Show how to auto-import plugin custom messages

.github/workflows/ci.yml

@@ -36,11 +36,11 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python: ["3.9", "3.13"]
+        python: ["3.9", "3.14"]
         include:
           - python: "3.9"
             python_label: "MIN Python"
-          - python: "3.13"
+          - python: "3.14"
             python_label: "MAX Python"
 
     steps:
@@ -69,11 +69,11 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python: ["3.9", "3.13"]
+        python: ["3.9", "3.14"]
         include:
           - python: "3.9"
             python_label: "MIN Python"
-          - python: "3.13"
+          - python: "3.14"
             python_label: "MAX Python"
 
     steps:
@@ -106,11 +106,11 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
-        python: ["3.9", "3.13"]
+        python: ["3.9", "3.14"]
         include:
           - python: "3.9"
             python_label: "MIN Python"
-          - python: "3.13"
+          - python: "3.14"
             python_label: "MAX Python"
 
     steps:
@@ -132,7 +132,7 @@ jobs:
       - name: Install bsk-sdk wheel and Basilisk
         run: |
           pip install dist/*.whl --force-reinstall
-          git clone --depth 1 --branch patch/v2_10_x \
+          git clone --depth 1 --branch develop \
             https://github.com/AVSLab/basilisk.git _bsk_src
           pip install numpy
           pip install ./_bsk_src

.github/workflows/publish-wheels.yml

@@ -36,7 +36,7 @@ jobs:
 
       - uses: actions/setup-python@v6
         with:
-          python-version: "3.13"
+          python-version: "3.14"
 
       - uses: ./.github/actions/build-sdk-wheel
         with:

cmake/bsk_generate_messages.cmake

@@ -155,10 +155,18 @@ function(bsk_generate_messages)
     list(APPEND _generated_targets ${_payload_name})
   endforeach()
 
-  # Generate __init__.py that re-exports all message payloads
+  # Generate __init__.py that re-exports all message payloads. Importing this
+  # package also registers the SWIG proxy classes for the generated Message<T>
+  # and Recorder<T> specializations, so plugin package __init__.py files should
+  # import their generated messaging package before importing module wrappers.
   file(MAKE_DIRECTORY "${BSK_OUTPUT_DIR}")
   set(_init_file "${BSK_OUTPUT_DIR}/__init__.py")
-  file(WRITE "${_init_file}" "")
+  file(WRITE "${_init_file}"
+    "\"\"\"Generated Basilisk message bindings for this plugin.\n\n"
+    "Importing this package registers custom Message<T> and Recorder<T> SWIG\n"
+    "proxy classes, including the recorder() methods on custom messages.\n"
+    "\"\"\"\n\n"
+  )
   foreach(_hdr IN LISTS BSK_MSG_HEADERS)
     get_filename_component(_payload_name "${_hdr}" NAME_WE)
     file(APPEND "${_init_file}" "from .${_payload_name} import *\n")

examples/custom-atm-plugin/README.md

@@ -33,3 +33,18 @@ python -m build --wheel --no-isolation
 pip install dist/*.whl pytest
 pytest customExponentialAtmosphere/_UnitTest/ -v
 ```
+
+## Custom message recorders
+
+If a plugin defines custom messages with `bsk_generate_messages()`, import the
+generated message package from the plugin's top-level `__init__.py` before
+importing module wrappers:
+
+```python
+from . import messaging
+from . import myModule
+```
+
+This mirrors Basilisk's own package initialization. It registers the custom
+`Message<T>` and `Recorder<T>` SWIG proxy classes so users can call
+`module.customOutMsg.recorder()` without explicitly importing the message type.

examples/custom-atm-plugin/customExponentialAtmosphere/_UnitTest/test_customExponentialAtmosphere.py

@@ -22,7 +22,6 @@
 from Basilisk.architecture import messaging, bskLogging  # noqa: E402
 from Basilisk.utilities import SimulationBaseClass, macros  # noqa: E402
 from custom_atm import customExponentialAtmosphere  # noqa: E402
-from custom_atm.messaging import CustomAtmStatusMsg, CustomAtmStatusMsgPayload  # noqa: E402
 
 
 def _window_density(log) -> float:
@@ -31,6 +30,13 @@ def _window_density(log) -> float:
     return float(max(vals))
 
 
+def _plugin_messaging():
+    assert hasattr(custom_atm, "messaging"), (
+        "custom_atm.__init__ must import generated messaging before module wrappers"
+    )
+    return custom_atm.messaging
+
+
 @pytest.fixture()
 def sim_env():
     """Set up a minimal Basilisk sim with the custom atmosphere plugin."""
@@ -88,6 +94,15 @@ def test_plugin_links_architecture_utilities():
     assert radius == pytest.approx(semi_major_axis, rel=1e-12, abs=0.0)
 
 
+def test_package_import_exposes_generated_messaging():
+    """Package import exposes generated message bindings and recorders."""
+    plugin_messaging = _plugin_messaging()
+    msg = plugin_messaging.CustomAtmStatusMsg()
+    rec = msg.recorder()
+
+    assert rec is not None
+
+
 def test_density_at_400km(sim_env):
     sim, atmosphere, log, dt = sim_env
     sim.ConfigureStopTime(dt)
@@ -110,11 +125,12 @@ def test_density_positive(sim_env):
 def test_status_message_updates_density(sim_env):
     sim, atmosphere, log, dt = sim_env
 
-    status_pl = CustomAtmStatusMsgPayload()
+    plugin_messaging = _plugin_messaging()
+    status_pl = plugin_messaging.CustomAtmStatusMsgPayload()
     status_pl.density = 2.0
     status_pl.scaleHeight = 8_500.0
     status_pl.modelValid = 1
-    status_msg = CustomAtmStatusMsg().write(status_pl)
+    status_msg = plugin_messaging.CustomAtmStatusMsg().write(status_pl)
     atmosphere.connectAtmStatus(status_msg)
 
     sim.ConfigureStopTime(dt)
@@ -130,11 +146,12 @@ def test_invalid_status_message_ignored(sim_env):
     sim, atmosphere, log, dt = sim_env
 
     # modelValid=0 — should be ignored, density stays at default baseDensity
-    status_pl = CustomAtmStatusMsgPayload()
+    plugin_messaging = _plugin_messaging()
+    status_pl = plugin_messaging.CustomAtmStatusMsgPayload()
     status_pl.density = 999.0
     status_pl.scaleHeight = 1.0
     status_pl.modelValid = 0
-    status_msg = CustomAtmStatusMsg().write(status_pl)
+    status_msg = plugin_messaging.CustomAtmStatusMsg().write(status_pl)
     atmosphere.connectAtmStatus(status_msg)
 
     sim.ConfigureStopTime(dt)

examples/custom-atm-plugin/custom_atm/README.md

@@ -2,6 +2,12 @@
 
 This directory defines the Python package that gets installed into the wheel.
 
-It contains the `__init__.py` that registers Basilisk's `cSysModel` and imports
-the compiled SWIG extension. At build time, scikit-build-core places the
-generated `.so` / `.pyd` binaries and message bindings here.
+It contains the `__init__.py` that registers Basilisk's `cSysModel`, imports
+the generated custom message bindings, and then imports the compiled SWIG
+extension. At build time, scikit-build-core places the generated `.so` / `.pyd`
+binaries and message bindings here.
+
+The generated `messaging` package must be imported before module wrappers that
+expose custom message fields. That import registers the SWIG proxy classes for
+the plugin's `Message<T>` and `Recorder<T>` specializations, which makes calls
+such as `module.customOutMsg.recorder()` work without an extra user import.

examples/custom-atm-plugin/custom_atm/__init__.py

@@ -25,6 +25,11 @@
 # this line the import fails with a confusing ModuleNotFoundError.
 sys.modules.setdefault("cSysModel", _cSysModel)
 
+# Import generated custom message bindings before SWIG module wrappers.  This
+# registers the plugin's Message<T> and Recorder<T> proxy classes so custom
+# message fields exposed by modules have their Python methods, including
+# recorder(), without requiring users to import custom_atm.messaging manually.
+from . import messaging
 from . import customExponentialAtmosphere
 
-__all__ = ["customExponentialAtmosphere"]
+__all__ = ["customExponentialAtmosphere", "messaging"]

pyproject.toml

@@ -5,7 +5,7 @@ backend-path = ["."]
 
 [project]
 name = "bsk-sdk"
-version = "2.10.1"
+version = "2.10.2"
 description = "Vendored Basilisk SDK headers, runtime, and CMake integration for plugin authors"
 readme = "README.md"
 license = { text = "ISC" }