Merge pull request #19 from robotpy/fix-sendable-chooser-gil

Switch SendableChooser to rpy::gilsafe_object
robotpy · Nov 5, 2023 · 2c981d8 · 2c981d8
2 parents 4aa377e + fa44c26
commit 2c981d8
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Showing 16 changed files with 108 additions and 18 deletions.
diff --git a/rdev.toml b/rdev.toml
@@ -13,7 +13,7 @@ exclude_artifacts = [
     "opencv-cpp"
 ]
 
-robotpy_build_req = "<2025.0.0,~=2024.0.0b2"
+robotpy_build_req = "<2025.0.0,~=2024.0.0b3"
 
 #
 # Subproject configuration

diff --git a/subprojects/pyntcore/pyproject.toml b/subprojects/pyntcore/pyproject.toml
@@ -12,7 +12,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     "robotpy-wpinet~=2024.0.0b2",
 ]

diff --git a/subprojects/robotpy-apriltag/gen/AprilTagDetector.yml b/subprojects/robotpy-apriltag/gen/AprilTagDetector.yml
@@ -49,7 +49,7 @@ classes:
         py::object py_result = py::cast(c_result);
         auto len = c_result->size();
         auto get = py_result.attr("get");
-        py::List<AprilTagDetection> l(len);
+        py::typing::List<AprilTagDetection> l(len);
         for (size_t i = 0; i < len; i++) {
           l[i] = get(i);
         }

diff --git a/subprojects/robotpy-apriltag/pyproject.toml b/subprojects/robotpy-apriltag/pyproject.toml
@@ -12,7 +12,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     "robotpy-wpimath~=2024.0.0b2",
 ]

diff --git a/subprojects/robotpy-cscore/pyproject.toml b/subprojects/robotpy-cscore/pyproject.toml
@@ -13,7 +13,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     "robotpy-wpinet~=2024.0.0b2",
     "pyntcore~=2024.0.0b2",

diff --git a/subprojects/robotpy-hal/pyproject.toml b/subprojects/robotpy-hal/pyproject.toml
@@ -11,7 +11,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
 ]
 

diff --git a/subprojects/robotpy-halsim-ds-socket/pyproject.toml b/subprojects/robotpy-halsim-ds-socket/pyproject.toml
@@ -15,7 +15,7 @@ robotpysimext = ["ds-socket = halsim_ds_socket"]
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-hal~=2024.0.0b2",
     "robotpy-wpinet~=2024.0.0b2",
 ]

diff --git a/subprojects/robotpy-halsim-gui/pyproject.toml b/subprojects/robotpy-halsim-gui/pyproject.toml
@@ -14,7 +14,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     "robotpy-wpimath~=2024.0.0b2",
     "robotpy-hal~=2024.0.0b2",

diff --git a/subprojects/robotpy-halsim-ws/pyproject.toml b/subprojects/robotpy-halsim-ws/pyproject.toml
@@ -19,7 +19,7 @@ robotpysimext = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-hal~=2024.0.0b2",
     "robotpy-wpinet~=2024.0.0b2",
 ]

diff --git a/subprojects/robotpy-wpilib/gen/SendableChooser.yml b/subprojects/robotpy-wpilib/gen/SendableChooser.yml
@@ -1,5 +1,8 @@
 ---
 
+extra_includes:
+- gilsafe_object.h
+
 classes:
   SendableChooser:
     shared_ptr: true
@@ -9,10 +12,6 @@ classes:
       SendableChooser:
       AddOption:
       SetDefaultOption:
-      AddObject:
-        ignore: true
-      AddDefault:
-        ignore: true
       GetSelected:
         # weirdness because return type
         cpp_code: |
@@ -24,10 +23,23 @@ classes:
             return v;
           }
       OnChange:
+        # more weirdness
+        cpp_code: |
+          [](frc::SendableChooser<T> *self, std::function<void(T)> fn) {
+            self->OnChange([fn](T v) {
+              py::gil_scoped_acquire lock;
+              if (v) {
+                fn(v);
+              } else {
+                fn(py::none());
+              }
+            });
+          }
+
       InitSendable:
 
 templates:
   SendableChooser:
     qualname: frc::SendableChooser
     params:
-    - py::object
+    - rpy::gilsafe_object
diff --git a/subprojects/robotpy-wpilib/pyproject.toml b/subprojects/robotpy-wpilib/pyproject.toml
@@ -17,7 +17,7 @@ robotpy = ["run = wpilib._impl.start:Main"]
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     "robotpy-wpimath~=2024.0.0b2",
     "robotpy-hal~=2024.0.0b2",

diff --git a/subprojects/robotpy-wpilib/tests/conftest.py b/subprojects/robotpy-wpilib/tests/conftest.py
@@ -0,0 +1,23 @@
+import logging
+
+import pytest
+import ntcore
+import wpilib
+
+
+@pytest.fixture
+def cfg_logging(caplog):
+    caplog.set_level(logging.INFO)
+
+
+@pytest.fixture(scope="function")
+def nt(cfg_logging):
+    instance = ntcore.NetworkTableInstance.getDefault()
+    instance.startLocal()
+
+    try:
+        yield instance
+    finally:
+        instance.stopLocal()
+        instance._reset()
+        wpilib._wpilib._clearSmartDashboardData()
diff --git a/subprojects/robotpy-wpilib/tests/test_sendable_chooser.py b/subprojects/robotpy-wpilib/tests/test_sendable_chooser.py
@@ -0,0 +1,55 @@
+import pytest
+
+from ntcore import NetworkTableInstance
+from wpilib import SendableChooser, SmartDashboard
+
+
+@pytest.fixture
+def chooser() -> SendableChooser:
+    chooser = SendableChooser()
+    for i in range(1, 4):
+        chooser.addOption(str(i), i)
+    return chooser
+
+
+@pytest.mark.parametrize("value", [0, 1, 2, 3])
+def test_returns_selected(
+    nt: NetworkTableInstance, chooser: SendableChooser, value: int
+):
+    chooser.setDefaultOption("0", 0)
+
+    with nt.getStringTopic(
+        "/SmartDashboard/ReturnsSelectedChooser/selected"
+    ).publish() as pub:
+        SmartDashboard.putData("ReturnsSelectedChooser", chooser)
+        SmartDashboard.updateValues()
+        print("set", value)
+        pub.set(str(value))
+        SmartDashboard.updateValues()
+        print("get", chooser.getSelected())
+        assert value == chooser.getSelected()
+
+
+def test_default_is_returned_on_no_select(chooser: SendableChooser):
+    chooser.setDefaultOption("4", 4)
+    assert 4 == chooser.getSelected()
+
+
+def test_default_constructable_is_returned_on_no_select_and_no_default(
+    chooser: SendableChooser,
+):
+    assert chooser.getSelected() is None
+
+
+def test_change_listener(nt: NetworkTableInstance, chooser: SendableChooser):
+    current_val = [0]
+
+    def on_change(val):
+        current_val[0] = val
+
+    chooser.onChange(on_change)
+    SmartDashboard.putData("ChangeListenerChooser", chooser)
+    SmartDashboard.updateValues()
+    SmartDashboard.putString("ChangeListenerChooser/selected", "3")
+    SmartDashboard.updateValues()
+    assert 3 == current_val[0]
diff --git a/subprojects/robotpy-wpimath/pyproject.toml b/subprojects/robotpy-wpimath/pyproject.toml
@@ -11,7 +11,7 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
     # "numpy", # broken in raspbian CI
 ]

diff --git a/subprojects/robotpy-wpinet/pyproject.toml b/subprojects/robotpy-wpinet/pyproject.toml
@@ -36,6 +36,6 @@ install_requires = [
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
     "robotpy-wpiutil~=2024.0.0b2",
 ]
diff --git a/subprojects/robotpy-wpiutil/pyproject.toml b/subprojects/robotpy-wpiutil/pyproject.toml
@@ -9,7 +9,7 @@ install_requires = []
 
 [build-system]
 requires = [
-    "robotpy-build<2025.0.0,~=2024.0.0b2",
+    "robotpy-build<2025.0.0,~=2024.0.0b3",
 ]
 
 [tool.robotpy-build]