Migrate to semiwrap

.gitignore

@@ -1,4 +1,4 @@
-*.py[cod]
+*.py[codi]
 *.egg-info
 __pycache__
 
@@ -7,12 +7,15 @@ __pycache__
 *.dll
 
 /navx/include
-/navx/rpy-include
-/navx/_init_navx.py
-/navx/pkgcfg.py
+/navx/trampolines
+/navx/_init__navx.py
+/navx/_init_studica_api.py
+/navx/navx.pc
+/navx/studica_api.pc
 /navx/version.py
 
 .cache
 .coverage
 build
 dist
+/lib

meson.build

@@ -0,0 +1,23 @@
+project('robotpy-navx', ['cpp'],
+        default_options: ['warning_level=1', 'cpp_std=c++20',
+                          'b_colorout=auto', 'optimization=2', 'b_pie=true'])
+
+subdir('semiwrap')
+
+navx_sources += files(
+    'navx/src/rpy/navx.cpp',
+)
+
+#
+# Static link
+#
+
+cpp = meson.get_compiler('cpp')
+libs_path = meson.current_source_dir() + '/lib/lib'
+
+navx_deps += [
+    cpp.find_library('StudicaDriver', dirs: libs_path),
+    cpp.find_library('Studica', dirs: libs_path),
+]
+
+subdir('semiwrap/modules')

navx/__init__.py

@@ -1,6 +1,6 @@
-from . import _init_navx
+from . import _init__navx
 
-# autogenerated by 'robotpy-build create-imports navx navx._navx'
+# autogenerated by 'semiwrap create-imports navx navx._navx'
 from ._navx import AHRS
 
 __all__ = ["AHRS"]

navx/src/rpy/navx.cpp

@@ -1,3 +1,3 @@
-#include <rpygen_wrapper.hpp>
+#include <semiwrap_init.navx._navx.hpp>
 
-RPYBUILD_PYBIND11_MODULE(m) { initWrapper(m); }
+SEMIWRAP_PYBIND11_MODULE(m) { initWrapper(m); }

pyproject.toml

@@ -1,60 +1,77 @@
 [build-system]
+build-backend = "hatchling.build"
 requires = [
-    "robotpy-build~=2025.1.0",
-    "wpilib<2026,>=2025.3.2",
+    "hatchling",
+    "hatch-vcs",
+    "semiwrap~=0.1",
+    "hatch-meson~=0.1.0b2",
+    "hatch-robotpy~=0.2.0",
+    "wpilib~=2025.3.2.2",
 ]
 
-[tool.robotpy-build]
-base_package = "navx"
 
-[tool.robotpy-build.metadata]
+[project]
 name = "robotpy-navx"
-description = "Python wrapper for KauaiLabs NavX sensor"
-author = "RobotPy Development Team"
-author_email = "robotpy@googlegroups.com"
-url = "https://github.com/robotpy/robotpy-navx"
+dynamic = ["version"]
+description = "Python wrapper for Studica NavX sensor"
 license = "BSD-3-Clause"
-install_requires = [
-    "wpilib<2026,>=2025.3.2",
+dependencies = [
+    "wpilib~=2025.3.2.2",
 ]
 
-[tool.robotpy-build.static_libs."studica_driver".maven_lib_download]
-artifact_id = "Studica-driver"
+[[project.authors]]
+name = "RobotPy Development Team"
+email = "robotpy@googlegroups.com"
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/robotpy-navx"
+
+
+[tool.hatch.version]
+source = "vcs"
+
+[tool.hatch.build.hooks.vcs]
+version-file = "navx/version.py"
+
+[tool.hatch.build.targets.wheel]
+packages = ["navx"]
+
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "Studica-cpp"
 group_id = "com.studica.frc"
 repo_url = "https://dev.studica.com/maven/release/2025"
 version = "2025.0.1"
-libs = ["StudicaDriver"]
+staticlibs = ["Studica"]
+extract_to = "lib"
 
-[tool.robotpy-build.static_libs."studica_lib".maven_lib_download]
-artifact_id = "Studica-cpp"
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "Studica-driver"
 group_id = "com.studica.frc"
 repo_url = "https://dev.studica.com/maven/release/2025"
 version = "2025.0.1"
-libs = ["Studica"]
+staticlibs = ["StudicaDriver"]
+extract_to = "lib"
+
+
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
 
-[tool.robotpy-build.wrappers."navx"]
+
+[tool.semiwrap]
+update_init = ["navx"]
+
+[tool.semiwrap.extension_modules."navx._navx"]
 name = "navx"
+
 depends = [
-    "wpilib_core",
-    "wpimath_cpp",
-    "wpimath_geometry",
-    "wpiHal",
-    "wpilibc",
-    "wpilib_core",
-    "wpimath_cpp",
-    "wpimath_geometry",
-    "wpiHal",
-    "ntcore",
-    "wpiutil",
-    "studica_driver",
-    "studica_lib",
+    "wpilib",
 ]
 
-sources = [
-    "navx/src/rpy/navx.cpp"
+includes = [
+    "lib/include"
 ]
 
-generate = [
-    { AHRS = "studica/AHRS.h" },
-]
-generation_data = "gen"
+[tool.semiwrap.extension_modules."navx._navx".headers]
+AHRS = "studica/AHRS.h"

semiwrap/.gitignore

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

gen/AHRS.yml → semiwrap/AHRS.yml

@@ -1,10 +1,9 @@
----
 
 extra_includes:
 - wpi/sendable/SendableHelper.h
 
 classes:
-  AHRS:
+  ::studica::AHRS:
     ignored_bases:
     - wpi::SendableHelper<studica::AHRS>
     enums:
@@ -621,8 +620,7 @@ classes:
       Calibrate:
         doc: |
           Does nothing
-  AHRS::BoardYawAxis:
-    shared_ptr: true
+  ::studica::AHRS::BoardYawAxis:
     attributes:
       board_axis:
       up: