[robotpy] Add build scripts for wpilib and dependencies (#8348)

This gets the majority of projects from mostrobotpy building in this mirror. Projects missing still are cscore and the halsim wrappers.

ntcore/BUILD.bazel

@@ -4,10 +4,14 @@ load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
 load("@rules_python//python:defs.bzl", "py_binary")
 load("//ntcore:generate_ntcore.bzl", "generate_ntcore")
+load("//ntcore:robotpy_native_build_info.bzl", "define_native_wrapper")
+load("//ntcore:robotpy_pybind_build_info.bzl", "define_pybind_library", "ntcore_extension")
 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")
 load("//shared/bazel/rules:jni_rules.bzl", "wpilib_jni_cc_library", "wpilib_jni_java_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_jni_project")
+load("//shared/bazel/rules/robotpy:build_info_gen.bzl", "generate_robotpy_native_wrapper_build_info", "generate_robotpy_pybind_build_info")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 
 filegroup(
     name = "doxygen-files",
@@ -224,3 +228,56 @@ package_default_jni_project(
     maven_artifact_name = "ntcore-cpp",
     maven_group_id = "org.wpilib.ntcore",
 )
+
+generate_robotpy_native_wrapper_build_info(
+    name = "robotpy-native-ntcore-generator",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+)
+
+define_native_wrapper(
+    name = "robotpy-native-ntcore",
+    pyproject_toml = "src/main/python/native-pyproject.toml",
+)
+
+PYBIND_PKGCFG_DEPS = [
+    "//datalog:native/datalog/robotpy-native-datalog.pc",
+    "//datalog:robotpy-wpilog.generated_pkgcfg_files",
+    "//ntcore:native/ntcore/robotpy-native-ntcore.pc",
+    "//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",
+]
+
+generate_robotpy_pybind_build_info(
+    name = "pyntcore-generator",
+    additional_srcs = [":robotpy-native-ntcore.copy_headers"],
+    package_root_file = "src/main/python/ntcore/__init__.py",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+    yaml_files = glob(["src/main/python/semiwrap/*.yml"]),
+)
+
+ntcore_extension(
+    srcs = glob(["src/main/python/ntcore/src/*.cpp"]),
+    extra_hdrs = glob([
+        "src/main/python/ntcore/src/*.h",
+        "src/main/python/ntcore/src/*.inl",
+    ]),
+    includes = [
+        "src/main/python/ntcore/",
+    ],
+)
+
+define_pybind_library(
+    name = "pyntcore",
+    pkgcfgs = PYBIND_PKGCFG_DEPS,
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":pyntcore",
+        requirement("pytest"),
+    ],
+)

ntcore/robotpy_native_build_info.bzl

@@ -0,0 +1,38 @@
+# THIS FILE IS AUTO GENERATED
+
+load("@aspect_bazel_lib//lib:copy_to_directory.bzl", "copy_to_directory")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "native_wrappery_library")
+
+def define_native_wrapper(name, pyproject_toml = None):
+    copy_to_directory(
+        name = "{}.copy_headers".format(name),
+        srcs = native.glob(["src/main/native/include/**"]) + native.glob(["src/generated/main/native/include/**"], allow_empty = True),
+        out = "native/ntcore/include",
+        root_paths = ["src/main/native/include/"],
+        replace_prefixes = {
+            "ntcore/src/generated/main/native/include": "",
+            "ntcore/src/main/native/include": "",
+        },
+        verbose = False,
+        visibility = ["//visibility:public"],
+    )
+
+    native_wrappery_library(
+        name = name,
+        pyproject_toml = pyproject_toml or "src/main/python/native-pyproject.toml",
+        libinit_file = "native/ntcore/_init_robotpy_native_ntcore.py",
+        pc_file = "native/ntcore/robotpy-native-ntcore.pc",
+        pc_deps = [
+            "//datalog:native/datalog/robotpy-native-datalog.pc",
+            "//wpinet:native/wpinet/robotpy-native-wpinet.pc",
+            "//wpiutil:native/wpiutil/robotpy-native-wpiutil.pc",
+        ],
+        deps = [
+            "//datalog:robotpy-native-datalog",
+            "//wpinet:robotpy-native-wpinet",
+            "//wpiutil:robotpy-native-wpiutil",
+        ],
+        headers = "{}.copy_headers".format(name),
+        native_shared_library = "shared/ntcore",
+        install_path = "native/ntcore/",
+    )

ntcore/robotpy_pybind_build_info.bzl

@@ -0,0 +1,514 @@
+# 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", "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")
+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 = []):
+    NTCORE_HEADER_GEN = [
+        struct(
+            class_name = "BooleanArrayTopic",
+            yml_file = "semiwrap/BooleanArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/BooleanArrayTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::BooleanArraySubscriber", "wpi__nt__BooleanArraySubscriber.hpp"),
+                ("wpi::nt::BooleanArrayPublisher", "wpi__nt__BooleanArrayPublisher.hpp"),
+                ("wpi::nt::BooleanArrayEntry", "wpi__nt__BooleanArrayEntry.hpp"),
+                ("wpi::nt::BooleanArrayTopic", "wpi__nt__BooleanArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "BooleanTopic",
+            yml_file = "semiwrap/BooleanTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/BooleanTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::BooleanSubscriber", "wpi__nt__BooleanSubscriber.hpp"),
+                ("wpi::nt::BooleanPublisher", "wpi__nt__BooleanPublisher.hpp"),
+                ("wpi::nt::BooleanEntry", "wpi__nt__BooleanEntry.hpp"),
+                ("wpi::nt::BooleanTopic", "wpi__nt__BooleanTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "DoubleArrayTopic",
+            yml_file = "semiwrap/DoubleArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/DoubleArrayTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::DoubleArraySubscriber", "wpi__nt__DoubleArraySubscriber.hpp"),
+                ("wpi::nt::DoubleArrayPublisher", "wpi__nt__DoubleArrayPublisher.hpp"),
+                ("wpi::nt::DoubleArrayEntry", "wpi__nt__DoubleArrayEntry.hpp"),
+                ("wpi::nt::DoubleArrayTopic", "wpi__nt__DoubleArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "DoubleTopic",
+            yml_file = "semiwrap/DoubleTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/DoubleTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::DoubleSubscriber", "wpi__nt__DoubleSubscriber.hpp"),
+                ("wpi::nt::DoublePublisher", "wpi__nt__DoublePublisher.hpp"),
+                ("wpi::nt::DoubleEntry", "wpi__nt__DoubleEntry.hpp"),
+                ("wpi::nt::DoubleTopic", "wpi__nt__DoubleTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "FloatArrayTopic",
+            yml_file = "semiwrap/FloatArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/FloatArrayTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::FloatArraySubscriber", "wpi__nt__FloatArraySubscriber.hpp"),
+                ("wpi::nt::FloatArrayPublisher", "wpi__nt__FloatArrayPublisher.hpp"),
+                ("wpi::nt::FloatArrayEntry", "wpi__nt__FloatArrayEntry.hpp"),
+                ("wpi::nt::FloatArrayTopic", "wpi__nt__FloatArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "FloatTopic",
+            yml_file = "semiwrap/FloatTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/FloatTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::FloatSubscriber", "wpi__nt__FloatSubscriber.hpp"),
+                ("wpi::nt::FloatPublisher", "wpi__nt__FloatPublisher.hpp"),
+                ("wpi::nt::FloatEntry", "wpi__nt__FloatEntry.hpp"),
+                ("wpi::nt::FloatTopic", "wpi__nt__FloatTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "GenericEntry",
+            yml_file = "semiwrap/GenericEntry.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/GenericEntry.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::GenericSubscriber", "wpi__nt__GenericSubscriber.hpp"),
+                ("wpi::nt::GenericPublisher", "wpi__nt__GenericPublisher.hpp"),
+                ("wpi::nt::GenericEntry", "wpi__nt__GenericEntry.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "IntegerArrayTopic",
+            yml_file = "semiwrap/IntegerArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/IntegerArrayTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::IntegerArraySubscriber", "wpi__nt__IntegerArraySubscriber.hpp"),
+                ("wpi::nt::IntegerArrayPublisher", "wpi__nt__IntegerArrayPublisher.hpp"),
+                ("wpi::nt::IntegerArrayEntry", "wpi__nt__IntegerArrayEntry.hpp"),
+                ("wpi::nt::IntegerArrayTopic", "wpi__nt__IntegerArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "IntegerTopic",
+            yml_file = "semiwrap/IntegerTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/IntegerTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::IntegerSubscriber", "wpi__nt__IntegerSubscriber.hpp"),
+                ("wpi::nt::IntegerPublisher", "wpi__nt__IntegerPublisher.hpp"),
+                ("wpi::nt::IntegerEntry", "wpi__nt__IntegerEntry.hpp"),
+                ("wpi::nt::IntegerTopic", "wpi__nt__IntegerTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "MultiSubscriber",
+            yml_file = "semiwrap/MultiSubscriber.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/MultiSubscriber.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::MultiSubscriber", "wpi__nt__MultiSubscriber.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NTSendable",
+            yml_file = "semiwrap/NTSendable.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NTSendable.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NTSendable", "wpi__nt__NTSendable.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NTSendableBuilder",
+            yml_file = "semiwrap/NTSendableBuilder.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NTSendableBuilder.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NTSendableBuilder", "wpi__nt__NTSendableBuilder.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NetworkTable",
+            yml_file = "semiwrap/NetworkTable.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTable.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NetworkTable", "wpi__nt__NetworkTable.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NetworkTableEntry",
+            yml_file = "semiwrap/NetworkTableEntry.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableEntry.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NetworkTableEntry", "wpi__nt__NetworkTableEntry.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NetworkTableInstance",
+            yml_file = "semiwrap/NetworkTableInstance.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableInstance.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NetworkTableInstance", "wpi__nt__NetworkTableInstance.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NetworkTableListener",
+            yml_file = "semiwrap/NetworkTableListener.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableListener.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::NetworkTableListener", "wpi__nt__NetworkTableListener.hpp"),
+                ("wpi::nt::NetworkTableListenerPoller", "wpi__nt__NetworkTableListenerPoller.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "NetworkTableType",
+            yml_file = "semiwrap/NetworkTableType.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableType.hpp",
+            tmpl_class_names = [],
+            trampolines = [],
+        ),
+        struct(
+            class_name = "NetworkTableValue",
+            yml_file = "semiwrap/NetworkTableValue.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/NetworkTableValue.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::Value", "wpi__nt__Value.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "RawTopic",
+            yml_file = "semiwrap/RawTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/RawTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::RawSubscriber", "wpi__nt__RawSubscriber.hpp"),
+                ("wpi::nt::RawPublisher", "wpi__nt__RawPublisher.hpp"),
+                ("wpi::nt::RawEntry", "wpi__nt__RawEntry.hpp"),
+                ("wpi::nt::RawTopic", "wpi__nt__RawTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "StructTopic",
+            yml_file = "semiwrap/StructTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StructTopic.hpp",
+            tmpl_class_names = [
+                ("StructTopic_tmpl1", "StructSubscriber"),
+                ("StructTopic_tmpl2", "StructPublisher"),
+                ("StructTopic_tmpl3", "StructEntry"),
+                ("StructTopic_tmpl4", "StructTopic"),
+            ],
+            trampolines = [
+                ("wpi::nt::StructSubscriber", "wpi__nt__StructSubscriber.hpp"),
+                ("wpi::nt::StructPublisher", "wpi__nt__StructPublisher.hpp"),
+                ("wpi::nt::StructEntry", "wpi__nt__StructEntry.hpp"),
+                ("wpi::nt::StructTopic", "wpi__nt__StructTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "StructArrayTopic",
+            yml_file = "semiwrap/StructArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StructArrayTopic.hpp",
+            tmpl_class_names = [
+                ("StructArrayTopic_tmpl1", "StructArraySubscriber"),
+                ("StructArrayTopic_tmpl2", "StructArrayPublisher"),
+                ("StructArrayTopic_tmpl3", "StructArrayEntry"),
+                ("StructArrayTopic_tmpl4", "StructArrayTopic"),
+            ],
+            trampolines = [
+                ("wpi::nt::StructArraySubscriber", "wpi__nt__StructArraySubscriber.hpp"),
+                ("wpi::nt::StructArrayPublisher", "wpi__nt__StructArrayPublisher.hpp"),
+                ("wpi::nt::StructArrayEntry", "wpi__nt__StructArrayEntry.hpp"),
+                ("wpi::nt::StructArrayTopic", "wpi__nt__StructArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "StringArrayTopic",
+            yml_file = "semiwrap/StringArrayTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StringArrayTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::StringArraySubscriber", "wpi__nt__StringArraySubscriber.hpp"),
+                ("wpi::nt::StringArrayPublisher", "wpi__nt__StringArrayPublisher.hpp"),
+                ("wpi::nt::StringArrayEntry", "wpi__nt__StringArrayEntry.hpp"),
+                ("wpi::nt::StringArrayTopic", "wpi__nt__StringArrayTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "StringTopic",
+            yml_file = "semiwrap/StringTopic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/StringTopic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::StringSubscriber", "wpi__nt__StringSubscriber.hpp"),
+                ("wpi::nt::StringPublisher", "wpi__nt__StringPublisher.hpp"),
+                ("wpi::nt::StringEntry", "wpi__nt__StringEntry.hpp"),
+                ("wpi::nt::StringTopic", "wpi__nt__StringTopic.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "Topic",
+            yml_file = "semiwrap/Topic.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/Topic.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::Topic", "wpi__nt__Topic.hpp"),
+                ("wpi::nt::Subscriber", "wpi__nt__Subscriber.hpp"),
+                ("wpi::nt::Publisher", "wpi__nt__Publisher.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "ntcore_cpp",
+            yml_file = "semiwrap/ntcore_cpp.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/ntcore_cpp.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::nt::EventFlags", "wpi__nt__EventFlags.hpp"),
+                ("wpi::nt::TopicInfo", "wpi__nt__TopicInfo.hpp"),
+                ("wpi::nt::ConnectionInfo", "wpi__nt__ConnectionInfo.hpp"),
+                ("wpi::nt::ValueEventData", "wpi__nt__ValueEventData.hpp"),
+                ("wpi::nt::LogMessage", "wpi__nt__LogMessage.hpp"),
+                ("wpi::nt::TimeSyncEventData", "wpi__nt__TimeSyncEventData.hpp"),
+                ("wpi::nt::Event", "wpi__nt__Event.hpp"),
+                ("wpi::nt::PubSubOptions", "wpi__nt__PubSubOptions.hpp"),
+                ("wpi::nt::meta::SubscriberOptions", "wpi__nt__meta__SubscriberOptions.hpp"),
+                ("wpi::nt::meta::TopicPublisher", "wpi__nt__meta__TopicPublisher.hpp"),
+                ("wpi::nt::meta::TopicSubscriber", "wpi__nt__meta__TopicSubscriber.hpp"),
+                ("wpi::nt::meta::ClientPublisher", "wpi__nt__meta__ClientPublisher.hpp"),
+                ("wpi::nt::meta::ClientSubscriber", "wpi__nt__meta__ClientSubscriber.hpp"),
+                ("wpi::nt::meta::Client", "wpi__nt__meta__Client.hpp"),
+            ],
+        ),
+        struct(
+            class_name = "ntcore_cpp_types",
+            yml_file = "semiwrap/ntcore_cpp_types.yml",
+            header_root = "$(execpath :robotpy-native-ntcore.copy_headers)",
+            header_file = "$(execpath :robotpy-native-ntcore.copy_headers)/wpi/nt/ntcore_cpp_types.hpp",
+            tmpl_class_names = [
+                ("ntcore_cpp_types_tmpl1", "TimestampedBoolean"),
+                ("ntcore_cpp_types_tmpl2", "TimestampedInteger"),
+                ("ntcore_cpp_types_tmpl3", "TimestampedFloat"),
+                ("ntcore_cpp_types_tmpl4", "TimestampedDouble"),
+                ("ntcore_cpp_types_tmpl5", "TimestampedString"),
+                ("ntcore_cpp_types_tmpl6", "TimestampedRaw"),
+                ("ntcore_cpp_types_tmpl7", "TimestampedBooleanArray"),
+                ("ntcore_cpp_types_tmpl8", "TimestampedIntegerArray"),
+                ("ntcore_cpp_types_tmpl9", "TimestampedFloatArray"),
+                ("ntcore_cpp_types_tmpl10", "TimestampedDoubleArray"),
+                ("ntcore_cpp_types_tmpl11", "TimestampedStringArray"),
+                ("ntcore_cpp_types_tmpl12", "TimestampedStruct"),
+                ("ntcore_cpp_types_tmpl13", "TimestampedStructArray"),
+            ],
+            trampolines = [
+                ("wpi::nt::Timestamped", "wpi__nt__Timestamped.hpp"),
+            ],
+        ),
+    ]
+
+    resolve_casters(
+        name = "ntcore.resolve_casters",
+        caster_deps = ["//wpiutil:src/main/python/wpiutil/wpiutil-casters.pybind11.json"],
+        casters_pkl_file = "ntcore.casters.pkl",
+        dep_file = "ntcore.casters.d",
+    )
+
+    gen_libinit(
+        name = "ntcore.gen_lib_init",
+        output_file = "src/main/python/ntcore/_init__ntcore.py",
+        modules = ["native.ntcore._init_robotpy_native_ntcore", "wpiutil._init__wpiutil", "wpinet._init__wpinet", "wpilog._init__wpilog"],
+    )
+
+    gen_pkgconf(
+        name = "ntcore.gen_pkgconf",
+        libinit_py = "ntcore._init__ntcore",
+        module_pkg_name = "ntcore._ntcore",
+        output_file = "ntcore.pc",
+        pkg_name = "ntcore",
+        install_path = "src/main/python/ntcore",
+        project_file = "src/main/python/pyproject.toml",
+        package_root = "src/main/python/ntcore/__init__.py",
+    )
+
+    gen_modinit_hpp(
+        name = "ntcore.gen_modinit_hpp",
+        input_dats = [x.class_name for x in NTCORE_HEADER_GEN],
+        libname = "_ntcore",
+        output_file = "semiwrap_init.ntcore._ntcore.hpp",
+    )
+
+    run_header_gen(
+        name = "ntcore",
+        casters_pickle = "ntcore.casters.pkl",
+        header_gen_config = NTCORE_HEADER_GEN,
+        trampoline_subpath = "src/main/python/ntcore",
+        deps = header_to_dat_deps,
+        local_native_libraries = [
+            "//datalog:robotpy-native-datalog.copy_headers",
+            "//ntcore:robotpy-native-ntcore.copy_headers",
+            "//wpinet:robotpy-native-wpinet.copy_headers",
+            "//wpiutil:robotpy-native-wpiutil.copy_headers",
+        ],
+    )
+
+    create_pybind_library(
+        name = "ntcore",
+        install_path = "src/main/python/ntcore/",
+        extension_name = "_ntcore",
+        generated_srcs = [":ntcore.generated_srcs"],
+        semiwrap_header = [":ntcore.gen_modinit_hpp"],
+        deps = [
+            ":ntcore.tmpl_hdrs",
+            ":ntcore.trampoline_hdrs",
+            "//datalog:datalog",
+            "//datalog:wpilog_pybind_library",
+            "//ntcore:ntcore",
+            "//wpinet:wpinet",
+            "//wpinet:wpinet_pybind_library",
+            "//wpiutil:wpiutil",
+            "//wpiutil:wpiutil_pybind_library",
+        ],
+        dynamic_deps = [
+            "//datalog:shared/datalog",
+            "//ntcore:shared/ntcore",
+            "//wpinet:shared/wpinet",
+            "//wpiutil:shared/wpiutil",
+        ],
+        extra_hdrs = extra_hdrs,
+        extra_srcs = srcs,
+        includes = includes,
+    )
+
+    native.filegroup(
+        name = "ntcore.generated_files",
+        srcs = [
+            "ntcore.gen_modinit_hpp.gen",
+            "ntcore.header_gen_files",
+            "ntcore.gen_pkgconf",
+            "ntcore.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 = [
+            "ntcore.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/ntcore/ntcore.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/ntcore/**"], exclude = ["src/main/python/ntcore/**/*.py"], allow_empty = True),
+        tags = ["manual", "robotpy"],
+    )
+
+    generate_version_file(
+        name = "{}.generate_version".format(name),
+        output_file = "src/main/python/ntcore/version.py",
+        template = "//shared/bazel/rules/robotpy:version_template.in",
+    )
+
+    robotpy_library(
+        name = name,
+        srcs = native.glob(["src/main/python/ntcore/**/*.py"]) + [
+            "src/main/python/ntcore/_init__ntcore.py",
+            "{}.generate_version".format(name),
+        ],
+        data = [
+            "{}.generated_pkgcfg_files".format(name),
+            "{}.extra_files".format(name),
+            ":src/main/python/ntcore/_ntcore",
+            ":ntcore.trampoline_hdr_files",
+        ],
+        imports = ["src/main/python"],
+        deps = [
+            "//datalog:robotpy-wpilog",
+            "//ntcore:robotpy-native-ntcore",
+            "//wpinet:robotpy-wpinet",
+            "//wpiutil:robotpy-wpiutil",
+        ],
+        visibility = ["//visibility:public"],
+    )
+
+    update_yaml_files(
+        name = "{}-update-yaml".format(name),
+        yaml_output_directory = "src/main/python/semiwrap",
+        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
+            "//datalog:robotpy-native-datalog.copy_headers",
+            "//ntcore:robotpy-native-ntcore.copy_headers",
+            "//wpinet:robotpy-native-wpinet.copy_headers",
+            "//wpiutil:robotpy-native-wpiutil.copy_headers",
+        ],
+        package_root_file = "src/main/python/ntcore/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+        yaml_files = native.glob(["src/main/python/semiwrap/**"]),
+    )
+
+    scan_headers(
+        name = "{}-scan-headers".format(name),
+        extra_hdrs = native.glob(["src/main/python/**/*.h"], allow_empty = True) + [
+            "//ntcore:robotpy-native-ntcore.copy_headers",
+        ],
+        package_root_file = "src/main/python/ntcore/__init__.py",
+        pkgcfgs = pkgcfgs,
+        pyproject_toml = "src/main/python/pyproject.toml",
+    )