[copybara] mostrobotpy to allwpilib (#8545)

Project import generated by Copybara.
GitOrigin-RevId: f10284b37498bb6a088891ca41f160793ec7fd90

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

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+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

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+from .main import loadExtension

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

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+from . import _init__halsim_gui_ext

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

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+
+#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

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+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

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+[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"]