From 72b60f42391491edecd75d2b4e6c38db72c7eaa3 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Tue, 14 May 2019 15:23:16 +0300
Subject: [PATCH 01/26] Integrate CFFI into setuptools

---
 python/sbp/jit/msg.py         | 10 +++++++++-
 python/sbp/jit/parse_float.py | 15 ++++++++++-----
 python/setup.py               |  7 +++++--
 3 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index 5f5a6053e0..f47e9f4c31 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -23,7 +23,15 @@
 from sbp.msg import SENDER_ID as _SENDER_ID
 from sbp.msg import SBP_PREAMBLE as _SBP_PREAMBLE
 
-from sbp.jit import parse_float
+from pkgutil import iter_modules
+
+if not 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
+    # not in sys.path
+    if not 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+        # not in sbp.jit -> compile
+        from sbp.jit import parse_float
+        parse_float.compile()
+
 from sbp.jit import parse_float_c
 
 
diff --git a/python/sbp/jit/parse_float.py b/python/sbp/jit/parse_float.py
index c011031265..1428a542ee 100644
--- a/python/sbp/jit/parse_float.py
+++ b/python/sbp/jit/parse_float.py
@@ -41,9 +41,14 @@
 
 ffi.set_source(module_name=module_name, source=source)
 
-ffi.compile()
+def compile():
+    ffi.compile()
 
-# Move deliverables to same dir as the script
-dest_dir = os.path.dirname(os.path.realpath(__file__))
-for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
-    shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
+    # Move deliverables to same dir as the script
+    dest_dir = os.path.dirname(os.path.realpath(__file__))
+    for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
+        shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
+
+
+if __name__ == "__main__":    # not when running with setuptools
+    compile()
diff --git a/python/setup.py b/python/setup.py
index c3736e790a..8eb66f7f47 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -160,8 +160,9 @@ def write_version_py(filename=VERSION_PY_PATH):
     with open(os.path.join(filedir, 'README.rst')) as f:
         readme = f.read()
 
+    INSTALL_REQUIRES = ["cffi>=1.0.0"]
     with open(os.path.join(filedir, 'requirements.txt')) as f:
-        INSTALL_REQUIRES = [i.strip() for i in f.readlines()]
+        INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
     with open(os.path.join(filedir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
@@ -182,4 +183,6 @@ def write_version_py(filename=VERSION_PY_PATH):
           install_requires=INSTALL_REQUIRES,
           tests_require=TEST_REQUIRES,
           use_2to3=False,
-          zip_safe=False)
+          zip_safe=False,
+          setup_requires=["cffi>=1.0.0"],
+          cffi_modules=["sbp/jit/parse_float.py:ffi"])

From 62a9cc4b8fb0d2dcf72950f33a1e01f8a545a249 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 15 May 2019 09:41:15 +0300
Subject: [PATCH 02/26] Upgrade setuptools

---
 .travis.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.travis.yml b/.travis.yml
index a80fa5c532..907b741a8e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,6 +31,7 @@ matrix:
         - sudo apt-get install python3.5 python3.5-dev
         - sudo apt-get -y -o Dpkg::Options::="--force-confnew" install docker-ce
         - sudo pip install tox
+        - pip install -U setuptools
         - git clone -b master https://github.com/swift-nav/piksi_tools.git ../piksi_tools
       script: |
         pushd haskell

From 46c2fbe8b9be8be6d3b224be8f9ce121df2bfbce Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 15 May 2019 10:53:53 +0300
Subject: [PATCH 03/26] tox: remove explicit call to parse_float.py

---
 python/tox.ini | 1 -
 1 file changed, 1 deletion(-)

diff --git a/python/tox.ini b/python/tox.ini
index bb47b36b96..379139be13 100644
--- a/python/tox.ini
+++ b/python/tox.ini
@@ -6,7 +6,6 @@ minversion = 1.7.2
 deps = -r{toxinidir}/requirements.txt
        -r{toxinidir}/test_requirements.txt
 commands =
-  python {toxinidir}/sbp/jit/parse_float.py
   py.test -v tests/
   py35,py37: {toxinidir}/../test_data/format-test.sh {posargs}
   {toxinidir}/../test_data/benchmark.sh {posargs}

From b030fccbc176ab409ee76f0706da4edcba6c5878 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 15 May 2019 11:30:07 +0300
Subject: [PATCH 04/26] Add sbp.jit to packages and rework parse_float_c
 importing

---
 python/sbp/jit/msg.py | 19 +++++++++++--------
 python/setup.py       |  1 +
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index f47e9f4c31..f61f71888f 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -25,14 +25,17 @@
 
 from pkgutil import iter_modules
 
-if not 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
-    # not in sys.path
-    if not 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
-        # not in sbp.jit -> compile
-        from sbp.jit import parse_float
-        parse_float.compile()
-
-from sbp.jit import parse_float_c
+if 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
+    # found in sys.path
+    import parse_float_c
+elif 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    # found in sbp.jit
+    from sbp.jit import parse_float_c
+else:
+    # not found -> compile
+    from sbp.jit import parse_float
+    parse_float.compile()
+    from sbp.jit import parse_float_c
 
 
 numba.cffi_support.register_module(parse_float_c)
diff --git a/python/setup.py b/python/setup.py
index 8eb66f7f47..0947b70752 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -30,6 +30,7 @@
 
 PACKAGES = [
   'sbp',
+  'sbp.jit',
   'sbp.client',
   'sbp.client.drivers',
   'sbp.client.loggers',

From b02503a7df0952e65c36e42616b9dfa2d0f17489 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Thu, 16 May 2019 14:37:01 +0300
Subject: [PATCH 05/26] Numba Ahead-Of-Time

Numba code is built when the module is called for the first time.
This way the code will be optimized for the processor at hand
instead of more generic prebuild package. In following import
calls build step is not needed.

This means that numba is still a requirement.
---
 python/sbp/jit/msg.py          | 218 ++------------------
 python/sbp/jit/parse.py        | 362 +++++++++++++++++++++++++++++++++
 python/sbp/msg.py              |  74 ++-----
 python/sbp/utils.py            |  40 ++++
 python/tests/sbp/test_numba.py |   4 +-
 5 files changed, 447 insertions(+), 251 deletions(-)
 create mode 100644 python/sbp/jit/parse.py

diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index f61f71888f..a523889a2e 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -15,165 +15,41 @@
 import decimal as dec
 
 import numpy as np
-import numba as nb
 
-import numba.cffi_support
-
-from sbp.msg import crc16jit
-from sbp.msg import SENDER_ID as _SENDER_ID
-from sbp.msg import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.jit.parse import SENDER_ID as _SENDER_ID
+from sbp.jit.parse import SBP_PREAMBLE as _SBP_PREAMBLE
 
 from pkgutil import iter_modules
 
-if 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
+if 'parse_jit' in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
     import parse_float_c
-elif 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+elif 'parse_jit' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
     # found in sbp.jit
-    from sbp.jit import parse_float_c
+    from sbp.jit import parse_jit
 else:
     # not found -> compile
-    from sbp.jit import parse_float
-    parse_float.compile()
-    from sbp.jit import parse_float_c
-
-
-numba.cffi_support.register_module(parse_float_c)
-
-_get_f32 = parse_float_c.lib.get_f32
-_get_f64 = parse_float_c.lib.get_f64
+    from sbp.jit import parse
+    parse.compile()
+    from sbp.jit import parse_jit
+
+get_u8 = parse_jit.get_u8
+get_u16 = parse_jit.get_u16
+get_u32 = parse_jit.get_u32
+get_u64 = parse_jit.get_u64
+get_s8 = parse_jit.get_s8
+get_s16 = parse_jit.get_s16
+get_s32 = parse_jit.get_s32
+get_s64 = parse_jit.get_s64
+get_f32 = parse_jit.get_f32
+get_f64 = parse_jit.get_f64
+_get_string = parse_jit._get_string
+unpack_payload = parse_jit.unpack_payload
 
 SENDER_ID = _SENDER_ID
 SBP_PREAMBLE = _SBP_PREAMBLE
 
 
-@nb.jit('Tuple((u1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u8(buf, offset, length):
-    if length < 1:
-        return (0, offset, length)
-    return buf[offset], offset + 1, length - 1
-
-
-@nb.jit('Tuple((u2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u16(buf, offset, length):
-    if length < 2:
-        return (0, offset, length)
-    msb = nb.u2(buf[offset + 1]) << 8
-    lsb = nb.u2(buf[offset + 0]) << 0
-    return msb | lsb, offset + 2, length - 2
-
-
-@nb.jit('Tuple((u4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    a = nb.u4(buf[offset + 3]) << 24
-    b = nb.u4(buf[offset + 2]) << 16
-    c = nb.u4(buf[offset + 1]) << 8
-    d = nb.u4(buf[offset + 0]) << 0
-    return a | b | c | d, offset + 4, length - 4
-
-
-@nb.jit('Tuple((u8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_u64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    a = nb.u8(buf[offset + 7]) << 54
-    b = nb.u8(buf[offset + 6]) << 48
-    c = nb.u8(buf[offset + 5]) << 40
-    d = nb.u8(buf[offset + 4]) << 32
-    e = nb.u8(buf[offset + 3]) << 24
-    f = nb.u8(buf[offset + 2]) << 16
-    g = nb.u8(buf[offset + 1]) << 8
-    h = nb.u8(buf[offset + 0]) << 0
-    return a | b | c | d | e | f | g | h, offset + 8, length - 8
-
-
-@nb.jit('Tuple((i1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s8(buf, offset, length):
-    if length < 1:
-        return (0, offset, length)
-    return buf[offset], offset + 1, length - 1
-
-
-@nb.jit('Tuple((i2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s16(buf, offset, length):
-    if length < 2:
-        return (0, offset, length)
-    msb = nb.i2(buf[offset + 1]) << 8
-    lsb = nb.i2(buf[offset + 0]) << 0
-    return msb | lsb, offset + 2, length - 2
-
-
-@nb.jit('Tuple((i4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    a = nb.i4(buf[offset + 3]) << 24
-    b = nb.i4(buf[offset + 2]) << 16
-    c = nb.i4(buf[offset + 1]) << 8
-    d = nb.i4(buf[offset + 0]) << 0
-    return a | b | c | d, offset + 4, length - 4
-
-
-@nb.jit('Tuple((i8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_s64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    a = nb.i8(buf[offset + 7]) << 54
-    b = nb.i8(buf[offset + 6]) << 48
-    c = nb.i8(buf[offset + 5]) << 40
-    d = nb.i8(buf[offset + 4]) << 32
-    e = nb.i8(buf[offset + 3]) << 24
-    f = nb.i8(buf[offset + 2]) << 16
-    g = nb.i8(buf[offset + 1]) << 8
-    h = nb.i8(buf[offset + 0]) << 0
-    return a | b | c | d | e | f | g | h, offset + 8, length - 8
-
-
-@nb.jit('Tuple((f4,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_f32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    res = _get_f32(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3])
-    return res, offset + 4, length - 4
-
-
-@nb.jit('Tuple((f8,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
-def get_f64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    res = _get_f64(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3],
-                   buf[offset + 4],
-                   buf[offset + 5],
-                   buf[offset + 6],
-                   buf[offset + 7])
-    return res, offset + 8, length - 8
-
-
-@nb.jit('Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)', nopython=True, nogil=True)
-def _get_string(buf_in, offset, length, check_null):
-    buf_out = np.zeros(256, dtype=np.uint8)
-    i = nb.u4(0)
-    null_term = False
-    while i < length:
-        if check_null and buf_in[offset + i] == 0:
-            null_term = True
-            break
-        buf_out[i] = buf_in[offset + i]
-        i = nb.u4(i + nb.u4(1))
-    if null_term:
-        return buf_out[:i], offset + i + 1, i + 1
-    else:
-        return buf_out[:i], offset + i, i
-
-
 def judicious_round(f):
     # Let numpy's judicious rounding tell us the amount of digits we
     # want as it seems to align with Haskell's output
@@ -281,58 +157,6 @@ def __eq__(self, other):
         except AttributeError:
             return False
 
-    @staticmethod
-    @nb.jit('Tuple((u4, u2, u2, u2, u2, b1))(u1[:], u4, u4)',
-            nopython=True, nogil=True)
-    def unpack_payload(buf, offset, length):
-        crc_fail = False
-        crc = 0
-        payload_len = 0
-        msg_type = 0
-        sender = 0
-        offset_start = offset
-        pkt_len = 0
-
-        preamble_len = 1
-        if length < preamble_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        preamble, offset, length = get_u8(buf, offset, length)
-        if preamble != SBP_PREAMBLE:
-            return (preamble_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        header_len = 5
-        if length < header_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        typ, offset, length = get_u16(buf, offset, length)
-        sender, offset, length = get_u16(buf, offset, length)
-        payload_len, offset, length = get_u8(buf, offset, length)
-
-        if length < payload_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        # Consume payload
-        offset += payload_len
-        length -= payload_len
-
-        crc_len = 2
-        if length < crc_len:
-            return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
-        msg_type = typ
-
-        crc, offset, length = get_u16(buf, offset, length)
-        buf_start = offset_start + 1
-        buf_end = offset_start + 1 + (preamble_len + header_len - 1) + payload_len
-
-        calc_crc = crc16jit(buf, buf_start, 0, buf_end - buf_start)
-        if calc_crc != crc:
-            crc_fail = True
-
-        pkt_len = preamble_len + header_len + payload_len + crc_len
-        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
-
     @classmethod
     def parse_members(cls, buf, offset, length):
         raise NotImplementedError()
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
new file mode 100644
index 0000000000..d37a6bbee0
--- /dev/null
+++ b/python/sbp/jit/parse.py
@@ -0,0 +1,362 @@
+#!/usr/bin/env python
+
+# Copyright (C) 2019 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+import glob
+import ntpath
+import os
+import shutil
+
+import numpy as np
+import numba as nb
+
+from numba.pycc import CC
+
+from sbp.utils import SENDER_ID as _SENDER_ID
+from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.utils import _crc16_tab
+
+from pkgutil import iter_modules
+
+if 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
+    # found in sys.path
+    import parse_float_c
+elif 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    # found in sbp.jit
+    from sbp.jit import parse_float_c
+else:
+    # not found -> compile
+    from sbp.jit import parse_float
+    parse_float.compile()
+    from sbp.jit import parse_float_c
+
+from numba import cffi_support
+cffi_support.register_module(parse_float_c)
+
+_get_f32 = parse_float_c.lib.get_f32
+_get_f64 = parse_float_c.lib.get_f64
+
+from distutils.ccompiler import CCompiler
+from numpy.distutils.misc_util import get_num_build_jobs
+from numpy.distutils.ccompiler import _global_lock, _processing_files
+from numpy.distutils import log
+
+import sys
+import types
+
+# monkeypatch numpy.distutils.ccompiler. Parallel build hangs with py27
+def replace_method(klass, method_name, func):
+    if sys.version_info[0] < 3:
+        m = types.MethodType(func, None, klass)
+        setattr(klass, method_name, m)
+
+def CCompiler_compile(self, sources, output_dir=None, macros=None,
+                      include_dirs=None, debug=0, extra_preargs=None,
+                      extra_postargs=None, depends=None):
+    """
+    Compile one or more source files.
+
+    Please refer to the Python distutils API reference for more details.
+
+    Parameters
+    ----------
+    sources : list of str
+        A list of filenames
+    output_dir : str, optional
+        Path to the output directory.
+    macros : list of tuples
+        A list of macro definitions.
+    include_dirs : list of str, optional
+        The directories to add to the default include file search path for
+        this compilation only.
+    debug : bool, optional
+        Whether or not to output debug symbols in or alongside the object
+        file(s).
+    extra_preargs, extra_postargs : ?
+        Extra pre- and post-arguments.
+    depends : list of str, optional
+        A list of file names that all targets depend on.
+
+    Returns
+    -------
+    objects : list of str
+        A list of object file names, one per source file `sources`.
+
+    Raises
+    ------
+    CompileError
+        If compilation fails.
+
+    """
+    # This method is effective only with Python >=2.3 distutils.
+    # Any changes here should be applied also to fcompiler.compile
+    # method to support pre Python 2.3 distutils.
+    global _job_semaphore
+
+    if not sources:
+        return []
+
+    ccomp = self.compiler_so
+    display = "C compiler: %s\n" % (' '.join(ccomp),)
+    log.info(display)
+    macros, objects, extra_postargs, pp_opts, build = \
+            self._setup_compile(output_dir, macros, include_dirs, sources,
+                                depends, extra_postargs)
+    cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
+    display = "compile options: '%s'" % (' '.join(cc_args))
+    if extra_postargs:
+        display += "\nextra options: '%s'" % (' '.join(extra_postargs))
+    log.info(display)
+
+    def single_compile(args):
+        obj, (src, ext) = args
+
+        # check if we are currently already processing the same object
+        # happens when using the same source in multiple extensions
+        while True:
+            # need explicit lock as there is no atomic check and add with GIL
+            with _global_lock:
+                # file not being worked on, start working
+                if obj not in _processing_files:
+                    _processing_files.add(obj)
+                    break
+            # wait for the processing to end
+            time.sleep(0.1)
+
+        try:
+            self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+        finally:
+            # register being done processing
+            with _global_lock:
+                _processing_files.remove(obj)
+
+    for o in build.items():
+        single_compile(o)
+
+    # Return *all* object filenames, not just the ones we just built.
+    return objects
+
+replace_method(CCompiler, 'compile', CCompiler_compile)
+# monkeypatch end
+
+module_name='parse_jit'
+cc = CC(module_name)
+cc.verbose = False
+
+crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
+
+SENDER_ID = _SENDER_ID
+SBP_PREAMBLE = _SBP_PREAMBLE
+
+
+@nb.jit('u2(u1[:], u4, u2, u4)', nopython=True, nogil=True)
+@cc.export('crc16jit', 'u2(u1[:], u4, u2, u4)')
+def crc16jit(buf, offset, crc, length):
+  """CRC16 implementation acording to CCITT standards."""
+  for index in range(offset, offset + length):
+    data = buf[index]
+    lookup = crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
+    crc = ((nb.u2(crc) << nb.u2(8)) & nb.u2(0xFFFF)) ^ lookup
+    crc = nb.u2(crc) & nb.u2(0xFFFF)
+  return crc
+
+
+@nb.jit('Tuple((u1,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
+@cc.export('get_u8', 'Tuple((u1,u4,u4))(u1[:],u4,u4)')
+def get_u8(buf, offset, length):
+    if length < 1:
+        return (0, offset, length)
+    return buf[offset], offset + 1, length - 1
+
+
+@nb.jit('Tuple((u2,u4,u4))(u1[:],u4,u4)', nopython=True, nogil=True)
+@cc.export('get_u16', 'Tuple((u2,u4,u4))(u1[:],u4,u4)')
+def get_u16(buf, offset, length):
+    if length < 2:
+        return (0, offset, length)
+    msb = nb.u2(buf[offset + 1]) << 8
+    lsb = nb.u2(buf[offset + 0]) << 0
+    return msb | lsb, offset + 2, length - 2
+
+
+@cc.export('get_u32', 'Tuple((u4,u4,u4))(u1[:],u4,u4)')
+def get_u32(buf, offset, length):
+    if length < 4:
+        return (0, offset, length)
+    a = nb.u4(buf[offset + 3]) << 24
+    b = nb.u4(buf[offset + 2]) << 16
+    c = nb.u4(buf[offset + 1]) << 8
+    d = nb.u4(buf[offset + 0]) << 0
+    return a | b | c | d, offset + 4, length - 4
+
+
+@cc.export('get_u64', 'Tuple((u8,u4,u4))(u1[:],u4,u4)')
+def get_u64(buf, offset, length):
+    if length < 8:
+        return (0, offset, length)
+    a = nb.u8(buf[offset + 7]) << 54
+    b = nb.u8(buf[offset + 6]) << 48
+    c = nb.u8(buf[offset + 5]) << 40
+    d = nb.u8(buf[offset + 4]) << 32
+    e = nb.u8(buf[offset + 3]) << 24
+    f = nb.u8(buf[offset + 2]) << 16
+    g = nb.u8(buf[offset + 1]) << 8
+    h = nb.u8(buf[offset + 0]) << 0
+    return a | b | c | d | e | f | g | h, offset + 8, length - 8
+
+
+@cc.export('get_s8', 'Tuple((i1,u4,u4))(u1[:],u4,u4)')
+def get_s8(buf, offset, length):
+    if length < 1:
+        return (0, offset, length)
+    return buf[offset], offset + 1, length - 1
+
+
+@cc.export('get_s16', 'Tuple((i2,u4,u4))(u1[:],u4,u4)')
+def get_s16(buf, offset, length):
+    if length < 2:
+        return (0, offset, length)
+    msb = nb.i2(buf[offset + 1]) << 8
+    lsb = nb.i2(buf[offset + 0]) << 0
+    return msb | lsb, offset + 2, length - 2
+
+
+@cc.export('get_s32', 'Tuple((i4,u4,u4))(u1[:],u4,u4)')
+def get_s32(buf, offset, length):
+    if length < 4:
+        return (0, offset, length)
+    a = nb.i4(buf[offset + 3]) << 24
+    b = nb.i4(buf[offset + 2]) << 16
+    c = nb.i4(buf[offset + 1]) << 8
+    d = nb.i4(buf[offset + 0]) << 0
+    return a | b | c | d, offset + 4, length - 4
+
+
+@cc.export('get_s64', 'Tuple((i8,u4,u4))(u1[:],u4,u4)')
+def get_s64(buf, offset, length):
+    if length < 8:
+        return (0, offset, length)
+    a = nb.i8(buf[offset + 7]) << 54
+    b = nb.i8(buf[offset + 6]) << 48
+    c = nb.i8(buf[offset + 5]) << 40
+    d = nb.i8(buf[offset + 4]) << 32
+    e = nb.i8(buf[offset + 3]) << 24
+    f = nb.i8(buf[offset + 2]) << 16
+    g = nb.i8(buf[offset + 1]) << 8
+    h = nb.i8(buf[offset + 0]) << 0
+    return a | b | c | d | e | f | g | h, offset + 8, length - 8
+
+
+@cc.export('get_f32', 'Tuple((f4,u4,u4))(u1[:],u4,u4)')
+def get_f32(buf, offset, length):
+    if length < 4:
+        return (0, offset, length)
+    res = _get_f32(buf[offset + 0],
+                   buf[offset + 1],
+                   buf[offset + 2],
+                   buf[offset + 3])
+    return res, offset + 4, length - 4
+
+
+@cc.export('get_f64', 'Tuple((f8,u4,u4))(u1[:],u4,u4)')
+def get_f64(buf, offset, length):
+    if length < 8:
+        return (0, offset, length)
+    res = _get_f64(buf[offset + 0],
+                   buf[offset + 1],
+                   buf[offset + 2],
+                   buf[offset + 3],
+                   buf[offset + 4],
+                   buf[offset + 5],
+                   buf[offset + 6],
+                   buf[offset + 7])
+    return res, offset + 8, length - 8
+
+
+@cc.export('_get_string', 'Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)')
+def _get_string(buf_in, offset, length, check_null):
+    buf_out = np.zeros(256, dtype=np.uint8)
+    i = nb.u4(0)
+    null_term = False
+    while i < length:
+        if check_null and buf_in[offset + i] == 0:
+            null_term = True
+            break
+        buf_out[i] = buf_in[offset + i]
+        i = nb.u4(i + nb.u4(1))
+    if null_term:
+        return buf_out[:i], offset + i + 1, i + 1
+    else:
+        return buf_out[:i], offset + i, i
+
+
+@cc.export('unpack_payload', 'Tuple((u4, u2, u2, u2, u2, b1))(u1[:], u4, u4)')
+def unpack_payload(buf, offset, length):
+    crc_fail = False
+    crc = 0
+    payload_len = 0
+    msg_type = 0
+    sender = 0
+    offset_start = offset
+    pkt_len = 0
+
+    preamble_len = 1
+    if length < preamble_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    preamble, offset, length = get_u8(buf, offset, length)
+    if preamble != SBP_PREAMBLE:
+        return (preamble_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    header_len = 5
+    if length < header_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    typ, offset, length = get_u16(buf, offset, length)
+    sender, offset, length = get_u16(buf, offset, length)
+    payload_len, offset, length = get_u8(buf, offset, length)
+
+    if length < payload_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    # Consume payload
+    offset += payload_len
+    length -= payload_len
+
+    crc_len = 2
+    if length < crc_len:
+        return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+    msg_type = typ
+
+    crc, offset, length = get_u16(buf, offset, length)
+    buf_start = offset_start + 1
+    buf_end = offset_start + 1 + (preamble_len + header_len - 1) + payload_len
+
+    calc_crc = crc16jit(buf, buf_start, 0, buf_end - buf_start)
+    if calc_crc != crc:
+        crc_fail = True
+
+    pkt_len = preamble_len + header_len + payload_len + crc_len
+    return (pkt_len, payload_len, msg_type, sender, crc, crc_fail)
+
+
+def compile():
+    cc.compile()
+
+    # Move deliverables to same dir as the script
+    dest_dir = os.path.dirname(os.path.realpath(__file__))
+    for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
+        shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
+
+
+if __name__ == "__main__":    # not when running with setuptools
+    compile()
diff --git a/python/sbp/msg.py b/python/sbp/msg.py
index 748424edfe..4e2d431b08 100755
--- a/python/sbp/msg.py
+++ b/python/sbp/msg.py
@@ -16,75 +16,45 @@
 
 import construct
 
+from sbp.utils import SENDER_ID as _SENDER_ID
+from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.utils import _crc16_tab
+
 import numba as nb
 import numpy as np
 
-SBP_PREAMBLE = 0x55
-
-# Default sender ID. Intended for messages sent from the host to the
-# device.
-SENDER_ID = 0x42
-
-_crc16_tab = [
-    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
-    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
-    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
-    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
-    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
-    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
-    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
-    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
-    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
-    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
-    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
-    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
-    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
-    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
-    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
-    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
-    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
-    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
-    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
-    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
-    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
-    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
-    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
-    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
-    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
-    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
-    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
-    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
-    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
-    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
-    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
-    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
+from pkgutil import iter_modules
 
-crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
+if 'parse_jit' in (name for loader, name, ispkg in iter_modules()):
+    # found in sys.path
+    import parse_float_c
+elif 'parse_jit' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    # found in sbp.jit
+    from sbp.jit import parse_jit
+else:
+    # not found -> compile
+    from sbp.jit import parse
+    parse.compile()
+    from sbp.jit import parse_jit
 
 
-@nb.jit('u2(u1[:], u4, u2, u4)', nopython=True, nogil=True)
-def crc16jit(buf, offset, crc, length):
-  """CRC16 implementation acording to CCITT standards."""
-  for index in range(offset, offset + length):
-    data = buf[index]
-    lookup = crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
-    crc = ((nb.u2(crc) << nb.u2(8)) & nb.u2(0xFFFF)) ^ lookup
-    crc = nb.u2(crc) & nb.u2(0xFFFF)
-  return crc
+crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
 
+SENDER_ID = _SENDER_ID
+SBP_PREAMBLE = _SBP_PREAMBLE
 
 crc_buffer = np.zeros(512, dtype=np.uint8)
 
 
 def crc16(s, crc=0, buf=crc_buffer):
   crc_buffer[:len(s)] = bytearray(s)
-  return crc16jit(crc_buffer, 0, crc, len(s))
+  return parse_jit.crc16jit(crc_buffer, 0, crc, len(s))
 
 
 def crc16_nojit(s, crc=0):
   """CRC16 implementation acording to CCITT standards."""
   for ch in bytearray(s):  # bytearray's elements are integers in both python 2 and 3
-    crc = ((crc << 8) & 0xFFFF) ^ _crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
+    crc = ((crc << 8) & 0xFFFF) ^ crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
     crc &= 0xFFFF
   return crc
 
@@ -185,7 +155,7 @@ def _get_framed(self, buf, offset, insert_payload):
     crc_offset = header_offset + self.length
     preamble_bytes = 1
     crc_over_len = self._header_len + self.length - preamble_bytes
-    self.crc = crc16jit(buf, offset+1, 0, crc_over_len)
+    self.crc = parse_jit.crc16jit(buf, offset+1, 0, crc_over_len)
     struct.pack_into(self._crc_fmt, buf, crc_offset, self.crc)
     length = preamble_bytes + crc_over_len + self._crc_len
     return length
diff --git a/python/sbp/utils.py b/python/sbp/utils.py
index eb4eba11a7..7e227cf8a5 100755
--- a/python/sbp/utils.py
+++ b/python/sbp/utils.py
@@ -17,6 +17,46 @@
 
 from construct import Container
 
+SBP_PREAMBLE = 0x55
+
+# Default sender ID. Intended for messages sent from the host to the
+# device.
+SENDER_ID = 0x42
+
+_crc16_tab = [
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
+
 
 def exclude_fields(obj, exclude=EXCLUDE):
   """
diff --git a/python/tests/sbp/test_numba.py b/python/tests/sbp/test_numba.py
index ab2ba285c1..3d3705f8e0 100644
--- a/python/tests/sbp/test_numba.py
+++ b/python/tests/sbp/test_numba.py
@@ -3,7 +3,7 @@
 
 from sbp.file_io import MsgFileioWriteReq
 
-from sbp.jit.msg import SBP
+from sbp.jit.msg import unpack_payload
 
 from sbp.jit.msg import get_string
 from sbp.jit.msg import get_fixed_string
@@ -74,7 +74,7 @@ def test_parse():
 
     assert len(buf) > 0
 
-    pkt_len, payload_len, msg_type, sender, crc, crc_fail = SBP.unpack_payload(buf, 0, len(buf))
+    pkt_len, payload_len, msg_type, sender, crc, crc_fail = unpack_payload(buf, 0, len(buf))
     assert not crc_fail
 
     m = dispatch(msg_type)(msg_type)

From 33cd89faf1bf2a4e40966e767d9d90f2d6c6a576 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Fri, 17 May 2019 09:20:03 +0300
Subject: [PATCH 06/26] Distinct module names for different Python versions

---
 python/sbp/jit/msg.py         | 16 +++++++++++-----
 python/sbp/jit/parse.py       | 17 ++++++++++-------
 python/sbp/jit/parse_float.py |  4 +++-
 python/sbp/msg.py             | 15 +++++++++------
 python/sbp/utils.py           |  6 ++++++
 5 files changed, 39 insertions(+), 19 deletions(-)

diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index a523889a2e..a27e9d7ded 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -10,28 +10,34 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
+import importlib
+
 from pybase64 import standard_b64encode
 
 import decimal as dec
 
 import numpy as np
 
+from sbp.utils import get_py_version
+
 from sbp.jit.parse import SENDER_ID as _SENDER_ID
 from sbp.jit.parse import SBP_PREAMBLE as _SBP_PREAMBLE
 
 from pkgutil import iter_modules
 
-if 'parse_jit' in (name for loader, name, ispkg in iter_modules()):
+parse_jit_name = "parse_jit_py{}".format(get_py_version())
+
+if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
-    import parse_float_c
-elif 'parse_jit' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    parse_jit = importlib.import_module(parse_jit_name)
+elif parse_jit_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
     # found in sbp.jit
-    from sbp.jit import parse_jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
 else:
     # not found -> compile
     from sbp.jit import parse
     parse.compile()
-    from sbp.jit import parse_jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
 
 get_u8 = parse_jit.get_u8
 get_u16 = parse_jit.get_u16
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index d37a6bbee0..2a29f5ec5e 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -14,6 +14,7 @@
 import ntpath
 import os
 import shutil
+import importlib
 
 import numpy as np
 import numba as nb
@@ -22,21 +23,23 @@
 
 from sbp.utils import SENDER_ID as _SENDER_ID
 from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.utils import _crc16_tab
+from sbp.utils import _crc16_tab, get_py_version
 
 from pkgutil import iter_modules
 
-if 'parse_float_c' in (name for loader, name, ispkg in iter_modules()):
+parse_float_c_name = "parse_float_c_py{}".format(get_py_version())
+
+if parse_float_c_name in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
-    import parse_float_c
-elif 'parse_float_c' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    parse_float_c = importlib.import_module(parse_float_c_name)
+elif parse_float_c_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
     # found in sbp.jit
-    from sbp.jit import parse_float_c
+    parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
 else:
     # not found -> compile
     from sbp.jit import parse_float
     parse_float.compile()
-    from sbp.jit import parse_float_c
+    parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
 
 from numba import cffi_support
 cffi_support.register_module(parse_float_c)
@@ -147,7 +150,7 @@ def single_compile(args):
 replace_method(CCompiler, 'compile', CCompiler_compile)
 # monkeypatch end
 
-module_name='parse_jit'
+module_name = "parse_jit_py{}".format(get_py_version())
 cc = CC(module_name)
 cc.verbose = False
 
diff --git a/python/sbp/jit/parse_float.py b/python/sbp/jit/parse_float.py
index 1428a542ee..5895247ccc 100644
--- a/python/sbp/jit/parse_float.py
+++ b/python/sbp/jit/parse_float.py
@@ -5,6 +5,8 @@
 import os
 import shutil
 
+from sbp.utils import get_py_version
+
 ffi = cffi.FFI()
 ffi.cdef("""
 float get_f32(unsigned char a, unsigned char b, unsigned char c, unsigned char d);
@@ -37,7 +39,7 @@
 }
 """
 
-module_name = "parse_float_c"
+module_name = "parse_float_c_py{}".format(get_py_version())
 
 ffi.set_source(module_name=module_name, source=source)
 
diff --git a/python/sbp/msg.py b/python/sbp/msg.py
index 4e2d431b08..027a155a5e 100755
--- a/python/sbp/msg.py
+++ b/python/sbp/msg.py
@@ -11,6 +11,7 @@
 
 import base64
 import copy
+import importlib
 import json
 import struct
 
@@ -18,24 +19,26 @@
 
 from sbp.utils import SENDER_ID as _SENDER_ID
 from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.utils import _crc16_tab
+from sbp.utils import _crc16_tab, get_py_version
 
 import numba as nb
 import numpy as np
 
 from pkgutil import iter_modules
 
-if 'parse_jit' in (name for loader, name, ispkg in iter_modules()):
+parse_jit_name = "parse_jit_py{}".format(get_py_version())
+
+if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
-    import parse_float_c
-elif 'parse_jit' in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+    parse_jit = importlib.import_module(parse_jit_name)
+elif parse_jit_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
     # found in sbp.jit
-    from sbp.jit import parse_jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
 else:
     # not found -> compile
     from sbp.jit import parse
     parse.compile()
-    from sbp.jit import parse_jit
+    parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
 
 
 crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
diff --git a/python/sbp/utils.py b/python/sbp/utils.py
index 7e227cf8a5..0ecbc52326 100755
--- a/python/sbp/utils.py
+++ b/python/sbp/utils.py
@@ -9,6 +9,8 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
+import sys
+
 """Shared utility functions.
 
 """
@@ -58,6 +60,10 @@
     0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
 
 
+def get_py_version():
+  return str(sys.version_info[0]) + str(sys.version_info[1])
+
+
 def exclude_fields(obj, exclude=EXCLUDE):
   """
   Return dict of object without parent attrs.

From 6f17e36051d34b762603ea9266cf1918d1cc25a8 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Fri, 17 May 2019 12:34:05 +0300
Subject: [PATCH 07/26] Remove CFFI dependency

---
 python/requirements.txt |  1 -
 python/sbp/jit/msg.py   |  8 ++--
 python/sbp/jit/parse.py | 91 ++++++++++++++++++++++-------------------
 python/setup.py         |  6 +--
 4 files changed, 54 insertions(+), 52 deletions(-)

diff --git a/python/requirements.txt b/python/requirements.txt
index befd25a028..6ac62d6636 100644
--- a/python/requirements.txt
+++ b/python/requirements.txt
@@ -7,4 +7,3 @@ llvmlite==0.26.0
 numpy==1.16.2
 numba==0.41.0
 pybase64
-cffi
diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index a27e9d7ded..57bf21c724 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -20,8 +20,8 @@
 
 from sbp.utils import get_py_version
 
-from sbp.jit.parse import SENDER_ID as _SENDER_ID
-from sbp.jit.parse import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.utils import SENDER_ID as _SENDER_ID
+from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
 
 from pkgutil import iter_modules
 
@@ -47,8 +47,8 @@
 get_s16 = parse_jit.get_s16
 get_s32 = parse_jit.get_s32
 get_s64 = parse_jit.get_s64
-get_f32 = parse_jit.get_f32
-get_f64 = parse_jit.get_f64
+get_f32 = lambda buf, offset, length: (float(np.frombuffer(buf, dtype=np.float32, count=1, offset=offset)), offset + 4, length - 4)
+get_f64 = lambda buf, offset, length: (float(np.frombuffer(buf, dtype=np.float64, count=1, offset=offset)), offset + 8, length - 8)
 _get_string = parse_jit._get_string
 unpack_payload = parse_jit.unpack_payload
 
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index 2a29f5ec5e..dbdc82e69f 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -25,27 +25,29 @@
 from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
 from sbp.utils import _crc16_tab, get_py_version
 
-from pkgutil import iter_modules
+# See comment before get_f32() below
 
-parse_float_c_name = "parse_float_c_py{}".format(get_py_version())
+# from pkgutil import iter_modules
 
-if parse_float_c_name in (name for loader, name, ispkg in iter_modules()):
-    # found in sys.path
-    parse_float_c = importlib.import_module(parse_float_c_name)
-elif parse_float_c_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
-    # found in sbp.jit
-    parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
-else:
-    # not found -> compile
-    from sbp.jit import parse_float
-    parse_float.compile()
-    parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
+# parse_float_c_name = "parse_float_c_py{}".format(get_py_version())
 
-from numba import cffi_support
-cffi_support.register_module(parse_float_c)
+# if parse_float_c_name in (name for loader, name, ispkg in iter_modules()):
+#     # found in sys.path
+#     parse_float_c = importlib.import_module(parse_float_c_name)
+# elif parse_float_c_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
+#     # found in sbp.jit
+#     parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
+# else:
+#     # not found -> compile
+#     from sbp.jit import parse_float
+#     parse_float.compile()
+#     parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
 
-_get_f32 = parse_float_c.lib.get_f32
-_get_f64 = parse_float_c.lib.get_f64
+#from numba import cffi_support
+#cffi_support.register_module(parse_float_c)
+
+#_get_f32 = parse_float_c.lib.get_f32
+#_get_f64 = parse_float_c.lib.get_f64
 
 from distutils.ccompiler import CCompiler
 from numpy.distutils.misc_util import get_num_build_jobs
@@ -114,6 +116,7 @@ def CCompiler_compile(self, sources, output_dir=None, macros=None,
             self._setup_compile(output_dir, macros, include_dirs, sources,
                                 depends, extra_postargs)
     cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
+    #cc_args += ['-g']
     display = "compile options: '%s'" % (' '.join(cc_args))
     if extra_postargs:
         display += "\nextra options: '%s'" % (' '.join(extra_postargs))
@@ -152,7 +155,7 @@ def single_compile(args):
 
 module_name = "parse_jit_py{}".format(get_py_version())
 cc = CC(module_name)
-cc.verbose = False
+cc.verbose = True
 
 crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
 
@@ -257,31 +260,33 @@ def get_s64(buf, offset, length):
     h = nb.i8(buf[offset + 0]) << 0
     return a | b | c | d | e | f | g | h, offset + 8, length - 8
 
-
-@cc.export('get_f32', 'Tuple((f4,u4,u4))(u1[:],u4,u4)')
-def get_f32(buf, offset, length):
-    if length < 4:
-        return (0, offset, length)
-    res = _get_f32(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3])
-    return res, offset + 4, length - 4
-
-
-@cc.export('get_f64', 'Tuple((f8,u4,u4))(u1[:],u4,u4)')
-def get_f64(buf, offset, length):
-    if length < 8:
-        return (0, offset, length)
-    res = _get_f64(buf[offset + 0],
-                   buf[offset + 1],
-                   buf[offset + 2],
-                   buf[offset + 3],
-                   buf[offset + 4],
-                   buf[offset + 5],
-                   buf[offset + 6],
-                   buf[offset + 7])
-    return res, offset + 8, length - 8
+# These float functions segfault in case this module is just imported and not
+# ran through numba compile process.
+
+# @cc.export('get_f32', 'Tuple((f4,u4,u4))(u1[:],u4,u4)')
+# def get_f32(buf, offset, length):
+#     if length < 4:
+#         return (0, offset, length)
+#     res = _get_f32(buf[offset + 0],
+#                    buf[offset + 1],
+#                    buf[offset + 2],
+#                    buf[offset + 3])
+#     return res, offset + 4, length - 4
+
+
+# @cc.export('get_f64', 'Tuple((f8,u4,u4))(u1[:],u4,u4)')
+# def get_f64(buf, offset, length):
+#     if length < 8:
+#         return (0, offset, length)
+#     res = _get_f64(buf[offset + 0],
+#                    buf[offset + 1],
+#                    buf[offset + 2],
+#                    buf[offset + 3],
+#                    buf[offset + 4],
+#                    buf[offset + 5],
+#                    buf[offset + 6],
+#                    buf[offset + 7])
+#     return res, offset + 8, length - 8
 
 
 @cc.export('_get_string', 'Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)')
diff --git a/python/setup.py b/python/setup.py
index 0947b70752..a8037fc427 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -161,7 +161,7 @@ def write_version_py(filename=VERSION_PY_PATH):
     with open(os.path.join(filedir, 'README.rst')) as f:
         readme = f.read()
 
-    INSTALL_REQUIRES = ["cffi>=1.0.0"]
+    INSTALL_REQUIRES = []
     with open(os.path.join(filedir, 'requirements.txt')) as f:
         INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
@@ -184,6 +184,4 @@ def write_version_py(filename=VERSION_PY_PATH):
           install_requires=INSTALL_REQUIRES,
           tests_require=TEST_REQUIRES,
           use_2to3=False,
-          zip_safe=False,
-          setup_requires=["cffi>=1.0.0"],
-          cffi_modules=["sbp/jit/parse_float.py:ffi"])
+          zip_safe=False)

From 3a01cbe728d063d79bb2ef1637a2d55265ce0dcf Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Fri, 17 May 2019 13:04:53 +0300
Subject: [PATCH 08/26] piksi_tools dev branch

---
 .travis.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index 907b741a8e..df7fe4b34a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -32,7 +32,7 @@ matrix:
         - sudo apt-get -y -o Dpkg::Options::="--force-confnew" install docker-ce
         - sudo pip install tox
         - pip install -U setuptools
-        - git clone -b master https://github.com/swift-nav/piksi_tools.git ../piksi_tools
+        - git clone -b pmiettinen/esd-1156-numba-deployment https://github.com/swift-nav/piksi_tools.git ../piksi_tools
       script: |
         pushd haskell
         docker build -t sbp2json .

From 1f7c7d65c7cac1e5b5ad729f542d8ad7281e83c1 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Fri, 17 May 2019 14:07:06 +0300
Subject: [PATCH 09/26] Update benchmark threshold to 1.4

---
 test_data/benchmark.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/test_data/benchmark.sh b/test_data/benchmark.sh
index f74b9e3625..d9b9aa863f 100755
--- a/test_data/benchmark.sh
+++ b/test_data/benchmark.sh
@@ -18,7 +18,7 @@ echo "Python" $time_py
 time_hs=$(TIMEFORMAT="%R"; { time $1/sbp2json < $TESTDATA_ROOT/long.sbp > $TESTDATA_ROOT/long_hask.json; } 2>&1)
 echo "Haskell" $time_hs
 
-threshold=1.8
+threshold=1.4
 perf_diff=$(echo "$time_py / $time_hs" | bc -l)
 
 if (( $(echo "$perf_diff > $threshold" | bc -l) )); then

From aa3f287f21cefc9abf77b6f6b2e126435b227f6f Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 22 May 2019 11:21:52 +0300
Subject: [PATCH 10/26] Treat as external module in setup

---
 python/setup.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/python/setup.py b/python/setup.py
index a8037fc427..d0f446fe9d 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -14,6 +14,8 @@
 
 import subprocess
 
+from sbp.jit.parse import cc
+
 CLASSIFIERS = [
   'Intended Audience :: Developers',
   'Intended Audience :: Science/Research',
@@ -184,4 +186,5 @@ def write_version_py(filename=VERSION_PY_PATH):
           install_requires=INSTALL_REQUIRES,
           tests_require=TEST_REQUIRES,
           use_2to3=False,
-          zip_safe=False)
+          zip_safe=False,
+          ext_modules=[cc.distutils_extension()])

From 145009e7101eafb9bf5342233a31f61fc29b4023 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 22 May 2019 11:42:01 +0300
Subject: [PATCH 11/26] Remove parse_float module

---
 python/sbp/jit/parse.py       | 52 --------------------------------
 python/sbp/jit/parse_float.py | 56 -----------------------------------
 2 files changed, 108 deletions(-)
 delete mode 100644 python/sbp/jit/parse_float.py

diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index dbdc82e69f..21b0a11f33 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -25,30 +25,6 @@
 from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
 from sbp.utils import _crc16_tab, get_py_version
 
-# See comment before get_f32() below
-
-# from pkgutil import iter_modules
-
-# parse_float_c_name = "parse_float_c_py{}".format(get_py_version())
-
-# if parse_float_c_name in (name for loader, name, ispkg in iter_modules()):
-#     # found in sys.path
-#     parse_float_c = importlib.import_module(parse_float_c_name)
-# elif parse_float_c_name in (name for loader, name, ispkg in iter_modules(['sbp/jit'])):
-#     # found in sbp.jit
-#     parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
-# else:
-#     # not found -> compile
-#     from sbp.jit import parse_float
-#     parse_float.compile()
-#     parse_float_c = importlib.import_module('sbp.jit.' + parse_float_c_name)
-
-#from numba import cffi_support
-#cffi_support.register_module(parse_float_c)
-
-#_get_f32 = parse_float_c.lib.get_f32
-#_get_f64 = parse_float_c.lib.get_f64
-
 from distutils.ccompiler import CCompiler
 from numpy.distutils.misc_util import get_num_build_jobs
 from numpy.distutils.ccompiler import _global_lock, _processing_files
@@ -260,34 +236,6 @@ def get_s64(buf, offset, length):
     h = nb.i8(buf[offset + 0]) << 0
     return a | b | c | d | e | f | g | h, offset + 8, length - 8
 
-# These float functions segfault in case this module is just imported and not
-# ran through numba compile process.
-
-# @cc.export('get_f32', 'Tuple((f4,u4,u4))(u1[:],u4,u4)')
-# def get_f32(buf, offset, length):
-#     if length < 4:
-#         return (0, offset, length)
-#     res = _get_f32(buf[offset + 0],
-#                    buf[offset + 1],
-#                    buf[offset + 2],
-#                    buf[offset + 3])
-#     return res, offset + 4, length - 4
-
-
-# @cc.export('get_f64', 'Tuple((f8,u4,u4))(u1[:],u4,u4)')
-# def get_f64(buf, offset, length):
-#     if length < 8:
-#         return (0, offset, length)
-#     res = _get_f64(buf[offset + 0],
-#                    buf[offset + 1],
-#                    buf[offset + 2],
-#                    buf[offset + 3],
-#                    buf[offset + 4],
-#                    buf[offset + 5],
-#                    buf[offset + 6],
-#                    buf[offset + 7])
-#     return res, offset + 8, length - 8
-
 
 @cc.export('_get_string', 'Tuple((u1[:],u4,u4))(u1[:],u4,u4,b1)')
 def _get_string(buf_in, offset, length, check_null):
diff --git a/python/sbp/jit/parse_float.py b/python/sbp/jit/parse_float.py
deleted file mode 100644
index 5895247ccc..0000000000
--- a/python/sbp/jit/parse_float.py
+++ /dev/null
@@ -1,56 +0,0 @@
-import cffi
-
-import glob
-import ntpath
-import os
-import shutil
-
-from sbp.utils import get_py_version
-
-ffi = cffi.FFI()
-ffi.cdef("""
-float get_f32(unsigned char a, unsigned char b, unsigned char c, unsigned char d);
-double get_f64(unsigned char a, unsigned char b, unsigned char c, unsigned char d,
-               unsigned char e, unsigned char f, unsigned char g, unsigned char h);
-""")
-
-source = """
-float get_f32(unsigned char a, unsigned char b, unsigned char c, unsigned char d) {
-    union { unsigned char buf[4]; float f; } u;
-    u.buf[0] = a;
-    u.buf[1] = b;
-    u.buf[2] = c;
-    u.buf[3] = d;
-    return u.f;
-}
-
-double get_f64(unsigned char a, unsigned char b, unsigned char c, unsigned char d,
-               unsigned char e, unsigned char f, unsigned char g, unsigned char h) {
-    union { unsigned char buf[8]; double d; } u;
-    u.buf[0] = a;
-    u.buf[1] = b;
-    u.buf[2] = c;
-    u.buf[3] = d;
-    u.buf[4] = e;
-    u.buf[5] = f;
-    u.buf[6] = g;
-    u.buf[7] = h;
-    return u.d;
-}
-"""
-
-module_name = "parse_float_c_py{}".format(get_py_version())
-
-ffi.set_source(module_name=module_name, source=source)
-
-def compile():
-    ffi.compile()
-
-    # Move deliverables to same dir as the script
-    dest_dir = os.path.dirname(os.path.realpath(__file__))
-    for f in glob.glob(os.path.join(os.getcwd(), module_name + '.*')):
-        shutil.move(f, os.path.join(dest_dir, ntpath.basename(f)))
-
-
-if __name__ == "__main__":    # not when running with setuptools
-    compile()

From ad4cfd9143ec790cb29de43e509bdf09739ec8a8 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Wed, 22 May 2019 14:40:14 +0300
Subject: [PATCH 12/26] Resolve setup.py requirements

---
 .travis.yml                   |  1 -
 python/requirements.txt       |  2 --
 python/sbp/constants.py       | 50 +++++++++++++++++++++++++++++++++++
 python/sbp/jit/msg.py         | 10 +++----
 python/sbp/jit/parse.py       |  8 +++---
 python/sbp/msg.py             | 10 ++++---
 python/sbp/utils.py           | 46 --------------------------------
 python/setup.py               |  3 +++
 python/setup_requirements.txt |  3 +++
 python/tox.ini                |  8 +++++-
 10 files changed, 78 insertions(+), 63 deletions(-)
 create mode 100644 python/sbp/constants.py
 create mode 100644 python/setup_requirements.txt

diff --git a/.travis.yml b/.travis.yml
index df7fe4b34a..201e9ee790 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -31,7 +31,6 @@ matrix:
         - sudo apt-get install python3.5 python3.5-dev
         - sudo apt-get -y -o Dpkg::Options::="--force-confnew" install docker-ce
         - sudo pip install tox
-        - pip install -U setuptools
         - git clone -b pmiettinen/esd-1156-numba-deployment https://github.com/swift-nav/piksi_tools.git ../piksi_tools
       script: |
         pushd haskell
diff --git a/python/requirements.txt b/python/requirements.txt
index 6ac62d6636..19c7a11734 100644
--- a/python/requirements.txt
+++ b/python/requirements.txt
@@ -3,7 +3,5 @@ pyftdi==0.13.4
 pylibftdi
 pyserial
 requests>=2.8.1
-llvmlite==0.26.0
 numpy==1.16.2
-numba==0.41.0
 pybase64
diff --git a/python/sbp/constants.py b/python/sbp/constants.py
new file mode 100644
index 0000000000..ad82e95c62
--- /dev/null
+++ b/python/sbp/constants.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python
+# Copyright (C) 2019 Swift Navigation Inc.
+# Contact: Swift Navigation <dev@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+SBP_PREAMBLE = 0x55
+
+# Default sender ID. Intended for messages sent from the host to the
+# device.
+SENDER_ID = 0x42
+
+_crc16_tab = [
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
+    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
+    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
+    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
+    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
+    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
+    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
+    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
+    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
+    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
+    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
+    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
diff --git a/python/sbp/jit/msg.py b/python/sbp/jit/msg.py
index 57bf21c724..8795ce8bbb 100644
--- a/python/sbp/jit/msg.py
+++ b/python/sbp/jit/msg.py
@@ -18,14 +18,14 @@
 
 import numpy as np
 
-from sbp.utils import get_py_version
-
-from sbp.utils import SENDER_ID as _SENDER_ID
-from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
 
 from pkgutil import iter_modules
 
-parse_jit_name = "parse_jit_py{}".format(get_py_version())
+import sys
+
+parse_jit_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
 
 if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index 21b0a11f33..1f9e704ae8 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -21,9 +21,9 @@
 
 from numba.pycc import CC
 
-from sbp.utils import SENDER_ID as _SENDER_ID
-from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.utils import _crc16_tab, get_py_version
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.constants import _crc16_tab
 
 from distutils.ccompiler import CCompiler
 from numpy.distutils.misc_util import get_num_build_jobs
@@ -129,7 +129,7 @@ def single_compile(args):
 replace_method(CCompiler, 'compile', CCompiler_compile)
 # monkeypatch end
 
-module_name = "parse_jit_py{}".format(get_py_version())
+module_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
 cc = CC(module_name)
 cc.verbose = True
 
diff --git a/python/sbp/msg.py b/python/sbp/msg.py
index 027a155a5e..cc64233595 100755
--- a/python/sbp/msg.py
+++ b/python/sbp/msg.py
@@ -17,16 +17,18 @@
 
 import construct
 
-from sbp.utils import SENDER_ID as _SENDER_ID
-from sbp.utils import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.utils import _crc16_tab, get_py_version
+from sbp.constants import SENDER_ID as _SENDER_ID
+from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
+from sbp.constants import _crc16_tab
 
 import numba as nb
 import numpy as np
 
 from pkgutil import iter_modules
 
-parse_jit_name = "parse_jit_py{}".format(get_py_version())
+import sys
+
+parse_jit_name = "parse_jit_py{}".format(str(sys.version_info[0]) + str(sys.version_info[1]))
 
 if parse_jit_name in (name for loader, name, ispkg in iter_modules()):
     # found in sys.path
diff --git a/python/sbp/utils.py b/python/sbp/utils.py
index 0ecbc52326..eb4eba11a7 100755
--- a/python/sbp/utils.py
+++ b/python/sbp/utils.py
@@ -9,8 +9,6 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
-import sys
-
 """Shared utility functions.
 
 """
@@ -19,50 +17,6 @@
 
 from construct import Container
 
-SBP_PREAMBLE = 0x55
-
-# Default sender ID. Intended for messages sent from the host to the
-# device.
-SENDER_ID = 0x42
-
-_crc16_tab = [
-    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
-    0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
-    0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
-    0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
-    0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
-    0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
-    0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
-    0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
-    0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
-    0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
-    0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
-    0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
-    0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
-    0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
-    0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
-    0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
-    0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
-    0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
-    0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
-    0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
-    0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
-    0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
-    0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
-    0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
-    0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
-    0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
-    0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
-    0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
-    0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
-    0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
-    0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
-    0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0]
-
-
-def get_py_version():
-  return str(sys.version_info[0]) + str(sys.version_info[1])
-
 
 def exclude_fields(obj, exclude=EXCLUDE):
   """
diff --git a/python/setup.py b/python/setup.py
index d0f446fe9d..4821e8ae13 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -167,6 +167,9 @@ def write_version_py(filename=VERSION_PY_PATH):
     with open(os.path.join(filedir, 'requirements.txt')) as f:
         INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
+    with open(os.path.join(filedir, 'setup_requirements.txt')) as f:
+        INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
+
     with open(os.path.join(filedir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
 
diff --git a/python/setup_requirements.txt b/python/setup_requirements.txt
new file mode 100644
index 0000000000..4237b269a6
--- /dev/null
+++ b/python/setup_requirements.txt
@@ -0,0 +1,3 @@
+setuptools==41.0.1
+numba==0.41.0
+llvmlite==0.26.0
diff --git a/python/tox.ini b/python/tox.ini
index 379139be13..61091909f2 100644
--- a/python/tox.ini
+++ b/python/tox.ini
@@ -1,9 +1,15 @@
 [tox]
 envlist = py27, py35, py37
 minversion = 1.7.2
+# Same as setup_requirements.txt as tox builds sdist package which it then
+# installs into the testenvs
+requires = setuptools==41.0.1
+           numba==0.41.0
+           llvmlite==0.26.0
 
 [testenv]
-deps = -r{toxinidir}/requirements.txt
+deps = -r{toxinidir}/setup_requirements.txt
+       -r{toxinidir}/requirements.txt
        -r{toxinidir}/test_requirements.txt
 commands =
   py.test -v tests/

From 37a1e3a324bf9966dc6f328ec1f10614f7e9ee4f Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Thu, 23 May 2019 12:10:48 +0300
Subject: [PATCH 13/26] Rename CRC table

---
 python/sbp/constants.py | 2 +-
 python/sbp/jit/parse.py | 6 +++---
 python/sbp/msg.py       | 6 +++---
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/python/sbp/constants.py b/python/sbp/constants.py
index ad82e95c62..e1aa34f3b7 100644
--- a/python/sbp/constants.py
+++ b/python/sbp/constants.py
@@ -15,7 +15,7 @@
 # device.
 SENDER_ID = 0x42
 
-_crc16_tab = [
+crc16_tab = [
     0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
     0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
     0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index 1f9e704ae8..9157b25184 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -23,7 +23,7 @@
 
 from sbp.constants import SENDER_ID as _SENDER_ID
 from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.constants import _crc16_tab
+from sbp.constants import crc16_tab
 
 from distutils.ccompiler import CCompiler
 from numpy.distutils.misc_util import get_num_build_jobs
@@ -133,7 +133,7 @@ def single_compile(args):
 cc = CC(module_name)
 cc.verbose = True
 
-crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
+np_crc16_tab = np.array(crc16_tab, dtype=np.uint16)
 
 SENDER_ID = _SENDER_ID
 SBP_PREAMBLE = _SBP_PREAMBLE
@@ -145,7 +145,7 @@ def crc16jit(buf, offset, crc, length):
   """CRC16 implementation acording to CCITT standards."""
   for index in range(offset, offset + length):
     data = buf[index]
-    lookup = crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
+    lookup = np_crc16_tab[((nb.u2(crc) >> 8) & nb.u2(0xFF)) ^ (data & nb.u2(0xFF))]
     crc = ((nb.u2(crc) << nb.u2(8)) & nb.u2(0xFFFF)) ^ lookup
     crc = nb.u2(crc) & nb.u2(0xFFFF)
   return crc
diff --git a/python/sbp/msg.py b/python/sbp/msg.py
index cc64233595..b6e1022b5d 100755
--- a/python/sbp/msg.py
+++ b/python/sbp/msg.py
@@ -19,7 +19,7 @@
 
 from sbp.constants import SENDER_ID as _SENDER_ID
 from sbp.constants import SBP_PREAMBLE as _SBP_PREAMBLE
-from sbp.constants import _crc16_tab
+from sbp.constants import crc16_tab
 
 import numba as nb
 import numpy as np
@@ -43,7 +43,7 @@
     parse_jit = importlib.import_module('sbp.jit.' + parse_jit_name)
 
 
-crc16_tab = np.array(_crc16_tab, dtype=np.uint16)
+np_crc16_tab = np.array(crc16_tab, dtype=np.uint16)
 
 SENDER_ID = _SENDER_ID
 SBP_PREAMBLE = _SBP_PREAMBLE
@@ -59,7 +59,7 @@ def crc16(s, crc=0, buf=crc_buffer):
 def crc16_nojit(s, crc=0):
   """CRC16 implementation acording to CCITT standards."""
   for ch in bytearray(s):  # bytearray's elements are integers in both python 2 and 3
-    crc = ((crc << 8) & 0xFFFF) ^ crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
+    crc = ((crc << 8) & 0xFFFF) ^ np_crc16_tab[((crc >> 8) & 0xFF) ^ (ch & 0xFF)]
     crc &= 0xFFFF
   return crc
 

From e341a7e97ed62f878c51127d1343375ea8dd878d Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Thu, 23 May 2019 12:18:20 +0300
Subject: [PATCH 14/26] Cleanup

---
 python/sbp/jit/parse.py | 40 ++--------------------------------------
 1 file changed, 2 insertions(+), 38 deletions(-)

diff --git a/python/sbp/jit/parse.py b/python/sbp/jit/parse.py
index 9157b25184..34917b0a11 100644
--- a/python/sbp/jit/parse.py
+++ b/python/sbp/jit/parse.py
@@ -15,6 +15,7 @@
 import os
 import shutil
 import importlib
+import time
 
 import numpy as np
 import numba as nb
@@ -39,47 +40,10 @@ def replace_method(klass, method_name, func):
         m = types.MethodType(func, None, klass)
         setattr(klass, method_name, m)
 
+# Original https://github.com/numpy/numpy/blob/v1.16.2/numpy/distutils/ccompiler.py#L223
 def CCompiler_compile(self, sources, output_dir=None, macros=None,
                       include_dirs=None, debug=0, extra_preargs=None,
                       extra_postargs=None, depends=None):
-    """
-    Compile one or more source files.
-
-    Please refer to the Python distutils API reference for more details.
-
-    Parameters
-    ----------
-    sources : list of str
-        A list of filenames
-    output_dir : str, optional
-        Path to the output directory.
-    macros : list of tuples
-        A list of macro definitions.
-    include_dirs : list of str, optional
-        The directories to add to the default include file search path for
-        this compilation only.
-    debug : bool, optional
-        Whether or not to output debug symbols in or alongside the object
-        file(s).
-    extra_preargs, extra_postargs : ?
-        Extra pre- and post-arguments.
-    depends : list of str, optional
-        A list of file names that all targets depend on.
-
-    Returns
-    -------
-    objects : list of str
-        A list of object file names, one per source file `sources`.
-
-    Raises
-    ------
-    CompileError
-        If compilation fails.
-
-    """
-    # This method is effective only with Python >=2.3 distutils.
-    # Any changes here should be applied also to fcompiler.compile
-    # method to support pre Python 2.3 distutils.
     global _job_semaphore
 
     if not sources:

From 1e09b98207248e91d1bd90f47ae3387c958a79b7 Mon Sep 17 00:00:00 2001
From: Pasi Miettinen <pmiettinen@exafore.com>
Date: Mon, 27 May 2019 11:27:33 +0300
Subject: [PATCH 15/26] Build separate wheel for each supported Python version

---
 python/deploy.bash | 75 ++++++++++++++++++++++++++--------------------
 python/setup.py    |  3 --
 2 files changed, 42 insertions(+), 36 deletions(-)

diff --git a/python/deploy.bash b/python/deploy.bash
index e51e666baa..d85338020e 100755
--- a/python/deploy.bash
+++ b/python/deploy.bash
@@ -10,53 +10,62 @@ IFS=$'\n\t'
   { printf "\n!!! Please set PYPI_PASSWORD in the environment !!!\n\n"; exit 1; }
 
 if ! command -v conda; then
-  echo '!!! Please install conda to deploy python !!!'
+  { printf "\n!!! Please install conda to deploy python !!!\n\n"; exit 1; }
 fi
 
-conda_dir=$(mktemp -d)
-conda create --yes -p "$conda_dir" python=3.5
+for py_version in 2.7 3.5 3.7
 
-# Activate conda
-{
-  # Workaround bug in activate code...
-  export PS1=''
+do
+  echo ">>> Building wheel for Python $py_version ..."
+  conda_dir=$(mktemp -d)
+  conda create --yes -p "$conda_dir" python=$py_version
 
-  eval "$(conda shell.bash hook)"
-  # shellcheck disable=SC1091
-  source activate "$conda_dir"
-}
+  # Activate conda
+  {
+    # Workaround bug in activate code...
+    export PS1=''
 
-conda install --yes \
-  cython virtualenv twine wheel
+    eval "$(conda shell.bash hook)"
+    # shellcheck disable=SC1091
+    conda activate "$conda_dir"
+  }
 
-deploy_dir=$(mktemp -d)
-trap 'rm -rf "$deploy_dir" "$conda_dir"' EXIT
+  conda install --yes \
+    cython virtualenv twine wheel
 
-echo "$deploy_dir"
-cd "$deploy_dir"
+  pip install --user -r setup_requirements.txt
 
-echo ">>> Building staging area for deployment ..."
+  deploy_dir=$(mktemp -d)
+  trap 'rm -rf "$deploy_dir" "$conda_dir"' EXIT
 
-mkdir module
+  echo "$deploy_dir"
+  cd "$deploy_dir"
 
-cp -r "$(dirname "$0")"/../.git .
+  echo ">>> Building staging area for deployment ..."
 
-cp -r "$(dirname "$0")"/.coveragerc module/.
-cp -r "$(dirname "$0")"/.gitignore module/.
+  mkdir module
 
-cp -r "$(dirname "$0")"/* module/.
+  cp -r "$(dirname "$0")"/../.git .
 
-echo ">>> Pruning ..."
-rm -r -f module/docs/_build
-rm -r -f module/build/*
+  cp -r "$(dirname "$0")"/.coveragerc module/.
+  cp -r "$(dirname "$0")"/.gitignore module/.
 
-echo ">>> Patching setup.py ..."
-sed -i.backup 's@IS_RELEASED = False@IS_RELEASED = True@' module/setup.py
+  cp -r "$(dirname "$0")"/* module/.
 
-cd module
+  echo ">>> Pruning ..."
+  rm -r -f module/docs/_build
+  rm -r -f module/build/*
 
-echo ">>> Building Python wheel ..."
-python setup.py sdist bdist_wheel
+  echo ">>> Patching setup.py ..."
+  sed -i.backup 's@IS_RELEASED = False@IS_RELEASED = True@' module/setup.py
 
-echo ">>> Uploading Python wheel ..."
-twine upload -u "$PYPI_USERNAME" -p "$PYPI_PASSWORD" "dist/sbp-$SBP_VERSION-*.whl"
+  cd module
+
+  echo ">>> Building Python wheel ..."
+  python setup.py bdist_wheel
+
+  echo ">>> Uploading Python wheel ..."
+  twine upload -u "$PYPI_USERNAME" -p "$PYPI_PASSWORD" "dist/sbp-$SBP_VERSION-*.whl"
+
+  conda deactivate
+done
diff --git a/python/setup.py b/python/setup.py
index 4821e8ae13..d0f446fe9d 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -167,9 +167,6 @@ def write_version_py(filename=VERSION_PY_PATH):
     with open(os.path.join(filedir, 'requirements.txt')) as f:
         INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
-    with open(os.path.join(filedir, 'setup_requirements.txt')) as f:
-        INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
-
     with open(os.path.join(filedir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
 

From 42bcd8bfe744a2ba8f50cf343a9292855001f42e Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 14:26:44 -0700
Subject: [PATCH 16/26] Quick and dirty port of deploy.bash to deploy.py for
 Windows.

---
 Makefile           |   2 +-
 python/MANIFEST.in |   2 +-
 python/Makefile    |   5 +-
 python/deploy.bash |  71 -------------------------
 python/deploy.py   | 128 +++++++++++++++++++++++++++++++++++++++++++++
 python/setup.py    |   4 +-
 6 files changed, 136 insertions(+), 76 deletions(-)
 delete mode 100755 python/deploy.bash
 create mode 100644 python/deploy.py

diff --git a/Makefile b/Makefile
index f6ee4894b7..32f41e1118 100644
--- a/Makefile
+++ b/Makefile
@@ -3,7 +3,7 @@
 # before using it to do Crazy Things.
 
 SHELL := /bin/bash
-SWIFTNAV_ROOT := $(shell pwd)
+SWIFTNAV_ROOT := $(CURDIR)
 MAKEFLAGS += SWIFTNAV_ROOT=$(SWIFTNAV_ROOT)
 SBP_SPEC_DIR := $(SWIFTNAV_ROOT)/spec/yaml/swiftnav/sbp/
 SBP_TESTS_SPEC_DIR := $(SWIFTNAV_ROOT)/spec/tests/yaml/
diff --git a/python/MANIFEST.in b/python/MANIFEST.in
index c626bc8882..c55c64ca54 100644
--- a/python/MANIFEST.in
+++ b/python/MANIFEST.in
@@ -9,5 +9,5 @@ include .gitignore
 include LICENSE
 include tox.ini
 include sbp/RELEASE-VERSION
-recursive-include sbp/ *.py
+recursive-include sbp *.py
 prune docs/_build
diff --git a/python/Makefile b/python/Makefile
index 0761c23eb7..222be50424 100644
--- a/python/Makefile
+++ b/python/Makefile
@@ -1,8 +1,9 @@
 
 .PHONY: deploy
 
-DEPLOY_PYTHON := $(CURDIR)/deploy.bash
-DEPLOY_COMMAND := SBP_VERSION=$(SBP_VERSION) $(SHELL) $(DEPLOY_PYTHON)
+DEPLOY_PYTHON := $(CURDIR)/deploy.py
+DEPLOY_COMMAND := python $(DEPLOY_PYTHON)
 
+deploy: export SBP_VERSION=$(SBP_VERSION)
 deploy:
 	$(DEPLOY_COMMAND)
diff --git a/python/deploy.bash b/python/deploy.bash
deleted file mode 100755
index d85338020e..0000000000
--- a/python/deploy.bash
+++ /dev/null
@@ -1,71 +0,0 @@
-#!/usr/bin/env bash
-
-set -euo pipefail
-IFS=$'\n\t'
-
-[[ -n "$PYPI_USERNAME" ]] || \
-  { printf "\n!!! Please set PYPI_USERNAME in the environment !!!\n\n"; exit 1; }
-
-[[ -n "$PYPI_PASSWORD" ]] || \
-  { printf "\n!!! Please set PYPI_PASSWORD in the environment !!!\n\n"; exit 1; }
-
-if ! command -v conda; then
-  { printf "\n!!! Please install conda to deploy python !!!\n\n"; exit 1; }
-fi
-
-for py_version in 2.7 3.5 3.7
-
-do
-  echo ">>> Building wheel for Python $py_version ..."
-  conda_dir=$(mktemp -d)
-  conda create --yes -p "$conda_dir" python=$py_version
-
-  # Activate conda
-  {
-    # Workaround bug in activate code...
-    export PS1=''
-
-    eval "$(conda shell.bash hook)"
-    # shellcheck disable=SC1091
-    conda activate "$conda_dir"
-  }
-
-  conda install --yes \
-    cython virtualenv twine wheel
-
-  pip install --user -r setup_requirements.txt
-
-  deploy_dir=$(mktemp -d)
-  trap 'rm -rf "$deploy_dir" "$conda_dir"' EXIT
-
-  echo "$deploy_dir"
-  cd "$deploy_dir"
-
-  echo ">>> Building staging area for deployment ..."
-
-  mkdir module
-
-  cp -r "$(dirname "$0")"/../.git .
-
-  cp -r "$(dirname "$0")"/.coveragerc module/.
-  cp -r "$(dirname "$0")"/.gitignore module/.
-
-  cp -r "$(dirname "$0")"/* module/.
-
-  echo ">>> Pruning ..."
-  rm -r -f module/docs/_build
-  rm -r -f module/build/*
-
-  echo ">>> Patching setup.py ..."
-  sed -i.backup 's@IS_RELEASED = False@IS_RELEASED = True@' module/setup.py
-
-  cd module
-
-  echo ">>> Building Python wheel ..."
-  python setup.py bdist_wheel
-
-  echo ">>> Uploading Python wheel ..."
-  twine upload -u "$PYPI_USERNAME" -p "$PYPI_PASSWORD" "dist/sbp-$SBP_VERSION-*.whl"
-
-  conda deactivate
-done
diff --git a/python/deploy.py b/python/deploy.py
new file mode 100644
index 0000000000..813b6f2e48
--- /dev/null
+++ b/python/deploy.py
@@ -0,0 +1,128 @@
+#!/usr/bin/env python
+
+import os
+import sys
+import glob
+import shutil
+import tempfile
+import subprocess
+
+if 'PYPI_USERNAME' not in os.environ:
+    print("\n!!! Please set PYPI_USERNAME in the environment !!!\n\n")
+    sys.exit(1)
+
+PYPI_USERNAME = os.environ['PYPI_USERNAME']
+
+if 'PYPI_PASSWORD' not in os.environ:
+    print("\n!!! Please set PYPI_PASSWORD in the environment !!!\n\n")
+    sys.exit(1)
+
+PYPI_PASSWORD = os.environ['PYPI_PASSWORD']
+
+if 'SBP_VERSION' not in os.environ:
+    print("\n!!! Please set SBP_VERSION in the environment !!!\n\n")
+    sys.exit(1)
+
+SBP_VERSION = os.environ['SBP_VERSION']
+
+if not shutil.which('conda'):
+    print("\n!!! Please install conda to deploy python !!!\n\n")
+    sys.exit(1)
+
+script_dir = os.path.dirname(os.path.abspath(__file__))
+repo_dir = os.path.join(script_dir, "..")
+
+os.chdir(script_dir)
+
+def build_wheel(conda_dir, deploy_dir, py_version):
+
+    print(">>> Creating conda environment for Python version: {}...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "create", "--yes", "-p", conda_dir,
+        "python={}".format(py_version)])
+
+    print(">>> Installing build deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "install", "-p", conda_dir, "--yes",
+        "cython", "virtualenv", "twine", "wheel"
+    ])
+
+    print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir,
+        "pip", "install", "--user", "-r", "setup_requirements.txt"
+    ])
+
+    print(">>> Building staging area for deployment ...")
+
+    os.chdir(deploy_dir)
+    os.mkdir('module')
+
+    shutil.copytree(os.path.join(repo_dir, ".git"), ".git")
+
+    shutil.copy(os.path.join(script_dir, ".coveragerc"), "module/.coveragerc")
+    shutil.copy(os.path.join(script_dir, ".gitignore"), "module/.gitignore")
+    shutil.copy(os.path.join(script_dir, ".flake8"), "module/.flake8")
+
+    for dirent in glob.glob(os.path.join(script_dir, "*")):
+        print(dirent)
+        _, leaf_name = os.path.split(dirent)
+        if os.path.isdir(dirent):
+            shutil.copytree(dirent, os.path.join("module", leaf_name))
+        else:
+            shutil.copy(dirent, os.path.join("module", leaf_name))
+
+    print(">>> Pruning ...")
+
+    if os.path.exists("module/docs/_build"):
+        shutil.rmtree("module/docs/_build")
+
+    for dirent in glob.glob("module/build/*"):
+        shutil.rmtree(dirent) if os.path.isdir(dirent) else os.unlink(dirent)
+
+    with open("module/setup.py", "rb") as fp:
+        data = fp.read()
+    with open("module/setup.py", "wb") as fp:
+        fp.write(data.replace(b"IS_RELEASED = False", b"IS_RELEASED = True"))
+
+    os.chdir("module")
+
+    print(">>> Building Python wheel ...")
+
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir,
+        "python", "setup.py", "bdist_wheel"
+    ])
+
+    print(">>> Uploading Python wheel ...")
+
+    wheels = glob.glob("dist/sbp-{}-*.whl".format(SBP_VERSION))
+    if not wheels:
+        print("\n!!! No Python wheel (.whl) file found...\n\n")
+        sys.exit(1)
+
+    wheel = wheels[0]
+
+    print(">>> Found wheel (of {} matches): {}".format(len(wheels), wheel))
+
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir,
+        "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD, wheel
+    ])
+
+for py_version in ['2.7', '3.5', '3.7']:
+
+    print(">>> Building wheel for Python {}...".format(py_version))
+
+    conda_dir = tempfile.mkdtemp()
+    deploy_dir = tempfile.mkdtemp()
+
+    try:
+        build_wheel(conda_dir, deploy_dir, py_version)
+    finally:
+        os.chdir(script_dir)
+        shutil.rmtree(conda_dir, ignore_errors=True)
+        shutil.rmtree(deploy_dir, ignore_errors=True)
diff --git a/python/setup.py b/python/setup.py
index d0f446fe9d..862cae8f25 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -7,6 +7,7 @@
 #   https://github.com/swift-nav/traitsui/blob/swift-2019.01/setup.py
 #
 
+import warnings
 from setuptools import setup
 
 import re
@@ -53,7 +54,8 @@ def _read_release_version():
         with open(relver_path, "r") as f:
             version = f.readlines()[0]
             return version.strip()
-    except IOError:
+    except IOError as ex:
+        warnings.warn("Error reading version: {}".format(ex))
         return "0.0.0"
 
 

From d7e117cb6617fe5f6c7812278eaa6f906ad91e66 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 16:33:40 -0700
Subject: [PATCH 17/26] temp 2.5.6

---
 python/sbp/RELEASE-VERSION | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/python/sbp/RELEASE-VERSION b/python/sbp/RELEASE-VERSION
index 160fe391c8..da6b0a8f16 100644
--- a/python/sbp/RELEASE-VERSION
+++ b/python/sbp/RELEASE-VERSION
@@ -1 +1 @@
-2.5.5
\ No newline at end of file
+2.5.6

From 5559a70c1948e3cbcab42d5873726625dac8a176 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 17:54:50 -0700
Subject: [PATCH 18/26] Fix vesion reading on Python 2.7

---
 python/deploy.py | 19 ++++++++++---------
 python/setup.py  | 27 ++++++++++++++-------------
 2 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/python/deploy.py b/python/deploy.py
index 813b6f2e48..945341fca6 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -68,11 +68,12 @@ def build_wheel(conda_dir, deploy_dir, py_version):
     shutil.copy(os.path.join(script_dir, ".flake8"), "module/.flake8")
 
     for dirent in glob.glob(os.path.join(script_dir, "*")):
-        print(dirent)
         _, leaf_name = os.path.split(dirent)
         if os.path.isdir(dirent):
+            print('Copying (recursive) {}'.format(dirent))
             shutil.copytree(dirent, os.path.join("module", leaf_name))
         else:
+            print('Copying (non-recursive) {}'.format(dirent))
             shutil.copy(dirent, os.path.join("module", leaf_name))
 
     print(">>> Pruning ...")
@@ -90,6 +91,8 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     os.chdir("module")
 
+    print(">>> Staged to '{}'...'".format(deploy_dir))
+
     print(">>> Building Python wheel ...")
 
     subprocess.check_call([
@@ -97,9 +100,10 @@ def build_wheel(conda_dir, deploy_dir, py_version):
         "python", "setup.py", "bdist_wheel"
     ])
 
-    print(">>> Uploading Python wheel ...")
+    whl_pattern = "dist/sbp-{}-*.whl".format(SBP_VERSION)
+    print(">>> Uploading Python wheel (glob: {})...".format(whl_pattern))
 
-    wheels = glob.glob("dist/sbp-{}-*.whl".format(SBP_VERSION))
+    wheels = glob.glob(whl_pattern)
     if not wheels:
         print("\n!!! No Python wheel (.whl) file found...\n\n")
         sys.exit(1)
@@ -117,12 +121,9 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Building wheel for Python {}...".format(py_version))
 
-    conda_dir = tempfile.mkdtemp()
-    deploy_dir = tempfile.mkdtemp()
-
     try:
-        build_wheel(conda_dir, deploy_dir, py_version)
+        with tempfile.TemporaryDirectory() as conda_dir:
+            with tempfile.TemporaryDirectory() as deploy_dir:
+                build_wheel(conda_dir, deploy_dir, py_version)
     finally:
         os.chdir(script_dir)
-        shutil.rmtree(conda_dir, ignore_errors=True)
-        shutil.rmtree(deploy_dir, ignore_errors=True)
diff --git a/python/setup.py b/python/setup.py
index 862cae8f25..f51310371f 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -46,10 +46,10 @@
   'win32',
 ]
 
+setup_py_dir = os.path.dirname(os.path.abspath(__file__))
 
 def _read_release_version():
-    this_dir = os.path.dirname(__file__)
-    relver_path = os.path.join(this_dir, 'sbp/RELEASE-VERSION')
+    relver_path = os.path.join(setup_py_dir, 'sbp/RELEASE-VERSION')
     try:
         with open(relver_path, "r") as f:
             version = f.readlines()[0]
@@ -115,10 +115,8 @@ def _minimal_ext_cmd(cmd):
 
 def write_version_py(filename=VERSION_PY_PATH):
 
-    filedir = os.path.abspath(os.path.dirname(__file__))
-
     fullversion = VERSION
-    if os.path.exists(os.path.join(filedir, '..', '.git')):
+    if os.path.exists(os.path.join(setup_py_dir, '..', '.git')):
         git_rev, dev_num = git_version()
     elif os.path.exists(VERSION_PY_PATH):
         # must be a source distribution, use existing version file
@@ -149,7 +147,8 @@ def write_version_py(filename=VERSION_PY_PATH):
         #
         fullversion += '.dev{0}+g{1}'.format(dev_num, git_rev)
 
-    filename_fullpath = os.path.join(filedir, filename)
+    filename_fullpath = os.path.join(setup_py_dir, filename)
+    print(filename_fullpath)
 
     with open(filename_fullpath, "wt") as fp:
         fp.write(VERSION_PY_TEMPLATE.format(version=VERSION,
@@ -160,23 +159,25 @@ def write_version_py(filename=VERSION_PY_PATH):
 
 if __name__ == "__main__":
 
-    filedir = os.path.abspath(os.path.dirname(__file__))
-
-    with open(os.path.join(filedir, 'README.rst')) as f:
+    with open(os.path.join(setup_py_dir, 'README.rst')) as f:
         readme = f.read()
 
     INSTALL_REQUIRES = []
-    with open(os.path.join(filedir, 'requirements.txt')) as f:
+    with open(os.path.join(setup_py_dir, 'requirements.txt')) as f:
         INSTALL_REQUIRES += [i.strip() for i in f.readlines()]
 
-    with open(os.path.join(filedir, 'test_requirements.txt')) as f:
+    with open(os.path.join(setup_py_dir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
 
     write_version_py()
-    from sbp import __version__
+
+    import sbp
+    sbp = reload(sbp)
+
+    print("Building/installing libsbp version {} (read version: {})".format(sbp.__version__, VERSION))
 
     setup(name='sbp',
-          version=__version__,
+          version=sbp.__version__,
           description='Python bindings for Swift Binary Protocol',
           long_description=readme,
           author='Swift Navigation',

From 208643413cf63b80f1b6c5355fbcb48a9f1b0f5d Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 18:02:43 -0700
Subject: [PATCH 19/26] Don't use context version of temp dir

We need to work around a permission denied error on Windows.
---
 python/deploy.py | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/python/deploy.py b/python/deploy.py
index 945341fca6..8ae174b906 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -4,6 +4,7 @@
 import sys
 import glob
 import shutil
+import platform
 import tempfile
 import subprocess
 
@@ -121,9 +122,17 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Building wheel for Python {}...".format(py_version))
 
+    conda_dir = tempfile.mkdtemp()
+    deploy_dir = tempfile.mkdtemp()
+
     try:
-        with tempfile.TemporaryDirectory() as conda_dir:
-            with tempfile.TemporaryDirectory() as deploy_dir:
-                build_wheel(conda_dir, deploy_dir, py_version)
+        build_wheel(conda_dir, deploy_dir, py_version)
     finally:
         os.chdir(script_dir)
+        shutil.rmtree(conda_dir)
+        if platform.system() == "Windows":
+            # Workaround a permission denied error that happens for the copied
+            #   .git directory...
+            subprocess.check_call(["rmdir", "/s", "/q", deploy_dir], shell=True)
+        else:
+            shutil.rmtree(deploy_dir)

From 23cdc6382f88debf26aa1eddc89c8933104f855f Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 18:23:49 -0700
Subject: [PATCH 20/26] Fix sbp._version issue without reload

---
 python/setup.py | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/python/setup.py b/python/setup.py
index f51310371f..5819fc04e2 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -15,8 +15,6 @@
 
 import subprocess
 
-from sbp.jit.parse import cc
-
 CLASSIFIERS = [
   'Intended Audience :: Developers',
   'Intended Audience :: Science/Research',
@@ -171,13 +169,13 @@ def write_version_py(filename=VERSION_PY_PATH):
 
     write_version_py()
 
-    import sbp
-    sbp = reload(sbp)
+    from sbp import __version__ as sbp_version
+    print("Building/installing libsbp version {} (read version: {})".format(sbp_version, VERSION))
 
-    print("Building/installing libsbp version {} (read version: {})".format(sbp.__version__, VERSION))
+    from sbp.jit.parse import cc
 
     setup(name='sbp',
-          version=sbp.__version__,
+          version=sbp_version,
           description='Python bindings for Swift Binary Protocol',
           long_description=readme,
           author='Swift Navigation',

From 0c76b49db11e7fdddace178e13efdf7fd2dc23b3 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Mon, 3 Jun 2019 18:35:41 -0700
Subject: [PATCH 21/26] Support USE_TEST_PYPI flag

---
 python/deploy.py | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/python/deploy.py b/python/deploy.py
index 8ae174b906..b97670f6b7 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -26,6 +26,8 @@
 
 SBP_VERSION = os.environ['SBP_VERSION']
 
+USE_TEST_PYPI = bool(os.environ.get('USE_TEST_PYPI', None))
+
 if not shutil.which('conda'):
     print("\n!!! Please install conda to deploy python !!!\n\n")
     sys.exit(1)
@@ -35,6 +37,16 @@
 
 os.chdir(script_dir)
 
+
+def twine_upload(conda_dir, wheel):
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir,
+        "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD] + ([
+        "--repository-url", "https://test.pypi.org/legacy/"]
+            if USE_TEST_PYPI else []
+        ) + [wheel])
+
+
 def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Creating conda environment for Python version: {}...".format(py_version))
@@ -113,10 +125,8 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Found wheel (of {} matches): {}".format(len(wheels), wheel))
 
-    subprocess.check_call([
-        "conda", "run", "-p", conda_dir,
-        "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD, wheel
-    ])
+    twine_upload(conda_dir, wheel)
+
 
 for py_version in ['2.7', '3.5', '3.7']:
 

From c8ec820cbcdb9e8652467b94f1a418bb8a45525d Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason.mobarak@gmail.com>
Date: Tue, 4 Jun 2019 09:58:39 -0700
Subject: [PATCH 22/26] Issue warning for test PyPI

---
 python/deploy.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/python/deploy.py b/python/deploy.py
index b97670f6b7..9449a6c487 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -39,12 +39,15 @@
 
 
 def twine_upload(conda_dir, wheel):
-    subprocess.check_call([
+    invoke = subprocess.check_call if not USE_TEST_PYPI else subprocess.call
+    ret = invoke([
         "conda", "run", "-p", conda_dir,
         "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD] + ([
         "--repository-url", "https://test.pypi.org/legacy/"]
             if USE_TEST_PYPI else []
         ) + [wheel])
+    if USE_TEST_PYPI and ret != 0:
+        print(">>> Warning: twine upload returned exit code {}".format(ret))
 
 
 def build_wheel(conda_dir, deploy_dir, py_version):

From 1d59df17b0eca6d4b7297e374a640a349e8b9ea5 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Tue, 4 Jun 2019 10:31:20 -0700
Subject: [PATCH 23/26] Specify python3 for *nix

---
 python/Makefile | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/python/Makefile b/python/Makefile
index 222be50424..5bb4feeb47 100644
--- a/python/Makefile
+++ b/python/Makefile
@@ -1,8 +1,13 @@
-
 .PHONY: deploy
 
+ifeq ($(OS),Windows_NT)
+PYTHON := python
+else
+PYTHON := python3
+endif
+
 DEPLOY_PYTHON := $(CURDIR)/deploy.py
-DEPLOY_COMMAND := python $(DEPLOY_PYTHON)
+DEPLOY_COMMAND := $(PYTHON) $(DEPLOY_PYTHON)
 
 deploy: export SBP_VERSION=$(SBP_VERSION)
 deploy:

From 1a4f8c5a49422f648ef494b50acf54954a2d645b Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason@swiftnav.com>
Date: Tue, 4 Jun 2019 10:46:07 -0700
Subject: [PATCH 24/26] Install gcc for Linux

---
 python/deploy.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/python/deploy.py b/python/deploy.py
index 9449a6c487..233a31b16a 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -58,6 +58,12 @@ def build_wheel(conda_dir, deploy_dir, py_version):
         "conda", "create", "--yes", "-p", conda_dir,
         "python={}".format(py_version)])
 
+    if platform.system() == 'Linux' and '64bit' in platform.architecture():
+        subprocess.check_call([
+            "conda", "install", "--yes", "-p", conda_dir,
+            "gcc_linux-64", "gxx_linux-64"
+        ])
+
     print(">>> Installing build deps in Python {} conda environment...".format(py_version))
 
     subprocess.check_call([

From cdcb9014510de2cf4426ebb6349a24238164f7b4 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason.mobarak@gmail.com>
Date: Tue, 4 Jun 2019 22:37:44 -0700
Subject: [PATCH 25/26] Add support for ARM Linux

---
 python/Dockerfile.arm |  14 +++++
 python/deploy.py      | 125 +++++++++++++++++++++++++++++++++---------
 2 files changed, 114 insertions(+), 25 deletions(-)
 create mode 100644 python/Dockerfile.arm

diff --git a/python/Dockerfile.arm b/python/Dockerfile.arm
new file mode 100644
index 0000000000..1875701867
--- /dev/null
+++ b/python/Dockerfile.arm
@@ -0,0 +1,14 @@
+FROM balenalib/armv7hf-debian:sid-build
+
+RUN [ "cross-build-start" ]
+
+RUN \
+     echo Setting up ARM build environment... \
+  && apt-get update \
+  && apt-get install wget bzip2 build-essential llvm-6.0-dev python3 \
+  && update-alternatives --install /usr/bin/llvm-config llvm-config /usr/bin/llvm-config-6.0 1 \
+  && wget -O /tmp/miniconda.sh https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-armv7l.sh \
+  && bash /tmp/miniconda.sh -b \
+  && rm /tmp/miniconda.sh
+
+ENV PATH=/root/miniconda3/bin:$PATH
diff --git a/python/deploy.py b/python/deploy.py
index 233a31b16a..a0fea321ab 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -38,10 +38,14 @@
 os.chdir(script_dir)
 
 
-def twine_upload(conda_dir, wheel):
+def twine_upload(conda_dir, wheel, use_conda=True):
+
+    cmd_prefix = ["/usr/bin/python3", "-m"]
+    if use_conda:
+        cmd_prefix = ["conda", "run", "-p", conda_dir, "--"]
+
     invoke = subprocess.check_call if not USE_TEST_PYPI else subprocess.call
-    ret = invoke([
-        "conda", "run", "-p", conda_dir,
+    ret = invoke(cmd_prefix + [
         "twine", "upload", "-u", PYPI_USERNAME, "-p", PYPI_PASSWORD] + ([
         "--repository-url", "https://test.pypi.org/legacy/"]
             if USE_TEST_PYPI else []
@@ -50,34 +54,49 @@ def twine_upload(conda_dir, wheel):
         print(">>> Warning: twine upload returned exit code {}".format(ret))
 
 
-def build_wheel(conda_dir, deploy_dir, py_version):
+def build_wheel_native(conda_dir, deploy_dir, py_version):
 
-    print(">>> Creating conda environment for Python version: {}...".format(py_version))
+    print(">>> Installing native deps for: {}...".format(py_version))
 
-    subprocess.check_call([
-        "conda", "create", "--yes", "-p", conda_dir,
-        "python={}".format(py_version)])
+    subprocess.check_call(["apt-get", "update"])
 
-    if platform.system() == 'Linux' and '64bit' in platform.architecture():
-        subprocess.check_call([
-            "conda", "install", "--yes", "-p", conda_dir,
-            "gcc_linux-64", "gxx_linux-64"
+    subprocess.check_call(["apt-get", "install", "-y",
+        "python3", "python3-wheel", "cython3", "python3-pip", "python3-dev",
         ])
 
-    print(">>> Installing build deps in Python {} conda environment...".format(py_version))
+    subprocess.check_call([
+        "/usr/bin/python3", "-m",
+        "pip", "install", "--upgrade", "pip"
+    ])
 
     subprocess.check_call([
-        "conda", "install", "-p", conda_dir, "--yes",
-        "cython", "virtualenv", "twine", "wheel"
+        "/usr/bin/python3", "-m",
+        "pip", "install", "twine", "numpy", "setuptools"
     ])
 
     print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
 
     subprocess.check_call([
-        "conda", "run", "-p", conda_dir,
-        "pip", "install", "--user", "-r", "setup_requirements.txt"
+        "/usr/bin/python3", "-m",
+        "pip", "install", "--ignore-installed", "-r", "setup_requirements.txt"
+    ])
+
+    run_bdist(conda_dir, deploy_dir, py_version, use_conda=False)
+
+
+def invoke_bdist(conda_dir, use_conda):
+
+    cmd_prefix = ["/usr/bin/python3"]
+    if use_conda:
+        cmd_prefix = ["conda", "run", "-p", conda_dir, "--", "python"]
+
+    subprocess.check_call(cmd_prefix + [
+        "setup.py", "bdist_wheel"
     ])
 
+
+def run_bdist(conda_dir, deploy_dir, py_version, use_conda=True):
+
     print(">>> Building staging area for deployment ...")
 
     os.chdir(deploy_dir)
@@ -117,10 +136,7 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Building Python wheel ...")
 
-    subprocess.check_call([
-        "conda", "run", "-p", conda_dir,
-        "python", "setup.py", "bdist_wheel"
-    ])
+    invoke_bdist(conda_dir, use_conda)
 
     whl_pattern = "dist/sbp-{}-*.whl".format(SBP_VERSION)
     print(">>> Uploading Python wheel (glob: {})...".format(whl_pattern))
@@ -134,21 +150,80 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
     print(">>> Found wheel (of {} matches): {}".format(len(wheels), wheel))
 
-    twine_upload(conda_dir, wheel)
+    twine_upload(conda_dir, wheel, use_conda)
+
+
+def build_wheel_conda(conda_dir, deploy_dir, py_version):
+
+    print(">>> Creating conda environment for Python version: {}...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "create", "--yes", "-p", conda_dir,
+        "python={}".format(py_version)])
+
+    if platform.system() == 'Linux' and platform.machine() == 'x86_64':
+        subprocess.check_call([
+            "conda", "install", "--yes", "-p", conda_dir,
+            "gcc_linux-64", "gxx_linux-64"
+        ])
+
+    print(">>> Installing build deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "install", "-p", conda_dir, "--yes",
+        "cython", "wheel", "setuptools"
+    ])
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir, "--",
+        "pip", "install", "--upgrade", "pip"
+    ])
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir, "--",
+        "pip", "install", "twine", "numpy"
+    ])
+
+    print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
+
+    subprocess.check_call([
+        "conda", "run", "-p", conda_dir, '--',
+        "pip", "install", "--ignore-installed", "-r", "setup_requirements.txt"
+    ])
 
+    run_bdist(conda_dir, deploy_dir, py_version, use_conda=True)
 
-for py_version in ['2.7', '3.5', '3.7']:
+
+def build_wheel(conda_dir, deploy_dir, py_version):
+    if platform.system() == "Linux" and platform.machine().startswith("arm") and py_version == "3.7":
+        build_wheel_native(conda_dir, deploy_dir, py_version)
+    else:
+        build_wheel_conda(conda_dir, deploy_dir, py_version)
+
+
+def py_versions():
+    if platform.system() == "Linux" and platform.machine().startswith("arm"):
+        #return ["2.7", "3.4", "3.7"]
+        return ["3.7"]
+    else:
+        return ["2.7", "3.5", "3.7"]
+
+
+for py_version in py_versions():
 
     print(">>> Building wheel for Python {}...".format(py_version))
 
-    conda_dir = tempfile.mkdtemp()
+    conda_tmp_dir = tempfile.mkdtemp()
+    conda_dir = os.path.join(conda_tmp_dir, "conda")
+
     deploy_dir = tempfile.mkdtemp()
 
     try:
         build_wheel(conda_dir, deploy_dir, py_version)
     finally:
         os.chdir(script_dir)
-        shutil.rmtree(conda_dir)
+        if platform.system() == "Linux" and not platform.machine().startswith("arm"):
+            shutil.rmtree(conda_tmp_dir)
+        else:
+            subprocess.check_call(["rm", "-fr", conda_dir])
         if platform.system() == "Windows":
             # Workaround a permission denied error that happens for the copied
             #   .git directory...

From 7d477bdaf8ff4ec7eb30279e7bb63e23e44a5488 Mon Sep 17 00:00:00 2001
From: Jason Mobarak <jason.mobarak@gmail.com>
Date: Wed, 5 Jun 2019 13:32:41 -0700
Subject: [PATCH 26/26] Docs, ability to build an "any" wheel

---
 HOWTO.md         | 49 ++++++++++++++++++++++++++++++++++++++++++------
 Makefile         | 21 ++++++++++++++-------
 python/deploy.py | 19 ++++++++++++-------
 python/setup.py  | 12 ++++++++++--
 4 files changed, 79 insertions(+), 22 deletions(-)

diff --git a/HOWTO.md b/HOWTO.md
index 4ba1e2cd93..ff315d78a3 100644
--- a/HOWTO.md
+++ b/HOWTO.md
@@ -144,17 +144,54 @@ Ubuntu 16.04.
    [GitHub](https://github.com/swift-nav/libsbp/releases) and add the
    RELEASE_NOTES.md.
 
-7. Distribute release packages: `make dist`. You may need credentials
-   on the appropriate package repositories. Ignore the GPG error in `stack`,
-   the package will get uploaded correctly anyway.  If the release is
-   a Python only change it may be appropriate to just publish to PyPI
-   with `make dist-python` -- we typically update all other supported
-   languages when we make an official firmware release.
+7. Distribute release packages.  You can attempt to run all releases
+   with `make dist` -- this will likely not work through... it is
+   advisable to run each dist target separately.  In particular:
+
+   - `make dist-javascript`
+   - `make dist-haskell`
+   - `make dist-pdf`
+   - `make dist-python` (see section on Python below)
+
+   You may need credentials on the appropriate package repositories. Ignore the
+   GPG error in `stack`, the package will get uploaded correctly anyway.  If
+   the release is a Python only change it may be appropriate to just publish to
+   PyPI with `make dist-python` (see section on Python below) -- we typically
+   update all other supported languages when we make an official firmware
+   release.
 
 8. Releases are not only never perfect, they never really end. Please
    pay special attention to any downstream projects or users that may
    have issues or regressions as a consequence of the release version.
 
+# Distributing Python
+
+Python distribution requires compilation for the JIT accelerated `sbp.jit`
+package.  This package uses the Python `numba` library, which supports AOT
+compilation of a native Python extension.  The distributions for each platform
+can be created by running the `make dist-python` target on each platform
+(Windows, Mac OS X, Linux x86, and Linux ARM through docker).
+
+For example, running this:
+```
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=...
+```
+
+...will produce and upload a `.whl` appropriate for that platform.  A
+wheel that targets any platform (but requires that `numba` be installed)
+can be produced and uploaded by running the following command:
+```
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=... LIBSBP_BUILD_ANY=y
+```
+
+The Linux ARM build of libsbp can be done either natively, or through docker
+via the following set of command:
+```
+docker build -f python/Dockerfile.arm -t libsbp-arm .
+docker run -v $PWD:/work --rm -it libsbp-arm /bin/bash
+make dist-python PYPI_USERNAME=swiftnav PYPI_PASSWORD=...
+```
+
 # Contributions
 
 This library is developed internally by Swift Navigation. We welcome
diff --git a/Makefile b/Makefile
index 32f41e1118..c96d4fa979 100644
--- a/Makefile
+++ b/Makefile
@@ -249,15 +249,22 @@ dist-python:
 	make -C $(SWIFTNAV_ROOT)/python SBP_VERSION="$(SBP_MAJOR_VERSION).$(SBP_MINOR_VERSION).$(SBP_PATCH_VERSION)" deploy 
 	$(call announce-end,"Finished deploying Python package")
 
-dist: dist-python
-	$(call announce-begin,"Deploying packages")
+dist-javascript:
+	$(call announce-begin,"Deploying Javascript package")
 	npm publish
-	pushd $(SWIFTNAV_ROOT)/haskell
-	stack sdist
-	stack upload .
-	popd
+	$(call announce-begin,"Finished deploying Javascript package")
+
+dist-haskell:
+	$(call announce-begin,"Deploying Haskell package")
+	(cd $(SWIFTNAV_ROOT)/haskell; stack sdist; stack upload .)
+	$(call announce-begin,"Finished deploying Haskell package")
+
+dist-pdf:
+	$(call announce-begin,"Deploying PDF documentation")
 	make pdf_dist
-	$(call announce-end,"Finished deploying packages")
+	$(call announce-begin,"Finished deploying PDF documentation")
+
+dist: dist-python dist-javascript dist-haskell dist-pdf
 
 pdf:
 	$(call announce-begin,"Generating PDF datasheet documentation")
diff --git a/python/deploy.py b/python/deploy.py
index a0fea321ab..256660794b 100644
--- a/python/deploy.py
+++ b/python/deploy.py
@@ -37,12 +37,16 @@
 
 os.chdir(script_dir)
 
+if platform.system() == "Linux":
+    DASHDASH = ["--"]
+else:
+    DASHDASH = []
 
 def twine_upload(conda_dir, wheel, use_conda=True):
 
     cmd_prefix = ["/usr/bin/python3", "-m"]
     if use_conda:
-        cmd_prefix = ["conda", "run", "-p", conda_dir, "--"]
+        cmd_prefix = ["conda", "run", "-p", conda_dir] + DASHDASH
 
     invoke = subprocess.check_call if not USE_TEST_PYPI else subprocess.call
     ret = invoke(cmd_prefix + [
@@ -88,7 +92,7 @@ def invoke_bdist(conda_dir, use_conda):
 
     cmd_prefix = ["/usr/bin/python3"]
     if use_conda:
-        cmd_prefix = ["conda", "run", "-p", conda_dir, "--", "python"]
+        cmd_prefix = ["conda", "run", "-p", conda_dir] + DASHDASH + ["python"]
 
     subprocess.check_call(cmd_prefix + [
         "setup.py", "bdist_wheel"
@@ -174,18 +178,18 @@ def build_wheel_conda(conda_dir, deploy_dir, py_version):
         "cython", "wheel", "setuptools"
     ])
     subprocess.check_call([
-        "conda", "run", "-p", conda_dir, "--",
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
         "pip", "install", "--upgrade", "pip"
     ])
     subprocess.check_call([
-        "conda", "run", "-p", conda_dir, "--",
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
         "pip", "install", "twine", "numpy"
     ])
 
     print(">>> Installing setup deps in Python {} conda environment...".format(py_version))
 
     subprocess.check_call([
-        "conda", "run", "-p", conda_dir, '--',
+        "conda", "run", "-p", conda_dir] + DASHDASH + [
         "pip", "install", "--ignore-installed", "-r", "setup_requirements.txt"
     ])
 
@@ -200,9 +204,10 @@ def build_wheel(conda_dir, deploy_dir, py_version):
 
 
 def py_versions():
-    if platform.system() == "Linux" and platform.machine().startswith("arm"):
-        #return ["2.7", "3.4", "3.7"]
+    if os.environ.get('LIBSBP_BUILD_ANY', None):
         return ["3.7"]
+    if platform.system() == "Linux" and platform.machine().startswith("arm"):
+        return ["2.7", "3.7"]
     else:
         return ["2.7", "3.5", "3.7"]
 
diff --git a/python/setup.py b/python/setup.py
index 5819fc04e2..55df2e039d 100755
--- a/python/setup.py
+++ b/python/setup.py
@@ -167,12 +167,20 @@ def write_version_py(filename=VERSION_PY_PATH):
     with open(os.path.join(setup_py_dir, 'test_requirements.txt')) as f:
         TEST_REQUIRES = [i.strip() for i in f.readlines()]
 
+    with open(os.path.join(setup_py_dir, 'setup_requirements.txt')) as f:
+        SETUP_REQUIRES = [i.strip() for i in f.readlines()
+                          if 'setuptools' not in i]
+
     write_version_py()
 
     from sbp import __version__ as sbp_version
     print("Building/installing libsbp version {} (read version: {})".format(sbp_version, VERSION))
 
-    from sbp.jit.parse import cc
+    ext_modules = None
+    if not os.environ.get('LIBSBP_BUILD_ANY', None):
+        from sbp.jit.parse import cc
+        ext_modules = [cc.distutils_extension()]
+        INSTALL_REQUIRES.extend(SETUP_REQUIRES)
 
     setup(name='sbp',
           version=sbp_version,
@@ -188,4 +196,4 @@ def write_version_py(filename=VERSION_PY_PATH):
           tests_require=TEST_REQUIRES,
           use_2to3=False,
           zip_safe=False,
-          ext_modules=[cc.distutils_extension()])
+          ext_modules=ext_modules)