Prepare bsk-sdk 2.11.0 release

.github/actions/setup-bsk/action.yml

@@ -1,6 +1,6 @@
 name: Set up Basilisk
 description: >
-  Clones the Basilisk source tree and installs the BSK Python package,
+  Clones the Basilisk source tree and installs the BSK Python package set,
     beta/alpha  => develop branch clone + nightly wheel index
     rc          => release tag clone + TestPyPI
     release     => release tag clone + PyPI
@@ -15,7 +15,7 @@ inputs:
     description: Clone Basilisk source to external/basilisk (needed for sync_all.py)
     default: "true"
   install-package:
-    description: pip-install the BSK Python package into the current environment
+    description: pip-install the BSK Python package set into the current environment
     default: "true"
 
 runs:
@@ -34,7 +34,7 @@ runs:
         git clone --depth 1 --branch "$REF" \
           https://github.com/AVSLab/basilisk.git external/basilisk
 
-    - name: Install BSK Python package
+    - name: Install BSK Python package set
       if: inputs.install-package == 'true'
       shell: bash
       run: |
@@ -43,12 +43,12 @@ runs:
           pip install --pre \
             --index-url https://avslab.github.io/basilisk/nightly/ \
             --extra-index-url https://pypi.org/simple/ \
-            bsk
+            "bsk[all]"
         elif [[ "$BSK" =~ rc ]]; then
           pip install --pre \
             --index-url https://test.pypi.org/simple/ \
             --extra-index-url https://pypi.org/simple/ \
-            "bsk==${BSK}"
+            "bsk[all]==${BSK}"
         else
-          pip install "bsk==${BSK}"
+          pip install "bsk[all]==${BSK}"
         fi

.github/workflows/nightly.yml

@@ -47,7 +47,7 @@ jobs:
           pip install --pre \
             --index-url https://avslab.github.io/basilisk/nightly/ \
             --extra-index-url https://pypi.org/simple/ \
-            bsk
+            "bsk[all]"
 
       - name: Sync and build SDK
         run: |

build_backend.py

@@ -60,6 +60,7 @@ def _required_sync_files(repo_root: Path) -> list[Path]:
     msg_auto = repo_root / "tools" / "msgAutoSource"
     return [
         repo_root / "src" / "bsk_sdk" / "_bsk_version.txt",
+        msg_auto / "generatePayloadEqualityHeader.py",
         msg_auto / "generatePayloadMetaJson.py",
         msg_auto / "generateSWIGModules.py",
         msg_auto / "msgInterfacePy.i.in",

cmake/bsk-sdkConfig.cmake.in

@@ -75,7 +75,7 @@ function(_bsk_sdk_check_basilisk_version)
         "  Installed Basilisk is ${_bsk_installed_version}\n\n"
         "Plugins compiled against mismatched headers will have ABI incompatibilities.\n"
         "Either install the matching Basilisk version or re-sync the SDK:\n"
-        "  pip install bsk==${BSK_SDK_BSK_VERSION}\n"
+        "  pip install \"bsk[all]==${BSK_SDK_BSK_VERSION}\"\n"
         "  # or: cd external/basilisk && git checkout v${_bsk_installed_version} && cd ../.. && python3 tools/sync_all.py"
       )
     endif()

cmake/bsk_add_swig_module.cmake

@@ -107,7 +107,21 @@ macro(_bsk_find_build_deps)
   find_package(SWIG REQUIRED COMPONENTS python)
   include(${SWIG_USE_FILE})
   find_package(Python3 REQUIRED COMPONENTS Interpreter Development.Module NumPy)
-  find_package(Eigen3 CONFIG REQUIRED)
+
+  if(NOT TARGET Eigen3::Eigen)
+    find_package(Eigen3 CONFIG QUIET)
+  endif()
+  if(NOT TARGET Eigen3::Eigen)
+    if(DEFINED BSK_SDK_INCLUDE_DIR
+        AND EXISTS "${BSK_SDK_INCLUDE_DIR}/eigen3/Eigen/Core")
+      add_library(Eigen3::Eigen IMPORTED INTERFACE GLOBAL)
+      set_target_properties(Eigen3::Eigen PROPERTIES
+        INTERFACE_INCLUDE_DIRECTORIES "${BSK_SDK_INCLUDE_DIR}/eigen3"
+      )
+    else()
+      find_package(Eigen3 CONFIG REQUIRED)
+    endif()
+  endif()
 endmacro()
 
 # Collect SDK implementation sources to compile directly into the plugin.

cmake/bsk_generate_messages.cmake

@@ -22,13 +22,14 @@ if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/bsk_add_swig_module.cmake")
   include("${CMAKE_CURRENT_LIST_DIR}/bsk_add_swig_module.cmake")
 endif()
 
-# Locate the msgAutoSource directory that ships generateSWIGModules.py and
-# generatePayloadMetaJson.py.  Both scripts must be present — the JSON
-# generator was added in BSK 2.11 and is required by bsk_generate_messages().
+# Locate the msgAutoSource directory that ships the message generators.  These
+# scripts must be present — the JSON and equality generators were added in BSK
+# 2.11 and are required by bsk_generate_messages().
 function(_bsk_resolve_msg_autosource_dir out_var)
   if(DEFINED BSK_SDK_MSG_AUTOSOURCE_DIR
       AND EXISTS "${BSK_SDK_MSG_AUTOSOURCE_DIR}/generateSWIGModules.py"
-      AND EXISTS "${BSK_SDK_MSG_AUTOSOURCE_DIR}/generatePayloadMetaJson.py")
+      AND EXISTS "${BSK_SDK_MSG_AUTOSOURCE_DIR}/generatePayloadMetaJson.py"
+      AND EXISTS "${BSK_SDK_MSG_AUTOSOURCE_DIR}/generatePayloadEqualityHeader.py")
     set(${out_var} "${BSK_SDK_MSG_AUTOSOURCE_DIR}" PARENT_SCOPE)
     return()
   endif()
@@ -48,7 +49,8 @@ function(_bsk_resolve_msg_autosource_dir out_var)
 
   foreach(_cand IN LISTS _candidates)
     if(EXISTS "${_cand}/generateSWIGModules.py"
-        AND EXISTS "${_cand}/generatePayloadMetaJson.py")
+        AND EXISTS "${_cand}/generatePayloadMetaJson.py"
+        AND EXISTS "${_cand}/generatePayloadEqualityHeader.py")
       set(${out_var} "${_cand}" PARENT_SCOPE)
       return()
     endif()
@@ -57,7 +59,8 @@ function(_bsk_resolve_msg_autosource_dir out_var)
   string(JOIN "\n  " _cand_list ${_candidates})
   message(FATAL_ERROR
     "bsk-sdk message generators not found.\n\n"
-    "Looked for generateSWIGModules.py and generatePayloadMetaJson.py under:\n"
+    "Looked for generateSWIGModules.py, generatePayloadMetaJson.py, and "
+    "generatePayloadEqualityHeader.py under:\n"
     "  ${_cand_list}\n\n"
     "Re-sync the SDK tools (requires BSK >= 2.11):\n"
     "  python3 tools/sync_all.py --sync-submodules\n\n"
@@ -89,6 +92,7 @@ function(bsk_generate_messages)
 
   set(_gen_swig "${_msg_autosrc}/generateSWIGModules.py")
   set(_gen_meta "${_msg_autosrc}/generatePayloadMetaJson.py")
+  set(_gen_eq "${_msg_autosrc}/generatePayloadEqualityHeader.py")
   set(_auto_root "${CMAKE_CURRENT_BINARY_DIR}/autoSource")
   set(_json_dir "${_auto_root}/cMsgMeta")
   file(MAKE_DIRECTORY "${_json_dir}")
@@ -131,6 +135,32 @@ function(bsk_generate_messages)
       VERBATIM
     )
 
+    # Generate the per-payload equality traits header included by the SWIG
+    # template. Basilisk's generator includes payload headers below
+    # "architecture/${_eq_payload_search_dir}", so create a forwarding include
+    # tree in autoSource that points back to the plugin's real payload header.
+    set(_eq_payload_search_dir "bskSdkPluginPayloads")
+    file(TO_CMAKE_PATH "${_hdr_abs}" _hdr_include)
+    set(_eq_forward_dir "${_auto_root}/architecture/${_eq_payload_search_dir}")
+    set(_eq_forward_hdr "${_eq_forward_dir}/${_payload_name}.h")
+    file(MAKE_DIRECTORY "${_eq_forward_dir}")
+    file(WRITE "${_eq_forward_hdr}"
+      "#pragma once\n"
+      "#include \"${_hdr_include}\"\n"
+    )
+
+    set(_eq_out "${_auto_root}/${_payload_name}_equality.h")
+    add_custom_command(
+      OUTPUT "${_eq_out}"
+      COMMAND ${Python3_EXECUTABLE}
+              "${_gen_eq}"
+              "${_eq_out}" "${_meta_out}" "${_payload_name}" "${_eq_payload_search_dir}"
+      DEPENDS "${_meta_out}" "${_gen_eq}" "${_eq_forward_hdr}"
+      WORKING_DIRECTORY "${_msg_autosrc}"
+      COMMENT "Generating payload equality header for ${_payload_name}"
+      VERBATIM
+    )
+
     # Generate the .i interface file from the JSON
     set(_i_out "${_auto_root}/${_payload_name}.i")
     add_custom_command(
@@ -140,7 +170,7 @@ function(bsk_generate_messages)
               "${_i_out}" "${_hdr_abs}" "${_payload_name}" "${_hdr_dir}"
               "${_gen_c}"
               "${_meta_out}" 0
-      DEPENDS "${_hdr_abs}" "${_meta_out}" "${_gen_swig}" "${_msg_autosrc}/msgInterfacePy.i.in"
+      DEPENDS "${_hdr_abs}" "${_meta_out}" "${_eq_out}" "${_gen_swig}" "${_msg_autosrc}/msgInterfacePy.i.in"
       WORKING_DIRECTORY "${_msg_autosrc}"
       COMMENT "Generating SWIG interface for ${_payload_name}"
       VERBATIM
@@ -169,6 +199,21 @@ function(bsk_generate_messages)
       endif()
     endif()
 
+    if(NOT EXISTS "${_eq_out}")
+      execute_process(
+        COMMAND ${Python3_EXECUTABLE}
+                "${_gen_eq}"
+                "${_eq_out}" "${_meta_out}" "${_payload_name}" "${_eq_payload_search_dir}"
+        WORKING_DIRECTORY "${_msg_autosrc}"
+        RESULT_VARIABLE _gen_rc
+        ERROR_VARIABLE  _gen_err
+      )
+      if(NOT _gen_rc EQUAL 0)
+        message(FATAL_ERROR
+          "generatePayloadEqualityHeader.py failed for ${_payload_name}:\n${_gen_err}")
+      endif()
+    endif()
+
     if(NOT EXISTS "${_i_out}")
       execute_process(
         COMMAND ${Python3_EXECUTABLE}
@@ -203,7 +248,7 @@ function(bsk_generate_messages)
 
     _bsk_configure_swig_target(
       ${_payload_name} "${BSK_OUTPUT_DIR}" "${BSK_TARGET_LINK_LIBS}"
-      "${BSK_INCLUDE_DIRS};${_hdr_dir}"
+      "${BSK_INCLUDE_DIRS};${_hdr_dir};${_auto_root}"
     )
 
     if(_bsk_msg_sdk_sources)

examples/custom-atm-plugin/README.md

@@ -23,7 +23,7 @@ custom-atm-plugin/
 ## Building
 
 ```bash
-pip install bsk-sdk bsk
+pip install bsk-sdk "bsk[all]"
 pip install build scikit-build-core
 python -m build --wheel --no-isolation
 ```

pyproject.toml

@@ -5,7 +5,7 @@ backend-path = ["."]
 
 [project]
 name = "bsk-sdk"
-version = "2.11.0beta"
+version = "2.11.0"
 description = "Vendored Basilisk SDK headers, runtime, and CMake integration for plugin authors"
 readme = "README.md"
 license = { text = "ISC" }
@@ -35,7 +35,11 @@ wheel.py-api = "py3"
 wheel.platlib = false
 wheel.install-dir = "bsk_sdk"
 
+sdist.inclusion-mode = "explicit"
 sdist.include = [
+  "pyproject.toml",
+  "build_backend.py",
+  "README.md",
   "CMakeLists.txt",
   "cmake/**",
   "src/bsk_sdk/include/**",
@@ -57,6 +61,8 @@ sdist.exclude = [
   "examples/**",
   "external/**",
   "tests/**",
+  ".DS_Store",
+  "**/.DS_Store",
   "**/__pycache__/**",
   "**/*.pyc",
 ]

src/bsk_sdk/_bsk_version.txt

@@ -1 +1 @@
-2.11.0beta
+2.11.0

tests/test_smoke.py

@@ -78,6 +78,11 @@ def test_builtin_c_msg_interfaces_present() -> None:
 def test_msg_autosource_generators_present() -> None:
     autosrc = Path(bsk_sdk.msg_autosource_dir())
     assert autosrc.is_dir(), f"msg_autosource_dir() does not exist: {autosrc}"
-    for name in ("generatePayloadMetaJson.py", "generateSWIGModules.py",
-                 "msgInterfacePy.i.in", "cMsgCInterfacePy.i.in"):
+    for name in (
+        "generatePayloadEqualityHeader.py",
+        "generatePayloadMetaJson.py",
+        "generateSWIGModules.py",
+        "msgInterfacePy.i.in",
+        "cMsgCInterfacePy.i.in",
+    ):
         assert (autosrc / name).exists(), f"Missing msgAutoSource file: {name}"