[copybara] mostrobotpy to allwpilib

hal/src/main/python/semiwrap/DriverStationTypes.yml

@@ -13,6 +13,7 @@ enums:
     value_prefix: HAL_kMatchType
   HAL_RobotMode:
     rename: _RobotMode
+    value_prefix: HAL_ROBOTMODE
   RobotMode:
 classes:
   HAL_ControlWord:

hal/src/main/python/semiwrap/Main.yml

@@ -6,4 +6,16 @@ functions:
     ignore: true # TODO
   HAL_HasMain:
   HAL_RunMain:
+    cpp_code: |
+      []() {
+        {
+          py::gil_scoped_release gil;
+          HAL_RunMain();
+        }
+
+        // halsim-gui will set the python error indicator if an exception occurs
+        if (PyErr_Occurred()) {
+          throw py::error_already_set();
+        }
+      }
   HAL_ExitMain:

requirements.txt

@@ -2,6 +2,8 @@ jinja2==3.1.6
 protobuf==5.28.3
 grpcio-tools==1.68.0
 semiwrap==0.2.1
-pytest
+pytest>=3.9
 numpy
 opencv-python~=4.6
+robotpy-cli~=2027.0.0a1
+pytest-reraise

requirements_lock.txt

@@ -326,6 +326,12 @@ pygments==2.19.2 \
 pytest==8.4.1 \
     --hash=sha256:539c70ba6fcead8e78eebbf1115e8b589e7565830d7d006a8723f19ac8a0afb7 \
     --hash=sha256:7c67fd69174877359ed9371ec3af8a3d2b04741818c51e5e99cc1742251fa93c
+    # via
+    #   -r requirements.txt
+    #   pytest-reraise
+pytest-reraise==2.1.2 \
+    --hash=sha256:5ab59bd0e2028be095289e6dfc9e36cc0b56936465278f3223e81bea0f2d1c70 \
+    --hash=sha256:c22430d33b2cc18905959d7af28978e371113fcc6ef67b5fec95efcd80b88c16
     # via -r requirements.txt
 pyyaml==6.0.2 \
     --hash=sha256:01179a4a8559ab5de078078f37e5c1a30d76bb88519906844fd7bdea1b7729ff \
@@ -382,6 +388,10 @@ pyyaml==6.0.2 \
     --hash=sha256:f753120cb8181e736c57ef7636e83f31b9c0d1722c516f7e86cf15b7aa57ff12 \
     --hash=sha256:ff3824dc5261f50c9b0dfb3be22b4567a6f938ccce4587b38952d85fd9e9afe4
     # via semiwrap
+robotpy-cli==2027.0.1b1 \
+    --hash=sha256:5f91f6a2e90f6c55800a7a7205180e2454ca961aaf1ef98ce2b63d76aab67505 \
+    --hash=sha256:f56d8d7444a4aecd4a9c965ef97d4fcf8e951e7ed7a3497f7f8a2635613a5222
+    # via -r requirements.txt
 ruamel-yaml==0.18.14 \
     --hash=sha256:710ff198bb53da66718c7db27eec4fbcc9aa6ca7204e4c1df2f282b6fe5eb6b2 \
     --hash=sha256:7227b76aaec364df15936730efbf7d72b30c0b79b1d578bbb8e3dcb2d81f52b7

requirements_windows_lock.txt

@@ -332,6 +332,12 @@ pygments==2.19.2 \
 pytest==8.4.1 \
     --hash=sha256:539c70ba6fcead8e78eebbf1115e8b589e7565830d7d006a8723f19ac8a0afb7 \
     --hash=sha256:7c67fd69174877359ed9371ec3af8a3d2b04741818c51e5e99cc1742251fa93c
+    # via
+    #   -r requirements.txt
+    #   pytest-reraise
+pytest-reraise==2.1.2 \
+    --hash=sha256:5ab59bd0e2028be095289e6dfc9e36cc0b56936465278f3223e81bea0f2d1c70 \
+    --hash=sha256:c22430d33b2cc18905959d7af28978e371113fcc6ef67b5fec95efcd80b88c16
     # via -r requirements.txt
 pyyaml==6.0.2 \
     --hash=sha256:01179a4a8559ab5de078078f37e5c1a30d76bb88519906844fd7bdea1b7729ff \
@@ -388,6 +394,10 @@ pyyaml==6.0.2 \
     --hash=sha256:f753120cb8181e736c57ef7636e83f31b9c0d1722c516f7e86cf15b7aa57ff12 \
     --hash=sha256:ff3824dc5261f50c9b0dfb3be22b4567a6f938ccce4587b38952d85fd9e9afe4
     # via semiwrap
+robotpy-cli==2027.0.1b1 \
+    --hash=sha256:5f91f6a2e90f6c55800a7a7205180e2454ca961aaf1ef98ce2b63d76aab67505 \
+    --hash=sha256:f56d8d7444a4aecd4a9c965ef97d4fcf8e951e7ed7a3497f7f8a2635613a5222
+    # via -r requirements.txt
 ruamel-yaml==0.18.14 \
     --hash=sha256:710ff198bb53da66718c7db27eec4fbcc9aa6ca7204e4c1df2f282b6fe5eb6b2 \
     --hash=sha256:7227b76aaec364df15936730efbf7d72b30c0b79b1d578bbb8e3dcb2d81f52b7

romiVendordep/src/main/python/pyproject.toml

@@ -20,12 +20,16 @@ authors = [
 license = "BSD-3-Clause"
 dependencies = [
     "robotpy-native-romi==0.0.0",
-    "wpilib==0.0.0"
+    "wpilib==0.0.0",
+    "robotpy-halsim-ws==0.0.0",
 ]
 
 [project.urls]
 "Source code" = "https://github.com/robotpy/mostrobotpy"
 
+[project.entry-points."robotpy_cli.2027"]
+run-romi = "romi.cli:RunRomi"
+
 
 [tool.hatch.build.hooks.robotpy]
 version_file = "romi/version.py"

romiVendordep/src/main/python/romi/cli.py

@@ -0,0 +1,121 @@
+import argparse
+import importlib.metadata
+import os
+import sys
+import typing
+
+import wpilib
+
+
+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 _int_env_default(name: str, fallback: int) -> int:
+    value = os.environ.get(name)
+    if value is None:
+        return fallback
+    try:
+        return int(value)
+    except ValueError:
+        return fallback
+
+
+class RunRomi:
+    """
+    Runs the robot using the HAL simulator connected to a ROMI
+    """
+
+    def __init__(self, parser: argparse.ArgumentParser):
+        parser.add_argument(
+            "--nogui",
+            default=False,
+            action="store_true",
+            help="Don't use the WPILib simulation gui",
+        )
+
+        sim_group = parser.add_argument_group("Additional simulation extensions")
+        self.simexts = {}
+
+        for entry_point in entry_points(group="robotpy_sim.2027"):
+            try:
+                sim_ext_module = entry_point.load()
+            except ImportError:
+                print(f"WARNING: Error detected in {entry_point}")
+                continue
+
+            self.simexts[entry_point.name] = sim_ext_module
+
+            try:
+                if entry_point.name == "ws-client":
+                    cmd_help = argparse.SUPPRESS
+                else:
+                    cmd_help = importlib.metadata.metadata(entry_point.dist.name)[
+                        "summary"
+                    ]
+            except AttributeError:
+                cmd_help = "Load specified simulation extension"
+            sim_group.add_argument(
+                f"--{entry_point.name}",
+                default=False,
+                action="store_true",
+                help=cmd_help,
+            )
+
+        parser.add_argument(
+            "--host",
+            default=os.environ.get("HALSIMWS_HOST", "10.0.0.2"),
+            help="ROMI websocket host (default: HALSIMWS_HOST or 10.0.0.2)",
+        )
+        parser.add_argument(
+            "--port",
+            type=int,
+            default=_int_env_default("HALSIMWS_PORT", 3300),
+            help="ROMI websocket port (default: HALSIMWS_PORT or 3300)",
+        )
+
+    def run(
+        self,
+        options: argparse.Namespace,
+        project_path: "os.PathLike[str]",
+        robot_class: typing.Type[wpilib.RobotBase],
+    ):
+        if "ws-client" not in self.simexts:
+            print(
+                "ws-client HALSim extension is missing. Reinstall robotpy-halsim-ws to use run-romi",
+                file=sys.stderr,
+            )
+            return False
+
+        os.environ["HALSIMWS_HOST"] = options.host
+        os.environ["HALSIMWS_PORT"] = str(options.port)
+
+        options.ws_client = True
+
+        if not options.nogui:
+            try:
+                import halsim_gui
+            except ImportError:
+                print("robotpy-halsim-gui is not installed!", file=sys.stderr)
+                return False
+            else:
+                halsim_gui.loadExtension()
+
+        cwd = os.getcwd()
+
+        for name, module in self.simexts.items():
+            if getattr(options, name.replace("-", "_"), False):
+                try:
+                    module.loadExtension()
+                except Exception:
+                    print(f"Error loading {name}!", file=sys.stderr)
+                    raise
+
+        os.chdir(cwd)
+        return robot_class.main(robot_class)

shared/bazel/rules/robotpy/generate_pybind_build_file.py

@@ -372,13 +372,24 @@ def target_from_python_dep(python_dep):
             base_library = python_dep.replace("robotpy-", "")
             return f"//{fixup_root_package_name(base_library)}:{fixup_python_dep_name(python_dep)}"
 
+    EXTERNAL_PYPI_DEPS = [
+        "robotpy-cli",
+        "pytest-reraise",
+        "pytest",
+    ]
+
     python_deps = []
+    has_external_python_deps = False
     if "dependencies" in raw_config["project"]:
         for d in raw_config["project"]["dependencies"]:
-            if "robotpy-cli" in d:
-                continue
-            pd = target_from_python_dep(d.split("==")[0])
-            python_deps.append(pd)
+            for external_dep in EXTERNAL_PYPI_DEPS:
+                if external_dep in d:
+                    has_external_python_deps = True
+                    python_deps.append(f'requirement("{external_dep}")')
+                    break
+            else:
+                pd = target_from_python_dep(d.split("==")[0])
+                python_deps.append(pd)
 
     env = Environment(loader=BaseLoader)
     env.filters["jsonify"] = jsonify
@@ -410,6 +421,7 @@ def target_from_python_dep(python_dep):
                 raw_project_config=raw_config["project"],
                 entry_points=entry_points,
                 version_file=version_file,
+                has_external_python_deps=has_external_python_deps,
             )
             + "\n"
         )

shared/bazel/rules/robotpy/generation_utils.py

@@ -11,6 +11,8 @@ def fixup_root_package_name(name):
         return "romiVendordep"
     if name == "pyntcore":
         return "ntcore"
+    if name == "halsim-ws":
+        return "simulation/halsim_ws_core"
     return name
 
 

shared/bazel/rules/robotpy/pybind_build_file_template.jinja2

@@ -1,5 +1,8 @@
 # THIS FILE IS AUTO GENERATED
-{% if publish_casters_targets %}
+{% if has_external_python_deps %}
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
+{%- endif %}
+{%- if publish_casters_targets %}
 load("@rules_cc//cc:cc_library.bzl", "cc_library")
 {%- endif %}
 {%- if version_file %}
@@ -211,7 +214,7 @@ def define_pybind_library(name, pkgcfgs = []):
         imports = ["{{stripped_include_prefix}}"],
         deps = [
             {%- for d in python_deps %}
-            "{{d}}",
+            {% if "requirement" in d %}{{d}}{% else %}"{{d}}"{% endif %},
             {%- endfor %}
         ],
         visibility = ["//visibility:public"],

shared/bazel/rules/robotpy/pytest_util.bzl

@@ -1,10 +1,10 @@
 load("@rules_python_pytest//python_pytest:defs.bzl", "py_pytest_test")
 load("//shared/bazel/rules/robotpy:compatibility_select.bzl", "robotpy_compatibility_select")
 
-def robotpy_py_test(name, srcs, tags = [], **kwargs):
+def robotpy_py_test(name, srcs, tags = [], size = "small", **kwargs):
     py_pytest_test(
         name = name,
-        size = "small",
+        size = size,
         srcs = srcs,
         target_compatible_with = robotpy_compatibility_select(),
         tags = tags + [

simulation/halsim_ds_socket/BUILD.bazel

@@ -1,7 +1,11 @@
+load("@allwpilib_pip_deps//:requirements.bzl", "requirement")
 load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library", "cc_test")
+load("@rules_python//python:defs.bzl", "py_library")
 load("//shared/bazel/rules:cc_rules.bzl", "wpilib_cc_library", "wpilib_cc_shared_library", "wpilib_cc_static_library")
 load("//shared/bazel/rules:packaging.bzl", "package_default_cc_project")
 load("//shared/bazel/rules:publishing.bzl", "host_architectures")
+load("//shared/bazel/rules/robotpy:pybind_rules.bzl", "copy_native_file")
+load("//shared/bazel/rules/robotpy:pytest_util.bzl", "robotpy_py_test")
 
 cc_library(
     name = "headers",
@@ -92,3 +96,31 @@ package_default_cc_project(
     maven_artifact_name = "halsim_ds_socket",
     maven_group_id = "org.wpilib.halsim",
 )
+
+copy_native_file(
+    name = "halsim_ds_socket",
+    base_path = "src/main/python/halsim_ds_socket/",
+    library = "shared/halsim_ds_socket",
+)
+
+py_library(
+    name = "robotpy-halsim-ds-socket",
+    srcs = glob(["src/main/python/**/*.py"]),
+    data = [
+        ":halsim_ds_socket.copy_lib",
+    ],
+    imports = ["src/main/python"],
+    deps = [
+        "//hal:robotpy-native-wpihal",
+        "//wpinet:robotpy-native-wpinet",
+    ],
+)
+
+robotpy_py_test(
+    "python_tests",
+    srcs = glob(["src/test/python/**/*.py"]),
+    deps = [
+        ":robotpy-halsim-ds-socket",
+        requirement("pytest"),
+    ],
+)

simulation/halsim_ds_socket/src/main/python/README.md

@@ -0,0 +1,18 @@
+robotpy-halsim-ds-socket
+==================
+
+Installing this package will allow you to utilize the 2020+ WPILib GUI
+DS Socket from a RobotPy program.
+
+Usage
+-----
+
+First, install pyfrc. Then run your robot with the 'sim' argument and --ds-socket flag:
+
+    # Windows
+    py -3 -m robotpy sim --ds-socket
+
+    # Linux/OSX
+    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/

simulation/halsim_ds_socket/src/main/python/halsim_ds_socket/__init__.py

@@ -0,0 +1 @@
+from .main import loadExtension

simulation/halsim_ds_socket/src/main/python/halsim_ds_socket/main.py

@@ -0,0 +1,23 @@
+import logging
+import os
+from os.path import abspath, dirname, join
+
+logger = logging.getLogger("halsim_ds_socket")
+
+
+def loadExtension():
+    try:
+        import hal
+    except ImportError as e:
+        # really, should never happen...
+        raise ImportError("you must install robotpy-hal!") from e
+
+    from .version import version
+
+    logger.info("WPILib HAL Simulation DS Socket Extension %s", version)
+
+    root = join(abspath(dirname(__file__)), "lib")
+    ext = join(root, os.listdir(root)[0])
+    retval = hal.loadOneExtension(ext)
+    if retval != 0:
+        logger.warn("loading extension may have failed (error=%d)", retval)