Migrate to semiwrap

.gitignore

@@ -9,12 +9,12 @@ __pycache__
 *.egg-info
 build
 dist
+/lib
 
 /rev/version.py
-/rev/_init_rev.py
-/rev/rpy-include
-/rev/pkgcfg.py
-/rev/py.typed
+/rev/_init__rev.py
+/rev/trampolines
+/rev/*.pc
 
 *.dylib
 *.dll

meson.build

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

pyproject.toml

@@ -1,57 +1,88 @@
-[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-rev"
+dynamic = ["version"]
 description = "REVLib for RobotPy"
-author = "RobotPy Development Team"
-author_email = "robotpy@googlegroups.com"
-url = "https://github.com/robotpy/robotpy-rev"
 license = "BSD-3-Clause"
-install_requires = [
-    "wpilib<2026.0.0,>=2025.3.2",
+dependencies = [
+    "wpilib~=2025.3.2.2",
 ]
 
-[build-system]
-requires = [
-    "robotpy-build<2026.0.0,~=2025.1.0",
-    "wpilib<2026.0.0,>=2025.3.2",
-]
+[[project.authors]]
+name = "RobotPy Development Team"
+email = "robotpy@googlegroups.com"
 
-[tool.robotpy-build]
-base_package = "rev"
-update_init = ["rev"]
+[project.urls]
+"Source code" = "https://github.com/robotpy/robotpy-ctre"
 
-[tool.robotpy-build.static_libs."revlib_driver".maven_lib_download]
-artifact_id = "REVLib-driver"
+
+[tool.hatch.version]
+source = "vcs"
+
+[tool.hatch.build.hooks.vcs]
+version-file = "rev/version.py"
+
+[tool.hatch.build.targets.wheel]
+packages = ["rev"]
+
+#
+# Autogenerated TOML via `python3 -m hatch_robotpy.from_vendor`
+#
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "REVLib-cpp"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
 version = "2025.0.3"
-libs = ["REVLibDriver"]
+staticlibs = ["REVLib"]
+extract_to = "lib"
 
-[tool.robotpy-build.static_libs."revlib".maven_lib_download]
-artifact_id = "REVLib-cpp"
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "REVLib-driver"
 group_id = "com.revrobotics.frc"
 repo_url = "https://maven.revrobotics.com"
 version = "2025.0.3"
-libs = ["REVLib"]
+staticlibs = [ "REVLibDriver"]
+extract_to = "lib"
+
+#
+# End autogenerated TOML
+#
+
+
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
 
-[tool.robotpy-build.wrappers."rev"]
+
+
+[tool.semiwrap]
+update_init = ["rev"]
+
+
+[tool.semiwrap.extension_modules."rev._rev"]
 name = "rev"
-sources = [
-    "rev/rev.cpp"
-]
 
 depends = [
-    "wpilibc",
-    "wpilib_core",
-    "wpimath_cpp",
-    "wpiHal",
-    "wpiutil",
-    "revlib_driver",
-    "revlib",
+    "wpilib",
 ]
 
-generation_data = "gen"
+includes = [
+    "lib/include"
+]
 
-[tool.robotpy-build.wrappers."rev".autogen_headers]
+[tool.semiwrap.extension_modules."rev._rev".headers]
 # rev
 # CANSparkDriver = "rev/CANSparkDriver.h"
 # CANSparkDriverPrivate = "rev/CANSparkDriverPrivate.h"

rev/__init__.py

@@ -1,8 +1,8 @@
 from .version import __version__
 
-from . import _init_rev
+from . import _init__rev
 
-# autogenerated by 'robotpy-build create-imports rev rev._rev'
+# autogenerated by 'semiwrap create-imports rev rev._rev'
 from ._rev import (
     AbsoluteEncoder,
     AbsoluteEncoderConfig,

rev/rev.cpp

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

semiwrap/.gitignore

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

gen/AbsoluteEncoder.yml → semiwrap/AbsoluteEncoder.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AbsoluteEncoder:
+  rev::AbsoluteEncoder:
     methods:
       GetPosition:
       GetVelocity:

gen/AbsoluteEncoderConfig.yml → semiwrap/AbsoluteEncoderConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AbsoluteEncoderConfig:
+  rev::spark::AbsoluteEncoderConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     methods:

gen/AbsoluteEncoderConfigAccessor.yml → semiwrap/AbsoluteEncoderConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AbsoluteEncoderConfigAccessor:
+  rev::spark::AbsoluteEncoderConfigAccessor:
     methods:
       GetInverted:
       GetPositionConversionFactor:

gen/AlternateEncoderConfig.yml → semiwrap/AlternateEncoderConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AlternateEncoderConfig:
+  rev::spark::AlternateEncoderConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     enums:

gen/AlternateEncoderConfigAccessor.yml → semiwrap/AlternateEncoderConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AlternateEncoderConfigAccessor:
+  rev::spark::AlternateEncoderConfigAccessor:
     methods:
       GetCountsPerRevolution:
       GetInverted:

gen/AnalogInput.yml → semiwrap/AnalogInput.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AnalogInput:
+  rev::AnalogInput:
     methods:
       GetVoltage:
       GetPosition:

gen/AnalogSensorConfig.yml → semiwrap/AnalogSensorConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AnalogSensorConfig:
+  rev::spark::AnalogSensorConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     methods:

gen/AnalogSensorConfigAccessor.yml → semiwrap/AnalogSensorConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  AnalogSensorConfigAccessor:
+  rev::spark::AnalogSensorConfigAccessor:
     methods:
       GetInverted:
       GetPositionConversionFactor:

gen/BaseConfig.yml → semiwrap/BaseConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  BaseConfig:
+  rev::BaseConfig:
     methods:
       Flatten:
       BaseConfig:

gen/CIEColor.yml → semiwrap/CIEColor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  CIEColor:
+  rev::CIEColor:
     methods:
       CIEColor:
       GetX:

gen/ClosedLoopConfig.yml → semiwrap/ClosedLoopConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ClosedLoopConfig:
+  rev::spark::ClosedLoopConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     attributes:

gen/ClosedLoopConfigAccessor.yml → semiwrap/ClosedLoopConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ClosedLoopConfigAccessor:
+  rev::spark::ClosedLoopConfigAccessor:
     attributes:
       maxMotion:
       smartMotion:

gen/ColorMatch.yml → semiwrap/ColorMatch.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ColorMatch:
+  rev::ColorMatch:
     methods:
       ColorMatch:
       AddColorMatch:

gen/ColorSensorV3.yml → semiwrap/ColorSensorV3.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ColorSensorV3:
+  rev::ColorSensorV3:
     enums:
       GainFactor:
       LEDPulseFrequency:
@@ -23,7 +22,7 @@ classes:
       ConfigureColorSensor:
       HasReset:
       IsConnected:
-  ColorSensorV3::RawColor:
+  rev::ColorSensorV3::RawColor:
     attributes:
       red:
       green:

gen/EncoderConfig.yml → semiwrap/EncoderConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  EncoderConfig:
+  rev::spark::EncoderConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     methods:

gen/EncoderConfigAccessor.yml → semiwrap/EncoderConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  EncoderConfigAccessor:
+  rev::spark::EncoderConfigAccessor:
     methods:
       GetCountsPerRevolution:
       GetInverted:

gen/ExternalEncoderConfig.yml → semiwrap/ExternalEncoderConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ExternalEncoderConfig:
+  rev::spark::ExternalEncoderConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     enums:

gen/ExternalEncoderConfigAccessor.yml → semiwrap/ExternalEncoderConfigAccessor.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  ExternalEncoderConfigAccessor:
+  rev::spark::ExternalEncoderConfigAccessor:
     methods:
       GetCountsPerRevolution:
       GetInverted:

gen/LimitSwitchConfig.yml → semiwrap/LimitSwitchConfig.yml

@@ -1,7 +1,6 @@
----
 
 classes:
-  LimitSwitchConfig:
+  rev::spark::LimitSwitchConfig:
     base_qualnames:
       BaseConfig: rev::BaseConfig
     enums: