[copybara] mostrobotpy to allwpilib (#8545)

Project import generated by Copybara.
GitOrigin-RevId: f10284b37498bb6a088891ca41f160793ec7fd90

romiVendordep/src/main/python/romi/cli.py

@@ -0,0 +1,121 @@
+import argparse
+import importlib.metadata
+import os
+import sys
+import typing
+
+import wpilib
+
+
+if sys.version_info < (3, 10):
+
+    def entry_points(group):
+        eps = importlib.metadata.entry_points()
+        return eps.get(group, [])
+
+else:
+    entry_points = importlib.metadata.entry_points
+
+
+def _int_env_default(name: str, fallback: int) -> int:
+    value = os.environ.get(name)
+    if value is None:
+        return fallback
+    try:
+        return int(value)
+    except ValueError:
+        return fallback
+
+
+class RunRomi:
+    """
+    Runs the robot using the HAL simulator connected to a ROMI
+    """
+
+    def __init__(self, parser: argparse.ArgumentParser):
+        parser.add_argument(
+            "--nogui",
+            default=False,
+            action="store_true",
+            help="Don't use the WPILib simulation gui",
+        )
+
+        sim_group = parser.add_argument_group("Additional simulation extensions")
+        self.simexts = {}
+
+        for entry_point in entry_points(group="robotpy_sim.2027"):
+            try:
+                sim_ext_module = entry_point.load()
+            except ImportError:
+                print(f"WARNING: Error detected in {entry_point}")
+                continue
+
+            self.simexts[entry_point.name] = sim_ext_module
+
+            try:
+                if entry_point.name == "ws-client":
+                    cmd_help = argparse.SUPPRESS
+                else:
+                    cmd_help = importlib.metadata.metadata(entry_point.dist.name)[
+                        "summary"
+                    ]
+            except AttributeError:
+                cmd_help = "Load specified simulation extension"
+            sim_group.add_argument(
+                f"--{entry_point.name}",
+                default=False,
+                action="store_true",
+                help=cmd_help,
+            )
+
+        parser.add_argument(
+            "--host",
+            default=os.environ.get("HALSIMWS_HOST", "10.0.0.2"),
+            help="ROMI websocket host (default: HALSIMWS_HOST or 10.0.0.2)",
+        )
+        parser.add_argument(
+            "--port",
+            type=int,
+            default=_int_env_default("HALSIMWS_PORT", 3300),
+            help="ROMI websocket port (default: HALSIMWS_PORT or 3300)",
+        )
+
+    def run(
+        self,
+        options: argparse.Namespace,
+        project_path: "os.PathLike[str]",
+        robot_class: typing.Type[wpilib.RobotBase],
+    ):
+        if "ws-client" not in self.simexts:
+            print(
+                "ws-client HALSim extension is missing. Reinstall robotpy-halsim-ws to use run-romi",
+                file=sys.stderr,
+            )
+            return False
+
+        os.environ["HALSIMWS_HOST"] = options.host
+        os.environ["HALSIMWS_PORT"] = str(options.port)
+
+        options.ws_client = True
+
+        if not options.nogui:
+            try:
+                import halsim_gui
+            except ImportError:
+                print("robotpy-halsim-gui is not installed!", file=sys.stderr)
+                return False
+            else:
+                halsim_gui.loadExtension()
+
+        cwd = os.getcwd()
+
+        for name, module in self.simexts.items():
+            if getattr(options, name.replace("-", "_"), False):
+                try:
+                    module.loadExtension()
+                except Exception:
+                    print(f"Error loading {name}!", file=sys.stderr)
+                    raise
+
+        os.chdir(cwd)
+        return robot_class.main(robot_class)