Add proper Python packaging

MANIFEST.in

@@ -0,0 +1,5 @@
+recursive-include rednose/helpers *.h *.cc *.pyx *.pxd
+recursive-include rednose/templates *
+include rednose/helpers/chi2_lookup_table.npy
+include rednose/site_scons/rednose_filter.py
+recursive-include rednose/logger *.h

pyproject.toml

@@ -1,16 +1,30 @@
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
-[tool.ruff]
-line-length = 160
-target-version="py311"
+[project]
+name = "rednose"
+version = "0.1.0"
+description = "Kalman filter library"
+requires-python = ">=3.11,<3.13"
+license = {text = "MIT"}
+authors = [{name = "comma.ai"}]
+dependencies = [
+  "numpy",
+  "cffi",
+  "sympy",
+  "scons",
+  "Cython",
+]
 
-[tool.ruff.lint]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003"]
-flake8-implicit-str-concat.allow-multiline=false
+[project.optional-dependencies]
+dev = ["scipy", "pytest", "pytest-xdist", "ruff"]
 
-[tool.ruff.lint.flake8-tidy-imports.banned-api]
-"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
-"unittest".msg = "Use pytest"
+[build-system]
+requires = ["setuptools", "Cython", "numpy"]
+build-backend = "setuptools.build_meta"
 
-[tool.pytest.ini_options]
-addopts = "--durations=10 -n auto"
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.package-data]
+"rednose.helpers" = ["chi2_lookup_table.npy", "*.h", "*.cc", "*.pyx", "*.pxd"]
+"rednose.logger" = ["*.h"]
+"rednose.templates" = ["*"]
+"rednose.site_scons" = ["*.py"]

rednose/__init__.py

@@ -0,0 +1,8 @@
+import os
+
+BASEDIR = os.path.dirname(os.path.abspath(__file__))
+HELPERS_PATH = os.path.join(BASEDIR, "helpers")
+TEMPLATE_DIR = os.path.join(BASEDIR, "templates")
+# For consumers that need the parent dir in include paths
+INCLUDE_PATH = os.path.abspath(os.path.join(BASEDIR, "../"))
+SITE_SCONS_TOOLS = os.path.join(BASEDIR, "site_scons")

rednose/site_scons/rednose_filter.py

@@ -0,0 +1,48 @@
+import platform
+
+from SCons.Script import Dir, File
+
+
+def compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, script_deps):
+  generated_src_files = [File(f) for f in [f'{output_dir}/{target}.cpp', f'{output_dir}/{target}.h']]
+  extra_generated_files = [File(f'{output_dir}/{x}') for x in extra_gen_artifacts]
+  generator_file = File(filter_gen_script)
+
+  env.Command(generated_src_files + extra_generated_files,
+              [generator_file] + script_deps, f"{File(generator_file).relpath} {target} {Dir(output_dir).relpath}")
+
+  generated_cc_file = File(generated_src_files[:1])
+
+  return generated_cc_file
+
+
+class BaseRednoseCompileMethod:
+  def __init__(self, base_py_deps, base_cc_deps):
+    self.base_py_deps = base_py_deps
+    self.base_cc_deps = base_cc_deps
+
+
+class CompileFilterMethod(BaseRednoseCompileMethod):
+  def __call__(self, env, target, filter_gen_script, output_dir, extra_gen_artifacts=[], gen_script_deps=[]):
+    objects = compile_single_filter(env, target, filter_gen_script, output_dir, extra_gen_artifacts, self.base_py_deps + gen_script_deps)
+    linker_flags = env.get("LINKFLAGS", [])
+    if platform.system() == "Darwin":
+      linker_flags = ["-undefined", "dynamic_lookup"]
+    lib_target = env.SharedLibrary(f'{output_dir}/{target}', [self.base_cc_deps, objects], LINKFLAGS=linker_flags)
+
+    return lib_target
+
+
+def generate(env):
+  templates = env.Glob("$REDNOSE_ROOT/rednose/templates/*")
+  sympy_helpers = env.File("$REDNOSE_ROOT/rednose/helpers/sympy_helpers.py")
+  ekf_sym = env.File("$REDNOSE_ROOT/rednose/helpers/ekf_sym.py")
+
+  gen_script_deps = templates + [sympy_helpers, ekf_sym]
+  filter_lib_deps = []
+
+  env.AddMethod(CompileFilterMethod(gen_script_deps, filter_lib_deps), "RednoseCompileFilter")
+
+
+def exists(env):
+  return True

setup.py

@@ -1,29 +1,48 @@
 import os
-from setuptools import setup, find_packages
+import subprocess
+import platform
+import numpy as np
+from setuptools import setup
+from Cython.Build import cythonize
+from setuptools import Extension
 
-here = os.path.abspath(os.path.dirname(__file__))
+rednose_dir = os.path.dirname(os.path.abspath(__file__))
 
-setup(
-  name='rednose',
-  version='0.0.1',
-  url='https://github.com/commaai/rednose',
-  author='comma.ai',
-  author_email='harald@comma.ai',
-  packages=find_packages(),
-  platforms='any',
-  license='MIT',
-  package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']},
-  install_requires=[
-    'numpy',
-    'cffi',
-    'sympy',
-  ],
-  extras_require={
-    'dev': [
-      'scipy',
-    ],
-  },
-  ext_modules=[],
-  description="Kalman filter library",
-  long_description='See https://github.com/commaai/rednose',
-)
+cpp_args = ["-std=c++17", "-fPIC", "-O2"]
+
+# Find eigen include path
+eigen_include = []
+if platform.system() == "Darwin":
+    try:
+        brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+        eigen_include = [os.path.join(brew_prefix, 'include')]
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        pass
+else:
+    # Standard Linux locations
+    for p in ['/usr/include', '/usr/local/include']:
+        if os.path.isdir(os.path.join(p, 'eigen3')):
+            eigen_include = [p]
+            break
+
+extensions = [
+    Extension(
+        "rednose.helpers.ekf_sym_pyx",
+        sources=[
+            "rednose/helpers/ekf_sym_pyx.pyx",
+            "rednose/helpers/ekf_load.cc",
+            "rednose/helpers/ekf_sym.cc",
+        ],
+        language="c++",
+        extra_compile_args=cpp_args,
+        include_dirs=[
+            rednose_dir,                                    # for "rednose/helpers/..." includes
+            os.path.join(rednose_dir, "rednose"),           # for "logger/logger.h" includes
+            os.path.join(rednose_dir, "rednose", "helpers"), # for local includes like "ekf_sym.h"
+            np.get_include(),
+        ] + eigen_include,
+        libraries=["dl"],
+    ),
+]
+
+setup(ext_modules=cythonize(extensions, language_level="3"))