Changes to package names, add GitHub workflows

.github/workflows/publish-pypi.yaml

@@ -0,0 +1,54 @@
+name: Publish Python wheels
+
+on:
+  # Run on workflow dispatch event
+  workflow_dispatch:
+    inputs:
+      repo:
+        description: 'Repo to upload to (testpypi or pypi)'
+        default: 'testpypi'
+        required: true
+
+jobs:
+  build-wheels:
+    uses: ./.github/workflows/wheels.yaml
+    with:
+      repo: ${{ github.event.inputs.repo }}
+
+  publish:
+    # Publish built wheels to PyPI or TestPyPI using pypa/gh-action-pypi-publish
+    needs: build-wheels
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+
+    steps:
+
+      - name: Download artifacts
+        uses: actions/download-artifact@v4
+
+      - name: Extract archives, relocate wheels to dist/
+        run: |
+          mkdir -p dist/
+          find . -name "artifact-*" -exec unzip "{}" \;
+          find . -name "*.whl" -exec mv "{}" dist/ \;
+
+      - name: Print off wheel names
+        run: ls dist/
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # v1.12.4
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          verbose: true
+          print-hash: true
+        if: ${{ github.event.inputs.repo == 'pypi' }}
+
+      - name: Publish to TestPyPI
+        uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # v1.12.4
+        with:
+          repository-url: https://test.pypi.org/legacy/
+          password: ${{ secrets.TEST_PYPI_API_TOKEN }}
+          verbose: true
+          print-hash: true
+        if: ${{ github.event.inputs.repo == 'testpypi' }}

.github/workflows/wheels.yaml

@@ -0,0 +1,49 @@
+name: Build Python wheels
+
+on:
+  # Run on workflow dispatch, workflow call, push to main, or pull request to main
+  workflow_dispatch:
+  workflow_call:
+    inputs:
+      repo:
+        description: 'Repo to upload to (testpypi or pypi)'
+        type: string
+        default: 'testpypi'
+        required: true
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-wheels:
+    # Build wheels on all supported Python versions and platforms using pypa/cibuildwheel
+    strategy:
+      fail-fast: false
+      matrix:
+        # Support Linux only
+        os: [ubuntu-latest]
+        cibw_arch: ["native"]
+        # Support Python versions 3.8 ~ 3.12
+        cibw_build: ["cp38-* cp39-* cp310-* cp311-* cp312-*"]
+    runs-on: ${{ matrix.os }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build wheels
+        uses: pypa/[email protected]
+        env:
+          CIBW_ARCHS: ${{ matrix.cibw_arch }}
+          CIBW_BEFORE_BUILD: "pip install -r requirements-dev.txt"
+          CIBW_BUILD: ${{ matrix.cibw_build }}
+          CIBW_MANYLINUX_X86_64_IMAGE: manylinux2014
+          CIBW_SKIP: "*musllinux*"
+
+      - name: Upload the distribution files
+        uses: actions/upload-artifact@v4
+        with:
+          name: artifact-${{ matrix.os }}-${{ matrix.cibw_arch }}
+          path: "./**/*.whl"

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.15.0)
-project(trossen_slate VERSION 1.0.0)
+project(libtrossen_slate VERSION 1.0.0)
 
 # Set the C++ standard to 17 if not already set
 if(NOT CMAKE_CXX_STANDARD)
@@ -39,7 +39,7 @@ include_directories(include ${CMAKE_CURRENT_BINARY_DIR}/include)
 
 # Add the library
 add_library(${PROJECT_NAME} SHARED
-  src/${PROJECT_NAME}.cpp
+  src/trossen_slate.cpp
   src/base_driver.cpp
 )
 
@@ -52,7 +52,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 # Set properties for the library
 set_target_properties(${PROJECT_NAME} PROPERTIES
   POSITION_INDEPENDENT_CODE ON
-  OUTPUT_NAME ${PROJECT_NAME}
+  OUTPUT_NAME trossen_slate
 )
 
 # Link the serial driver library

cmake/version.hpp.in

@@ -26,11 +26,11 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef TROSSEN_SLATE__VERSION_HPP_
-#define TROSSEN_SLATE__VERSION_HPP_
+#ifndef LIBTROSSEN_SLATE__VERSION_HPP_
+#define LIBTROSSEN_SLATE__VERSION_HPP_
 
-#define VERSION_MAJOR @trossen_slate_VERSION_MAJOR@
-#define VERSION_MINOR @trossen_slate_VERSION_MINOR@
-#define VERSION_PATCH @trossen_slate_VERSION_PATCH@
+#define VERSION_MAJOR @libtrossen_slate_VERSION_MAJOR@
+#define VERSION_MINOR @libtrossen_slate_VERSION_MINOR@
+#define VERSION_PATCH @libtrossen_slate_VERSION_PATCH@
 
-#endif  // TROSSEN_SLATE__VERSION_HPP_
+#endif  // LIBTROSSEN_SLATE__VERSION_HPP_

demo/advanced_demo.cpp

@@ -30,7 +30,7 @@
 
 #include <iostream>
 
-#include "trossen_slate/trossen_slate.hpp"
+#include "libtrossen_slate/trossen_slate.hpp"
 
 using namespace trossen_slate;
 

demo/basic_demo.cpp

@@ -30,7 +30,7 @@
 
 #include <iostream>
 
-#include "trossen_slate/trossen_slate.hpp"
+#include "libtrossen_slate/trossen_slate.hpp"
 
 using namespace trossen_slate;
 

include/trossen_slate/base_driver.hpp → include/libtrossen_slate/base_driver.hpp

@@ -26,8 +26,8 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef TROSSEN_SLATE__BASE_DRIVER_HPP_
-#define TROSSEN_SLATE__BASE_DRIVER_HPP_
+#ifndef LIBTROSSEN_SLATE__BASE_DRIVER_HPP_
+#define LIBTROSSEN_SLATE__BASE_DRIVER_HPP_
 
 #include <string>
 
@@ -67,4 +67,4 @@ bool setIo(uint32_t io);
 
 } // namespace base_driver
 
-#endif // TROSSEN_SLATE__BASE_DRIVER_HPP_
+#endif // LIBTROSSEN_SLATE__BASE_DRIVER_HPP_

include/trossen_slate/serial_driver.hpp → include/libtrossen_slate/serial_driver.hpp

@@ -26,8 +26,8 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef TROSSEN_SLATE__SERIAL_DRIVER_HPP_
-#define TROSSEN_SLATE__SERIAL_DRIVER_HPP_
+#ifndef LIBTROSSEN_SLATE__SERIAL_DRIVER_HPP_
+#define LIBTROSSEN_SLATE__SERIAL_DRIVER_HPP_
 
 #include <termio.h>
 
@@ -82,4 +82,4 @@ class SerialDriver
   std::mutex lock;
 };
 
-#endif // TROSSEN_SLATE__SERIAL_DRIVER_HPP_
+#endif // LIBTROSSEN_SLATE__SERIAL_DRIVER_HPP_

include/trossen_slate/trossen_slate.hpp → include/libtrossen_slate/trossen_slate.hpp

@@ -26,16 +26,16 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef TROSSEN_SLATE__TROSSEN_SLATE_HPP_
-#define TROSSEN_SLATE__TROSSEN_SLATE_HPP_
+#ifndef LIBTROSSEN_SLATE__TROSSEN_SLATE_HPP_
+#define LIBTROSSEN_SLATE__TROSSEN_SLATE_HPP_
 
 #include <array>
 #include <memory>
 #include <string>
 
-#include "trossen_slate/base_driver.hpp"
-#include "trossen_slate/serial_driver.hpp"
-#include "trossen_slate/version.hpp"
+#include "libtrossen_slate/base_driver.hpp"
+#include "libtrossen_slate/serial_driver.hpp"
+#include "libtrossen_slate/version.hpp"
 
 enum class LightState : uint32_t
 {
@@ -180,4 +180,4 @@ class TrossenSlate
 
 } // namespace trossen_slate
 
-#endif // TROSSEN_SLATE__TROSSEN_SLATE_HPP_
+#endif // LIBTROSSEN_SLATE__TROSSEN_SLATE_HPP_

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>trossen_slate</name>
+  <name>libtrossen_slate</name>
   <version>1.0.0</version>
   <description>The trossen_slate package</description>
 
@@ -10,7 +10,7 @@
   <license>BSD-3-Clause</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["scikit-build-core", "pybind11"]
 build-backend = "scikit_build_core.build"
 
 [project]
-name = "pytrossen_slate"
+name = "trossen_slate"
 version = "1.0.0"
 description = "A Python wrapper for the trossen_slate C++ library"
 readme = "README.md"

python/pytrossen_slate.cpp → python/trossen_slate.cpp

@@ -32,8 +32,8 @@
 #include <array>
 #include <string>
 
-#include "trossen_slate/trossen_slate.hpp"
-#include "trossen_slate/base_driver.hpp"
+#include "libtrossen_slate/trossen_slate.hpp"
+#include "libtrossen_slate/base_driver.hpp"
 
 namespace py = pybind11;
 
@@ -91,7 +91,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "data"),
     R"pbdoc(
       @brief Read data from the SLATE base
-      
+
       @param data The desired data reference to update with current data
     )pbdoc")
   .def(
@@ -101,7 +101,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "data"),
     R"pbdoc(
       @brief Write data to the SLATE base
-      
+
       @param data The desired data to write
       @return true if succeeded, false otherwise
     )pbdoc")
@@ -117,7 +117,7 @@ PYBIND11_MODULE(trossen_slate, m)
     },
     R"pbdoc(
       @brief Initializes the SLATE base
-      
+
       @param result The resulting output string
       @return true if succeeded, false otherwise
     )pbdoc")
@@ -129,7 +129,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "angular"),
     R"pbdoc(
       @brief Set velocity commands in meters per seconds (linear) and radians per seconds (angular)
-      
+
       @param linear The desired linear velocity
       @param angular The desired angular velocity
       @return true if succeeded, false otherwise
@@ -141,7 +141,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "light_state"),
     R"pbdoc(
       @brief Set light state
-      
+
       @param light_state The desired light state
       @return true if succeeded, false otherwise
     )pbdoc")
@@ -152,7 +152,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "text"),
     R"pbdoc(
       @brief Set text on screen
-      
+
       @param text The desired text
       @return true if succeeded, false otherwise
     )pbdoc")
@@ -168,7 +168,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "enable"),
     R"pbdoc(
       @brief Enable/disable motor torque
-      
+
       @param enable Whether to enable motor torque or not
       @return A pair (bool, string) indicating success and the resulting output string
     )pbdoc"
@@ -185,7 +185,7 @@ PYBIND11_MODULE(trossen_slate, m)
       "enable"),
     R"pbdoc(
       @brief Enable/disable charging
-      
+
       @param enable Whether to enable charging or not
       @return A pair (bool, string) indicating success and the resulting output string
     )pbdoc"
@@ -195,39 +195,39 @@ PYBIND11_MODULE(trossen_slate, m)
     &TrossenSlate::get_vel,
     R"pbdoc(
       @brief Get the current velocity in meters per seconds (linear) and radians per seconds (angular)
-      
+
       @return The current velocity [linear velocity, angular velocity]
     )pbdoc")
   .def(
     "get_pose",
     &TrossenSlate::get_pose,
     R"pbdoc(
       @brief Get the current pose in meters (x,y) and radians (theta)
-      
+
       @return The current pose [x, y, theta]
     )pbdoc")
   .def(
     "get_charge",
     &TrossenSlate::get_charge,
     R"pbdoc(
       @brief Get the current charge percentage
-      
+
       @return The current charge
     )pbdoc")
   .def(
     "get_current",
     &TrossenSlate::get_current,
     R"pbdoc(
       @brief Get the current motor current in amps
-      
+
       @return The current motor current
     )pbdoc")
   .def(
     "get_voltage",
     &TrossenSlate::get_voltage,
     R"pbdoc(
       @brief Get the current voltage in volts
-      
+
       @return The current voltage
     )pbdoc");
 }