[robotpy][cmdv2] Add python commands-v2 to build system

commandsv2/BUILD.bazel

@@ -2,11 +2,12 @@ load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@aspect_bazel_lib//lib:write_source_files.bzl", "write_source_files")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_test")
 load("@rules_java//java:defs.bzl", "java_binary")
-load("@rules_python//python:defs.bzl", "py_binary")
+load("@rules_python//python:defs.bzl", "py_binary", "py_library")
 load("//commandsv2:generate.bzl", "generate_wpilib_new_commands")
 load("//shared/bazel/rules:cc_rules.bzl", "third_party_cc_lib_helper", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:java_rules.bzl", "wpilib_java_junit5_test", "wpilib_java_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 
 filegroup(
     name = "doxygen-files",
@@ -183,3 +184,21 @@ package_default_cc_project(
     maven_artifact_name = "commandsv2-cpp",
     maven_group_id = "org.wpilib.commandsv2",
 )
+
+py_library(
+    name = "commandsv2-py",
+    srcs = glob(["src/main/python/**/*.py"]),
+    imports = ["src/main/python"],
+    deps = [
+        "//wpilibc:robotpy-wpilib",
+    ],
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":commandsv2-py",
+        requirement("pytest"),
+    ],
+)

commandsv2/src/main/python/commands2/__init__.py

@@ -27,7 +27,6 @@
 from .sequentialcommandgroup import SequentialCommandGroup
 from .startendcommand import StartEndCommand
 from .subsystem import Subsystem
-from .swervecontrollercommand import SwerveControllerCommand
 from .timedcommandrobot import TimedCommandRobot
 from .trapezoidprofilecommand import TrapezoidProfileCommand
 from .trapezoidprofilesubsystem import TrapezoidProfileSubsystem
@@ -65,7 +64,6 @@
     "SequentialCommandGroup",
     "StartEndCommand",
     "Subsystem",
-    "SwerveControllerCommand",
     "TimedCommandRobot",
     "TrapezoidProfileCommand",
     "TrapezoidProfileSubsystem",