    "cctype": "cpp",
+    "chrono": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "codecvt": "cpp",
+    "compare": "cpp",
+    "complex": "cpp",
+    "concepts": "cpp",
+    "condition_variable": "cpp",
+    "cstdarg": "cpp",
+    "cstddef": "cpp",
+    "cstdint": "cpp",
+    "cstdio": "cpp",
+    "cstdlib": "cpp",
+    "cstring": "cpp",
+    "ctime": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "deque": "cpp",
+    "forward_list": "cpp",
+    "list": "cpp",
+    "map": "cpp",
+    "set": "cpp",
+    "string": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "iterator": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "numeric": "cpp",
+    "random": "cpp",
+    "ratio": "cpp",
+    "string_view": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "fstream": "cpp",
+    "initializer_list": "cpp",
+    "iomanip": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "limits": "cpp",
+    "mutex": "cpp",
+    "new": "cpp",
+    "numbers": "cpp",
+    "scoped_allocator": "cpp",
+    "semaphore": "cpp",
+    "shared_mutex": "cpp",
+    "span": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "stop_token": "cpp",
+    "streambuf": "cpp",
+    "thread": "cpp",
+    "cinttypes": "cpp",
+    "typeinfo": "cpp",
+    "valarray": "cpp",
+    "variant": "cpp",
+    "charconv": "cpp",
+    "expected": "cpp",
+    "filesystem": "cpp",
+    "format": "cpp",
+    "ios": "cpp",
+    "locale": "cpp",
+    "queue": "cpp",
+    "stack": "cpp",
+    "xfacet": "cpp",
+    "xhash": "cpp",
+    "xiosbase": "cpp",
+    "xlocale": "cpp",
+    "xlocbuf": "cpp",
+    "xlocinfo": "cpp",
+    "xlocmes": "cpp",
+    "xlocmon": "cpp",
+    "xlocnum": "cpp",
+    "xloctime": "cpp",
+    "xmemory": "cpp",
+    "xstring": "cpp",
+    "xtr1common": "cpp",
+    "xtree": "cpp",
+    "xutility": "cpp"
   }
 }

build.gradle

@@ -49,7 +49,7 @@ nativeUtils {
 
   nativeDependencyContainer {
     libgrapplefrcdriver(getNativeDependencyTypeClass('WPISharedMavenDependency')) {
-      version = "2024.0.0-beta3"
+      version = "2024.2.1"
       groupId = "au.grapplerobotics"
       artifactId = "libgrapplefrcdriver"
       ext = "zip"
@@ -114,44 +114,29 @@ model {
 import java.nio.file.Files;
 import java.nio.file.StandardCopyOption;
 
+def sets = [
+  "hal_shared", "wpiutil_shared"
+]
+
 task updateRustLibs() {
   doLast {
-    nativeUtils.nativeDependencyContainer.getByName("driver_shared", libset -> {
-      def debugBuildType = nativeUtils.buildTypes.named('debug').get()
-      def releaseBuildType = nativeUtils.buildTypes.named('release').get()
-      for (targetPlatform in nativeUtils.platforms) {
-        def resolved = libset.resolveNativeDependency(targetPlatform, releaseBuildType, java.util.Optional.empty()).get()
-        def resolvedDebug = libset.resolveNativeDependency(targetPlatform, debugBuildType, java.util.Optional.empty()).get()
-
-        def headers = []
-        def libs = []
-
-        resolved.getLinkFiles().forEach({ f -> libs += f })
-        resolvedDebug.getLinkFiles().forEach({ f -> libs += f })
-        resolved.getIncludeRoots().forEach({ f -> headers += f })
-
-        def triple = rust_triple(targetPlatform)
-        def outdir = project.file("grapplefrcdriver/buildlibs/${triple}")
-        new File(outdir, "libs").mkdirs()
-        new File(outdir, "headers").mkdirs()
-
-        libs.forEach({ lf ->
-          copy {
-            from lf
-            into "${outdir}/libs"
-          }
-        })
-
-        headers.forEach({ hd ->
-          copy {
-            from hd
-            into "${outdir}/headers"
-          }
-        })
-
-        if (targetPlatform.name == "osxuniversal") {
-          // 2nd copy needed for arm
-          outdir = project.file("grapplefrcdriver/buildlibs/aarch64-apple-darwin")
+    sets.each { set -> {
+      nativeUtils.nativeDependencyContainer.getByName(set, libset -> {
+        def debugBuildType = nativeUtils.buildTypes.named('debug').get()
+        def releaseBuildType = nativeUtils.buildTypes.named('release').get()
+        for (targetPlatform in nativeUtils.platforms) {
+          def resolved = libset.resolveNativeDependency(targetPlatform, releaseBuildType, java.util.Optional.empty()).get()
+          def resolvedDebug = libset.resolveNativeDependency(targetPlatform, debugBuildType, java.util.Optional.empty()).get()
+
+          def headers = []
+          def libs = []
+
+          resolved.getLinkFiles().forEach({ f -> libs += f })
+          resolvedDebug.getLinkFiles().forEach({ f -> libs += f })
+          resolved.getIncludeRoots().forEach({ f -> headers += f })
+
+          def triple = rust_triple(targetPlatform)
+          def outdir = project.file("grapplefrcdriver/buildlibs/${triple}")
           new File(outdir, "libs").mkdirs()
           new File(outdir, "headers").mkdirs()
 
@@ -168,9 +153,30 @@ task updateRustLibs() {
               into "${outdir}/headers"
             }
           })
+
+          if (targetPlatform.name == "osxuniversal") {
+            // 2nd copy needed for arm
+            outdir = project.file("grapplefrcdriver/buildlibs/aarch64-apple-darwin")
+            new File(outdir, "libs").mkdirs()
+            new File(outdir, "headers").mkdirs()
+
+            libs.forEach({ lf ->
+              copy {
+                from lf
+                into "${outdir}/libs"
+              }
+            })
+
+            headers.forEach({ hd ->
+              copy {
+                from hd
+                into "${outdir}/headers"
+              }
+            })
+          }
         }
-      }
-    })
+      })
+    }}
   }
 }