wpiformat, better test infrastructure, derive tag name

.github/workflows/python.yml

@@ -22,7 +22,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v5
         with:
-          python-version: 3.11  # CHose earliest that robotpy supports
+          python-version: 3.10
 
       - name: Install dependencies
         run: |
@@ -38,9 +38,9 @@ jobs:
       - name: Run Unit Tests
         working-directory: ./photon-lib/py
         run: |
-            pip install dist/photonlibpy-0.0.2-py3-none-any.whl
+            pip install --no-cache-dir dist/*.whl
             pytest
-  
+
 
       - name: Upload artifacts
         uses: actions/upload-artifact@master
@@ -65,7 +65,8 @@ jobs:
           name: dist
           path: dist/
       - name: Publish package distributions to TestPyPI
+        # Only upload on tags
+        if: startsWith(github.ref, 'refs/tags/v')
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
           repository-url: https://test.pypi.org/legacy/
-

photon-lib/py/.gitignore

@@ -1,4 +1,4 @@
 photonlibpy.egg-info/
 dist/
 build/
-.eggs/
+.eggs/

photon-lib/py/buildAndTest.bat

@@ -0,0 +1,14 @@
+:: Uninstall if it already was installed
+pip uninstall -y photonlibpy
+
+:: Build wheel
+python setup.py bdist_wheel
+
+:: Install whatever wheel was made
+for %%f in (dist/*.whl) do (
+    echo installing dist/%%f
+    pip install --no-cache-dir dist/%%f
+)
+
+:: Run the test suite
+pytest

photon-lib/py/photonlibpy/multiTargetPNPResult.py

@@ -2,20 +2,22 @@
 from wpimath.geometry import Transform3d
 from photonlibpy.packet import Packet
 
+
 @dataclass
 class PNPResult:
 
     _NUM_BYTES_IN_FLOAT = 8
-    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT* 3)
+    PACK_SIZE_BYTES = 1 + (_NUM_BYTES_IN_FLOAT * 7 * 2) + (_NUM_BYTES_IN_FLOAT *
+                                                           3)
 
-    isPresent:bool = False
-    best:Transform3d = field(default_factory=Transform3d)
-    alt:Transform3d = field(default_factory=Transform3d)
-    ambiguity:float = 0.0
-    bestReprojError:float = 0.0
-    altReprojError:float = 0.0
+    isPresent: bool = False
+    best: Transform3d = field(default_factory=Transform3d)
+    alt: Transform3d = field(default_factory=Transform3d)
+    ambiguity: float = 0.0
+    bestReprojError: float = 0.0
+    altReprojError: float = 0.0
 
-    def createFromPacket(self, packet:Packet) -> Packet:
+    def createFromPacket(self, packet: Packet) -> Packet:
         self.isPresent = packet.decodeBoolean()
         self.best = packet.decodeTransform()
         self.alt = packet.decodeTransform()
@@ -24,23 +26,23 @@ def createFromPacket(self, packet:Packet) -> Packet:
         self.ambiguity = packet.decodeDouble()
         return packet
 
+
 @dataclass
 class MultiTargetPNPResult:
 
     _MAX_IDS = 32
     # pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
     _PACK_SIZE_BYTES = PNPResult.PACK_SIZE_BYTES + (1 * _MAX_IDS)
 
-    estimatedPose:PNPResult = field(default_factory=PNPResult)
-    fiducialIDsUsed:list[int] = field(default_factory=list)
+    estimatedPose: PNPResult = field(default_factory=PNPResult)
+    fiducialIDsUsed: list[int] = field(default_factory=list)
 
-    def createFromPacket(self, packet:Packet) -> Packet:
+    def createFromPacket(self, packet: Packet) -> Packet:
         self.estimatedPose = PNPResult()
         self.estimatedPose.createFromPacket(packet)
         self.fiducialIDsUsed = []
         for _ in range(MultiTargetPNPResult._MAX_IDS):
             fidId = packet.decode16()
-            if(fidId >= 0):
+            if (fidId >= 0):
                 self.fiducialIDsUsed.append(fidId)
         return packet
-

photon-lib/py/photonlibpy/packet.py

@@ -2,10 +2,10 @@
 from wpimath.geometry import Transform3d, Translation3d, Rotation3d, Quaternion
 import wpilib
 
-class Packet:
 
+class Packet:
 
-    def __init__(self, data:list[int]):
+    def __init__(self, data: list[int]):
         """
          * Constructs an empty packet.
          *
@@ -15,28 +15,26 @@ def __init__(self, data:list[int]):
         self.size = len(data)
         self.readPos = 0
         self.outOfBytes = False
-
 
-    def clear(self): 
+    def clear(self):
         """ Clears the packet and resets the read and write positions."""
-        self.packetData = [0]*self.size
+        self.packetData = [0] * self.size
         self.readPos = 0
         self.outOfBytes = False
-
 
-    def getSize(self): 
+    def getSize(self):
         return self.size
-    
+
     _NO_MORE_BYTES_MESSAGE = """
-    Photonlib - Ran out of bytes while decoding. 
-    Make sure the version of photonvision on the coprocessor 
+    Photonlib - Ran out of bytes while decoding.
+    Make sure the version of photonvision on the coprocessor
     matches the version of photonlib running in the robot code.
-    """    
+    """
 
     def _getNextByte(self) -> int:
         retVal = 0x00
-        
-        if(not self.outOfBytes):
+
+        if (not self.outOfBytes):
             try:
                 retVal = 0x00ff & self.packetData[self.readPos]
                 self.readPos += 1
@@ -46,15 +44,15 @@ def _getNextByte(self) -> int:
 
         return retVal
 
-    def getData(self) -> list[int]:      
+    def getData(self) -> list[int]:
         """
-        * Returns the packet data. 
+        * Returns the packet data.
         *
         * @return The packet data.
         """
         return self.packetData
-    
-    def setData(self, data:list[int]):
+
+    def setData(self, data: list[int]):
         """
         * Sets the packet data.
         *
@@ -63,51 +61,50 @@ def setData(self, data:list[int]):
         self.clear()
         self.packetData = data
         self.size = len(self.packetData)
-    
+
     def _decodeGeneric(self, unpackFormat, numBytes):
 
         # Read ints in from the data buffer
         intList = []
         for _ in range(numBytes):
             intList.append(self._getNextByte())
-       
+
         # Interpret the bytes as a floating point number
         value = struct.unpack(unpackFormat, bytes(intList))[0]
 
         return value
 
-    def decode8(self) -> int: 
+    def decode8(self) -> int:
         """
         * Returns a single decoded byte from the packet.
         *
         * @return A decoded byte from the packet.
         """
         return self._decodeGeneric(">b", 1)
-    
-    def decode16(self) -> int: 
+
+    def decode16(self) -> int:
         """
         * Returns a single decoded byte from the packet.
         *
         * @return A decoded byte from the packet.
         """
         return self._decodeGeneric(">h", 2)
 
-    def decode32(self) -> int: 
+    def decode32(self) -> int:
         """
         * Returns a decoded int (32 bytes) from the packet.
         *
         * @return A decoded int from the packet.
         """
         return self._decodeGeneric(">l", 4)
 
-    def decodeDouble(self) -> float: 
+    def decodeDouble(self) -> float:
         """
         * Returns a decoded double from the packet.
         *
         * @return A decoded double from the packet.
         """
         return self._decodeGeneric(">d", 8)
-
 
     def decodeBoolean(self) -> bool:
         """
@@ -117,7 +114,7 @@ def decodeBoolean(self) -> bool:
         """
         return (self.decode8() == 1)
 
-    def decodeDoubleArray(self, length:int) -> list[float]:
+    def decodeDoubleArray(self, length: int) -> list[float]:
         """
         * Returns a decoded array of floats from the packet.
         *
@@ -127,7 +124,7 @@ def decodeDoubleArray(self, length:int) -> list[float]:
         for _ in range(length):
             ret.append(self.decodeDouble())
         return ret
-    
+
     def decodeTransform(self) -> Transform3d:
         """
         * Returns a decoded Transform3d
@@ -137,13 +134,12 @@ def decodeTransform(self) -> Transform3d:
         x = self.decodeDouble()
         y = self.decodeDouble()
         z = self.decodeDouble()
-        translation = Translation3d(x,y,z)
+        translation = Translation3d(x, y, z)
 
         w = self.decodeDouble()
         x = self.decodeDouble()
         y = self.decodeDouble()
         z = self.decodeDouble()
-        rotation = Rotation3d(Quaternion(w,x,y,z))
+        rotation = Rotation3d(Quaternion(w, x, y, z))
 
         return Transform3d(translation, rotation)
-