Update pyfrc subcommands for 2024

- More pathlib usage
- Leverage new robotpy launcher options

Author: virtuald

pyfrc/mains/cli_add_tests.py

@@ -1,6 +1,6 @@
-import inspect
 import os
-from os.path import abspath, dirname, exists, join
+import pathlib
+import sys
 
 builtin_tests = """'''
     This test module imports tests that come with pyfrc, and can be used
@@ -12,36 +12,41 @@
 
 
 class PyFrcAddTests:
+    """
+    Adds default pyfrc tests to your robot project directory
+    """
+
     def __init__(self, parser=None):
         pass
 
-    def run(self, options, robot_class, **static_options):
-        robot_file = abspath(inspect.getfile(robot_class))
-        robot_path = dirname(robot_file)
+    def run(self, main_file: pathlib.Path, project_path: pathlib.Path):
+        if not main_file.exists():
+            print(
+                f"ERROR: is this a robot project? {main_file} does not exist",
+                file=sys.stderr,
+            )
+            return 1
 
-        try_dirs = [
-            abspath(join(robot_path, "tests")),
-            abspath(join(robot_path, "..", "tests")),
-        ]
+        try_dirs = [project_path / "tests", project_path / ".." / "tests"]
 
         test_directory = try_dirs[0]
 
         for d in try_dirs:
-            if exists(d):
+            if d.exists():
                 test_directory = d
                 break
         else:
-            os.makedirs(test_directory)
+            test_directory.mkdir(parents=True)
 
-        print("Tests directory is %s" % test_directory)
+        print(f"Tests directory is {test_directory}")
         print()
-        builtin_tests_file = join(test_directory, "pyfrc_test.py")
-        if exists(builtin_tests_file):
+        builtin_tests_file = test_directory / "pyfrc_test.py"
+        if builtin_tests_file.exists():
             print("- pyfrc_test.py already exists")
         else:
             with open(builtin_tests_file, "w") as fp:
                 fp.write(builtin_tests)
             print("- builtin tests created at", builtin_tests_file)
 
         print()
-        print("Robot tests can be ran via 'python3 robot.py test'")
+        print("Robot tests can be ran via 'python3 -m robotpy test'")

pyfrc/mains/cli_coverage.py

@@ -1,14 +1,16 @@
 import argparse
-import inspect
 from os.path import dirname
+import pathlib
 import subprocess
 import sys
+import typing
 
 
 class PyFrcCoverage:
     """
-    Wraps other commands by running them via the coverage module. Requires
-    the coverage module to be installed.
+    Wraps other commands by running them via the coverage module.
+
+    Requires the coverage module to be installed.
     """
 
     def __init__(self, parser: argparse.ArgumentParser):
@@ -19,7 +21,13 @@ def __init__(self, parser: argparse.ArgumentParser):
             "args", nargs=argparse.REMAINDER, help="Arguments to pass to robot.py"
         )
 
-    def run(self, options, robot_class, **static_options):
+    def run(
+        self,
+        main_file: pathlib.Path,
+        project_path: pathlib.Path,
+        parallel_mode: bool,
+        args: typing.List[str],
+    ):
         try:
             import coverage
         except ImportError:
@@ -30,13 +38,11 @@ def run(self, options, robot_class, **static_options):
             )
             return 1
 
-        if len(options.args) == 0:
+        if len(args) == 0:
             print("ERROR: Coverage command requires arguments to run other commands")
             return 1
 
-        file_location = inspect.getfile(robot_class)
-
-        option_args = list(options.args)
+        option_args = args
         if option_args[0] == "test":
             option_args.insert(1, "--coverage-mode")
 
@@ -47,19 +53,20 @@ def run(self, options, robot_class, **static_options):
             "coverage",
             "run",
             "--source",
-            dirname(file_location),
+            str(project_path),
         ]
-        if options.parallel_mode:
+        if parallel_mode:
             args.append("--parallel-mode")
 
-        args.append(file_location)
+        args += ["-m", "robotpy", "--main", main_file]
         args += option_args
 
+        print("+", *args, file=sys.stderr)
         retval = subprocess.call(args)
         if retval != 0:
             return retval
 
-        if options.parallel_mode:
+        if parallel_mode:
             subprocess.call([sys.executable, "-m", "coverage", "combine"])
 
         args = [sys.executable, "-m", "coverage", "report", "-m"]

pyfrc/mains/cli_create_physics.py

@@ -1,7 +1,6 @@
-import inspect
-import json
-from os import mkdir
-from os.path import abspath, dirname, exists, join
+import pathlib
+import sys
+
 
 physics_starter = '''
 #
@@ -90,21 +89,32 @@ def update_sim(self, now: float, tm_diff: float) -> None:
 
 
 class PyFrcCreatePhysics:
+    """
+    Create physics
+    """
+
     def __init__(self, parser=None):
         pass
 
-    def run(self, options, robot_class, **static_options):
-        robot_file = abspath(inspect.getfile(robot_class))
-        robot_path = dirname(robot_file)
-        sim_path = join(robot_path, "sim")
-
-        physics_file = join(robot_path, "physics.py")
-        if exists(physics_file):
+    def run(
+        self,
+        main_file: pathlib.Path,
+        project_path: pathlib.Path,
+    ):
+        if not main_file.exists():
+            print(
+                f"ERROR: is this a robot project? {main_file} does not exist",
+                file=sys.stderr,
+            )
+            return 1
+
+        physics_file = project_path / "physics.py"
+        if physics_file.exists():
             print("- physics.py already exists")
         else:
             with open(physics_file, "w") as fp:
                 fp.write(physics_starter)
             print("- physics file created at", physics_file)
 
         print()
-        print("Robot simulation can be run via 'python3 robot.py sim'")
+        print("Robot simulation can be run via 'python3 -m robotpy sim'")

pyfrc/mains/cli_profiler.py

@@ -1,13 +1,16 @@
 import argparse
 import inspect
 from os.path import abspath
+import pathlib
 import subprocess
 import sys
+import typing
 
 
 class PyFrcProfiler:
     """
     Wraps other commands by running them via the built in cProfile module.
+
     Use this to profile your program and figure out where you're spending
     a lot of time (note that cProfile only profiles the main thread)
     """
@@ -17,13 +20,15 @@ def __init__(self, parser):
             "-o", "--outfile", default=None, help="Save stats to <outfile>"
         )
         parser.add_argument(
-            "args", nargs=argparse.REMAINDER, help="Arguments to pass to robot.py"
+            "args", nargs=argparse.REMAINDER, help="Arguments to pass to robotpy module"
         )
 
-    def run(self, options, robot_class, **static_options):
-        print("profiling is not yet implemented for RobotPy 2020")
-        return 1
-
+    def run(
+        self,
+        main_file: pathlib.Path,
+        outfile: typing.Optional[str],
+        args: typing.List[str],
+    ):
         try:
             import cProfile
         except ImportError:
@@ -33,23 +38,22 @@ def run(self, options, robot_class, **static_options):
             )
             return 1
 
-        if len(options.args) == 0:
+        if len(args) == 0:
             print("ERROR: Profiler command requires arguments to run other commands")
             return 1
 
-        file_location = abspath(inspect.getfile(robot_class))
-
-        if options.outfile:
-            profile_args = ["-o", options.outfile]
+        if outfile:
+            profile_args = ["-o", outfile]
         else:
             profile_args = ["-s", "tottime"]
 
         # construct the arguments to run the profiler
         args = (
             [sys.executable, "-m", "cProfile"]
             + profile_args
-            + [file_location]
-            + options.args
+            + ["-m", "robotpy", "--main", str(main_file)]
+            + args
         )
 
+        print("+", *args, file=sys.stderr)
         return subprocess.call(args)

pyfrc/mains/cli_sim.py

@@ -1,11 +1,12 @@
 import os
-from os.path import abspath, dirname
 import argparse
 import importlib.metadata
-import inspect
 import logging
 import pathlib
 import sys
+import typing
+
+import wpilib
 
 
 logger = logging.getLogger("pyfrc.sim")
@@ -56,12 +57,18 @@ def __init__(self, parser: argparse.ArgumentParser):
                 help=cmd_help,
             )
 
-    def run(self, options, robot_class, **static_options):
-        if not options.nogui:
+    def run(
+        self,
+        options: argparse.Namespace,
+        nogui: bool,
+        project_path: pathlib.Path,
+        robot_class: typing.Type[wpilib.RobotBase],
+    ):
+        if not nogui:
             try:
                 import halsim_gui
             except ImportError:
-                print("robotpy-halsim-gui is not installed!")
+                print("robotpy-halsim-gui is not installed!", file=sys.stderr)
                 exit(1)
             else:
                 halsim_gui.loadExtension()
@@ -74,19 +81,17 @@ def run(self, options, robot_class, **static_options):
                 try:
                     module.loadExtension()
                 except:
-                    print(f"Error loading {name}!")
+                    print(f"Error loading {name}!", file=sys.stderr)
                     raise
 
         os.chdir(cwd)
 
         # initialize physics, attach to the user robot class
         from ..physics.core import PhysicsInterface, PhysicsInitException
 
-        robot_file = pathlib.Path(inspect.getfile(robot_class)).absolute()
-
         try:
             _, robot_class = PhysicsInterface._create_and_attach(
-                robot_class, robot_file.parent
+                robot_class, project_path
             )
 
             # run the robot