python package

.github/workflows/tests.yml

@@ -2,33 +2,33 @@ name: tests
 
 on: [push, pull_request]
 
-env:
-  REGISTRY: ghcr.io/commaai
-  BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $REGISTRY/rednose:latest -t rednose -f Dockerfile .
-  RUN: docker run rednose bash -c
-
 jobs:
   test:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
-    - name: Build docker image
-      run: eval ${{ env.BUILD }}
+    - uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Installing build dependencies
+      run: ./install_dependencies.sh
+    - name: Installing rednose
+      run: pip3 install --break-system-packages .[dev]
     - name: Static analysis
-      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+      run: pre-commit run --all
     - name: Unit Tests
-      run: ${{ env.RUN }} "pytest"
+      run: pytest
 
-  docker_push:
-    name: docker push
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/rednose'
+  static_analysis:
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
-    - name: Build Docker image
-      run: eval ${{ env.BUILD }}
-    - name: Push to dockerhub
-      run: |
-        docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-        docker tag rednose ${{ env.REGISTRY }}/rednose:latest
-        docker push ${{ env.REGISTRY }}/rednose:latest
+    - name: Installing build dependencies
+      run: ./install_dependencies.sh
+    - name: Installing rednose
+      run: pip3 install --break-system-packages .[dev]
+    - name: Static analysis
+      run: pre-commit run --all

MANIFEST.in

@@ -0,0 +1,5 @@
+exclude rednose/**/*.o
+include SConstruct
+include rednose/SConscript
+include examples/SConscript
+recursive-include site_scons *

SConstruct

@@ -40,6 +40,8 @@ env = Environment(
   tools=["default", "cython", "rednose_filter"],
 )
 
+env.AppendENVPath('PYTHONPATH', '.')
+
 # Cython build enviroment
 envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]

install_dependencies.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+cd $DIR
+
+SUDO=""
+
+# Use sudo if not root
+if [[ ! $(id -u) -eq 0 ]]; then
+  if [[ -z $(which sudo) ]]; then
+    echo "Please install sudo or run as root"
+    exit 1
+  fi
+  SUDO="sudo"
+fi
+
+$SUDO apt-get update
+$SUDO apt-get install -y --no-install-recommends capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev
+

pyproject.toml

@@ -1,4 +1,30 @@
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[project]
+name = "rednose"
+requires-python = ">= 3.8"
+version = "0.1.0"
+
+dependencies = [
+  "sympy",
+  "numpy",
+  "scipy",
+  "tqdm",
+  "cffi",
+  "scons",
+  "Cython",
+]
+
+[project.optional-dependencies]
+dev = [
+  "ruff",
+  "pre-commit",
+  "pytest",
+  "pytest-xdist",
+]
+
+[build-system]
+requires = ["setuptools","scons","Cython","numpy","sympy", "pytest", "cffi"]
+build-backend = "setuptools.build_meta"
+
 [tool.ruff]
 line-length = 160
 target-version="py311"

setup.py

@@ -1,26 +1,24 @@
+from setuptools import Command, setup
+from setuptools.command.build import build
+import subprocess
 import os
-from setuptools import setup, find_packages
 
-here = os.path.abspath(os.path.dirname(__file__))
+class SconsBuild(Command):
+  def initialize_options(self) -> None:
+    pass
+
+  def finalize_options(self) -> None:
+    pass
+
+  def run(self) -> None:
+    subprocess.run(["scons -j$(nproc)"], shell=True).check_returncode()
+
+class CustomBuild(build):
+  sub_commands = [('scons_build', None)] + build.sub_commands
 
 setup(
-  name='rednose',
-  version='0.0.1',
-  url='https://github.com/commaai/rednose',
-  author='comma.ai',
-  author_email='harald@comma.ai',
-  packages=find_packages(),
-  platforms='any',
-  license='MIT',
-  package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']},
-  install_requires=[
-    'sympy',
-    'numpy',
-    'scipy',
-    'tqdm',
-    'cffi',
-  ],
-  ext_modules=[],
-  description="Kalman filter library",
-  long_description='See https://github.com/commaai/rednose',
-)
+    packages = ["rednose", "examples", "rednose.helpers"],
+    package_data={'': ['**/*.cc', '**/*.c', '**/*.h', '**/*.pxd', '**/*.pyx', '**/*.py', '**/*.so', '**/*.npy']},
+    include_package_data=True,
+    cmdclass={'build': CustomBuild, 'scons_build': SconsBuild}
+    )