Merge pull request #192 from robotpy/rm-exec

Minimal 2022 upgrades

.github/workflows/dist.yml

@@ -10,70 +10,13 @@ on:
     - '*'
 
 jobs:
-  check:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v2
-    - uses: psf/black@stable
-
-  #
-  # Test wheels
-  #
-
-  # test:
-  #   runs-on: ${{ matrix.os }}
-  #   strategy:
-  #     matrix:
-  #       os: [windows-latest, macos-latest, ubuntu-18.04]
-  #       python_version: [3.6, 3.7, 3.8, 3.9]
-  #       architecture: [x86, x64]
-  #       exclude:
-  #       - os: macos-latest
-  #         architecture: x86
-  #       - os: ubuntu-18.04
-  #         architecture: x86
-
-  #   steps:
-  #   - uses: actions/checkout@v2
-  #   - uses: actions/setup-python@v2
-  #     with:
-  #       python-version: ${{ matrix.python_version }}
-  #       architecture: ${{ matrix.architecture }}
-
-  #   - uses: robotpy/build-actions/build-wheel@v2021
-  #   # - uses: robotpy/build-actions/test-native-wheel@v2021
-
-  #   - uses: robotpy/build-actions/validate-sphinx@v2021
-  #     if: ${{ matrix.python_version == '3.7' && matrix.os == 'ubuntu-18.04' }}
-
-
-  publish-pypi:
-    runs-on: ubuntu-latest
-    needs: [check]
-    if: github.event_name == 'push' && startsWith(github.event.ref, 'refs/tags')
-
-    steps:
-    - uses: actions/checkout@v2
-
-    - uses: actions/setup-python@v2
-      with:
-        python-version: 3.8
-    - run: pip install wheel
-
-    - name: Build packages
-      run: python setup.py sdist bdist_wheel
-    - name: Publish to PyPI
-      uses: pypa/gh-action-pypi-publish@master
-      with:
-        user: __token__
-        password: ${{ secrets.pypi_password }}
-
-  ping:
-    runs-on: ubuntu-latest
-    needs: [publish-pypi]
-    if: github.event_name == 'push' && startsWith(github.event.ref, 'refs/tags')
-
-    steps:
-    - uses: robotpy/build-actions/ping-meta@v2021
-      with:
-        token: ${{ secrets.REPO_ACCESS_TOKEN }}
+  ci:
+    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2022
+    with:
+      enable_sphinx_check: false
+    secrets:
+      SSH_USER: ${{ secrets.SSH_USER }}
+      SSH_KEY: ${{ secrets.SSH_KEY }}
+      SSH_PASSPHRASE: ${{ secrets.SSH_PASSPHRASE }}
+      META_REPO_ACCESS_TOKEN: ${{ secrets.REPO_ACCESS_TOKEN }}
+      PYPI_API_TOKEN: ${{ secrets.PYPI_PASSWORD }}

pyfrc/mains/cli_deploy.py

@@ -281,25 +281,47 @@ def _check_requirements(
                 )
                 return False
 
-        # does startup dlls need to be fixed
-        with wrap_ssh_error("checking StartupDLLs"):
+        # See if there's any roboRIO settings we need to adjust
+        with wrap_ssh_error("checking on-robot settings"):
             result = ssh.exec_cmd(
                 "grep ^StartupDLLs /etc/natinst/share/ni-rt.ini",
                 get_output=True,
             )
             assert result.stdout is not None
-            if result.stdout.strip() != "":
-                self._fix_startupdlls(ssh)
+            fix_startupdlls = result.stdout.strip() != ""
+
+            result = ssh.exec_cmd(
+                'grep \\"exec /usr/local/frc/bin/frcRunRobot.sh',
+                get_output=True,
+            )
+            assert result.stdout is not None
+            fix_runrobot = result.stdout.strip() != ""
+
+        if fix_runrobot or fix_startupdlls:
+            with wrap_ssh_error("Applying patches to roborio"):
+                self._apply_admin_fixes(ssh, fix_startupdlls, fix_runrobot)
 
         return True
 
-    def _fix_startupdlls(self, lvuser_ssh: sshcontroller.SshController):
+    def _apply_admin_fixes(
+        self,
+        lvuser_ssh: sshcontroller.SshController,
+        fix_startupdlls: bool,
+        fix_runrobot: bool,
+    ):
         # requires admin-level access to fix, so create a new ssh controller
         ssh = sshcontroller.SshController(lvuser_ssh.hostname, "admin", "")
         with ssh:
-            ssh.exec_cmd(
-                'sed -i -e "s/^StartupDLLs/;StartupDLLs/" /etc/natinst/share/ni-rt.ini'
-            )
+            if fix_startupdlls:
+                # Frees up memory on the RIO
+                ssh.exec_cmd(
+                    'sed -i -e "s/^StartupDLLs/;StartupDLLs/" /etc/natinst/share/ni-rt.ini'
+                )
+            if fix_runrobot:
+                # GradleRIO does this, so we do too
+                ssh.exec_cmd(
+                    "sed -i -e 's/\\\"exec /\\\"/' /usr/local/frc/bin/frcRunRobot.sh"
+                )
 
     def _do_deploy(
         self,

pyfrc/mains/cli_sim.py

@@ -1,3 +1,4 @@
+import os
 from os.path import abspath, dirname
 import argparse
 import inspect
@@ -56,6 +57,9 @@ def run(self, options, robot_class, **static_options):
             else:
                 halsim_gui.loadExtension()
 
+        # Some extensions (gui) changes the current directory
+        cwd = os.getcwd()
+
         for name, module in self.simexts.items():
             if getattr(options, name.replace("-", "_"), False):
                 try:
@@ -64,6 +68,8 @@ def run(self, options, robot_class, **static_options):
                     print(f"Error loading {name}!")
                     raise
 
+        os.chdir(cwd)
+
         # initialize physics, attach to the user robot class
         from ..physics.core import PhysicsInterface, PhysicsInitException
 

pyfrc/physics/drivetrains.py

@@ -53,9 +53,9 @@ def update_sim(self, now, tm_diff):
 
 from .units import units, Helpers
 
-from wpilib.geometry import Translation2d
+from wpimath.geometry import Translation2d
 
-from wpilib.kinematics import (
+from wpimath.kinematics import (
     ChassisSpeeds,
     DifferentialDriveKinematics,
     DifferentialDriveWheelSpeeds,

pyfrc/physics/tankmodel.py

@@ -15,7 +15,7 @@
 import math
 import typing
 
-from wpilib.geometry import Transform2d
+from wpimath.geometry import Transform2d
 
 from .motor_cfgs import MotorModelConfig
 from .units import units, Helpers

setup.cfg

@@ -32,14 +32,14 @@ install_requires =
     pint>=0.11.0
     importlib-metadata; python_version < '3.8'
 
-    robotpy-wpiutil>=2021,<2022
-    pyntcore>=2021,<2022
-    robotpy-hal>=2021,<2022
-    wpilib>=2021,<2022
+    robotpy-wpiutil>=2022,<2023
+    pyntcore>=2022,<2023
+    robotpy-hal>=2022,<2023
+    wpilib>=2022,<2023
 
-    robotpy-installer>=2021,<2022
+    robotpy-installer>=2022,<2023
 setup_requires =
-    setuptools_scm == 5.0.*
+    setuptools_scm > 6
 python_requires = >=3.6
 
 [options.entry_points]

tests/requirements.txt

@@ -0,0 +1 @@
+pytest

tests/run_tests.py

@@ -0,0 +1,13 @@
+#!/usr/bin/env python3
+
+import os
+from os.path import abspath, dirname
+import sys
+import subprocess
+
+if __name__ == "__main__":
+
+    root = abspath(dirname(__file__))
+    os.chdir(root)
+
+    subprocess.check_call([sys.executable, "-m", "pytest", "-vv"])