Merge pull request #184 from robotpy/2022

2022

.github/workflows/dist.yml

@@ -10,71 +10,11 @@ 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/install-pure-build-deps@v2021
-    - 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, test]
-    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
+    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 }}

magicbot/magicrobot.py

@@ -103,18 +103,19 @@ def robotInit(self):
         # Next, create the robot components and wire them together
         self._create_components()
 
+        # cache these
+        self.__is_ds_attached = wpilib.DriverStation.isDSAttached
+        self.__sd_update = wpilib.SmartDashboard.updateValues
+        self.__lv_update = wpilib.LiveWindow.updateValues
+        # self.__sf_update = Shuffleboard.update
+
         self.__nt = NetworkTables.getTable("/robot")
 
         self.__nt_put_is_ds_attached = self.__nt.getEntry("is_ds_attached").setBoolean
         self.__nt_put_mode = self.__nt.getEntry("mode").setString
 
         self.__nt.putBoolean("is_simulation", self.isSimulation())
-        self.__nt_put_is_ds_attached(self.ds.isDSAttached())
-
-        # cache these
-        self.__sd_update = wpilib.SmartDashboard.updateValues
-        self.__lv_update = wpilib.LiveWindow.getInstance().updateValues
-        # self.__sf_update = Shuffleboard.update
+        self.__nt_put_is_ds_attached(self.__is_ds_attached())
 
         self.watchdog = SimpleWatchdog(self.control_loop_wait_time)
 
@@ -290,7 +291,7 @@ def teleopPeriodic(self):
                             set this to True
         """
         # If the FMS is not attached, crash the robot program
-        if not self.ds.isFMSAttached():
+        if not wpilib.DriverStation.isFMSAttached():
             raise
 
         # Otherwise, if the FMS is attached then try to report the error via
@@ -302,7 +303,7 @@ def teleopPeriodic(self):
                 forceReport
                 or (now - self.__last_error_report) > self.error_report_interval
             ):
-                wpilib.DriverStation.reportError("Unexpected exception", True)
+                wpilib.reportError("Unexpected exception", True)
         except:
             pass  # ok, can't do anything here
 
@@ -378,7 +379,7 @@ def autonomous(self) -> None:
         """
 
         self.__nt_put_mode("auto")
-        self.__nt_put_is_ds_attached(self.ds.isDSAttached())
+        self.__nt_put_is_ds_attached(self.__is_ds_attached())
 
         self._on_mode_enable_components()
 
@@ -427,7 +428,7 @@ def _disabled(self) -> None:
 
         with NotifierDelay(self.control_loop_wait_time) as delay:
             while not self.__done and self.isDisabled():
-                if ds_attached != self.ds.isDSAttached():
+                if ds_attached != self.__is_ds_attached():
                     ds_attached = not ds_attached
                     self.__nt_put_is_ds_attached(ds_attached)
 
@@ -463,7 +464,7 @@ def _operatorControl(self) -> None:
         self.__nt_put_mode("teleop")
         # don't need to update this during teleop -- presumably will switch
         # modes when ds is no longer attached
-        self.__nt_put_is_ds_attached(self.ds.isDSAttached())
+        self.__nt_put_is_ds_attached(self.__is_ds_attached())
 
         # initialize things
         self._on_mode_enable_components()
@@ -506,10 +507,9 @@ def _test(self) -> None:
         watchdog.reset()
 
         self.__nt_put_mode("test")
-        self.__nt_put_is_ds_attached(self.ds.isDSAttached())
+        self.__nt_put_is_ds_attached(self.__is_ds_attached())
 
-        lw = wpilib.LiveWindow.getInstance()
-        lw.setEnabled(True)
+        wpilib.LiveWindow.setEnabled(True)
         # Shuffleboard.enableActuatorWidgets()
 
         try:

robotpy_ext/autonomous/selector.py

@@ -78,7 +78,6 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
         :param kwargs: Keyword args to pass to created autonomous modes
         """
 
-        self.ds = wpilib.DriverStation.getInstance()
         self.modes = {}
         self.active_mode = None
 
@@ -112,7 +111,7 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
                 module = importlib.import_module("." + module_name, autonomous_pkgname)
                 # module = imp.load_source('.' + module_name, module_filename)
             except:
-                if not self.ds.isFMSAttached():
+                if not wpilib.DriverStation.isFMSAttached():
                     raise
 
             #
@@ -136,13 +135,13 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
                         instance = obj(*args, **kwargs)
                     except:
 
-                        if not self.ds.isFMSAttached():
+                        if not wpilib.DriverStation.isFMSAttached():
                             raise
                         else:
                             continue
 
                     if mode_name in self.modes:
-                        if not self.ds.isFMSAttached():
+                        if not wpilib.DriverStation.isFMSAttached():
                             raise RuntimeError(
                                 "Duplicate name %s in %s" % (mode_name, module_filename)
                             )
@@ -187,7 +186,7 @@ def __init__(self, autonomous_pkgname, *args, **kwargs):
         if len(default_modes) == 0:
             self.chooser.setDefaultOption("None", None)
         elif len(default_modes) != 1:
-            if not self.ds.isFMSAttached():
+            if not wpilib.DriverStation.isFMSAttached():
                 raise RuntimeError(
                     "More than one autonomous mode was specified as default! (modes: %s)"
                     % (", ".join(default_modes))
@@ -263,9 +262,10 @@ def watchdog_check_expired():
         #
 
         observe = hal.observeUserProgramAutonomous
+        isAutonomousEnabled = wpilib.DriverStation.isAutonomousEnabled
 
         with NotifierDelay(control_loop_wait_time) as delay:
-            while self.ds.isAutonomousEnabled():
+            while isAutonomousEnabled():
                 observe()
                 try:
                     self._on_iteration(timer.get())
@@ -367,5 +367,5 @@ def _on_iteration(self, time_elapsed):
             self.active_mode.on_iteration(time_elapsed)
 
     def _on_exception(self, forceReport=False):
-        if not self.ds.isFMSAttached():
+        if not wpilib.DriverStation.isFMSAttached():
             raise

robotpy_ext/autonomous/stateful_autonomous.py

@@ -396,7 +396,7 @@ def on_enable(self):
 
         # print out the details of this autonomous mode, and any tunables
 
-        self.battery_voltage = wpilib.DriverStation.getInstance().getBatteryVoltage()
+        self.battery_voltage = wpilib.DriverStation.getBatteryVoltage()
         logger.info("Battery voltage: %.02fv", self.battery_voltage)
 
         logger.info("Tunable values:")

setup.cfg

@@ -20,6 +20,7 @@ classifiers =
     Programming Language :: Python :: 3.7
     Programming Language :: Python :: 3.8
     Programming Language :: Python :: 3.9
+    Programming Language :: Python :: 3.10
     Topic :: Software Development
     Topic :: Scientific/Engineering
 
@@ -29,9 +30,9 @@ include_package_data = True
 packages = find:
 install_requires =
     pynetworktables>=2020.0.0
-    wpilib>=2021.1.2.0,<2022.0.0
+    wpilib>=2022.2.1.0,<2023.0.0
 setup_requires =
-    setuptools_scm == 5.0.*
+    setuptools_scm > 6
 python_requires = >=3.6
 
 [options.package_data]