mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[robotpy] Mirror most other subprojects (#8208)
GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a This mirrors the robotpy files for the following projects: - apriltag - datalog - hal - ntcore - romiVendordep - wpilibc - wpimath - xrpVendordep This excludes cscore and the halsim wrappers for at this time. NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.
This commit is contained in:
PJ Reiniger
250
wpilibc/src/main/python/wpilib/_impl/start.py
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250
wpilibc/src/main/python/wpilib/_impl/start.py
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import hal
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import wpilib
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import logging
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import os.path
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import sys
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import threading
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import time
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import typing
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import importlib.metadata
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if sys.version_info < (3, 10):
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def entry_points(group):
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eps = importlib.metadata.entry_points()
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return eps.get(group, [])
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else:
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entry_points = importlib.metadata.entry_points
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from .report_error import reportError, reportErrorInternal
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def _log_versions(robotpy_version: typing.Optional[str]):
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import wpilib
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import wpilib.deployinfo
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import logging
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data = wpilib.deployinfo.getDeployData()
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if data:
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logger = logging.getLogger("deploy-info")
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logger.info(
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"%s@%s at %s",
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data.get("deploy-user", "<unknown>"),
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data.get("deploy-host", "<unknown>"),
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data.get("deploy-date", "<unknown>"),
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)
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if "git-hash" in data:
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logger.info(
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"- git info: %s (branch=%s)",
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data.get("git-desc", "<unknown>"),
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data.get("git-branch", "<unknown>"),
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)
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logger = logging.getLogger("wpilib")
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if robotpy_version:
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logger.info("RobotPy version %s", robotpy_version)
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logger.info("WPILib version %s", wpilib.__version__)
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if wpilib.RobotBase.isSimulation():
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logger.info("Running with simulated HAL.")
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# check to see if we're on a RoboRIO
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# NOTE: may have false positives, but it should work well enough
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if os.path.exists("/etc/natinst/share/scs_imagemetadata.ini"):
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logger.warning(
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"Running simulation HAL on actual roboRIO! This probably isn't what you want, and will probably cause difficult-to-debug issues!"
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)
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if logger.isEnabledFor(logging.DEBUG):
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versions = {}
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# Log third party versions
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for group in ("robotpylib", "robotpybuild"):
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for entry_point in entry_points(group=group):
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# Don't actually load the entry points -- just print the
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# packages unless we need to load them
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dist = entry_point.dist
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versions[dist.name] = dist.version
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for k, v in versions.items():
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if k != "wpilib":
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logger.debug("%s version %s", k, v)
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class Main:
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"""
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Executes the robot code using the currently installed HAL (this is probably not what you want unless you're on the roboRIO)
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"""
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def __init__(self, parser):
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pass
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def run(self, options, robot_class, **static_options):
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return robot_class.main(robot_class)
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class RobotStarter:
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def __init__(self):
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self.logger = logging.getLogger("robotpy")
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self.robot = None
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self.suppressExitWarning = False
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self._robotpy_version = None
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@property
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def robotpy_version(self) -> typing.Optional[str]:
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if not self._robotpy_version:
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try:
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pkg = importlib.metadata.metadata("robotpy")
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except importlib.metadata.PackageNotFoundError:
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pass
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else:
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self._robotpy_version = pkg.get("Version", None)
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return self._robotpy_version
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def run(self, robot_cls: wpilib.RobotBase) -> bool:
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_log_versions(self.robotpy_version)
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retval = False
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if hal.hasMain():
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rval = [False]
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def _start():
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try:
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rval[0] = self.start(robot_cls)
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finally:
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hal.exitMain()
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th = threading.Thread(target=_start, name="RobotThread", daemon=True)
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th.start()
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try:
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hal.runMain()
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except KeyboardInterrupt:
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self.logger.exception(
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"THIS IS NOT AN ERROR: The user hit CTRL-C to kill the robot"
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)
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self.logger.info("Exiting because of keyboard interrupt")
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self.suppressExitWarning = True
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robot = self.robot
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if robot:
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try:
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robot.endCompetition()
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except:
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self.logger.warning("endCompetition raised an exception")
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th.join(1)
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if th.is_alive():
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self.logger.warning("robot thread didn't die, crash may occur next!")
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retval = rval[0]
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else:
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retval = self.start(robot_cls)
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from wpilib import RobotBase
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if RobotBase.isSimulation():
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import wpilib.simulation
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wpilib.simulation._simulation._resetMotorSafety()
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return retval
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def start(self, robot_cls: wpilib.RobotBase) -> bool:
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try:
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return self._start(robot_cls)
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except:
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reportErrorInternal(
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"The robot program quit unexpectedly. This is usually due to a code error.\n"
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"The above stacktrace can help determine where the error occurred.\n",
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True,
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)
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return False
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def _start(self, robot_cls: wpilib.RobotBase) -> bool:
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hal.reportUsage("Language", "Python")
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if not wpilib.Notifier.setHALThreadPriority(True, 40):
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reportErrorInternal(
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"Setting HAL Notifier RT priority to 40 failed", isWarning=True
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)
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isSimulation = wpilib.RobotBase.isSimulation()
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# hack: initialize networktables before creating the robot
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# class, otherwise our logger doesn't get created
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import ntcore
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inst = ntcore.NetworkTableInstance.getDefault()
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# subscribe to "" to force persistent values to progagate to local
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msub = ntcore.MultiSubscriber(inst, [""])
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if not isSimulation:
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inst.startServer("/home/systemcore/networktables.ini")
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else:
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inst.startServer()
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# wait for the NT server to actually start
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for i in range(100):
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if (
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inst.getNetworkMode()
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& ntcore.NetworkTableInstance.NetworkMode.kNetModeStarting
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) == 0:
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break
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# real sleep since we're waiting for the server, not simulated sleep
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time.sleep(0.010)
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else:
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reportErrorInternal(
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"timed out while waiting for NT server to start", isWarning=True
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)
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wpilib.SmartDashboard.init()
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# Call DriverStation.refreshData() to kick things off
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wpilib.DriverStation.refreshData()
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try:
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self.robot = robot_cls()
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except:
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reportError(
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f"Unhandled exception instantiating robot {robot_cls.__name__}", True
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)
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reportErrorInternal(f"Could not instantiate robot {robot_cls.__name__}!")
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raise
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# TODO: Add a check to see if the user forgot to call super().__init__()
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# if not hasattr(robot, "_RobotBase__initialized"):
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# logger.error(
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# "If your robot class has an __init__ function, it must call super().__init__()!"
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# )
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# return False
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try:
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self.robot.startCompetition()
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except KeyboardInterrupt:
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self.robot = None
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self.logger.exception(
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"THIS IS NOT AN ERROR: The user hit CTRL-C to kill the robot"
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)
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self.logger.info("Exiting because of keyboard interrupt")
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return True
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except:
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self.robot = None
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reportError("Unhandled exception", True)
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raise
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else:
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self.robot = None
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if self.suppressExitWarning:
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self.logger.info("Robot code exited")
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return True
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else:
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# startCompetition never returns unless exception occurs....
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reportError("Unexpected return from startCompetition() method.", False)
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return False
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