Migrate to semiwrap

.gitignore

@@ -1,4 +1,4 @@
-*.pyc
+*.py[ciod]
 *.so
 __pycache__
 
@@ -7,24 +7,14 @@ __pycache__
 .vscode
 
 *.egg-info
-build
-dist
+/build
+/dist
+/lib
 
 /playingwithfusion/version.py
-/playingwithfusion/_init_playingwithfusion.py
-/playingwithfusion/include
-/playingwithfusion/lib
-/playingwithfusion/rpy-include
-/playingwithfusion/pkgcfg.py
-
-/playingwithfusion/_pwf_driver/_init_playingwithfusion_driver.py
-/playingwithfusion/_pwf_driver/include
-/playingwithfusion/_pwf_driver/lib
-/playingwithfusion/_pwf_driver/rpy-include
-/playingwithfusion/_pwf_driver/pkgcfg.py
-
+/playingwithfusion/_init__playingwithfusion.py
+/playingwithfusion/trampolines
+/playingwithfusion/playingwithfusion.pc
 
 *.dylib
 *.dll
-
-rev/rpy-include

meson.build

@@ -0,0 +1,23 @@
+project('robotpy-playingwithfusion', ['cpp'],
+        default_options: ['warning_level=1', 'cpp_std=c++20',
+                          'b_colorout=auto', 'optimization=2', 'b_pie=true'])
+
+subdir('semiwrap')
+
+playingwithfusion_sources += files(
+    'playingwithfusion/pwf.cpp',
+)
+
+#
+# Static link
+#
+
+cpp = meson.get_compiler('cpp')
+libs_path = meson.current_source_dir() + '/lib/lib'
+
+playingwithfusion_deps += [
+    cpp.find_library('PlayingWithFusionDriver', dirs: libs_path),
+    cpp.find_library('PlayingWithFusion', dirs: libs_path),
+]
+
+subdir('semiwrap/modules')

playingwithfusion/__init__.py

@@ -1,9 +1,9 @@
-from . import _init_playingwithfusion
+from . import _init__playingwithfusion
 from .version import version as __version__
 
-# autogenerated by 'robotpy-build create-imports playingwithfusion playingwithfusion._playingwithfusion'
+# autogenerated by 'semiwrap create-imports playingwithfusion playingwithfusion._playingwithfusion'
 from ._playingwithfusion import CANVenom, TMD37003, TimeOfFlight
 
 __all__ = ["CANVenom", "TMD37003", "TimeOfFlight"]
 
-del _init_playingwithfusion
+del _init__playingwithfusion

playingwithfusion/pwf.cpp

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

pyproject.toml

@@ -1,60 +1,80 @@
-[tool.robotpy-build.metadata]
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "hatchling",
+    "hatch-vcs",
+    "semiwrap~=0.1",
+    "hatch-meson~=0.1.0b2",
+    "hatch-robotpy~=0.2.0",
+    "wpilib~=2025.3.2.2",
+]
+
+
+[project]
 name = "robotpy-playingwithfusion"
+dynamic = ["version"]
 description = "PlayingWithFusion for RobotPy"
-author = "RobotPy Development Team"
-author_email = "robotpy@googlegroups.com"
-url = "https://github.com/robotpy/robotpy-playingwithfusion"
 license = "BSD-3-Clause"
-install_requires = [
+dependencies = [
     "robotpy-wpiutil<2026.0.0,>=2025.3.2",
     "robotpy-wpimath<2026.0.0,>=2025.3.2",
     "wpilib<2026.0.0,>=2025.3.2",
 ]
 
-[build-system]
-requires = [
-    "robotpy-build~=2025.1.0",
-    "robotpy-wpiutil<2026.0.0,>=2025.3.2",
-    "robotpy-wpimath<2026.0.0,>=2025.3.2",
-    "wpilib<2026.0.0,>=2025.3.2",
-]
+[[project.authors]]
+name = "RobotPy Development Team"
+email = "robotpy@googlegroups.com"
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/robotpy-playingwithfusion"
+
 
-[tool.robotpy-build]
-base_package = "playingwithfusion"
 
-[tool.robotpy-build.wrappers."playingwithfusion._pwf_driver".maven_lib_download]
+[tool.hatch.version]
+source = "vcs"
+
+[tool.hatch.build.hooks.vcs]
+version-file = "playingwithfusion/version.py"
+
+[tool.hatch.build.targets.wheel]
+packages = ["playingwithfusion"]
+
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "PlayingWithFusion-driver"
 group_id = "com.playingwithfusion.frc"
 repo_url = "https://www.playingwithfusion.com/frc/maven"
 version = "2025.01.23"
+staticlibs = ["PlayingWithFusionDriver"]
+extract_to = "lib"
 
-libs = ["PlayingWithFusionDriver"]
-
-[tool.robotpy-build.wrappers."playingwithfusion._pwf_driver"]
-name = "playingwithfusion_driver"
-depends = ["wpilib_core", "wpiHal", "wpiutil"]
-
-[tool.robotpy-build.wrappers."playingwithfusion".maven_lib_download]
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
 artifact_id = "PlayingWithFusion-cpp"
 group_id = "com.playingwithfusion.frc"
 repo_url = "https://www.playingwithfusion.com/frc/maven"
 version = "2025.01.23"
+staticlibs = ["PlayingWithFusion"]
+extract_to = "lib"
 
-libs = ["PlayingWithFusion"]
 
-[tool.robotpy-build.wrappers."playingwithfusion"]
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+
+[tool.semiwrap]
+update_init = ["playingwithfusion"]
+
+[tool.semiwrap.extension_modules."playingwithfusion._playingwithfusion"]
 name = "playingwithfusion"
-sources = [
-    "playingwithfusion/pwf.cpp"
-]
 
-depends = ["wpilibc", "wpilib_core", "wpiHal", "wpiutil", "playingwithfusion_driver"]
+depends = ["wpilib"]
 
-generate = [
-    { CANVenom = "CANVenom.h" },
-    { TMD37003 = "TMD37003.h" },
-    { TimeOfFlight = "TimeOfFlight.h" },
+includes = [
+    "lib/include"
 ]
 
-generation_data = "gen"
-
+[tool.semiwrap.extension_modules."playingwithfusion._playingwithfusion".headers]
+CANVenom = "CANVenom.h"
+TMD37003 = "TMD37003.h"
+TimeOfFlight = "TimeOfFlight.h"

semiwrap/.gitignore

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

gen/CANVenom.yml → semiwrap/CANVenom.yml

@@ -1,8 +1,6 @@
----
 
 classes:
-  CANVenom:
-    shared_ptr: true
+  pwf::CANVenom:
     ignored_bases:
     - wpi::SendableHelper<CANVenom>
     enums:

gen/TMD37003.yml → semiwrap/TMD37003.yml

@@ -1,8 +1,6 @@
----
 
 classes:
-  TMD37003:
-    shared_ptr: true
+  pwf::TMD37003:
     methods:
       TMD37003:
       ConfigureColorSense:

gen/TimeOfFlight.yml → semiwrap/TimeOfFlight.yml

@@ -1,8 +1,6 @@
----
 
 classes:
-  TimeOfFlight:
-    shared_ptr: true
+  pwf::TimeOfFlight:
     ignored_bases:
     - wpi::SendableHelper<TimeOfFlight>
     enums: