Official PPLib Python Implementation (#498)

.github/labeler.yml

@@ -8,6 +8,7 @@ GUI:
 
 PathPlannerLib:
 - 'pathplannerlib/**'
+- 'pathplannerlib-python/**'
 
 workflows:
 - '.github/workflows/**'

.github/workflows/pplib-ci.yml

@@ -53,6 +53,67 @@ jobs:
       #     name: pplib-coverage
       #     files: pathplannerlib/build/reports/jacoco/test/jacocoTestReport.xml
 
+  test-python:
+    name: "[PPLib Python] Unit Tests"
+    runs-on: ubuntu-22.04
+    container: wpilib/ubuntu-base:22.04
+
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+
+      - name: Install dependencies
+        working-directory: ./pathplannerlib-python
+        run: |
+          python -m pip install --upgrade pip
+          pip install pytest
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      
+      - name: Test with pytest
+        working-directory: ./pathplannerlib-python
+        run: pytest
+
+  build-python:
+    name: "[PPLib Python] Build"
+    runs-on: ubuntu-22.04
+    container: wpilib/ubuntu-base:22.04
+    needs: [test-python]
+
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+
+      - name: Install dependencies
+        working-directory: ./pathplannerlib-python
+        run: |
+          python -m pip install --upgrade pip
+          pip install build
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      
+      - name: Set version
+        run: sed -i "s/0.0.0/${{ env.VERSION_NAME }}/g" pyproject.toml
+        working-directory: ./pathplannerlib-python
+
+      - name: Build
+        working-directory: ./pathplannerlib-python
+        run: python -m build
+
+      - name: Upload artifact
+        uses: actions/upload-artifact@v3
+        with:
+          name: robotpy-pathplannerlib
+          path: pathplannerlib-python/dist
+
   build-docker:
     strategy:
       fail-fast: false

.github/workflows/publish-docs.yml

@@ -29,12 +29,34 @@ jobs:
         with:
           working-directory: pathplannerlib
 
-      - name: Move to docs dir
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+
+      - name: Install python dependencies
+        working-directory: ./pathplannerlib-python
+        run: |
+          python -m pip install --upgrade pip
+          pip install build handsdown mkdocs mkdocs-material
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      
+      - name: Generate python docs
+        working-directory: ./pathplannerlib-python
+        run: |
+          handsdown --external https://github.com/mjansen4857/pathplanner.git -o docsmd -n pathplannerlib --theme=material --create-configs include pathplannerlib
+          python -m mkdocs build
+      
+      - name: Move java/cpp to docs dir
         working-directory: pathplannerlib/build/docs
         run: |
             mkdir docs
             sudo mv javadoc docs/java
             sudo mv cpp/html docs/cpp
+      
+      - name: Move python to docs dir
+        run: |
+          sudo mv pathplannerlib-python/docs pathplannerlib/build/docs/docs/python
 
       - name: Deploy generated documentation to GitHub Pages
         uses: s0/[email protected]

.github/workflows/publish-pplib-python.yaml

@@ -0,0 +1,48 @@
+name: Build PPLib Release
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        type: string
+        description: The full version string, i.e. 2024.0.0-alpha-1 or 2024.1.1
+        required: true
+
+jobs:
+  build:
+    name: "Build & Publish to PyPI"
+    runs-on: ubuntu-22.04
+    environment:
+      name: pypi
+      url: https://pypi.org/project/robotpy-pathplannerlib/
+    permissions:
+      id-token: write
+
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+
+      - name: Install dependencies
+        working-directory: ./pathplannerlib-python
+        run: |
+          python -m pip install --upgrade pip
+          pip install build
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      
+      - name: Set version
+        run: sed -i "s/0.0.0/${{ github.event.inputs.version }}/g" pyproject.toml
+        working-directory: ./pathplannerlib-python
+
+      - name: Build
+        working-directory: ./pathplannerlib-python
+        run: python -m build
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: pathplannerlib-python/dist/

pathplannerlib-python/.gitignore

@@ -0,0 +1,4 @@
+/dist
+/*.egg-info
+/docs
+/docsmd

pathplannerlib-python/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022 Michael Jansen
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.