From 2f84b91715c68f36af368ce8af8d19afeb21eba5 Mon Sep 17 00:00:00 2001
From: Dustin Spicuzza <dustin@virtualroadside.com>
Date: Sun, 7 Jan 2024 20:53:32 -0500
Subject: [PATCH] Add robotpy-xrp

---
 docs/api.rst                                  | 12 ++++-
 docs/conf.py                                  |  3 ++
 rdev.toml                                     |  6 ++-
 subprojects/robotpy-xrp/.gitignore            | 12 +++++
 subprojects/robotpy-xrp/README.md             |  4 ++
 subprojects/robotpy-xrp/gen/XRPGyro.yml       | 15 ++++++
 subprojects/robotpy-xrp/gen/XRPMotor.yml      | 13 +++++
 subprojects/robotpy-xrp/gen/XRPOnBoardIO.yml  | 11 +++++
 .../robotpy-xrp/gen/XRPRangefinder.yml        |  6 +++
 .../robotpy-xrp/gen/XRPReflectanceSensor.yml  |  7 +++
 subprojects/robotpy-xrp/gen/XRPServo.yml      | 10 ++++
 subprojects/robotpy-xrp/pyproject.toml        | 48 +++++++++++++++++++
 subprojects/robotpy-xrp/setup.py              |  5 ++
 .../robotpy-xrp/tests/requirements.txt        |  1 +
 subprojects/robotpy-xrp/tests/run_tests.py    | 12 +++++
 subprojects/robotpy-xrp/tests/test_xrp.py     |  5 ++
 subprojects/robotpy-xrp/xrp/__init__.py       | 22 +++++++++
 subprojects/robotpy-xrp/xrp/src/main.cpp      |  6 +++
 18 files changed, 196 insertions(+), 2 deletions(-)
 create mode 100644 subprojects/robotpy-xrp/.gitignore
 create mode 100644 subprojects/robotpy-xrp/README.md
 create mode 100644 subprojects/robotpy-xrp/gen/XRPGyro.yml
 create mode 100644 subprojects/robotpy-xrp/gen/XRPMotor.yml
 create mode 100644 subprojects/robotpy-xrp/gen/XRPOnBoardIO.yml
 create mode 100644 subprojects/robotpy-xrp/gen/XRPRangefinder.yml
 create mode 100644 subprojects/robotpy-xrp/gen/XRPReflectanceSensor.yml
 create mode 100644 subprojects/robotpy-xrp/gen/XRPServo.yml
 create mode 100644 subprojects/robotpy-xrp/pyproject.toml
 create mode 100644 subprojects/robotpy-xrp/setup.py
 create mode 100644 subprojects/robotpy-xrp/tests/requirements.txt
 create mode 100755 subprojects/robotpy-xrp/tests/run_tests.py
 create mode 100644 subprojects/robotpy-xrp/tests/test_xrp.py
 create mode 100644 subprojects/robotpy-xrp/xrp/__init__.py
 create mode 100644 subprojects/robotpy-xrp/xrp/src/main.cpp

diff --git a/docs/api.rst b/docs/api.rst
index db8942b7..e9070d3c 100644
--- a/docs/api.rst
+++ b/docs/api.rst
@@ -134,4 +134,14 @@ These are special devices for use with the ROMI product.
 .. toctree::
   :maxdepth: 1
 
-  romi
\ No newline at end of file
+  romi
+
+XRP API
+-------
+
+These are special devices for use with the XRP product.
+
+.. toctree::
+  :maxdepth: 1
+
+  xrp
diff --git a/docs/conf.py b/docs/conf.py
index 620d61c0..3287484e 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -108,3 +108,6 @@
 
 # ROMI
 gen_package(root, "romi")
+
+# XRP
+gen_package(root, "xrp")
diff --git a/rdev.toml b/rdev.toml
index 097d52d1..e0281914 100644
--- a/rdev.toml
+++ b/rdev.toml
@@ -71,4 +71,8 @@ roborio = false
 
 [subprojects."robotpy-romi"]
 min_version = "2024.1.1"
-roborio = false
\ No newline at end of file
+roborio = false
+
+[subprojects."robotpy-xrp"]
+min_version = "2024.1.1"
+roborio = false
diff --git a/subprojects/robotpy-xrp/.gitignore b/subprojects/robotpy-xrp/.gitignore
new file mode 100644
index 00000000..ca5b76cd
--- /dev/null
+++ b/subprojects/robotpy-xrp/.gitignore
@@ -0,0 +1,12 @@
+*.py[cod]
+*.so
+*.dll
+*.egg-info
+
+/build
+
+/xrp/include
+/xrp/lib
+/xrp/_init_xrp.py
+/xrp/pkgcfg.py
+/xrp/version.py
\ No newline at end of file
diff --git a/subprojects/robotpy-xrp/README.md b/subprojects/robotpy-xrp/README.md
new file mode 100644
index 00000000..b34966d3
--- /dev/null
+++ b/subprojects/robotpy-xrp/README.md
@@ -0,0 +1,4 @@
+robotpy-xrp
+============
+
+RobotPy support for the WPILib XRP vendor library.
diff --git a/subprojects/robotpy-xrp/gen/XRPGyro.yml b/subprojects/robotpy-xrp/gen/XRPGyro.yml
new file mode 100644
index 00000000..efaf441c
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPGyro.yml
@@ -0,0 +1,15 @@
+---
+
+classes:
+  XRPGyro:
+    methods:
+      XRPGyro:
+      GetAngle:
+      GetRate:
+      GetRateX:
+      GetRateY:
+      GetRateZ:
+      GetAngleX:
+      GetAngleY:
+      GetAngleZ:
+      Reset:
diff --git a/subprojects/robotpy-xrp/gen/XRPMotor.yml b/subprojects/robotpy-xrp/gen/XRPMotor.yml
new file mode 100644
index 00000000..e607adc5
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPMotor.yml
@@ -0,0 +1,13 @@
+---
+
+classes:
+  XRPMotor:
+    methods:
+      XRPMotor:
+      Set:
+      Get:
+      SetInverted:
+      GetInverted:
+      Disable:
+      StopMotor:
+      GetDescription:
diff --git a/subprojects/robotpy-xrp/gen/XRPOnBoardIO.yml b/subprojects/robotpy-xrp/gen/XRPOnBoardIO.yml
new file mode 100644
index 00000000..73453276
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPOnBoardIO.yml
@@ -0,0 +1,11 @@
+---
+
+classes:
+  XRPOnBoardIO:
+    attributes:
+      kMessageInterval:
+      m_nextMessageTime:
+    methods:
+      XRPOnBoardIO:
+      GetUserButtonPressed:
+      SetLed:
diff --git a/subprojects/robotpy-xrp/gen/XRPRangefinder.yml b/subprojects/robotpy-xrp/gen/XRPRangefinder.yml
new file mode 100644
index 00000000..40781220
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPRangefinder.yml
@@ -0,0 +1,6 @@
+---
+
+classes:
+  XRPRangefinder:
+    methods:
+      GetDistance:
diff --git a/subprojects/robotpy-xrp/gen/XRPReflectanceSensor.yml b/subprojects/robotpy-xrp/gen/XRPReflectanceSensor.yml
new file mode 100644
index 00000000..746b6842
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPReflectanceSensor.yml
@@ -0,0 +1,7 @@
+---
+
+classes:
+  XRPReflectanceSensor:
+    methods:
+      GetLeftReflectanceValue:
+      GetRightReflectanceValue:
diff --git a/subprojects/robotpy-xrp/gen/XRPServo.yml b/subprojects/robotpy-xrp/gen/XRPServo.yml
new file mode 100644
index 00000000..0f59b49f
--- /dev/null
+++ b/subprojects/robotpy-xrp/gen/XRPServo.yml
@@ -0,0 +1,10 @@
+---
+
+classes:
+  XRPServo:
+    methods:
+      XRPServo:
+      SetAngle:
+      GetAngle:
+      SetPosition:
+      GetPosition:
diff --git a/subprojects/robotpy-xrp/pyproject.toml b/subprojects/robotpy-xrp/pyproject.toml
new file mode 100644
index 00000000..91d45262
--- /dev/null
+++ b/subprojects/robotpy-xrp/pyproject.toml
@@ -0,0 +1,48 @@
+[build-system]
+requires = [
+    "robotpy-build<2025.0.0,~=2024.0.0",
+    "wpilib~=2024.1.1"
+]
+
+[tool.robotpy-build]
+base_package = "xrp"
+
+[tool.robotpy-build.wrappers."xrp"]
+name = "xrp"
+sources = ["xrp/src/main.cpp"]
+generation_data = "gen"
+depends = [
+    "wpilib_core", "wpilibc_interfaces", "wpilibc",
+    "wpimath_cpp", "wpimath_geometry",
+    "wpiHal", "wpiutil", "ntcore",
+]
+
+[tool.robotpy-build.wrappers."xrp".autogen_headers]
+# frc/xrp
+XRPGyro = "frc/xrp/XRPGyro.h"
+XRPMotor = "frc/xrp/XRPMotor.h"
+XRPOnBoardIO = "frc/xrp/XRPOnBoardIO.h"
+XRPRangefinder = "frc/xrp/XRPRangefinder.h"
+XRPReflectanceSensor = "frc/xrp/XRPReflectanceSensor.h"
+XRPServo = "frc/xrp/XRPServo.h"
+
+
+[tool.robotpy-build.wrappers."xrp".maven_lib_download]
+artifact_id = "xrpVendordep-cpp"
+group_id = "edu.wpi.first.xrpVendordep"
+# repo_url = "https://frcmaven.wpi.edu/artifactory/release"
+repo_url = "https://frcmaven.wpi.edu/artifactory/release"
+version = "2024.1.1"
+libs = ["xrpVendordep"]
+
+
+[tool.robotpy-build.metadata]
+name = "robotpy-xrp"
+description = "Binary wrapper for WPILib XRP Vendor library"
+author = "RobotPy Development Team"
+author_email = "robotpy@googlegroups.com"
+url = "https://github.com/robotpy/mostrobotpy"
+license = "BSD-3-Clause"
+install_requires = [
+    "wpilib~=2024.1.1"
+]
diff --git a/subprojects/robotpy-xrp/setup.py b/subprojects/robotpy-xrp/setup.py
new file mode 100644
index 00000000..3542d0c9
--- /dev/null
+++ b/subprojects/robotpy-xrp/setup.py
@@ -0,0 +1,5 @@
+#!/usr/bin/env python3
+
+from robotpy_build.setup import setup
+
+setup()
diff --git a/subprojects/robotpy-xrp/tests/requirements.txt b/subprojects/robotpy-xrp/tests/requirements.txt
new file mode 100644
index 00000000..e079f8a6
--- /dev/null
+++ b/subprojects/robotpy-xrp/tests/requirements.txt
@@ -0,0 +1 @@
+pytest
diff --git a/subprojects/robotpy-xrp/tests/run_tests.py b/subprojects/robotpy-xrp/tests/run_tests.py
new file mode 100755
index 00000000..2ffc6595
--- /dev/null
+++ b/subprojects/robotpy-xrp/tests/run_tests.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+
+import os
+from os.path import abspath, dirname
+import sys
+import subprocess
+
+if __name__ == "__main__":
+    root = abspath(dirname(__file__))
+    os.chdir(root)
+
+    subprocess.check_call([sys.executable, "-m", "pytest"])
diff --git a/subprojects/robotpy-xrp/tests/test_xrp.py b/subprojects/robotpy-xrp/tests/test_xrp.py
new file mode 100644
index 00000000..f1013a1d
--- /dev/null
+++ b/subprojects/robotpy-xrp/tests/test_xrp.py
@@ -0,0 +1,5 @@
+import xrp
+
+
+def test_xrp():
+    pass
diff --git a/subprojects/robotpy-xrp/xrp/__init__.py b/subprojects/robotpy-xrp/xrp/__init__.py
new file mode 100644
index 00000000..3afe5275
--- /dev/null
+++ b/subprojects/robotpy-xrp/xrp/__init__.py
@@ -0,0 +1,22 @@
+from . import _init_xrp
+
+# autogenerated by 'robotpy-build create-imports xrp'
+from ._xrp import (
+    XRPGyro,
+    XRPMotor,
+    XRPOnBoardIO,
+    XRPRangefinder,
+    XRPReflectanceSensor,
+    XRPServo,
+)
+
+__all__ = [
+    "XRPGyro",
+    "XRPMotor",
+    "XRPOnBoardIO",
+    "XRPRangefinder",
+    "XRPReflectanceSensor",
+    "XRPServo",
+]
+
+del _init_xrp
diff --git a/subprojects/robotpy-xrp/xrp/src/main.cpp b/subprojects/robotpy-xrp/xrp/src/main.cpp
new file mode 100644
index 00000000..52548d81
--- /dev/null
+++ b/subprojects/robotpy-xrp/xrp/src/main.cpp
@@ -0,0 +1,6 @@
+
+#include <rpygen_wrapper.hpp>
+
+RPYBUILD_PYBIND11_MODULE(m) {
+    initWrapper(m);
+}
\ No newline at end of file