Draft support for python3.9 as present in Raspberry Pi OS "bullseye"

BUILD

@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020 Josh Pieper, [email protected].
+# Copyright 2020-2021 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -47,3 +47,17 @@ test_suite(
         "//lib/cpp/mjbots/moteus:test",
     ],
 )
+
+config_setting(
+    name = "python37",
+    values = {
+        "define": "PYTHON=3.7",
+    },
+)
+
+config_setting(
+    name = "python39",
+    values = {
+        "define": "PYTHON=3.9",
+    },
+)

lib/python/BUILD

@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020 Josh Pieper, [email protected].
+# Copyright 2020-2021 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,6 +22,9 @@ load("//tools/workspace:template_file.bzl", "template_file")
 
 VERSION="0.3.14"
 
+PYTHON_SHORT_VERSIONS = ['37', '39']
+
+
 # It would be nice to pull this from the python source.  As it is, the
 # below genrule will fail if they don't match, so at least there is
 # some verification.
@@ -35,32 +38,50 @@ pkg_tar(
     ],
 )
 
-template_file(
-    name = "setup.py",
-    src = "setup.py.TPL",
-    substitutions = {
-        "{{VERSION}}" : '"{}"'.format(VERSION),
-    },
-)
 
-genrule(
-    name = "bdist_wheel",
-    srcs = ["setup.py", ":wheel_tar", "README.md"],
+[
+    template_file(
+        name = "setup_{pyshortver}.py".format(pyshortver=pyshortver),
+        src = "setup.py.TPL",
+        substitutions = {
+            "{{VERSION}}" : '"{}"'.format(VERSION),
+            "{{PYTHON_SHORT_VERSION}}" : '"{}"'.format(pyshortver),
+        },
+    )
+    for pyshortver in PYTHON_SHORT_VERSIONS
+]
+
+
+[genrule(
+    name = "bdist_wheel_{pyshortver}".format(pyshortver=pyshortver),
+    srcs = ["setup_{pyshortver}.py".format(pyshortver=pyshortver),
+            ":wheel_tar", "README.md"],
     outs = [
-        "moteus_pi3hat-{ver}-cp37-abi3-linux_armv7l.whl".format(ver=VERSION),
+        "moteus_pi3hat-{ver}-cp{pyshortver}-abi3-linux_armv7l.whl".format(
+            ver=VERSION, pyshortver=pyshortver),
     ],
     cmd = (
-        "OUTDIR=$$(dirname $(location moteus_pi3hat-{ver}-cp37-abi3-linux_armv7l.whl)) && " +
+        "OUTDIR=$$(dirname $(location moteus_pi3hat-{ver}-cp{pyshortver}-abi3-linux_armv7l.whl)) && " +
         "BUILDDIR=$$OUTDIR/build && " +
         "mkdir -p $$BUILDDIR && " +
         "tar xf $(location wheel_tar) -C $$BUILDDIR && " +
-        "cp $(location setup.py) $(location README.md) $$BUILDDIR && " +
+        "cp $(location setup_{pyshortver}.py) $(location README.md) $$BUILDDIR && " +
         "cd $$BUILDDIR && " +
-        "python3 setup.py bdist_wheel " +
+        "python3.9 setup_{pyshortver}.py bdist_wheel " +
         "        --plat-name linux_armv7l " +
-        "        --py-limited-api cp37 " +
+        "        --py-limited-api cp{pyshortver} " +
         "        --dist-dir .. " +
         "        1>/dev/null" +
         ""
-    ).format(ver=VERSION),
+    ).format(ver=VERSION, pyshortver=pyshortver),
+)
+ for pyshortver in PYTHON_SHORT_VERSIONS
+]
+
+filegroup(
+    name="bdist_wheel",
+    srcs = select({
+        "//:python37" : [":bdist_wheel_37"],
+        "//:python39" : [":bdist_wheel_39"],
+    }),
 )

lib/python/moteus_pi3hat/BUILD

@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020 Josh Pieper, [email protected].
+# Copyright 2020-2021 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,11 +22,14 @@ cc_binary(
         "_pi3hat_router.cc",
     ],
     deps = [
-        "@com_github_pybind_pybind11//:pybind11",
         "//lib/cpp/mjbots/pi3hat:libpi3hat",
         "//lib/cpp/mjbots/moteus:common",
         "@org_llvm_libcxx//:libcxx",
-    ],
+    ] + select({
+        "//conditions:default" : [],
+        "//:python37" : ["@com_github_pybind_pybind11//:pybind11_37"],
+        "//:python39" : ["@com_github_pybind_pybind11//:pybind11_39"],
+    }),
     linkshared = True,
 )
 

lib/python/setup.py.TPL

@@ -1,6 +1,6 @@
 # -*- python -*-
 
-# Copyright 2020 Josh Pieper, [email protected].
+# Copyright 2020-2021 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -50,7 +50,9 @@ setuptools.setup(
     entry_points = {
         'moteus.transports': [ 'pi3hat=moteus_pi3hat:Pi3HatFactory' ],
     },
-    python_requires = '>=3.7, <4',
+    python_requires = {"37" : ">=3.7, <3.8",
+                       "39" : ">=3.9, <3.10"
+                       }[{{PYTHON_SHORT_VERSION}}],
     install_requires = [
         'moteus>=0.3.22',
     ],

make_release.py

@@ -1,6 +1,6 @@
 #!/usr/bin/python3
 
-# Copyright 2020 Josh Pieper, [email protected].
+# Copyright 2020-2021 Josh Pieper, [email protected].
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -48,8 +48,13 @@ def main():
 
     run(f'cp bazel-bin/fw/pi3_hat.elf {outdir}/{datestr}-pi3hat-{git_hash}.elf')
 
-    run('tools/bazel build --config=pi -c opt //:pi3hat_tools')
-    run(f'cp bazel-bin/pi3hat_tools.tar.bz2 {outdir}/{datestr}-pi3hat_tools-{git_hash}.tar.bz2')
+    for pyver in ['3.7', '3.9']:
+        run(f'tools/bazel build --config=pi --define PYTHON={pyver} -c opt //:pi3hat_tools')
+        run(f'cp bazel-bin/pi3hat_tools.tar.bz2 {outdir}/{datestr}-pi3hat_tools-cp{pyver.replace(".","")}-{git_hash}.tar.bz2')
+
+        wheel_name = subprocess.check_output("tar --list -f bazel-bin/pi3hat_tools.tar.bz2 | grep \.whl$", shell=True).decode('utf8').strip()
+        run(f'tar -C {outdir} --strip-components 2 --extract -f bazel-bin/pi3hat_tools.tar.bz2 {wheel_name}')
+
 
     print()
     print('DONE')

tools/workspace/bazel_deps/repository.bzl

@@ -20,6 +20,6 @@ def bazel_deps_repository(name):
     github_archive(
         name = name,
         repo = "mjbots/bazel_deps",
-        commit = "f7f68a03982bfcc09faa8cb6e2a1564eacc6106c",
-        sha256 = "356f34a15c75a4e5e91baedcc9972874ca2395c37f656fb33c9a2f816da88e6c",
+        commit = "aa535e43e64371aee713badac0e93dd781ee720d",
+        sha256 = "ac7c64007f21de3782f045d8b389bec9bb488fd2465cc21c31cc0f16fdf71906",
     )

tools/workspace/pybind11/package.BUILD

@@ -17,10 +17,19 @@
 package(default_visibility = ["//visibility:public"])
 
 cc_library(
-    name = "pybind11",
+    name = "pybind11_37",
     hdrs = glob(["include/**"]),
     includes = ["include"],
     deps = [
         "@python37//:headers",
     ],
 )
+
+cc_library(
+    name = "pybind11_39",
+    hdrs = glob(["include/**"]),
+    includes = ["include"],
+    deps = [
+        "@python39//:headers",
+    ],
+)