Update to MicroPython v1.25

.github/build-each-commit.py

@@ -57,7 +57,15 @@
 
     # update only required submodules
     pybricks.git.submodule("update", "--init", "micropython")
-    if args.hub in ["cityhub", "movehub", "technichub", "primehub", "essentialhub", "nxt", "ev3"]:
+    if args.hub in [
+        "cityhub",
+        "movehub",
+        "technichub",
+        "primehub",
+        "essentialhub",
+        "nxt",
+        "ev3",
+    ]:
         pybricks.submodule("micropython").module().git.submodule(
             "update", "--init", "lib/micropython-lib"
         )
@@ -66,7 +74,9 @@
         )
     if args.hub == "primehub" or args.hub == "essentialhub":
         pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-        pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+        pybricks.git.submodule(
+            "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+        )
 
     # build the firmware
     subprocess.check_call(

.github/build-missing-commits.py

@@ -97,7 +97,9 @@
         "update", "--init", "lib/stm32lib"
     )
     pybricks.git.submodule("update", "--init", "--checkout", "lib/btstack")
-    pybricks.git.submodule("update", "--init", "--checkout", "lib/STM32_USB_Device_Library")
+    pybricks.git.submodule(
+        "update", "--init", "--checkout", "lib/STM32_USB_Device_Library"
+    )
 
     # Make mpy-cross once
     print("Building mpy-cross")

.github/download-commit-metadata.py

@@ -65,7 +65,9 @@ def main():
     )
     sizes = {
         item["RowKey"]: {
-            k: v.value if isinstance(v, EntityProperty) else v for k, v in item.items() if k in HUBS
+            k: v.value if isinstance(v, EntityProperty) else v
+            for k, v in item.items()
+            if k in HUBS
         }
         for item in firmware_size_table.query_entities(
             "PartitionKey eq 'size'",

.github/workflows/build.yml

@@ -76,6 +76,7 @@ jobs:
     - name: Test
       if: ${{ success() }}
       run: |
+        ulimit -n 1024 # needed for micropython/tests/extmod/select_poll_fd.py
         cd micropython
         make -C ports/unix VARIANT=coverage test_full
         (cd tests && MICROPY_CPYTHON3=python3 MICROPY_MICROPYTHON=../ports/unix/build-coverage/micropython ./run-multitests.py multi_net/*.py)

bricks/_common/micropython.c

@@ -55,8 +55,6 @@ void pbsys_main_stop_program(bool force_stop) {
     if (force_stop) {
         mp_sched_vm_abort();
     } else {
-        pyexec_system_exit = PYEXEC_FORCED_EXIT;
-
         static mp_obj_exception_t system_exit;
         system_exit.base.type = &mp_type_SystemExit;
         system_exit.traceback_alloc = system_exit.traceback_len = 0;
@@ -106,9 +104,9 @@ static void mp_vfs_map_minimal_new_reader(mp_reader_t *reader, mp_vfs_map_minima
 }
 
 // Prints the exception that ended the program.
-static void print_final_exception(mp_obj_t exc) {
+static void print_final_exception(mp_obj_t exc, int ret) {
     // Handle graceful stop with button.
-    if (pyexec_system_exit == PYEXEC_FORCED_EXIT &&
+    if ((ret & PYEXEC_FORCED_EXIT) &&
         mp_obj_exception_match(exc, MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
         mp_printf(&mp_plat_print, "The program was stopped (%q).\n",
             ((mp_obj_exception_t *)MP_OBJ_TO_PTR(exc))->base.type->name);
@@ -121,8 +119,9 @@ static void print_final_exception(mp_obj_t exc) {
 
 #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
 static void run_repl(void) {
+    int ret = 0;
+
     readline_init0();
-    pyexec_system_exit = 0;
 
     nlr_buf_t nlr;
     nlr.ret_val = NULL;
@@ -134,12 +133,12 @@ static void run_repl(void) {
         if (pyexec_mode_kind == PYEXEC_MODE_RAW_REPL) {
             // Compatibility with mpremote.
             mp_printf(&mp_plat_print, "MPY: soft reboot\n");
-            pyexec_raw_repl();
+            ret = pyexec_raw_repl();
         } else {
-            pyexec_friendly_repl();
+            ret = pyexec_friendly_repl();
         }
         #else // PYBRICKS_OPT_RAW_REPL
-        pyexec_friendly_repl();
+        ret = pyexec_friendly_repl();
         #endif // PYBRICKS_OPT_RAW_REPL
         nlr_pop();
     } else {
@@ -152,7 +151,7 @@ static void run_repl(void) {
         // clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
         // Print which exception triggered this.
-        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
+        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val), ret);
     }
 
     nlr_set_abort(NULL);
@@ -175,7 +174,7 @@ static void do_execute_raw_code(mp_module_context_t *context, const mp_raw_code_
 
     nlr_buf_t nlr;
     if (nlr_push(&nlr) == 0) {
-        mp_obj_t module_fun = mp_make_function_from_raw_code(rc, mc, NULL);
+        mp_obj_t module_fun = mp_make_function_from_proto_fun(rc, mc, NULL);
         mp_call_function_0(module_fun);
 
         // finish nlr block, restore context
@@ -241,7 +240,7 @@ static mpy_info_t *mpy_data_find(qstr name) {
  * Runs the __main__ module from user RAM.
  */
 static void run_user_program(void) {
-    pyexec_system_exit = 0;
+    int ret = 0;
 
     nlr_buf_t nlr;
     nlr.ret_val = NULL;
@@ -264,7 +263,7 @@ static void run_user_program(void) {
         mp_compiled_module_t compiled_module;
         compiled_module.context = context;
         mp_raw_code_load(&reader, &compiled_module);
-        mp_obj_t module_fun = mp_make_function_from_raw_code(compiled_module.rc, context, NULL);
+        mp_obj_t module_fun = mp_make_function_from_proto_fun(compiled_module.rc, context, NULL);
 
         // Run the script while letting CTRL-C interrupt it.
         mp_hal_set_interrupt_char(CHAR_CTRL_C);
@@ -287,7 +286,12 @@ static void run_user_program(void) {
         // Clear any pending exceptions (and run any callbacks).
         mp_handle_pending(false);
 
-        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val));
+        if (mp_obj_is_subclass_fast(MP_OBJ_FROM_PTR(((mp_obj_base_t *)nlr.ret_val)->type), MP_OBJ_FROM_PTR(&mp_type_SystemExit))) {
+            // at the moment, the value of SystemExit is unused
+            ret = PYEXEC_FORCED_EXIT;
+        }
+
+        print_final_exception(MP_OBJ_FROM_PTR(nlr.ret_val), ret);
 
         #if PBSYS_CONFIG_FEATURE_BUILTIN_USER_PROGRAM_REPL
         // On KeyboardInterrupt, drop to REPL for debugging.
@@ -430,9 +434,21 @@ mp_obj_t pb_builtin_import(size_t n_args, const mp_obj_t *args) {
         mp_raise_NotImplementedError(MP_ERROR_TEXT("relative import"));
     }
 
-    // Check if module already exists, and return it if it does
+    // Check if the module is already loaded.
+    mp_map_elem_t *elem = mp_map_lookup(&MP_STATE_VM(mp_loaded_modules_dict).map, args[0], MP_MAP_LOOKUP);
+    if (elem) {
+        return elem->value;
+    }
+
+    // Try the name directly as a non-extensible built-in (e.g. `micropython`).
     qstr module_name_qstr = mp_obj_str_get_qstr(args[0]);
-    mp_obj_t module_obj = mp_module_get_loaded_or_builtin(module_name_qstr);
+    mp_obj_t module_obj = mp_module_get_builtin(module_name_qstr, false);
+    if (module_obj != MP_OBJ_NULL) {
+        return module_obj;
+    }
+
+    // Now try as an extensible built-in (e.g. `struct`/`ustruct`).
+    module_obj = mp_module_get_builtin(module_name_qstr, true);
     if (module_obj != MP_OBJ_NULL) {
         return module_obj;
     }
@@ -473,7 +489,7 @@ mp_obj_t pb_builtin_import(size_t n_args, const mp_obj_t *args) {
         mp_module_context_t *context = MP_OBJ_TO_PTR(module_obj);
         const mp_frozen_module_t *frozen = modref;
         context->constants = frozen->constants;
-        do_execute_raw_code(context, frozen->rc, context);
+        do_execute_raw_code(context, frozen->proto_fun, context);
         return module_obj;
     }
     #endif
@@ -486,7 +502,7 @@ mp_import_stat_t mp_import_stat(const char *path) {
     return MP_IMPORT_STAT_NO_EXIST;
 }
 
-mp_lexer_t *mp_lexer_new_from_file(const char *filename) {
+mp_lexer_t *mp_lexer_new_from_file(qstr filename) {
     mp_raise_OSError(MP_ENOENT);
 }
 

bricks/_common/mpconfigport.h

@@ -20,12 +20,12 @@
 #define MICROPY_PY_MICROPYTHON                  (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_STRUCT                       (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS                          (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_UERRNO                       (1)
-#define MICROPY_PY_UJSON                        (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM                      (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_USELECT                      (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_ERRNO                        (1)
+#define MICROPY_PY_JSON                         (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_RANDOM                       (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_SELECT                       (PYBRICKS_OPT_EXTRA_LEVEL1)
 
-#define MICROPY_PY_UERRNO_LIST \
+#define MICROPY_PY_ERRNO_LIST \
     X(EPERM) \
     X(EIO) \
     X(EBUSY) \
@@ -93,11 +93,9 @@
 #define MICROPY_PY_SYS_STDFILES                 (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS_STDIO_BUFFER             (PYBRICKS_OPT_EXTRA_LEVEL1)
 #define MICROPY_PY_SYS_STDIO_FLUSH              (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM_EXTRA_FUNCS          (PYBRICKS_OPT_EXTRA_LEVEL1)
-#define MICROPY_PY_URANDOM_SEED_INIT_FUNC       ({ extern uint32_t pbdrv_clock_get_us(void); pbdrv_clock_get_us(); })
-#define MICROPY_PY_UTIME_MP_HAL                 (0)
+#define MICROPY_PY_RANDOM_EXTRA_FUNCS           (PYBRICKS_OPT_EXTRA_LEVEL1)
+#define MICROPY_PY_RANDOM_SEED_INIT_FUNC        ({ extern uint32_t pbdrv_clock_get_us(void); pbdrv_clock_get_us(); })
 #define MICROPY_MODULE_BUILTIN_INIT             (1)
-#define MICROPY_MODULE_WEAK_LINKS               (0)
 #define MICROPY_CPYTHON_COMPAT                  (0)
 #define MICROPY_LONGINT_IMPL                    (MICROPY_LONGINT_IMPL_NONE)
 #if PYBRICKS_OPT_FLOAT

bricks/_common_stm32/mphalport.c

@@ -64,11 +64,13 @@ int mp_hal_stdin_rx_chr(void) {
 }
 
 // Send string of given length
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
     while (pbsys_host_tx((const uint8_t *)str, len) == PBIO_ERROR_AGAIN) {
         MICROPY_EVENT_POLL_HOOK
     }
     // Not raising the error. This means stdout lost if host is not connected.
+
+    return len;
 }
 
 void mp_hal_stdout_tx_flush(void) {

bricks/ev3/make_bootable_image.py

@@ -23,7 +23,6 @@
 
 
 def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
-
     if len(uboot_blob) > UBOOT_MAX_SIZE:
         print(
             f"u-boot file is bigger than 256KiB ({len(uboot_blob)} bytes), it is not safe to use.",
@@ -32,13 +31,18 @@ def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
         exit(1)
 
     if len(uimage_blob) > UIMAGE_MAX_SIZE:
-        print(f"uImage file is too big ({len(uimage_blob)} > {UIMAGE_MAX_SIZE}).", file=sys.stderr)
+        print(
+            f"uImage file is too big ({len(uimage_blob)} > {UIMAGE_MAX_SIZE}).",
+            file=sys.stderr,
+        )
         exit(1)
 
     # Gets combined size, rounded to nearest expected size.
     combined_size = UIMAGE_OFFSET + len(uimage_blob)
     combined_size = (
-        (combined_size + FIRMWARE_ROUND_SIZE) // FIRMWARE_ROUND_SIZE * FIRMWARE_ROUND_SIZE
+        (combined_size + FIRMWARE_ROUND_SIZE)
+        // FIRMWARE_ROUND_SIZE
+        * FIRMWARE_ROUND_SIZE
     )
 
     # Put it all together.
@@ -59,9 +63,11 @@ def make_firmware(uboot_blob: bytes, uimage_blob: bytes) -> bytes:
     parser.add_argument("output", help="The output file")
     args = parser.parse_args()
 
-    with open(args.uboot, "rb") as uboot_file, open(args.uimage, "rb") as uimage_file, open(
-        args.output, "wb"
-    ) as output_file:
+    with (
+        open(args.uboot, "rb") as uboot_file,
+        open(args.uimage, "rb") as uimage_file,
+        open(args.output, "wb") as output_file,
+    ):
         combined = make_firmware(uboot_file.read(), uimage_file.read())
         output_file.write(combined)
         print(f"Created {args.output} with size {len(combined) // 1024} KB.")

bricks/ev3/mphalport.c

@@ -57,7 +57,7 @@ int mp_hal_stdin_rx_chr(void) {
 
 extern uint32_t pbdrv_usb_write(const uint8_t *data, uint32_t size);
 
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
     pbdrv_uart_debug_printf("%.*s", len, str);
 
     uint32_t done = 0;
@@ -69,6 +69,8 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
     while (!pbdrv_uart_debug_is_done()) {
         MICROPY_VM_HOOK_LOOP;
     }
+
+    return len;
 }
 
 extern void pbdrv_usb_tx_flush(void);

bricks/nxt/mphalport.c

@@ -74,17 +74,19 @@ int mp_hal_stdin_rx_chr(void) {
 }
 
 // Send string of given length
-void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
+mp_uint_t mp_hal_stdout_tx_strn(const char *str, size_t len) {
 
     // Nothing to do if disconnected or empty data
     if (!nx_bt_stream_opened() || len == 0) {
-        return;
+        return len;
     }
 
     nx_bt_stream_write((uint8_t *)str, len);
     while (!nx_bt_stream_data_written()) {
         MICROPY_EVENT_POLL_HOOK;
     }
+
+    return len;
 }
 
 void mp_hal_stdout_tx_flush(void) {

bricks/primehub/modules/_imu_calibrate.py

@@ -36,21 +36,21 @@ def wait_for_stationary(side):
 
 
 def roll_over_axis(axis, new_side):
-
     global bias, bias_count
 
     print("Roll it towards you, without lifting the hub up!")
 
     angle_start = hub.imu.rotation(axis, calibrated=False)
     while hub.imu.up(calibrated=False) != new_side or not hub.imu.stationary():
-
         _, _, z = hub.imu.orientation() * axis
         if abs(z) > 0.07:
             print(hub.imu.orientation() * axis)
             raise RuntimeError("Lifted it!")
         wait(100)
 
-    uncalibrated_90_deg_rotation = abs(hub.imu.rotation(axis, calibrated=False) - angle_start)
+    uncalibrated_90_deg_rotation = abs(
+        hub.imu.rotation(axis, calibrated=False) - angle_start
+    )
     if abs(uncalibrated_90_deg_rotation - 90) > 10:
         raise RuntimeError("Not 90 deg!")
 

bricks/virtualhub/mpconfigvariant.h

@@ -56,23 +56,24 @@
 #define MICROPY_DEBUG_PRINTERS                  (1)
 #define MICROPY_MODULE_ATTR_DELEGATION          (1)
 #define MICROPY_MODULE_BUILTIN_INIT             (1)
+#define MICROPY_MODULE_BUILTIN_SUBPACKAGES      (1)
 #define MICROPY_PY_MICROPYTHON_MEM_INFO         (1)
 #define MICROPY_PY_BUILTINS_HELP                (1)
 #define MICROPY_PY_BUILTINS_HELP_MODULES        (1)
 #define MICROPY_PY_SYS_SETTRACE                 (1)
-#define MICROPY_PY_UERRNO                       (1)
-#define MICROPY_PY_UOS                          (1)
-#define MICROPY_PY_UOS_GETENV_PUTENV_UNSETENV   (1)
-#define MICROPY_PY_UOS_INCLUDEFILE              "ports/unix/moduos.c"
-#define MICROPY_PY_URANDOM_EXTRA_FUNCS          (1)
+#define MICROPY_PY_ERRNO                        (1)
+#define MICROPY_PY_OS                           (1)
+#define MICROPY_PY_OS_GETENV_PUTENV_UNSETENV    (1)
+#define MICROPY_PY_OS_INCLUDEFILE               "ports/unix/modos.c"
+#define MICROPY_PY_RANDOM_EXTRA_FUNCS           (1)
 #define MICROPY_PY_BUILTINS_SLICE_INDICES       (1)
 #define MICROPY_PERSISTENT_CODE_SAVE            (1)
 #define MICROPY_STREAMS_POSIX_API               (1)
 #define MICROPY_HELPER_REPL                     (1)
 #define MICROPY_KBD_EXCEPTION                   (1)
 
 // REVISIT: This list currently matches the stm32 builds.
-#define MICROPY_PY_UERRNO_LIST \
+#define MICROPY_PY_ERRNO_LIST \
     X(EPERM) \
     X(EIO) \
     X(EBUSY) \

bricks/virtualhub/mpconfigvariant.mk

@@ -30,8 +30,8 @@ MICROPY_PY_SOCKET = 1
 # ffi module requires libffi (libffi-dev Debian package)
 MICROPY_PY_FFI = 1
 
-# ussl module requires one of the TLS libraries below
-MICROPY_PY_USSL = 0
+# ssl module requires one of the TLS libraries below
+MICROPY_PY_SSL = 0
 # axTLS has minimal size but implements only a subset of modern TLS
 # functionality, so may have problems with some servers.
 MICROPY_SSL_AXTLS = 0