First attempt at nanobind code

.github/workflows/build.yml

@@ -26,6 +26,8 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
       - name: Setup Node.js
         uses: actions/setup-node@v4
         with:
@@ -46,6 +48,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install RoboRIO Toolchain
@@ -82,6 +85,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - name: Fetch tags
         run: git fetch --tags --force
       - name: Install Java 17
@@ -115,6 +119,7 @@ jobs:
       - uses: actions/setup-python@v5
         with:
           python-version: '3.11'
+          submodules: 'recursive'
       - name: Install dependencies
         working-directory: docs
         run: |
@@ -151,6 +156,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - name: Install Java 17
         uses: actions/setup-java@v4
         with:
@@ -195,6 +201,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - name: Config Git
         run: |
           git config --global --add safe.directory /__w/photonvision/photonvision
@@ -225,6 +232,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - run: git fetch --tags --force
       # download all maven-* artifacts to outputs/
       - uses: actions/download-artifact@v4
@@ -277,6 +285,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - name: Install Java 17
         uses: actions/setup-java@v4
         with:
@@ -448,6 +457,7 @@ jobs:
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
       - uses: actions/download-artifact@v4
         with:
           name: jar-${{ matrix.artifact-name }}

.github/workflows/python.yml

@@ -21,48 +21,155 @@ on:
 
 jobs:
   buildAndDeploy:
-    runs-on: ubuntu-latest
+
+    runs-on: ${{ matrix.os }}
+    strategy:
+      max-parallel: 1
+      # fail-fast: true
+      matrix:
+        os: ["ubuntu-22.04", "macos-12", "windows-2022"]
+        python_version:
+        # - '3.8'
+        - '3.9'
+        - '3.10'
+        # - '3.11'
+        # - '3.12'
+
 
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
+          submodules: 'recursive'
 
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: 3.11
+          python-version: ${{ matrix.python_version }}
+
+      - name: Install Java 17
+        uses: actions/setup-java@v4
+        with:
+          java-version: 17
+          distribution: temurin
+          architecture: ${{ matrix.architecture }}
+      - run: git fetch --tags --force
+      - run: |
+          chmod +x gradlew
+          ./gradlew photon-targeting:build photon-lib:build -i -PpythonExecutable=python${{ matrix.python_version }}
+          ./gradlew photon-lib:installPhotonlibpyNative -PpythonExecutable=python${{ matrix.python_version }}
 
       - name: Install dependencies
+        working-directory: ./photon-lib/py
         run: |
           python -m pip install --upgrade pip
-          pip install setuptools wheel pytest
+          python -m pip install -r build_requirements.txt
 
       - name: Build wheel
         working-directory: ./photon-lib/py
+        # disable isolation so we can run stubgen (ew but w/e)
         run: |
-          python setup.py sdist bdist_wheel
+          python -m build -swn
 
       - name: Run Unit Tests
         working-directory: ./photon-lib/py
         run: |
             pip install --no-cache-dir dist/*.whl
             pytest
 
-
       - name: Upload artifacts
         uses: actions/upload-artifact@master
         with:
-          name: dist
+          name: "dist-${{ runner.os }}-${{ matrix.python_version }}"
           path: ./photon-lib/py/dist/
 
-      - name: Publish package distributions to TestPyPI
-        # Only upload on tags
-        if: startsWith(github.ref, 'refs/tags/v')
-        uses: pypa/gh-action-pypi-publish@release/v1
-        with:
-          packages_dir: ./photon-lib/py/dist/
+      # - name: Publish package distributions to TestPyPI
+      #   # Only upload on tags
+      #   if: startsWith(github.ref, 'refs/tags/v')
+      #   uses: pypa/gh-action-pypi-publish@release/v1
+      #   with:
+      #     packages_dir: ./photon-lib/py/dist/
 
     permissions:
       id-token: write  # IMPORTANT: this permission is mandatory for trusted publishing
+
+  cross-build:
+    runs-on: ubuntu-latest
+    strategy:
+      max-parallel: 1
+      matrix:
+        os:
+        - container: wpilib/roborio-cross-ubuntu:2024-22.04-py312
+          name: roborio
+          arch-override: linuxathena
+
+        # - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py38
+        #   name: raspbian-py38
+        # - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py39
+        #   name: raspbian-py39
+        # - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py310
+        #   name: raspbian-py310
+        # - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py311
+        #   name: raspbian-py311
+        - container: wpilib/raspbian-cross-ubuntu:bullseye-22.04-py312
+          name: raspbian-py312
+          arch-override: linuxarm64
+
+        # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py38
+        #   name: raspbian-aarch64-py38
+        # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py39
+        #   name: raspbian-aarch64-py39
+        - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py310
+          name: raspbian-aarch64-py310
+          arch-override: linuxarm64
+        # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py311
+        #   name: raspbian-aarch64-py311
+        # - container: wpilib/aarch64-cross-ubuntu:bullseye-22.04-py312
+        #   name: raspbian-aarch64-py312
+
+    container:
+      image: "${{ matrix.os.container }}"
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: 'recursive'
+        fetch-depth: 0
+
+    - name: Install Java 17
+      uses: actions/setup-java@v4
+      with:
+        java-version: 17
+        distribution: temurin
+
+    - name: Install setuptools + wheel
+      run: |
+        /build/venv/bin/build-pip --disable-pip-version-check install -U "setuptools==63.4.3; python_version < '3.12'"
+        /build/venv/bin/build-pip --disable-pip-version-check install -U wheel==0.41.2
+        /build/venv/bin/cross-pip --disable-pip-version-check install -U "setuptools==63.4.3; python_version < '3.12'"
+        /build/venv/bin/cross-pip --disable-pip-version-check install -U wheel==0.41.2
+
+    # See https://github.com/pypa/setuptools_scm/issues/784
+    - name: Set git directory as safe to allow setuptools-scm to work
+      shell: bash
+      run: |
+        pwd
+        /usr/bin/git config --global --add safe.directory $(pwd)
+
+    - name: Install deps
+      shell: bash
+      run: |
+        /build/venv/bin/cross-pip  --disable-pip-version-check install -r photon-lib/py/build_requirements.txt
+
+    - run: git fetch --tags --force
+    - run: |
+        chmod +x gradlew
+        ./gradlew photon-targeting:build photon-lib:build -i -PpythonExecutable=/build/venv/bin/cross-python -PArchOverride=${{ matrix.os.arch-override }}
+        ./gradlew photon-lib:installPhotonlibpyNative -PpythonExecutable=/build/venv/bin/cross-python -PArchOverride=${{ matrix.os.arch-override }}
+
+    - name: Build wheel
+      working-directory: ./photon-lib/py
+      # disable isolation so we can run stubgen (ew but w/e)
+      run: |
+        /build/venv/bin/cross-python -m build -swn

.gitignore

@@ -168,3 +168,5 @@ venv
 
 .venv/*
 .venv
+meme/*.so
+meme/*.so.4.8

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "photon-lib/nanobind"]
+	path = photon-lib/nanobind
+	url = https://github.com/wjakob/nanobind

photon-lib/.styleguide

@@ -0,0 +1,3 @@
+generatedFileExclude {
+    nanobind/.*
+}

photon-lib/build.gradle

@@ -40,6 +40,30 @@ nativeUtils {
     }
 }
 
+def getPythonIncludePath = {
+    def pythonexe = project.findProperty('pythonExecutable') ?: 'python3.10'
+    def stdout = new ByteArrayOutputStream()
+    exec {
+        commandLine pythonexe, '-c', "from sysconfig import get_paths as gp; print(gp()[\"include\"])"
+        standardOutput = stdout
+    }
+    def ret = stdout.toString().trim();
+    println("using python include path: " + ret)
+    return ret
+}
+
+def getPythonLibrarySuffix = {
+    def pythonexe = project.findProperty('pythonExecutable') ?: 'python3.10'
+    def stdout = new ByteArrayOutputStream()
+    exec {
+        commandLine pythonexe, '-c', "import sysconfig; print(sysconfig.get_config_var('EXT_SUFFIX'))"
+        standardOutput = stdout
+    }
+    def ret = stdout.toString().trim();
+    println("using python module suffix: " + ret)
+    return ret
+}
+
 model {
     components {
         "${nativeName}"(NativeLibrarySpec) {
@@ -66,13 +90,36 @@ model {
                 if(project.hasProperty('includePhotonTargeting')) {
                     lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
                 }
+
+                nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+                nativeUtils.useRequiredLibrary(it, "apriltag_shared")
+                nativeUtils.useRequiredLibrary(it, "opencv_shared")
+                nativeUtils.useRequiredLibrary(it, "cscore_shared")
+                nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
             }
 
-            nativeUtils.useRequiredLibrary(it, "wpilib_shared")
-            nativeUtils.useRequiredLibrary(it, "apriltag_shared")
-            nativeUtils.useRequiredLibrary(it, "opencv_shared")
-            nativeUtils.useRequiredLibrary(it, "cscore_shared")
-            nativeUtils.useRequiredLibrary(it, "cameraserver_shared")
+        }
+        photonlibpy(NativeLibrarySpec) {
+            sources {
+                cpp {
+                    source {
+                        srcDirs 'src/main/pybindings/cpp'
+                        include '**/*.cpp', '**/*.cc'
+                    }
+                    exportedHeaders {
+                        srcDirs 'nanobind/include', 'nanobind/src', 'nanobind/ext/robin_map/include', getPythonIncludePath()
+                        include "**/*.h"
+                        include "**/*.hpp"
+                    }
+                }
+            }
+
+            binaries.all {
+                lib project: ':photon-targeting', library: 'photontargeting', linkage: 'shared'
+                lib library: nativeName
+
+                nativeUtils.useRequiredLibrary(it, "wpilib_shared")
+            }
         }
     }
     testSuites {
@@ -142,6 +189,16 @@ model {
             }
         }
     }
+
+    binaries {
+        withType(NativeBinarySpec).all {
+            if((it.component.baseName == "photonlibpy" || it.component.baseName == nativeName) && it.toolChain instanceof GccCompatibleToolChain) {
+                println(it)
+                it.cppCompiler.args << "-Wno-pedantic"
+                it.linker.args '-Wl,-rpath,\'$ORIGIN\''
+            }
+        }
+    }
 }
 
 apply from: "${rootDir}/shared/javacpp/publish.gradle"
@@ -193,6 +250,34 @@ task publishVendorJsonToLocalOutputs(type: Copy) {
     publish.dependsOn it
 }
 
+task installPhotonlibpyNative(type: Copy) {
+    into("$projectDir/py/photonlibpy")
+
+    from "$projectDir/build/libs/photonlib/shared/$jniPlatform/release/libphotonlib.so"
+    for (lib in [
+        "libcameraserver.so",
+        "libcscore.so",
+        "libopencv_core.so.4.8",
+        "libopencv_calib3d.so.4.8",
+        "libopencv_features2d.so.4.8",
+        "libopencv_imgcodecs.so.4.8",
+        "libopencv_flann.so.4.8",
+        "libopencv_imgproc.so.4.8",
+        "libphotontargeting.so",
+    ]) {
+        from "$projectDir/build/install/photonlibTest/$jniPlatform/release/lib/$lib"
+    }
+
+    from("$projectDir/build/libs/photonlibpy/shared/$jniPlatform/release/libphotonlibpy.so") {
+        // Basically split
+        rename "(?:lib)?(.*)\\.(.*)", ('_$1' + getPythonLibrarySuffix())
+    }
+
+    // // TODO - make generic
+    // it.dependsOn "installPhotonlibTestLinuxx86-64ReleaseGoogleTestExe"
+    // it.dependsOn "photonlibpyLinuxx86-64ReleaseSharedLibrary"
+}
+
 task writeCurrentVersion {
     def versionFileIn = file("${rootDir}/shared/PhotonVersion.java.in")
     writePhotonVersionFile(versionFileIn, Path.of("$projectDir", "src", "main", "java", "org", "photonvision", "PhotonVersion.java"),

photon-lib/py/.gitignore

@@ -3,3 +3,6 @@ dist/
 build/
 .eggs/
 photonlibpy/version.py
+photonlibpy/*.so*
+photonlibpy/*.dylib*
+photonlibpy/*.dll*

photon-lib/py/build_requirements.txt

@@ -0,0 +1,9 @@
+nanobind~=2.1.0
+typing-extensions
+wpilib~=2024.3.2.1
+robotpy-wpimath~=2024.3.2.1
+robotpy-apriltag~=2024.3.2.1
+pyntcore~=2024.3.2.1
+build
+setuptools
+wheel