[copybara] mostrobotpy to allwpilib (#8545)

Project import generated by Copybara.
GitOrigin-RevId: f10284b37498bb6a088891ca41f160793ec7fd90

simulation/halsim_ds_socket/BUILD.bazel

@@ -1,7 +1,11 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_python//python:defs.bzl", "py_library")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules:publishing.bzl", "host_architectures")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "copy_native_file")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 
 cc_library(
     name = "headers",
@@ -92,3 +96,31 @@ package_default_cc_project(
     maven_artifact_name = "halsim_ds_socket",
     maven_group_id = "org.wpilib.halsim",
 )
+
+copy_native_file(
+    name = "halsim_ds_socket",
+    base_path = "src/main/python/halsim_ds_socket/",
+    library = "shared/halsim_ds_socket",
+)
+
+py_library(
+    name = "robotpy-halsim-ds-socket",
+    srcs = glob(["src/main/python/**/*.py"]),
+    data = [
+        ":halsim_ds_socket.copy_lib",
+    ],
+    imports = ["src/main/python"],
+    deps = [
+        "//hal:robotpy-native-wpihal",
+        "//wpinet:robotpy-native-wpinet",
+    ],
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":robotpy-halsim-ds-socket",
+        requirement("pytest"),
+    ],
+)

simulation/halsim_ds_socket/src/main/python/README.md

@@ -0,0 +1,18 @@
+robotpy-halsim-ds-socket
+==================
+
+Installing this package will allow you to utilize the 2020+ WPILib GUI
+DS Socket from a RobotPy program.
+
+Usage
+-----
+
+First, install pyfrc. Then run your robot with the 'sim' argument and --ds-socket flag:
+
+    # Windows
+    py -3 -m robotpy sim --ds-socket
+
+    # Linux/OSX
+    python3 -m robotpy sim --ds-socket
+
+WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/

simulation/halsim_ds_socket/src/main/python/halsim_ds_socket/__init__.py

@@ -0,0 +1 @@
+from .main import loadExtension

simulation/halsim_ds_socket/src/main/python/halsim_ds_socket/main.py

@@ -0,0 +1,23 @@
+import logging
+import os
+from os.path import abspath, dirname, join
+
+logger = logging.getLogger("halsim_ds_socket")
+
+
+def loadExtension():
+    try:
+        import hal
+    except ImportError as e:
+        # really, should never happen...
+        raise ImportError("you must install robotpy-hal!") from e
+
+    from .version import version
+
+    logger.info("WPILib HAL Simulation DS Socket Extension %s", version)
+
+    root = join(abspath(dirname(__file__)), "lib")
+    ext = join(root, os.listdir(root)[0])
+    retval = hal.loadOneExtension(ext)
+    if retval != 0:
+        logger.warn("loading extension may have failed (error=%d)", retval)

simulation/halsim_ds_socket/src/main/python/pyproject.toml

@@ -0,0 +1,40 @@
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "hatchling", 
+    "hatch-robotpy~=0.2.1",
+]
+
+[project]
+name = "robotpy-halsim-ds-socket"
+version = "0.0.0"
+description = "WPILib simulator DS Socket Extension"
+authors = [
+    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-native-wpihal==0.0.0",
+    "robotpy-native-wpinet==0.0.0",
+]
+
+[project.entry-points."robotpy_sim.2027"]
+ds-socket = "halsim_ds_socket"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "halsim_ds_socket/version.py"
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "halsim_ds_socket"
+group_id = "org.wpilib.halsim"
+repo_url = ""
+version = "0.0.0"
+use_headers = false
+
+extract_to = "halsim_ds_socket"
+libs = ["halsim_ds_socket"]
+
+
+[tool.hatch.build.targets.wheel]
+packages = ["halsim_ds_socket"]

simulation/halsim_ds_socket/src/test/python/test_halsim_ds_socket.py

@@ -0,0 +1,18 @@
+import ctypes
+import pathlib
+
+
+def test_halsim_ds_socket():
+    # dependencies
+    import native.wpihal._init_robotpy_native_wpihal
+    import native.wpinet._init_robotpy_native_wpinet
+
+    import halsim_ds_socket as base
+
+    loaded = 0
+    for fname in (pathlib.Path(base.__file__).parent / "lib").iterdir():
+        if fname.is_file() and fname.suffix in (".dll", ".dylib", ".so"):
+            ctypes.CDLL(str(fname))
+            loaded += 1
+
+    assert loaded

simulation/halsim_gui/BUILD.bazel

@@ -1,7 +1,10 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules:publishing.bzl", "host_architectures")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
+load("//simulation/halsim_gui:robotpy_pybind_build_info.bzl", "define_pybind_library", "halsim_gui_ext_extension")
 
 wpilib_cc_library(
     name = "halsim_gui",
@@ -148,3 +151,36 @@ package_default_cc_project(
     maven_artifact_name = "halsim_gui",
     maven_group_id = "org.wpilib.halsim",
 )
+
+PKG_CONFIG_DEPS = [
+    "//datalog:native/datalog/robotpy-native-datalog.pc",
+    "//datalog:robotpy-wpilog.generated_pkgcfg_files",
+    "//hal:native/wpihal/robotpy-native-wpihal.pc",
+    "//hal:robotpy-hal.generated_pkgcfg_files",
+    "//ntcore:native/ntcore/robotpy-native-ntcore.pc",
+    "//ntcore:pyntcore.generated_pkgcfg_files",
+    "//wpimath:native/wpimath/robotpy-native-wpimath.pc",
+    "//wpimath:robotpy-wpimath.generated_pkgcfg_files",
+    "//wpinet:native/wpinet/robotpy-native-wpinet.pc",
+    "//wpinet:robotpy-wpinet.generated_pkgcfg_files",
+    "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
+    "//wpiutil:robotpy-wpiutil.generated_pkgcfg_files",
+]
+
+halsim_gui_ext_extension(
+    srcs = glob(["src/main/python/halsim_gui/_ext/**/*.cpp"]),
+)
+
+define_pybind_library(
+    name = "robotpy-halsim-gui",
+    pkgcfgs = PKG_CONFIG_DEPS,
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":robotpy-halsim-gui",
+        requirement("pytest"),
+    ],
+)

simulation/halsim_gui/robotpy_pybind_build_info.bzl

@@ -0,0 +1,152 @@
+# THIS FILE IS AUTO GENERATED
+
+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 = []):
+    HALSIM_GUI_EXT_HEADER_GEN = [
+    ]
+
+    resolve_casters(
+        name = "halsim_gui_ext.resolve_casters",
+        caster_deps = ["//wpimath:src/main/python/wpimath/wpimath-casters.pybind11.json", "//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
+        casters_pkl_file = "halsim_gui_ext.casters.pkl",
+        dep_file = "halsim_gui_ext.casters.d",
+    )
+
+    gen_libinit(
+        name = "halsim_gui_ext.gen_lib_init",
+        output_file = "src/main/python/halsim_gui/_ext/_init__halsim_gui_ext.py",
+        modules = ["hal._init__wpiHal", "wpimath._init__wpimath", "ntcore._init__ntcore"],
+    )
+
+    gen_pkgconf(
+        name = "halsim_gui_ext.gen_pkgconf",
+        libinit_py = "halsim_gui._ext._init__halsim_gui_ext",
+        module_pkg_name = "halsim_gui._ext._halsim_gui_ext",
+        output_file = "halsim_gui_ext.pc",
+        pkg_name = "halsim_gui_ext",
+        install_path = "src/main/python/halsim_gui/_ext",
+        project_file = "src/main/python/pyproject.toml",
+        package_root = "src/main/python/halsim_gui/_ext/__init__.py",
+    )
+
+    gen_modinit_hpp(
+        name = "halsim_gui_ext.gen_modinit_hpp",
+        input_dats = [x.class_name for x in HALSIM_GUI_EXT_HEADER_GEN],
+        libname = "_halsim_gui_ext",
+        output_file = "semiwrap_init.halsim_gui._ext._halsim_gui_ext.hpp",
+    )
+
+    run_header_gen(
+        name = "halsim_gui_ext",
+        casters_pickle = "halsim_gui_ext.casters.pkl",
+        header_gen_config = HALSIM_GUI_EXT_HEADER_GEN,
+        trampoline_subpath = "src/main/python/halsim_gui/_ext",
+        deps = header_to_dat_deps,
+        local_native_libraries = [
+        ],
+    )
+
+    create_pybind_library(
+        name = "halsim_gui_ext",
+        install_path = "src/main/python/halsim_gui/_ext/",
+        extension_name = "_halsim_gui_ext",
+        generated_srcs = [],
+        semiwrap_header = [":halsim_gui_ext.gen_modinit_hpp"],
+        deps = [
+            ":halsim_gui_ext.tmpl_hdrs",
+            ":halsim_gui_ext.trampoline_hdrs",
+            "//hal:wpiHal",
+            "//hal:wpihal_pybind_library",
+            "//ntcore:ntcore",
+            "//ntcore:ntcore_pybind_library",
+            "//simulation/halsim_gui:halsim_gui",
+            "//wpimath:wpimath",
+            "//wpimath:wpimath_pybind_library",
+        ],
+        dynamic_deps = [
+            "//hal:shared/wpiHal",
+            "//simulation/halsim_gui:shared/halsim_gui",
+            "//ntcore:shared/ntcore",
+            "//wpimath:shared/wpimath",
+        ],
+        extra_hdrs = extra_hdrs,
+        extra_srcs = srcs,
+        includes = includes,
+    )
+
+    native.filegroup(
+        name = "halsim_gui_ext.generated_files",
+        srcs = [
+            "halsim_gui_ext.gen_modinit_hpp.gen",
+            "halsim_gui_ext.header_gen_files",
+            "halsim_gui_ext.gen_pkgconf",
+            "halsim_gui_ext.gen_lib_init",
+        ],
+        tags = ["manual", "robotpy"],
+    )
+
+def define_pybind_library(name, pkgcfgs = []):
+    # Helper used to generate all files with one target.
+    native.filegroup(
+        name = "{}.generated_files".format(name),
+        srcs = [
+            "halsim_gui_ext.generated_files",
+        ],
+        tags = ["manual", "robotpy"],
+        visibility = ["//visibility:public"],
+    )
+
+    # Files that will be included in the wheel as data deps
+    native.filegroup(
+        name = "{}.generated_pkgcfg_files".format(name),
+        srcs = [
+            "src/main/python/halsim_gui/_ext/halsim_gui_ext.pc",
+        ],
+        tags = ["manual", "robotpy"],
+        visibility = ["//visibility:public"],
+    )
+
+    # Contains all of the non-python files that need to be included in the wheel
+    native.filegroup(
+        name = "{}.extra_files".format(name),
+        srcs = native.glob(["src/main/python/halsim_gui/**"], exclude = ["src/main/python/halsim_gui/**/*.py"], allow_empty = True),
+        tags = ["manual", "robotpy"],
+    )
+
+    generate_version_file(
+        name = "{}.generate_version".format(name),
+        output_file = "src/main/python/halsim_gui/version.py",
+        template = "//shared/bazel/rules/robotpy:version_template.in",
+    )
+
+    copy_native_file(
+        name = "halsim_gui",
+        library = ":shared/halsim_gui",
+        base_path = "src/main/python/halsim_gui/",
+    )
+
+    robotpy_library(
+        name = name,
+        srcs = native.glob(["src/main/python/halsim_gui/**/*.py"]) + [
+            "src/main/python/halsim_gui/_ext/_init__halsim_gui_ext.py",
+            "{}.generate_version".format(name),
+        ],
+        data = [
+            "{}.generated_pkgcfg_files".format(name),
+            "{}.extra_files".format(name),
+            ":src/main/python/halsim_gui/_ext/_halsim_gui_ext",
+            ":halsim_gui_ext.trampoline_hdr_files",
+            ":halsim_gui.copy_lib",
+        ],
+        imports = ["src/main/python"],
+        deps = [
+            "//hal:robotpy-hal",
+            "//ntcore:pyntcore",
+            "//wpimath:robotpy-wpimath",
+            "//wpiutil:robotpy-wpiutil",
+        ],
+        visibility = ["//visibility:public"],
+    )

simulation/halsim_gui/src/main/python/README.md

@@ -0,0 +1,18 @@
+robotpy-halsim-gui
+==================
+
+Installing this package will allow you to utilize the 2020+ WPILib GUI
+simulation from a RobotPy program.
+
+Usage
+-----
+
+First, install pyfrc. Then run your robot with the 'sim' argument:
+
+    # Windows
+    py -3 -m robotpy sim
+
+    # Linux/OSX
+    python3 -m robotpy sim
+
+WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/simulation-gui.html

simulation/halsim_gui/src/main/python/halsim_gui/__init__.py

@@ -0,0 +1 @@
+from .main import loadExtension

simulation/halsim_gui/src/main/python/halsim_gui/_ext/__init__.py

@@ -0,0 +1 @@
+from . import _init__halsim_gui_ext

simulation/halsim_gui/src/main/python/halsim_gui/_ext/main.cpp

@@ -0,0 +1,44 @@
+
+#include <semiwrap_init.halsim_gui._ext._halsim_gui_ext.hpp>
+
+#include <functional>
+
+#include <wpi/halsim/gui/HALSimGuiExt.hpp>
+#include <wpi/hal/Extensions.h>
+
+std::function<void()> g_gui_exit;
+
+SEMIWRAP_PYBIND11_MODULE(m) {
+
+  initWrapper(m);
+
+  m.def("_kill_on_signal", []() {
+    HAL_RegisterExtensionListener(
+        nullptr, [](void *, const char *name, void *data) {
+          std::string_view name_view{name};
+          if (name_view == HALSIMGUI_EXT_GUIEXIT) {
+            g_gui_exit = (halsimgui::GuiExitFn)data;
+          } else if (name_view == HALSIMGUI_EXT_ADDGUILATEEXECUTE) {
+            auto AddGuiLateExecute = (halsimgui::AddGuiLateExecuteFn)data;
+            AddGuiLateExecute([] {
+              py::gil_scoped_acquire gil;
+              if (PyErr_CheckSignals() == -1) {
+                
+                // If a python signal has been triggered, the GUI needs to exit. It's
+                // not safe to throw an exception here on all platforms so we just
+                // assume that the only eventual caller of this function is HAL_RunMain,
+                // and our wrapper around that function will check if a python error is
+                // set and throw from there.
+                //
+                // Reference: https://github.com/wpilibsuite/allwpilib/issues/8528
+                if (g_gui_exit) {
+                  g_gui_exit();
+                } else {
+                  throw py::error_already_set();
+                }
+              }
+            });
+          }
+        });
+  });
+}

simulation/halsim_gui/src/main/python/halsim_gui/main.py

@@ -0,0 +1,27 @@
+import logging
+import os
+from os.path import abspath, dirname, join
+
+logger = logging.getLogger("halsim_gui")
+
+
+def loadExtension():
+    try:
+        import hal
+    except ImportError as e:
+        # really, should never happen...
+        raise ImportError("you must install robotpy-hal!") from e
+
+    from .version import version
+
+    logger.info("WPILib HAL Simulation %s", version)
+
+    root = join(abspath(dirname(__file__)), "lib")
+    ext = join(root, os.listdir(root)[0])
+    retval = hal.loadOneExtension(ext)
+    if retval != 0:
+        logger.warn("loading extension may have failed (error=%d)", retval)
+
+    from ._ext._halsim_gui_ext import _kill_on_signal
+
+    _kill_on_signal()

simulation/halsim_gui/src/main/python/pyproject.toml

@@ -0,0 +1,57 @@
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "semiwrap~=0.2.1",
+    "hatch-meson~=0.1.0",
+    "hatch-robotpy~=0.2.1",
+    "hatchling",
+    "robotpy-wpiutil==0.0.0",
+    "robotpy-wpimath==0.0.0",
+    "robotpy-hal==0.0.0",
+    "pyntcore==0.0.0",
+]
+
+[project]
+name = "robotpy-halsim-gui"
+version = "0.0.0"
+description = "WPILib simulation GUI"
+authors = [
+    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-wpiutil==0.0.0",
+    "robotpy-wpimath==0.0.0",
+    "robotpy-hal==0.0.0",
+    "pyntcore==0.0.0",
+]
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "halsim_gui/version.py"
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "halsim_gui"
+group_id = "org.wpilib.halsim"
+repo_url = ""
+version = "0.0.0"
+use_headers = true
+
+libs = ["halsim_gui"]
+extract_to = "halsim_gui"
+
+[tool.hatch.build.hooks.semiwrap]
+
+[tool.hatch.build.hooks.meson]
+
+[tool.hatch.build.targets.wheel]
+packages = ["halsim_gui"]
+
+
+[tool.semiwrap]
+[tool.semiwrap.extension_modules."halsim_gui._ext._halsim_gui_ext"]
+name = "halsim_gui_ext"
+depends = ["wpihal", "wpimath", "ntcore"]

simulation/halsim_gui/src/test/python/test_halsim_gui.py

@@ -0,0 +1,20 @@
+import ctypes
+import pathlib
+
+
+def test_halsim_gui():
+    # dependencies
+    import wpinet
+    import hal
+    import wpimath
+    import ntcore
+
+    import halsim_gui as base
+
+    loaded = 0
+    for fname in (pathlib.Path(base.__file__).parent / "lib").iterdir():
+        if fname.is_file() and fname.suffix in (".dll", ".dylib", ".so"):
+            ctypes.CDLL(str(fname))
+            loaded += 1
+
+    assert loaded

simulation/halsim_ws_core/BUILD.bazel

@@ -1,6 +1,10 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+load("@rules_python//python:defs.bzl", "py_library")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules:publishing.bzl", "host_architectures")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "copy_native_file")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 
 wpilib_cc_library(
     name = "halsim_ws_core",
@@ -54,3 +58,39 @@ package_default_cc_project(
     maven_artifact_name = "halsim_ws_core",
     maven_group_id = "org.wpilib.halsim",
 )
+
+copy_native_file(
+    name = "halsim_ws_client",
+    base_path = "src/main/python/halsim_ws/client/",
+    library = "//simulation/halsim_ws_client:shared/halsim_ws_client",
+)
+
+copy_native_file(
+    name = "halsim_ws_server",
+    base_path = "src/main/python/halsim_ws/server/",
+    library = "//simulation/halsim_ws_server:shared/halsim_ws_server",
+)
+
+py_library(
+    name = "robotpy-halsim-ws",
+    srcs = glob(["src/main/python/**/*.py"]),
+    data = [
+        ":halsim_ws_client.copy_lib",
+        ":halsim_ws_server.copy_lib",
+    ],
+    imports = ["src/main/python"],
+    visibility = ["//visibility:public"],
+    deps = [
+        "//hal:robotpy-native-wpihal",
+        "//wpinet:robotpy-native-wpinet",
+    ],
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":robotpy-halsim-ws",
+        requirement("pytest"),
+    ],
+)

simulation/halsim_ws_core/src/main/python/README.md

@@ -0,0 +1,19 @@
+robotpy-halsim-ws
+==================
+
+Installing this package will allow you to utilize the 2020+ WPILib websim from a RobotPy program.
+
+Usage
+-----
+
+First, install pyfrc. Then run your robot with the 'sim' argument and --ws-server or --ws-client flag:
+
+    # Windows
+    py -3 -m robotpy sim --ws-server
+    py -3 -m robotpy sim --ws-client
+
+    # Linux/OSX
+    python3 -m robotpy sim --ws-server
+    python3 -m robotpy sim --ws-client
+
+WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/

simulation/halsim_ws_core/src/main/python/halsim_ws/client/__init__.py

@@ -0,0 +1 @@
+from .main import loadExtension

simulation/halsim_ws_core/src/main/python/halsim_ws/client/main.py

@@ -0,0 +1,23 @@
+import logging
+import os
+from os.path import abspath, dirname, join
+
+logger = logging.getLogger("halsim_ws.client")
+
+
+def loadExtension():
+    try:
+        import hal
+    except ImportError as e:
+        # really, should never happen...
+        raise ImportError("you must install robotpy-hal!") from e
+
+    from ..version import version
+
+    logger.info("WPILib HAL Simulation websim client %s", version)
+
+    root = join(abspath(dirname(__file__)), "lib")
+    ext = join(root, os.listdir(root)[0])
+    retval = hal.loadOneExtension(ext)
+    if retval != 0:
+        logger.warn("loading extension may have failed (error=%d)", retval)

simulation/halsim_ws_core/src/main/python/halsim_ws/server/__init__.py

@@ -0,0 +1 @@
+from .main import loadExtension

simulation/halsim_ws_core/src/main/python/halsim_ws/server/main.py

@@ -0,0 +1,23 @@
+import logging
+import os
+from os.path import abspath, dirname, join
+
+logger = logging.getLogger("halsim_ws.server")
+
+
+def loadExtension():
+    try:
+        import hal
+    except ImportError as e:
+        # really, should never happen...
+        raise ImportError("you must install robotpy-hal!") from e
+
+    from ..version import version
+
+    logger.info("WPILib HAL Simulation websim server %s", version)
+
+    root = join(abspath(dirname(__file__)), "lib")
+    ext = join(root, os.listdir(root)[0])
+    retval = hal.loadOneExtension(ext)
+    if retval != 0:
+        logger.warn("loading extension may have failed (error=%d)", retval)

simulation/halsim_ws_core/src/main/python/pyproject.toml

@@ -0,0 +1,55 @@
+[build-system]
+build-backend = "hatchling.build"
+requires = [
+    "hatchling",
+    "hatch-robotpy~=0.2.1",
+]
+
+[project]
+name = "robotpy-halsim-ws"
+version = "0.0.0"
+description = "WPILib simulator websim Extensions"
+authors = [
+    {name = "RobotPy Development Team", email = "robotpy@googlegroups.com"},
+]
+license = "BSD-3-Clause"
+dependencies = [
+    "robotpy-native-wpihal==0.0.0",
+    "robotpy-native-wpinet==0.0.0",
+]
+
+[project.entry-points."robotpy_sim.2027"]
+ws-server = "halsim_ws.server"
+ws-client = "halsim_ws.client"
+
+[project.urls]
+"Source code" = "https://github.com/robotpy/mostrobotpy"
+
+
+[tool.hatch.build.hooks.robotpy]
+version_file = "halsim_ws/version.py"
+
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "halsim_ws_server"
+group_id = "org.wpilib.halsim"
+repo_url = ""
+version = "0.0.0"
+use_headers = false
+
+extract_to = "halsim_ws/server"
+libs = ["halsim_ws_server"]
+
+[[tool.hatch.build.hooks.robotpy.maven_lib_download]]
+artifact_id = "halsim_ws_client"
+group_id = "org.wpilib.halsim"
+repo_url = ""
+version = "0.0.0"
+use_headers = false
+
+extract_to = "halsim_ws/client"
+libs = ["halsim_ws_client"]
+
+
+[tool.hatch.build.targets.wheel]
+packages = ["halsim_ws"]

simulation/halsim_ws_core/src/test/python/test_halsim_ws_client.py

@@ -0,0 +1,18 @@
+import ctypes
+import pathlib
+
+
+def test_halsim_ws_client():
+    # dependencies
+    import native.wpihal._init_robotpy_native_wpihal
+    import native.wpinet._init_robotpy_native_wpinet
+
+    import halsim_ws.client as base
+
+    loaded = 0
+    for fname in (pathlib.Path(base.__file__).parent / "lib").iterdir():
+        if fname.is_file() and fname.suffix in (".dll", ".dylib", ".so"):
+            ctypes.CDLL(str(fname))
+            loaded += 1
+
+    assert loaded

simulation/halsim_ws_core/src/test/python/test_halsim_ws_server.py

@@ -0,0 +1,18 @@
+import ctypes
+import pathlib
+
+
+def test_halsim_ws_server():
+    # dependencies
+    import native.wpihal._init_robotpy_native_wpihal
+    import native.wpinet._init_robotpy_native_wpinet
+
+    import halsim_ws.server as base
+
+    loaded = 0
+    for fname in (pathlib.Path(base.__file__).parent / "lib").iterdir():
+        if fname.is_file() and fname.suffix in (".dll", ".dylib", ".so"):
+            ctypes.CDLL(str(fname))
+            loaded += 1
+
+    assert loaded