Integrate robotpy build

.github/workflows/python.yml

@@ -1,23 +1,23 @@
 name: Build and Distribute PhotonLibPy
 
 permissions:
-  id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+  id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
 
 on:
   push:
-    branches: [ master ]
+    branches: [master]
     tags:
-      - 'v*'
+      - "v*"
     paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
+      - "**"
+      - "!docs/**"
+      - ".github/**"
   pull_request:
-    branches: [ master ]
+    branches: [master]
     paths:
-      - '**'
-      - '!docs/**'
-      - '.github/**'
+      - "**"
+      - "!docs/**"
+      - ".github/**"
   merge_group:
 
 jobs:
@@ -38,7 +38,7 @@ jobs:
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest mypy
+          pip install setuptools wheel pytest mypy robotpy_build
 
       - name: Build wheel
         working-directory: ./photon-lib/py
@@ -48,8 +48,8 @@ jobs:
       - name: Run Unit Tests
         working-directory: ./photon-lib/py
         run: |
-            pip install --no-cache-dir dist/*.whl
-            pytest
+          pip install --no-cache-dir dist/*.whl
+          pytest
 
       - name: Run mypy type checking
         uses: liskin/gh-problem-matcher-wrap@v3
@@ -58,7 +58,6 @@ jobs:
           run: |
             mypy --show-column-numbers --config-file photon-lib/py/pyproject.toml photon-lib
 
-
       - name: Upload artifacts
         uses: actions/upload-artifact@master
         with:
@@ -73,4 +72,4 @@ jobs:
           packages_dir: ./photon-lib/py/dist/
 
     permissions:
-      id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+      id-token: write # IMPORTANT: this permission is mandatory for trusted publishing

.github/workflows/robotpy.yml

@@ -0,0 +1,27 @@
+---
+name: dist
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+    tags:
+      - "*"
+
+defaults:
+  run:
+    working-directory: ./photon-lib/py
+
+jobs:
+  ci:
+    uses: robotpy/build-actions/.github/workflows/package-ci.yml@v2025
+    with:
+      artifactory_repo_type: vendor
+    secrets:
+      META_REPO_ACCESS_TOKEN: ${{ secrets.REPO_ACCESS_TOKEN }}
+      RTD_TOKEN: ${{ secrets.RTD_TOKEN }}
+      RTD_WEBHOOK: ${{ secrets.RTD_WEBHOOK }}
+      WPI_ARTIFACTORY_USERNAME: ${{ secrets.WPI_ARTIFACTORY_USERNAME }}
+      WPI_ARTIFACTORY_TOKEN: ${{ secrets.WPI_ARTIFACTORY_TOKEN }}
+      PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}

photon-lib/py/.gitignore

@@ -3,3 +3,10 @@ dist/
 build/
 .eggs/
 photonlibpy/version.py
+photonlibpy/timesync/include
+photonlibpy/timesync/rpy-include
+photonlibpy/timesync/__pycache__
+photonlibpy/timesync/pkgcfg.py
+photonlibpy/timesync/_init*.py
+photonlibpy/timesync/*.pyi
+photonlibpy/timesync/*.so

photon-lib/py/photonlibpy/generated/PhotonPipelineResultSerde.py

@@ -42,7 +42,9 @@ def pack(value: "PhotonPipelineResult") -> "Packet":
         ret = Packet()
 
         # metadata is of non-intrinsic type PhotonPipelineMetadata
-        ret.encodeBytes(PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData())
+        ret.encodeBytes(
+            PhotonPipelineMetadata.photonStruct.pack(value.metadata).getData()
+        )
 
         # targets is a custom VLA!
         ret.encodeList(value.targets, PhotonTrackedTarget.photonStruct)

photon-lib/py/photonlibpy/photonCamera.py

@@ -27,7 +27,7 @@
 
 from .packet import Packet
 from .targeting.photonPipelineResult import PhotonPipelineResult
-from .version import PHOTONLIB_VERSION  # type: ignore[import-untyped]
+from .version import version as PHOTONLIB_VERSION  # type: ignore[import-untyped]
 
 
 class VisionLEDMode(Enum):

photon-lib/py/photonlibpy/timesync/__init__.py

@@ -0,0 +1,3 @@
+from . import _init_photonlibpy_timesync
+
+from ._photonlibpy_timesync import *

photon-lib/py/photonlibpy/timesync/gen/photontimesync/TimeSyncClient.yml

@@ -0,0 +1,20 @@
+---
+extra_includes:
+  - pybind11/chrono.h
+
+classes:
+  TimeSyncClient:
+    methods:
+      TimeSyncClient:
+      GetOffset:
+      GetMetadata:
+      Start:
+      Stop:
+  TimeSyncClient::Metadata:
+    attributes:
+      offset:
+      rtt2:
+      pingsSent:
+      pingsReceived:
+      pongsReceived:
+      lastPongTime:

photon-lib/py/photonlibpy/timesync/gen/photontimesync/TimeSyncServer.yml

@@ -0,0 +1,10 @@
+---
+extra_includes:
+  - pybind11/chrono.h
+
+classes:
+  TimeSyncServer:
+    methods:
+      TimeSyncServer:
+      Start:
+      Stop:

photon-lib/py/photonlibpy/timesync/gen/photontimesync/TimeSyncStructs.yml

@@ -0,0 +1,16 @@
+---
+classes:
+  TspPing:
+    methods:
+      TspPing:
+    attributes:
+      version:
+      message_id:
+      client_time:
+    force_no_trampoline: true
+  TspPong:
+    methods:
+      TspPong:
+    attributes:
+      server_time:
+    force_no_trampoline: true

photon-lib/py/photonlibpy/timesync/patches/no-wpi-print-incl.patch

@@ -0,0 +1,36 @@
+diff --git a/photon-targeting/src/main/native/include/net/TimeSyncClient.h b/photon-targeting/src/main/native/include/net/TimeSyncClient.h
+index 82e5b0eb..9fed4186 100644
+--- a/photon-targeting/src/main/native/include/net/TimeSyncClient.h
++++ b/photon-targeting/src/main/native/include/net/TimeSyncClient.h
+@@ -37,7 +37,6 @@
+
+ #include <frc/filter/MedianFilter.h>
+ #include <wpi/Logger.h>
+-#include <wpi/print.h>
+ #include <wpi/static_circular_buffer.h>
+ #include <wpi/struct/Struct.h>
+
+diff --git a/photon-targeting/src/main/native/include/net/TimeSyncServer.h b/photon-targeting/src/main/native/include/net/TimeSyncServer.h
+index 3a85d390..e271f93f 100644
+--- a/photon-targeting/src/main/native/include/net/TimeSyncServer.h
++++ b/photon-targeting/src/main/native/include/net/TimeSyncServer.h
+@@ -36,7 +36,6 @@
+ #include <thread>
+
+ #include <wpi/Logger.h>
+-#include <wpi/print.h>
+ #include <wpi/struct/Struct.h>
+
+ #include "TimeSyncStructs.h"
+diff --git a/photon-targeting/src/main/native/include/net/TimeSyncStructs.h b/photon-targeting/src/main/native/include/net/TimeSyncStructs.h
+index 88702597..a4cd7184 100644
+--- a/photon-targeting/src/main/native/include/net/TimeSyncStructs.h
++++ b/photon-targeting/src/main/native/include/net/TimeSyncStructs.h
+@@ -87,5 +87,5 @@ struct wpi::Struct<wpi::tsp::TspPong> {
+   }
+ };
+
+-static_assert(wpi::StructSerializable<wpi::tsp::TspPong>);
+-static_assert(wpi::StructSerializable<wpi::tsp::TspPing>);
++// static_assert(wpi::StructSerializable<wpi::tsp::TspPong>);
++// static_assert(wpi::StructSerializable<wpi::tsp::TspPing>);

photon-lib/py/photonlibpy/timesync/src/module.cpp

@@ -0,0 +1,3 @@
+#include <rpygen_wrapper.hpp>
+
+RPYBUILD_PYBIND11_MODULE(m) { initWrapper(m); }

photon-lib/py/pyproject.toml

@@ -1,2 +1,58 @@
-[tool.mypy]
-exclude = ["build","setup.py"]
+[tool.robotpy-build.metadata]
+name = "photonlibpy"
+description = "A Pure-python implementation of PhotonLib"
+author = "Photonvision Development Team"
+url = "https://photonvision.org"
+license = "GPLv3"
+author_email = "[email protected]"  # required - replace with something more suitable
+install_requires = [
+]
+
+[build-system]
+requires = [
+    "robotpy-build<2026.0.0,>=2025.0.0a1",
+    "pyntcore<2026.0.0,>=2025.0.0b1",
+    "robotpy-apriltag",
+    "robotpy-wpimath<2026.0.0,>=2025.0.0b1",
+    "wpilib<2026.0.0,>=2025.0.0b1",
+]
+
+[tool.robotpy-build]
+base_package = "photonlibpy"
+update_init = ["photonlibpy.timesync photonlibpy.timesync._photonlibpy_timesync"]
+
+# ======================== Begin photon-timesync stuff ========================
+
+[tool.robotpy-build.wrappers."photonlibpy.timesync"]
+name = "photonlibpy_timesync"
+
+depends = [
+    "ntcore",
+    "wpimath",
+    "wpinet",
+    "wpiutil",
+]
+
+sources = [
+  "photonlibpy/timesync/src/module.cpp",
+]
+
+generation_data = "photonlibpy/timesync/gen/photontimesync"
+
+[tool.robotpy-build.wrappers."photonlibpy.timesync".maven_lib_download]
+artifact_id = "photontargeting-cpp"
+group_id = "org.photonvision"
+repo_url = "file:///~/.m2/repository"
+version = "dev-v2025.0.0-beta-4-13-gc6362cf8"
+libs = ["photontargeting"]
+[[tool.robotpy-build.wrappers."photonlibpy.timesync".maven_lib_download.header_patches]]
+# TODO This patch takes out the default argument to the constructor. Put it back!!
+patch = "photonlibpy/timesync/patches/no-wpi-print-incl.patch"
+strip = 6
+
+
+[tool.robotpy-build.wrappers."photonlibpy.timesync".autogen_headers]
+# photontargeting
+TimeSyncStructs     = "net/TimeSyncStructs.h"
+TimeSyncClient      = "net/TimeSyncClient.h"
+TimeSyncServer      = "net/TimeSyncServer.h"

photon-lib/py/setup.py

@@ -1,74 +1,3 @@
-import re
-import subprocess
+from robotpy_build.setup import setup
 
-from setuptools import find_packages, setup
-
-gitDescribeResult = (
-    subprocess.check_output(["git", "describe", "--tags", "--match=v*", "--always"])
-    .decode("utf-8")
-    .strip()
-)
-
-m = re.search(
-    r"(v[0-9]{4}\.[0-9]{1}\.[0-9]{1})-?((?:beta)?(?:alpha)?)-?([0-9\.]*)",
-    gitDescribeResult,
-)
-
-# Extract the first portion of the git describe result
-# which should be PEP440 compliant
-if m:
-    versionString = m.group(0)
-    # Hack -- for strings like v2024.1.1, do NOT add matruity/suffix
-    if len(m.group(2)) > 0:
-        print("using beta group matcher")
-        prefix = m.group(1)
-        maturity = m.group(2)
-        suffix = m.group(3).replace(".", "")
-        versionString = f"{prefix}.{maturity}.{suffix}"
-    else:
-        split = gitDescribeResult.split("-")
-        if len(split) == 3:
-            year, commits, sha = split
-            # Chop off leading v from "v2024.1.2", and use "post" for commits to master since
-            versionString = f"{year[1:]}post{commits}"
-            print("using dev release " + versionString)
-        else:
-            year = gitDescribeResult
-            versionString = year[1:]
-            print("using full release " + versionString)
-
-
-else:
-    print("Warning, no valid version found")
-    versionString = gitDescribeResult
-
-print(f"Building version {versionString}")
-
-# Put the version info into a python file for runtime access
-with open("photonlibpy/version.py", "w", encoding="utf-8") as fp:
-    fp.write(f'PHOTONLIB_VERSION="{versionString}"\n')
-    fp.write(f'PHOTONVISION_VERSION="{gitDescribeResult}"\n')
-
-
-descriptionStr = f"Pure-python implementation of PhotonLib for interfacing with PhotonVision on coprocessors. Implemented with PhotonVision version {gitDescribeResult} ."
-
-setup(
-    name="photonlibpy",
-    packages=find_packages(),
-    package_data={"photonlibpy": ["py.typed"]},
-    version=versionString,
-    install_requires=[
-        "numpy~=2.1",
-        "wpilib<2026,>=2025.0.0b1",
-        "robotpy-wpimath<2026,>=2025.0.0b1",
-        "robotpy-apriltag<2026,>=2025.0.0b1",
-        "robotpy-cscore<2026,>=2025.0.0b1",
-        "pyntcore<2026,>=2025.0.0b1",
-        "opencv-python;platform_machine!='roborio'",
-    ],
-    description=descriptionStr,
-    url="https://photonvision.org",
-    author="Photonvision Development Team",
-    long_description="A Pure-python implementation of PhotonLib",
-    long_description_content_type="text/markdown",
-)
+setup()