[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.

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,
+    )