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Remove wpilib.run #53

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Jan 5, 2024
Merged

Remove wpilib.run #53

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4 changes: 2 additions & 2 deletions subprojects/robotpy-halsim-ds-socket/README.md
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Expand Up @@ -10,9 +10,9 @@ Usage
First, install pyfrc. Then run your robot with the 'sim' argument and --ds-socket flag:

# Windows
py -3 ./robot.py sim --ds-socket
py -3 -m robotpy sim --ds-socket

# Linux/OSX
python3 robot.py sim --ds-socket
python3 -m robotpy sim --ds-socket

WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/
4 changes: 2 additions & 2 deletions subprojects/robotpy-halsim-gui/README.md
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Expand Up @@ -10,9 +10,9 @@ Usage
First, install pyfrc. Then run your robot with the 'sim' argument:

# Windows
py -3 ./robot.py sim
py -3 -m robotpy sim

# Linux/OSX
python3 robot.py sim
python3 -m robotpy sim

WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/simulation-gui.html
8 changes: 4 additions & 4 deletions subprojects/robotpy-halsim-ws/README.md
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Expand Up @@ -9,11 +9,11 @@ Usage
First, install pyfrc. Then run your robot with the 'sim' argument and --ws-server or --ws-client flag:

# Windows
py -3 ./robot.py sim --ws-server
py -3 ./robot.py sim --ws-client
py -3 -m robotpy sim --ws-server
py -3 -m robotpy sim --ws-client

# Linux/OSX
python3 robot.py sim --ws-server
python3 robot.py sim --ws-client
python3 -m robotpy sim --ws-server
python3 -m robotpy sim --ws-client

WPILib's documentation for using the simulator can be found at http://docs.wpilib.org/en/latest/docs/software/wpilib-tools/robot-simulation/
65 changes: 0 additions & 65 deletions subprojects/robotpy-wpilib/wpilib/_impl/logconfig.py
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225 changes: 8 additions & 217 deletions subprojects/robotpy-wpilib/wpilib/_impl/main.py
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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

from .logconfig import configure_logging

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 _log_versions():
import wpilib
import wpilib.deployinfo

import logging

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>"),
)

logger = logging.getLogger("wpilib")

try:
import robotpy.version
except ImportError:
robotpy_version = None
else:
logger.info("RobotPy version %s", robotpy.version.__version__)

logger.info("WPILib version %s", wpilib.__version__)

if wpilib.RobotBase.isSimulation():
logger.info("Running with simulated HAL.")

# 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

for k, v in versions.items():
if k != "wpilib":
logger.debug("%s version %s", k, v)


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

logger = logging.getLogger("faulthandler")

try:
# These should work on all platforms
import faulthandler

faulthandler.enable()
except Exception as e:
logger.warn("Could not enable faulthandler: %s", e)
return

try:
import signal

faulthandler.register(signal.SIGUSR2)
logger.info("registered SIGUSR2 for PID %s", os.getpid())
except Exception:
return


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,
)

def __call__(self, parser, namespace, values, option_string=None):
parser.print_help()
parser.exit(1) # argparse uses an exit code of zero by default


argparse._HelpAction = _CustomHelpAction


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)

parser = argparse.ArgumentParser()
subparser = parser.add_subparsers(dest="command", help="commands")
subparser.required = True

parser.add_argument(
"-v",
"--verbose",
action="store_true",
default=False,
help="Enable debug logging",
)

parser.add_argument(
"--ignore-plugin-errors",
action="store_true",
default=False,
help="Ignore errors caused by RobotPy plugins (probably should fix or replace instead!)",
)

has_cmd = False

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

cmdparser = subparser.add_parser(
entry_point.name, help=inspect.getdoc(cmd_class)
)
obj = cmd_class(cmdparser)
cmdparser.set_defaults(cmdobj=obj)
has_cmd = True

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)

options = parser.parse_args()

configure_logging(options.verbose)

_log_versions()
_enable_faulthandler()

retval = options.cmdobj.run(options, robot_class, **kwargs)

if retval is None:
retval = 0
elif retval is True:
retval = 0
elif retval is False:
retval = 1

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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