[robotpy] Build examples (#8629)

This hooks up the bazel build to the robotpyExamples. It can use the
(formly pyfrc or whatever) automatic unit tests for an example, as well
as exposing the ability to run the example in simulation, with or
without `halsim_gui` with a command such as `bazel run
//robotpyExamples:AddressableLED-sim`

This required building and using wheels instead of just a normal
`py_library`, so that things like `ENTRY_POINTS` can be used. I took a
bare bones approach to building and naming the wheels (for example the
native ones don't have the OS info or python version in them, so they
wouldn't be suitable publish to pypi, but that can always be updated
later.

.bazelrc

@@ -74,6 +74,7 @@ build:ci --progress_report_interval=60 --show_progress_rate_limit=60
 build --build_metadata=REPO_URL=https://github.com/wpilibsuite/allwpilib.git
 
 common --define="WPILIB_VERSION=2025.424242.3.1-unknown"
+common --define="ROBOTPY_VERSION=2025.424242.3.1"
 
 # List of artifact types to build in CI.
 # Anything else gets skipped to speed up CI.

BUILD.bazel

@@ -63,6 +63,7 @@ write_source_files(
         "//wpimath:write_wpimath",
         "//wpiunits:write_wpiunits",
         "//wpiutil:write_wpiutil",
+        "//robotpyExamples:write_example_project_list",
     ],
     tags = ["pregeneration"],
 )

MODULE.bazel

@@ -23,6 +23,7 @@ bazel_dep(name = "bazel_skylib", version = "1.8.2")
 bazel_dep(name = "platforms", version = "1.0.0")
 bazel_dep(name = "rules_java", version = "8.14.0")
 bazel_dep(name = "rules_python", version = "1.7.0")
+bazel_dep(name = "rules_pycross", version = "0.8.1")
 
 python = use_extension("@rules_python//python/extensions:python.bzl", "python")
 python.toolchain(

MODULE.bazel.lock

@@ -20,6 +20,7 @@
     "https://bcr.bazel.build/modules/apple_support/2.0.0/source.json": "e9f1636f3a20e9da9f72612a38311c1fb2207294345a4157001aff93571f3da7",
     "https://bcr.bazel.build/modules/aspect_bazel_lib/2.14.0/MODULE.bazel": "2b31ffcc9bdc8295b2167e07a757dbbc9ac8906e7028e5170a3708cecaac119f",
     "https://bcr.bazel.build/modules/aspect_bazel_lib/2.14.0/source.json": "0cf1826853b0bef8b5cd19c0610d717500f5521aa2b38b72b2ec302ac5e7526c",
+    "https://bcr.bazel.build/modules/aspect_bazel_lib/2.9.4/MODULE.bazel": "ccc41028429f894b02fde7ef67d416cba3ba5084ed9ddb9bb6107aa82d118776",
     "https://bcr.bazel.build/modules/bazel_features/1.1.1/MODULE.bazel": "27b8c79ef57efe08efccbd9dd6ef70d61b4798320b8d3c134fd571f78963dbcd",
     "https://bcr.bazel.build/modules/bazel_features/1.11.0/MODULE.bazel": "f9382337dd5a474c3b7d334c2f83e50b6eaedc284253334cf823044a26de03e8",
     "https://bcr.bazel.build/modules/bazel_features/1.15.0/MODULE.bazel": "d38ff6e517149dc509406aca0db3ad1efdd890a85e049585b7234d04238e2a4d",
@@ -112,7 +113,8 @@
     "https://bcr.bazel.build/modules/rules_cc/0.1.1/MODULE.bazel": "2f0222a6f229f0bf44cd711dc13c858dad98c62d52bd51d8fc3a764a83125513",
     "https://bcr.bazel.build/modules/rules_cc/0.1.5/MODULE.bazel": "88dfc9361e8b5ae1008ac38f7cdfd45ad738e4fa676a3ad67d19204f045a1fd8",
     "https://bcr.bazel.build/modules/rules_cc/0.2.13/MODULE.bazel": "eecdd666eda6be16a8d9dc15e44b5c75133405e820f620a234acc4b1fdc5aa37",
-    "https://bcr.bazel.build/modules/rules_cc/0.2.13/source.json": "f872e892c5265c5532e526857532f4868708f88d64e5ebe517ea72e09da61bdb",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.14/MODULE.bazel": "353c99ed148887ee89c54a17d4100ae7e7e436593d104b668476019023b58df8",
+    "https://bcr.bazel.build/modules/rules_cc/0.2.14/source.json": "55d0a4587c5592fad350f6e698530f4faf0e7dd15e69d43f8d87e220c78bea54",
     "https://bcr.bazel.build/modules/rules_foreign_cc/0.9.0/MODULE.bazel": "c9e8c682bf75b0e7c704166d79b599f93b72cfca5ad7477df596947891feeef6",
     "https://bcr.bazel.build/modules/rules_fuzzing/0.5.2/MODULE.bazel": "40c97d1144356f52905566c55811f13b299453a14ac7769dfba2ac38192337a8",
     "https://bcr.bazel.build/modules/rules_java/4.0.0/MODULE.bazel": "5a78a7ae82cd1a33cef56dc578c7d2a46ed0dca12643ee45edbb8417899e6f74",
@@ -158,6 +160,8 @@
     "https://bcr.bazel.build/modules/rules_proto/7.0.2/MODULE.bazel": "bf81793bd6d2ad89a37a40693e56c61b0ee30f7a7fdbaf3eabbf5f39de47dea2",
     "https://bcr.bazel.build/modules/rules_proto/7.1.0/MODULE.bazel": "002d62d9108f75bb807cd56245d45648f38275cb3a99dcd45dfb864c5d74cb96",
     "https://bcr.bazel.build/modules/rules_proto/7.1.0/source.json": "39f89066c12c24097854e8f57ab8558929f9c8d474d34b2c00ac04630ad8940e",
+    "https://bcr.bazel.build/modules/rules_pycross/0.8.1/MODULE.bazel": "e8fea73f129f5cf81d39de0a4a8675c98e2392d32d7835c9fe55cb04445b39d5",
+    "https://bcr.bazel.build/modules/rules_pycross/0.8.1/source.json": "766863bf7355ef02c76ca63b171f3e2ca8b277b5211cf22740ebf5363598b388",
     "https://bcr.bazel.build/modules/rules_python/0.10.2/MODULE.bazel": "cc82bc96f2997baa545ab3ce73f196d040ffb8756fd2d66125a530031cd90e5f",
     "https://bcr.bazel.build/modules/rules_python/0.17.3/MODULE.bazel": "f0eb1c105334c80641ea03261e19329fdcf5232e2b134a94f016348190f05499",
     "https://bcr.bazel.build/modules/rules_python/0.23.1/MODULE.bazel": "49ffccf0511cb8414de28321f5fcf2a31312b47c40cc21577144b7447f2bf300",

apriltag/robotpy_native_build_info.bzl

@@ -36,4 +36,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/apriltag",
         install_path = "native/apriltag/",
+        strip_path_prefixes = ["apriltag"],
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpimath==0.0.0"],
+        summary = "WPILib AprilTag Library",
+        entry_points = {
+            "pkg_config": [
+                "apriltag = native.apriltag",
+            ],
+        },
     )

apriltag/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def apriltag_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     APRILTAG_HEADER_GEN = [
         struct(
             class_name = "AprilTag",
@@ -214,6 +214,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpimath:robotpy-wpimath",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["apriltag/src/main/python", "apriltag"],
+        summary = "RobotPy bindings for WPILib's AprilTag library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-apriltag==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0"],
+        entry_points = {
+            "pkg_config": ["apriltag = robotpy_apriltag"],
+        },
         visibility = ["//visibility:public"],
     )
 

commandsv2/BUILD.bazel

@@ -2,7 +2,9 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
+load("@rules_pycross//pycross:defs.bzl", "pycross_wheel_library")
 load("@rules_python//python:defs.bzl", "py_binary", "py_library")
+load("@rules_python//python:packaging.bzl", "py_wheel")
 load("//commandsv2:generate.bzl", "generate_wpilib_new_commands")
 load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test", "wpilib_java_library")
@@ -186,10 +188,29 @@ package_default_cc_project(
 )
 
 py_library(
-    name = "commandsv2-py",
+    name = "commandsv2-py-lib",
     srcs = glob(["src/main/python/**/*.py"]),
     imports = ["src/main/python"],
+    deps = [
+        "//wpilibc:robotpy-wpilib",
+        requirement("typing-extensions"),
+    ],
+)
+
+py_wheel(
+    name = "commandsv2-wheel",
+    distribution = "commandsv2",
+    strip_path_prefixes = ["commandsv2/src/main/python"],
+    tags = ["robotpy"],
+    version = "$(ROBOTPY_VERSION)",
+    deps = [":commandsv2-py-lib"],
+)
+
+pycross_wheel_library(
+    name = "commandsv2-py",
+    tags = ["manual"],
     visibility = ["//visibility:public"],
+    wheel = ":commandsv2-wheel",
     deps = [
         "//wpilibc:robotpy-wpilib",
         requirement("typing-extensions"),

datalog/robotpy_native_build_info.bzl

@@ -31,4 +31,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/datalog",
         install_path = "native/datalog/",
+        strip_path_prefixes = ["datalog"],
+        requires = ["robotpy-native-wpiutil==0.0.0"],
+        summary = "WPILib Utility Library",
+        entry_points = {
+            "pkg_config": [
+                "datalog = native.datalog",
+            ],
+        },
     )

datalog/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpilog_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpilog_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPILOG_HEADER_GEN = [
         struct(
             class_name = "DataLog",
@@ -208,6 +208,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//datalog:robotpy-native-datalog",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["datalog/src/main/python", "datalog"],
+        summary = "Binary wrapper for FRC wpilog library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-datalog==0.0.0", "robotpy-wpiutil==0.0.0"],
+        entry_points = {
+            "pkg_config": ["wpilog = wpilog"],
+        },
         visibility = ["//visibility:public"],
     )
 

hal/robotpy_native_build_info.bzl

@@ -33,4 +33,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/wpiHal",
         install_path = "native/wpihal/",
+        strip_path_prefixes = ["hal"],
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-ntcore==0.0.0"],
+        summary = "WPILib HAL implementation",
+        entry_points = {
+            "pkg_config": [
+                "wpihal = native.wpihal",
+            ],
+        },
     )

hal/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     HAL_SIMULATION_HEADER_GEN = [
         struct(
             class_name = "DriverStationData",
@@ -141,7 +141,7 @@ def hal_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = []
         tags = ["manual", "robotpy"],
     )
 
-def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpihal_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPIHAL_HEADER_GEN = [
         struct(
             class_name = "CANAPITypes",
@@ -421,6 +421,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//ntcore:pyntcore",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["hal/src/main/python", "hal"],
+        summary = "Binary wrapper for FRC HAL",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["pyntcore==0.0.0", "robotpy-native-wpihal==0.0.0", "robotpy-wpiutil==0.0.0"],
+        entry_points = {
+            "pkg_config": ["hal_simulation = hal.simulation", "wpihal = hal"],
+        },
         visibility = ["//visibility:public"],
     )
 

ntcore/robotpy_native_build_info.bzl

@@ -35,4 +35,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/ntcore",
         install_path = "native/ntcore/",
+        strip_path_prefixes = ["ntcore"],
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpinet==0.0.0", "robotpy-native-datalog==0.0.0"],
+        summary = "WPILib NetworkTables Library",
+        entry_points = {
+            "pkg_config": [
+                "ntcore = native.ntcore",
+            ],
+        },
     )

ntcore/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def ntcore_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def ntcore_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     NTCORE_HEADER_GEN = [
         struct(
             class_name = "BooleanArrayTopic",
@@ -485,6 +485,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpinet:robotpy-wpinet",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["ntcore/src/main/python", "ntcore"],
+        summary = "Binary wrappers for the FRC ntcore library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-ntcore==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpinet==0.0.0", "robotpy-wpilog==0.0.0"],
+        entry_points = {
+            "pkg_config": ["ntcore = ntcore"],
+        },
         visibility = ["//visibility:public"],
     )
 

robotpyExamples/BUILD.bazel

@@ -0,0 +1,46 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_file")
+load("@rules_python//python:defs.bzl", "py_binary")
+load("@rules_python//python/entry_points:py_console_script_binary.bzl", "py_console_script_binary")
+load(":define_examples.bzl", "define_examples")
+
+py_binary(
+    name = "generate_bazel_files",
+    srcs = ["generate_bazel_files.py"],
+    target_compatible_with = select({
+        "@rules_bzlmodrio_toolchains//constraints/is_roborio:roborio": ["@platforms//:incompatible"],
+        "@rules_bzlmodrio_toolchains//constraints/is_systemcore:systemcore": ["@platforms//:incompatible"],
+        "//conditions:default": [],
+    }),
+    deps = [
+        requirement("tomli"),
+    ],
+)
+
+cmd = "$(locations :generate_bazel_files) $(OUTS)"
+
+genrule(
+    name = "generate_bazel_files_rule",
+    srcs = [
+        "examples.toml",
+    ],
+    outs = ["gen/example_projects.bzl"],
+    cmd = cmd,
+    tools = [":generate_bazel_files"],
+)
+
+write_source_file(
+    name = "write_example_project_list",
+    in_file = ":generate_bazel_files_rule",
+    out_file = "example_projects.bzl",
+    suggested_update_target = "//:write_all",
+    tags = ["pregeneration"],
+    visibility = ["//visibility:public"],
+)
+
+py_console_script_binary(
+    name = "robotpy",
+    pkg = "@allwpilib_pip_deps//robotpy_cli",
+)
+
+define_examples()

robotpyExamples/define_examples.bzl

@@ -0,0 +1,44 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+load("@rules_python//python:defs.bzl", "py_binary", "py_test")
+load("//robotpyExamples:example_projects.bzl", "PROJECTS")
+
+def define_examples():
+    for example_folder in PROJECTS:
+        base_name = example_folder.replace("/", "_")
+        common_kwargs = dict(
+            srcs = [":robotpy_entry_point.py"],
+            main = "robotpy_entry_point.py",
+            data = native.glob([example_folder + "/**"]),
+            imports = [example_folder],
+        )
+        common_deps = [
+            ":robotpy",
+            "//apriltag:robotpy-apriltag",
+            "//commandsv2:commandsv2-py",
+            "//wpilibc:robotpy-wpilib",
+            "//romiVendordep:robotpy-romi",
+            "//xrpVendordep:robotpy-xrp",
+            requirement("numpy"),
+        ]
+
+        py_test(
+            name = base_name + "-test",
+            args = ["--main", "$(location " + example_folder + "/robot.py)", "test", "--builtin"],
+            deps = common_deps,
+            size = "small",
+            **common_kwargs
+        )
+
+        py_binary(
+            name = base_name + "-run",
+            args = ["--main", "$(location " + example_folder + "/robot.py)", "run"],
+            deps = common_deps,
+            **common_kwargs
+        )
+
+        py_binary(
+            name = base_name + "-sim",
+            args = ["--main", "$(location " + example_folder + "/robot.py)", "sim"],
+            deps = common_deps + ["//simulation/halsim_gui:robotpy-halsim-gui"],
+            **common_kwargs
+        )

robotpyExamples/example_projects.bzl

@@ -0,0 +1,54 @@
+PROJECTS = [
+    "AddressableLED",
+    "AprilTagsVision",
+    "ArcadeDrive",
+    "ArcadeDriveXboxController",
+    "ArmSimulation",
+    "CANPDP",
+    "DifferentialDriveBot",
+    "DifferentialDrivePoseEstimator",
+    "DigitalCommunication",
+    "DriveDistanceOffboard",
+    "DutyCycleEncoder",
+    "DutyCycleInput",
+    "ElevatorExponentialProfile",
+    "ElevatorExponentialSimulation",
+    "ElevatorProfiledPID",
+    "ElevatorSimulation",
+    "ElevatorTrapezoidProfile",
+    "Encoder",
+    "EventLoop",
+    "FlywheelBangBangController",
+    "GettingStarted",
+    "Gyro",
+    "GyroMecanum",
+    "HatchbotInlined",
+    "HatchbotTraditional",
+    "HidRumble",
+    "HttpCamera",
+    "I2CCommunication",
+    "IntermediateVision",
+    "MecanumBot",
+    "MecanumDrive",
+    "MecanumDrivePoseEstimator",
+    "Mechanism2d",
+    "MotorControl",
+    "PotentiometerPID",
+    "QuickVision",
+    "RapidReactCommandBot",
+    "RomiReference",
+    "SelectCommand",
+    "SimpleDifferentialDriveSimulation",
+    "Solenoid",
+    "StateSpaceArm",
+    "StateSpaceElevator",
+    "StateSpaceFlywheel",
+    "StateSpaceFlywheelSysId",
+    "SwerveBot",
+    "SwerveDrivePoseEstimator",
+    "SysId",
+    "TankDrive",
+    "TankDriveXboxController",
+    "UnitTest",
+    "XrpReference",
+]

robotpyExamples/generate_bazel_files.py

@@ -0,0 +1,25 @@
+
+import sys
+import tomli
+
+def main():
+    toml_filename = "robotpyExamples/examples.toml"
+    output_file = "robotpyExamples/example_projects.bzl"
+    
+    with open(toml_filename, "rb") as f:
+        data = tomli.load(f)
+
+    contents = "PROJECTS = [\n"
+    for test_folder in data["tests"]["base"]:
+        contents += f'    "{test_folder}",\n'
+    contents += "]\n"
+
+    if len(sys.argv) == 2:
+        output_file = sys.argv[1]
+        
+    with open(output_file, "w") as f:
+        f.write(contents)
+
+
+if __name__ == "__main__":
+    main()

romiVendordep/robotpy_native_build_info.bzl

@@ -31,4 +31,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/romiVendordep",
         install_path = "native/romi/",
+        strip_path_prefixes = ["romiVendordep"],
+        requires = ["robotpy-native-wpilib==0.0.0"],
+        summary = "WPILib Romi support library",
+        entry_points = {
+            "pkg_config": [
+                "romi = native.romi",
+            ],
+        },
     )

romiVendordep/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def romi_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     ROMI_HEADER_GEN = [
         struct(
             class_name = "OnBoardIO",
@@ -176,6 +176,15 @@ def define_pybind_library(name, pkgcfgs = []):
             "//simulation/halsim_ws_core:robotpy-halsim-ws",
             "//wpilibc:robotpy-wpilib",
         ],
+        strip_path_prefixes = ["romiVendordep/src/main/python", "romiVendordep"],
+        summary = "Binary wrapper for WPILib Romi Vendor library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-romi==0.0.0", "wpilib==0.0.0", "robotpy-halsim-ws==0.0.0"],
+        entry_points = {
+            "pkg_config": ["romi = romi"],
+            "robotpy_cli.2027": ["run-romi = romi.cli:RunRomi"],
+        },
         visibility = ["//visibility:public"],
     )
 

shared/bazel/rules/robotpy/generate_native_build_file.py

@@ -102,6 +102,14 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/{{shared_library_name}}",
         install_path = "native/{{nativelib_config.pcfile[0].name}}/",
+        strip_path_prefixes = ["{{root_package}}"],
+        requires = {{raw_project_config.dependencies | double_quotes}},
+        summary = "{{raw_project_config.description}}",
+        entry_points = {
+            "pkg_config": [
+                "{{nativelib_config.pcfile[0].name}} = native.{{nativelib_config.pcfile[0].name}}",
+            ],
+        },
     )
 
 """

shared/bazel/rules/robotpy/generate_pybind_build_file.py

@@ -417,6 +417,19 @@ def generate_pybind_build_file(
     except:
         version_file = None
 
+    # The entry points defined above are implicit to how the project is broken down in the toml files.
+    # This addes potentially extra explicitly declared entry points
+    if "entry-points" in raw_config["project"]:
+        explicit_entry_points = raw_config["project"]["entry-points"]
+        for entry_point_type in explicit_entry_points:
+            for ep_key, ep_value in explicit_entry_points[entry_point_type].items():
+                entry_points[entry_point_type].append(f"{ep_key} = {ep_value}")
+
+    strip_path_prefixes = [
+        f"{fixup_root_package_name(top_level_name)}/{stripped_include_prefix}",
+        f"{fixup_root_package_name(top_level_name)}",
+    ]
+
     with open(output_file, "w") as f:
         f.write(
             template.render(
@@ -426,6 +439,7 @@ def generate_pybind_build_file(
                 python_deps=sorted(python_deps),
                 all_local_native_deps=all_local_native_deps,
                 stripped_include_prefix=stripped_include_prefix,
+                strip_path_prefixes=strip_path_prefixes,
                 yml_prefix=yml_prefix,
                 package_root_file=package_root_file,
                 raw_project_config=raw_config["project"],

shared/bazel/rules/robotpy/generation_utils.py

@@ -13,6 +13,10 @@ def fixup_root_package_name(name):
         return "ntcore"
     if name == "halsim-ws":
         return "simulation/halsim_ws_core"
+    if name == "wpimath_test":
+        return "wpimath"
+    if name == "robotpy_apriltag":
+        return "apriltag"
     return name
 
 

shared/bazel/rules/robotpy/pybind_build_file_template.jinja2

@@ -12,7 +12,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", {% if publish_casters_targets %}"publish_casters", {% endif %}"resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 {% for extension_module in extension_modules%}
-def {{extension_module.name}}_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def {{extension_module.name}}_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     {{extension_module.name|upper}}_HEADER_GEN = [
     {%- for header_cfg in extension_module.generation_data.values() %}
         struct(
@@ -217,6 +217,16 @@ def define_pybind_library(name, pkgcfgs = []):
             {% if "requirement" in d %}{{d}}{% else %}"{{d}}"{% endif %},
             {%- endfor %}
         ],
+        strip_path_prefixes = [{% for spp in strip_path_prefixes %}"{{ spp }}"{% if not loop.last%}, {% endif %}{% endfor %}],
+        summary = "{{raw_project_config.description}}",
+        project_urls = {{raw_project_config.urls | jsonify}},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = {{raw_project_config.dependencies | jsonify}},
+        entry_points = {
+            {%- for group, entries in entry_points.items() %}
+            "{{ group }}": {{entries | jsonify}},
+            {%- endfor %}
+        },
         visibility = ["//visibility:public"],
     )
 

shared/bazel/rules/robotpy/pybind_rules.bzl

@@ -1,6 +1,8 @@
 load("@aspect_bazel_lib//lib:copy_file.bzl", "copy_file")
 load("@pybind11_bazel//:build_defs.bzl", "pybind_extension", "pybind_library")
+load("@rules_pycross//pycross:defs.bzl", "pycross_wheel_library")
 load("@rules_python//python:defs.bzl", "py_library")
+load("@rules_python//python:packaging.bzl", "py_wheel")
 load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
 
 def create_pybind_library(
@@ -82,21 +84,54 @@ def create_pybind_library(
 
 def robotpy_library(
         name,
+        deps = [],
         data = [],
+        strip_path_prefixes = None,
+        summary = None,
+        project_urls = None,
+        author_email = None,
+        entry_points = None,
+        requires = None,
         **kwargs):
     """
     Defines a python library that is wrapping a series of pybind extensions.
 
     Outputs:
         <name> - The python library
+        <name>-wheel - A wheel for the library
     """
     py_library(
-        name = name,
+        name = name + "-lib",
         data = data,
+        deps = deps,
         tags = ["robotpy"],
         **kwargs
     )
 
+    py_wheel(
+        name = "{}-wheel".format(name),
+        distribution = name,
+        stamp = 1,
+        version = "$(ROBOTPY_VERSION)",
+        summary = summary,
+        requires = requires,
+        project_urls = project_urls,
+        author_email = author_email,
+        deps = data + [":{}-lib".format(name)],
+        strip_path_prefixes = strip_path_prefixes,
+        entry_points = entry_points,
+        license = "BSD-3-Clause",
+        tags = ["robotpy"],
+    )
+
+    pycross_wheel_library(
+        name = "{}".format(name),
+        wheel = "{}-wheel".format(name),
+        deps = deps,
+        visibility = ["//visibility:public"],
+        tags = ["manual"],
+    )
+
 def copy_native_file(name, library, base_path):
     """
     Copies a compiled shared library into a naming format that can be used by robotpy rules. The libraries are named
@@ -153,6 +188,12 @@ def native_wrappery_library(
         native_shared_library,
         install_path,
         headers,
+        strip_path_prefixes = [],
+        summary = None,
+        project_urls = None,
+        author_email = None,
+        entry_points = None,
+        requires = None,
         deps = []):
     """
     This function provides a sugar wrapper for defining a python library that wraps an allwpilib native library
@@ -187,11 +228,34 @@ def native_wrappery_library(
     )
 
     py_library(
-        name = name,
+        name = name + "-lib",
         srcs = [libinit_file],
         data = [pc_file, ":{}.copy_lib".format(libname), headers],
         deps = deps,
         imports = ["."],
-        visibility = ["//visibility:public"],
         tags = ["robotpy"],
     )
+
+    py_wheel(
+        name = "{}-wheel".format(name),
+        distribution = name,
+        stamp = 1,
+        version = "$(ROBOTPY_VERSION)",
+        summary = summary,
+        requires = requires,
+        project_urls = project_urls,
+        author_email = author_email,
+        deps = [name + "-lib", ":{}.copy_lib".format(libname), headers, name + ".pc_wrapper"],
+        strip_path_prefixes = strip_path_prefixes,
+        entry_points = entry_points,
+        tags = ["robotpy"],
+        license = "BSD-3-Clause",
+    )
+
+    pycross_wheel_library(
+        name = "{}".format(name),
+        wheel = "{}-wheel".format(name),
+        visibility = ["//visibility:public"],
+        tags = ["manual"],
+        deps = deps,
+    )

simulation/halsim_gui/robotpy_pybind_build_info.bzl

@@ -4,7 +4,7 @@ load("//shared/bazel/rules/gen:gen-version-file.bzl", "generate_version_file")
 load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "copy_native_file", "create_pybind_library", "robotpy_library")
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 
-def halsim_gui_ext_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def halsim_gui_ext_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     HALSIM_GUI_EXT_HEADER_GEN = [
     ]
 
@@ -148,5 +148,13 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpimath:robotpy-wpimath",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["simulation/halsim_gui/src/main/python", "simulation/halsim_gui"],
+        summary = "WPILib simulation GUI",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0", "robotpy-hal==0.0.0", "pyntcore==0.0.0"],
+        entry_points = {
+            "pkg_config": ["halsim_gui_ext = halsim_gui._ext"],
+        },
         visibility = ["//visibility:public"],
     )

wpilibc/BUILD.bazel

@@ -270,11 +270,7 @@ define_pybind_library(
 
 robotpy_py_test(
     "python_tests",
-    srcs = glob(
-        ["src/test/python/**/*.py"],
-        # TODO(pjreiniger) This excluded test needs the ENTRY_POINT hooks (i.e. have a dependency on a wheel)
-        exclude = ["src/test/python/test_pytest_plugins.py"],
-    ),
+    srcs = glob(["src/test/python/**/*.py"]),
     tags = ["exclusive"],
     deps = [
         ":robotpy-wpilib",

wpilibc/robotpy_native_build_info.bzl

@@ -39,4 +39,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/wpilibc",
         install_path = "native/wpilib/",
+        strip_path_prefixes = ["wpilibc"],
+        requires = ["robotpy-native-wpiutil==0.0.0", "robotpy-native-wpinet==0.0.0", "robotpy-native-ntcore==0.0.0", "robotpy-native-wpimath==0.0.0", "robotpy-native-wpihal==0.0.0"],
+        summary = "WPILib Robotics Library",
+        entry_points = {
+            "pkg_config": [
+                "wpilib = native.wpilib",
+            ],
+        },
     )

wpilibc/robotpy_pybind_build_info.bzl

@@ -6,7 +6,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPILIB_HEADER_GEN = [
         struct(
             class_name = "Filesystem",
@@ -1084,7 +1084,7 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
         tags = ["manual", "robotpy"],
     )
 
-def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpilib_simulation_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPILIB_SIMULATION_HEADER_GEN = [
         struct(
             class_name = "ADXL345Sim",
@@ -1642,6 +1642,15 @@ def define_pybind_library(name, pkgcfgs = []):
             requirement("pytest-reraise"),
             requirement("robotpy-cli"),
         ],
+        strip_path_prefixes = ["wpilibc/src/main/python", "wpilibc"],
+        summary = "Binary wrapper for FRC WPILib",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-wpilib==0.0.0", "robotpy-wpiutil==0.0.0", "robotpy-wpimath==0.0.0", "robotpy-hal==0.0.0", "pyntcore==0.0.0", "robotpy-cli~=2027.0.0a1", "pytest>=3.9", "pytest-reraise"],
+        entry_points = {
+            "pkg_config": ["wpilib = wpilib", "wpilib_simulation = wpilib.simulation"],
+            "robotpy_cli.2027": ["add-tests = wpilib._impl.cli_add_tests:AddTests", "run = wpilib._impl.cli_run:Main", "sim = wpilib._impl.cli_sim:RobotSim", "test = wpilib._impl.cli_test:RobotTest"],
+        },
         visibility = ["//visibility:public"],
     )
 

wpimath/robotpy_native_build_info.bzl

@@ -36,4 +36,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/wpimath",
         install_path = "native/wpimath/",
+        strip_path_prefixes = ["wpimath"],
+        requires = ["robotpy-native-wpiutil==0.0.0"],
+        summary = "WPILib Math Library",
+        entry_points = {
+            "pkg_config": [
+                "wpimath = native.wpimath",
+            ],
+        },
     )

wpimath/robotpy_pybind_build_info.bzl

@@ -6,7 +6,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "publish_casters", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpimath_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPIMATH_HEADER_GEN = [
         struct(
             class_name = "ComputerVisionUtil",
@@ -1296,6 +1296,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpimath:robotpy-native-wpimath",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["wpimath/src/main/python", "wpimath"],
+        summary = "Binary wrapper for FRC WPIMath library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-wpimath==0.0.0", "robotpy-wpiutil==0.0.0"],
+        entry_points = {
+            "pkg_config": ["wpimath-casters = wpimath", "wpimath = wpimath"],
+        },
         visibility = ["//visibility:public"],
     )
 

wpimath/robotpy_pybind_test_info.bzl

@@ -4,7 +4,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpimath_test_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpimath_test_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPIMATH_TEST_HEADER_GEN = [
         struct(
             class_name = "module",
@@ -133,6 +133,14 @@ def define_pybind_library(name, pkgcfgs = []):
         imports = ["src/test/python/cpp"],
         deps = [
         ],
+        strip_path_prefixes = ["wpimath/src/test/python/cpp", "wpimath"],
+        summary = "Test project for verifying robotpy-build behavior",
+        project_urls = None,
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = None,
+        entry_points = {
+            "pkg_config": ["wpimath_test = wpimath_test"],
+        },
         visibility = ["//visibility:public"],
     )
 

wpinet/robotpy_native_build_info.bzl

@@ -36,4 +36,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/wpinet",
         install_path = "native/wpinet/",
+        strip_path_prefixes = ["wpinet"],
+        requires = ["robotpy-native-wpiutil==0.0.0"],
+        summary = "WPILib Networking Library",
+        entry_points = {
+            "pkg_config": [
+                "wpinet = native.wpinet",
+            ],
+        },
     )

wpinet/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpinet_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPINET_HEADER_GEN = [
         struct(
             class_name = "PortForwarder",
@@ -156,6 +156,14 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpinet:robotpy-native-wpinet",
             "//wpiutil:robotpy-wpiutil",
         ],
+        strip_path_prefixes = ["wpinet/src/main/python", "wpinet"],
+        summary = "Binary wrapper for FRC wpinet library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-wpinet==0.0.0", "robotpy-wpiutil==0.0.0"],
+        entry_points = {
+            "pkg_config": ["wpinet = wpinet"],
+        },
         visibility = ["//visibility:public"],
     )
 

wpiutil/robotpy_native_build_info.bzl

@@ -50,4 +50,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/wpiutil",
         install_path = "native/wpiutil/",
+        strip_path_prefixes = ["wpiutil"],
+        requires = ["msvc-runtime>=14.42.34433; platform_system == 'Windows'"],
+        summary = "WPILib Utility Library",
+        entry_points = {
+            "pkg_config": [
+                "wpiutil = native.wpiutil",
+            ],
+        },
     )

wpiutil/robotpy_pybind_build_info.bzl

@@ -6,7 +6,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "publish_casters", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def wpiutil_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     WPIUTIL_HEADER_GEN = [
         struct(
             class_name = "Color",
@@ -252,6 +252,14 @@ def define_pybind_library(name, pkgcfgs = []):
         deps = [
             "//wpiutil:robotpy-native-wpiutil",
         ],
+        strip_path_prefixes = ["wpiutil/src/main/python", "wpiutil"],
+        summary = "Binary wrapper for FRC WPIUtil library",
+        project_urls = {"Source code": "https://github.com/robotpy/mostrobotpy"},
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-wpiutil==0.0.0"],
+        entry_points = {
+            "pkg_config": ["wpiutil-casters = wpiutil", "wpiutil = wpiutil"],
+        },
         visibility = ["//visibility:public"],
     )
 

xrpVendordep/robotpy_native_build_info.bzl

@@ -31,4 +31,12 @@ def define_native_wrapper(name, pyproject_toml = None):
         headers = "{}.copy_headers".format(name),
         native_shared_library = "shared/xrpVendordep",
         install_path = "native/xrp/",
+        strip_path_prefixes = ["xrpVendordep"],
+        requires = ["robotpy-native-wpilib==0.0.0"],
+        summary = "WPILib XRP vendor library",
+        entry_points = {
+            "pkg_config": [
+                "xrp = native.xrp",
+            ],
+        },
     )

xrpVendordep/robotpy_pybind_build_info.bzl

@@ -5,7 +5,7 @@ load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "create_pybind_library", "
 load("//shared/bazel/rules/robotpy:semiwrap_helpers.bzl", "gen_libinit", "gen_modinit_hpp", "gen_pkgconf", "resolve_casters", "run_header_gen")
 load("//shared/bazel/rules/robotpy:semiwrap_tool_helpers.bzl", "scan_headers", "update_yaml_files")
 
-def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = [], extra_pyi_deps = []):
+def xrp_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includes = []):
     XRP_HEADER_GEN = [
         struct(
             class_name = "XRPGyro",
@@ -205,6 +205,16 @@ def define_pybind_library(name, pkgcfgs = []):
             "//wpilibc:robotpy-wpilib",
             "//xrpVendordep:robotpy-native-xrp",
         ],
+        strip_path_prefixes = ["xrpVendordep/src/main/python", "xrpVendordep"],
+        summary = "Binary wrapper for WPILib XRP Vendor library",
+        project_urls = None,
+        author_email = "RobotPy Development Team <robotpy@googlegroups.com>",
+        requires = ["robotpy-native-xrp==0.0.0", "wpilib==0.0.0"],
+        entry_points = {
+            "pkg_config": ["xrp = xrp"],
+            "robotpy_cli.2027": ["run-xrp = xrp.cli:RunXrp"],
+            "robotpy_sim.2027": ["xrp = xrp.extension"],
+        },
         visibility = ["//visibility:public"],
     )