Allow installing without reqs preinstalled

With these changes, setuptools should properly install numpy
and cython as part of the setup process and then compile the
.pyx file.

Also added two dependencies that weren't previously listed:
matplotlib and scipy.

MANIFEST.in

@@ -1,3 +1,12 @@
-include *.ttt
-graft arm_files
-graft vrep_files
+include *.rst
+include *.txt
+recursive-include abr_control *.cpp
+recursive-include abr_control *.dll
+recursive-include abr_control *.dylib
+recursive-include abr_control *.h
+recursive-include abr_control *.msim
+recursive-include abr_control *.py
+recursive-include abr_control *.pyx
+recursive-include abr_control *.so
+recursive-include abr_control *.ttt
+recursive-include examples *.py

README.rst

@@ -7,23 +7,22 @@ ABR_Control: Robotic arm control in Python
 Installation
 ============
 
-The ABR_Control library depends on NumPy, SymPy, CloudPickle, and Cython,
-and we recommend that you install these libraries before ABR_Control.
-If you're not sure how to do this, we recommend using
+The ABR_Control library depends on NumPy, SymPy, SciPy, CloudPickle, and
+Cython, and we recommend that you install these libraries before
+ABR_Control. If you're not sure how to do this, we recommend using
 `Anaconda <https://store.continuum.io/cshop/anaconda/>`_.
+Note that installing in a clean environment will require compiling of the
+dependent libraries, and will take a few minutes.
 
-To install required libraries::
-
-    pip install -r requirements.txt
-    
 To install ABR_Control::
 
     pip install abr_control
 
 If you'd like to install ABR_Control from source,
 clone this repository and run::
 
-    python setup.py develop build_ext -i
+    python setupy.py install
+    python setup.py develop
 
 ABR_Control is tested to work on Python 3.4+.
 
@@ -93,7 +92,10 @@ the different interfaces and controllers.
 
 By default all of the PyGame examples run with the three-link MapleSim arm.
 You can also run the examples using the two-link Python arm by changing the
-import statement at the top of the example scripts.
+import statement at the top of the example scripts. Note that to run the PyGame
+examples, you will also need to install Pygame::
+
+    pip install pygame
 
 To run the VREP examples, have VREP version > 3.2 open, and load the .ttt
 file from the corresponding `abr_control/arms/` folder for the arm of interest.

abr_control/version.py

@@ -3,4 +3,4 @@
 dev = True
 
 version = "{v}{dev}".format(v='.'.join(str(v) for v in version_info),
-                            dev='.dev' if dev else '')
+                            dev='.dev0' if dev else '')

setup.py

@@ -1,12 +1,18 @@
-# from distutils.core import setup
-from distutils.extension import Extension
-from Cython.Distutils import build_ext
 import io
 import runpy
-import numpy
 import os
 
-from setuptools import find_packages, setup
+from setuptools import Extension, find_packages, setup
+from setuptools.command.build_ext import build_ext as _build_ext
+
+
+class build_ext(_build_ext):
+    def finalize_options(self):
+        _build_ext.finalize_options(self)
+        # Prevent numpy from thinking it is still in its setup process:
+        __builtins__.__NUMPY_SETUP__ = False
+        import numpy
+        self.include_dirs.append(numpy.get_include())
 
 
 def read(*filenames, **kwargs):
@@ -20,9 +26,9 @@ def read(*filenames, **kwargs):
 
 
 root = os.path.dirname(os.path.realpath(__file__))
-version = runpy.run_path(os.path.join(root, 'abr_control',
-                                      'version.py'))['version']
-long_description = read('README.rst')
+version = runpy.run_path(
+    os.path.join(root, 'abr_control', 'version.py'))['version']
+setup_requires = ["setuptools>=18.0", "cython", "numpy"]
 
 setup(
     name="abr_control",
@@ -32,14 +38,20 @@ def read(*filenames, **kwargs):
     packages=find_packages(),
     include_package_data=True,
     scripts=[],
-    url="https://github.com/abr/control",
+    url="https://github.com/abr/abr_control",
     license="Free for non-commercial use",
     description="A library for controlling and interfacing with robots.",
-    long_description=long_description,
-    install_requires=["numpy", "cloudpickle", "cython", "sympy"],
+    long_description=read('README.rst'),
+    install_requires=setup_requires + [
+        "cloudpickle", "sympy", "nengo", "matplotlib", "scipy",
+    ],
+    setup_requires=setup_requires,
     cmdclass={'build_ext': build_ext},
     ext_modules=[
-        Extension("abr_control/arms/threelink/arm_files/py3LinkArm",
+        Extension(
+            "abr_control.arms.threelink.arm_files.py3LinkArm",
             sources=["abr_control/arms/threelink/arm_files/py3LinkArm.pyx"],
             language="c++",
-            include_dirs=[numpy.get_include()])])
+        )
+    ],
+)