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- Corresponding logic will be moved to robotpy-meta - __main__ will no longer be the user's robot code, but I don't think anything uses that? - Fixes #51
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,227 +1,18 @@ | ||
| # novalidate | ||
|
|
||
| import argparse | ||
| import inspect | ||
| import os | ||
| import sys | ||
|
|
||
| from os.path import exists | ||
| import importlib.metadata | ||
|
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| from .logconfig import configure_logging | ||
|
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| if sys.version_info < (3, 10): | ||
|
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| def entry_points(group): | ||
| eps = importlib.metadata.entry_points() | ||
| return eps.get(group) | ||
|
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| else: | ||
| entry_points = importlib.metadata.entry_points | ||
|
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|
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| def _log_versions(): | ||
| import wpilib | ||
| import wpilib.deployinfo | ||
|
|
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| import logging | ||
|
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| data = wpilib.deployinfo.getDeployData() | ||
| if data: | ||
| logger = logging.getLogger("deploy-info") | ||
| logger.info( | ||
| "%s@%s at %s", | ||
| data.get("deploy-user", "<unknown>"), | ||
| data.get("deploy-host", "<unknown>"), | ||
| data.get("deploy-date", "<unknown>"), | ||
| ) | ||
| if "git-hash" in data: | ||
| logger.info( | ||
| "- git info: %s (branch=%s)", | ||
| data.get("git-desc", "<unknown>"), | ||
| data.get("git-branch", "<unknown>"), | ||
| ) | ||
|
|
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| logger = logging.getLogger("wpilib") | ||
|
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| try: | ||
| import robotpy.version | ||
| except ImportError: | ||
| robotpy_version = None | ||
| else: | ||
| logger.info("RobotPy version %s", robotpy.version.__version__) | ||
|
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| logger.info("WPILib version %s", wpilib.__version__) | ||
|
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| if wpilib.RobotBase.isSimulation(): | ||
| logger.info("Running with simulated HAL.") | ||
|
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||
| # check to see if we're on a RoboRIO | ||
| # NOTE: may have false positives, but it should work well enough | ||
| if exists("/etc/natinst/share/scs_imagemetadata.ini"): | ||
| logger.warning( | ||
| "Running simulation HAL on actual roboRIO! This probably isn't what you want, and will probably cause difficult-to-debug issues!" | ||
| ) | ||
|
|
||
| if logger.isEnabledFor(logging.DEBUG): | ||
| versions = {} | ||
|
|
||
| # Log third party versions | ||
| for group in ("robotpylib", "robotpybuild"): | ||
| for entry_point in entry_points(group=group): | ||
| # Don't actually load the entry points -- just print the | ||
| # packages unless we need to load them | ||
| dist = entry_point.dist | ||
| versions[dist.name] = dist.version | ||
|
|
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| for k, v in versions.items(): | ||
| if k != "wpilib": | ||
| logger.debug("%s version %s", k, v) | ||
|
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|
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| def _enable_faulthandler(): | ||
| # | ||
| # In the event of a segfault, faulthandler will dump the currently | ||
| # active stack so you can figure out what went wrong. | ||
| # | ||
| # Additionally, on non-Windows platforms we register a SIGUSR2 | ||
| # handler -- if you send the robot process a SIGUSR2, then | ||
| # faulthandler will dump all of your current stacks. This can | ||
| # be really useful for figuring out things like deadlocks. | ||
| # | ||
|
|
||
| import logging | ||
|
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| logger = logging.getLogger("faulthandler") | ||
|
|
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| try: | ||
| # These should work on all platforms | ||
| import faulthandler | ||
|
|
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| faulthandler.enable() | ||
| except Exception as e: | ||
| logger.warn("Could not enable faulthandler: %s", e) | ||
| return | ||
|
|
||
| try: | ||
| import signal | ||
|
|
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| faulthandler.register(signal.SIGUSR2) | ||
| logger.info("registered SIGUSR2 for PID %s", os.getpid()) | ||
| except Exception: | ||
| return | ||
|
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||
|
|
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| class _CustomHelpAction(argparse.Action): | ||
| def __init__( | ||
| self, | ||
| option_strings, | ||
| dest=argparse.SUPPRESS, | ||
| default=argparse.SUPPRESS, | ||
| help=None, | ||
| ): | ||
| super(_CustomHelpAction, self).__init__( | ||
| option_strings=option_strings, | ||
| dest=dest, | ||
| default=default, | ||
| nargs=0, | ||
| help=help, | ||
| ) | ||
|
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| def __call__(self, parser, namespace, values, option_string=None): | ||
| parser.print_help() | ||
| parser.exit(1) # argparse uses an exit code of zero by default | ||
|
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|
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| argparse._HelpAction = _CustomHelpAction | ||
|
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|
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| def run(robot_class, **kwargs): | ||
| """ | ||
| This function gets called in robot.py like so:: | ||
| if __name__ == '__main__': | ||
| wpilib.run(MyRobot) | ||
| ``wpilib.run`` is no longer used. You should run your robot code via one of | ||
| the following methods instead: | ||
| This function loads available entry points, parses arguments, and | ||
| sets things up specific to RobotPy so that the robot can run. This | ||
| function is used whether the code is running on the roboRIO or | ||
| a simulation. | ||
| * Windows: ``py -m robotpy [arguments]`` | ||
| * Linux/macOS: ``python -m robotpy [arguments]`` | ||
| :param robot_class: A class that inherits from :class:`.RobotBase` | ||
| :param kwargs: Keyword arguments that will be passed to the executed entry points | ||
| :returns: This function should never return | ||
| In a virtualenv the ``robotpy`` command can be used directly. | ||
| """ | ||
|
|
||
| # sanity check | ||
| if not hasattr(robot_class, "main"): | ||
| print( | ||
| "ERROR: run() must be passed a robot class that inherits from RobotBase (or IterativeBase/SampleBase)" | ||
| ) | ||
| exit(1) | ||
|
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| parser = argparse.ArgumentParser() | ||
| subparser = parser.add_subparsers(dest="command", help="commands") | ||
| subparser.required = True | ||
|
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| parser.add_argument( | ||
| "-v", | ||
| "--verbose", | ||
| action="store_true", | ||
| default=False, | ||
| help="Enable debug logging", | ||
| ) | ||
|
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| parser.add_argument( | ||
| "--ignore-plugin-errors", | ||
| action="store_true", | ||
| default=False, | ||
| help="Ignore errors caused by RobotPy plugins (probably should fix or replace instead!)", | ||
| ) | ||
|
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| has_cmd = False | ||
|
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| for entry_point in entry_points(group="robotpy"): | ||
| try: | ||
| cmd_class = entry_point.load() | ||
| except ImportError: | ||
| if "--ignore-plugin-errors" in sys.argv: | ||
| print("WARNING: Ignoring error in '%s'" % entry_point) | ||
| continue | ||
| else: | ||
| print( | ||
| "Plugin error detected in '%s' (use --ignore-plugin-errors to ignore this)" | ||
| % entry_point | ||
| ) | ||
| raise | ||
|
|
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| cmdparser = subparser.add_parser( | ||
| entry_point.name, help=inspect.getdoc(cmd_class) | ||
| ) | ||
| obj = cmd_class(cmdparser) | ||
| cmdparser.set_defaults(cmdobj=obj) | ||
| has_cmd = True | ||
|
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| if not has_cmd: | ||
| parser.error( | ||
| "No entry points defined -- robot code can't do anything. Install packages to add entry points (see README)" | ||
| ) | ||
| exit(1) | ||
|
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| options = parser.parse_args() | ||
|
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| configure_logging(options.verbose) | ||
|
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| _log_versions() | ||
| _enable_faulthandler() | ||
|
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| retval = options.cmdobj.run(options, robot_class, **kwargs) | ||
|
|
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| if retval is None: | ||
| retval = 0 | ||
| elif retval is True: | ||
| retval = 0 | ||
| elif retval is False: | ||
| retval = 1 | ||
|
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| exit(retval) | ||
| msg = inspect.cleandoc(inspect.getdoc(run) or "`wpilib.run` is no longer used") | ||
| print(msg, file=sys.stderr) | ||
| sys.exit(1) |
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