robotpy/robotpy-playingwithfusion

RobotPy bindings for PWF hardware

robotpy-playingwithfusion

This is a python wrapper around the Playing With Fusion device support library. The RobotPy project is not associated with or endorsed by Playing With Fusion Inc.

We don't own any PWF hardware, so these may have some issues. Please try them out and let us know how it goes!

Documentation

• Installation
• Python API Documentation

License

RobotPy specific bits are available under the Apache 2.0 license.

Author

Dustin Spicuzza ([email protected])

robotpy-playingwithfusion's Issues

[nag] Update Maven Dependencies

Maven library updates available:

• PlayingWithFusion-cpp: 2023.00.17 --> 2023.01.17
• PlayingWithFusion-driver: 2023.00.17 --> 2023.01.17

[nag] Update Maven Dependencies

Maven library updates available:

• PlayingWithFusion-cpp: 2024.01.28 --> 2024.03.09
• PlayingWithFusion-driver: 2024.01.28 --> 2024.03.09

[nag] Update Maven Dependencies

Maven library updates available:

• PlayingWithFusion-cpp: 2022.01.17 --> 2022.03.03
• PlayingWithFusion-driver: 2022.01.17 --> 2022.03.03

[BUG]: visiting Playing with Fusion web interface crashes code without stack trace.

Problem description

When visiting the web interface (:5812), the robot code crashes without a meaningful stacktrace - pasting below what I have.

We've loaded on a simple java project with equivalent code (installed the vendor json, and declared one sensor) and we can visit the website without issue. Therefor, we're assuming this has something to do with the robotpy packaging?

********** Robot program startup complete **********
Sat Jan 27 18:56:07 CST 2024 - Killing robot code in frcKillRobot.sh
Sat Jan 27 18:56:10 CST 2024 - Killing robot code in frcKillRobot.sh
Sat Jan 27 18:56:29 CST 2024 - Killing robot code in frcKillRobot.sh
18:56:34:879 INFO : faulthandler : registered SIGUSR2 for PID 31757
18:56:36:184 INFO : deploy-info : chris@TheBrick at 2024-01-27T18:56:16
18:56:36:184 INFO : deploy-info : - git info: 41358c2 (branch=chris_switch_drivetrain_IMU)
18:56:36:193 INFO : wpilib : RobotPy version 2024.2.1.1
18:56:36:194 INFO : wpilib : WPILib version 2024.2.1.2
18:56:36:276 INFO : nt : Listening on NT3 port 1735, NT4 port 5810
Camera Server Library Not Found
Fatal Python error: Segmentation fault
Thread 0xb2248460 (most recent call first):
<no Python frame>
Thread 0xb2288460 (most recent call first):
File "/usr/local/lib/python3.12/site-packages/ntcore/_logutil.py", line 94 in _logging_thread
File "/usr/local/lib/python3.12/threading.py", line 1010 in run
File "/usr/local/lib/python3.12/threading.py", line 1073 in _bootstrap_inner
File "/usr/local/lib/python3.12/threading.py", line 1030 in _bootstrap
Current thread 0xb2395460 (most recent call first):
<no Python frame>
Thread 0xb6f7e000 (most recent call first):
File "<frozen genericpath>", line 30 in isfile
File "/home/lvuser/py/utils/crashLogger.py", line 55 in __init__
File "/home/lvuser/py/robot.py", line 34 in robotInit
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 247 in _start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 160 in start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 147 in run
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 89 in run
File "/usr/local/lib/python3.12/site-packages/robotpy/main.py", line 314 in main
File "/usr/local/lib/python3.12/site-packages/robotpy/__main__.py", line 4 in <module>
File "<frozen runpy>", line 88 in _run_code
File "<frozen runpy>", line 198 in _run_module_as_main
18:57:00:576 INFO : faulthandler : registered SIGUSR2 for PID 31859
18:57:01:157 INFO : deploy-info : chris@TheBrick at 2024-01-27T18:56:16
18:57:01:157 INFO : deploy-info : - git info: 41358c2 (branch=chris_switch_drivetrain_IMU)
18:57:01:158 INFO : wpilib : RobotPy version 2024.2.1.1
18:57:01:159 INFO : wpilib : WPILib version 2024.2.1.2
18:57:01:194 INFO : nt : Listening on NT3 port 1735, NT4 port 5810
Camera Server Library Not Found
Fatal Python error: Segmentation fault
Thread 0xb2228460 (most recent call first):
<no Python frame>
Thread 0xb2268460 (most recent call first):
File "/usr/local/lib/python3.12/site-packages/ntcore/_logutil.py", line 94 in _logging_thread
File "/usr/local/lib/python3.12/threading.py", line 1010 in run
File "/usr/local/lib/python3.12/threading.py", line 1073 in _bootstrap_inner
File "/usr/local/lib/python3.12/threading.py", line 1030 in _bootstrap
Current thread 0xb2375460 (most recent call first):
<no Python frame>
Thread 0xb6f64000 (most recent call first):
File "<frozen genericpath>", line 30 in isfile
File "/home/lvuser/py/utils/crashLogger.py", line 55 in __init__
File "/home/lvuser/py/robot.py", line 34 in robotInit
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 247 in _start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 160 in start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 147 in run
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 89 in run
File "/usr/local/lib/python3.12/site-packages/robotpy/main.py", line 314 in main
File "/usr/local/lib/python3.12/site-packages/robotpy/__main__.py", line 4 in <module>
File "<frozen runpy>", line 88 in _run_code
File "<frozen runpy>", line 198 in _run_module_as_main
18:57:15:288 INFO : faulthandler : registered SIGUSR2 for PID 31961
18:57:15:866 INFO : deploy-info : chris@TheBrick at 2024-01-27T18:56:16
18:57:15:866 INFO : deploy-info : - git info: 41358c2 (branch=chris_switch_drivetrain_IMU)
18:57:15:868 INFO : wpilib : RobotPy version 2024.2.1.1
18:57:15:869 INFO : wpilib : WPILib version 2024.2.1.2
18:57:15:903 INFO : nt : Listening on NT3 port 1735, NT4 port 5810
Camera Server Library Not Found
Fatal Python error: Segmentation fault
Thread 0xb21e8460 (most recent call first):
<no Python frame>
Thread 0xb2228460 (most recent call first):
File "/usr/local/lib/python3.12/site-packages/ntcore/_logutil.py", line 94 in _logging_thread
File "/usr/local/lib/python3.12/threading.py", line 1010 in run
File "/usr/local/lib/python3.12/threading.py", line 1073 in _bootstrap_inner
File "/usr/local/lib/python3.12/threading.py", line 1030 in _bootstrap
Current thread 0xb2335460 (most recent call first):
<no Python frame>
Thread 0xb6f27000 (most recent call first):
File "<frozen genericpath>", line 30 in isfile
File "/home/lvuser/py/utils/crashLogger.py", line 55 in __init__
File "/home/lvuser/py/robot.py", line 34 in robotInit
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 247 in _start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 160 in start
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 147 in run
File "/usr/local/lib/python3.12/site-packages/wpilib/_impl/start.py", line 89 in run
File "/usr/local/lib/python3.12/site-packages/robotpy/main.py", line 314 in main
File "/usr/local/lib/python3.12/site-packages/robotpy/__main__.py", line 4 in <module>
File "<frozen runpy>", line 88 in _run_code
File "<frozen runpy>", line 198 in _run_module_as_main

Operating System

RoboRIO

Installed Python Packages

Package                   Version
------------------------- ----------
debugpy                   1.6.7
numpy                     1.25.2+r2
photonlibpy               2024.2.0
pip                       23.2.1
pyntcore                  2024.2.1.2
robotpy                   2024.2.1.1
robotpy-apriltag          2024.2.1.2
robotpy-cli               2024.0.0
robotpy-hal               2024.2.1.2
robotpy-libgfortran5      12.1.0+r5
robotpy-openblas          0.3.24+r3
robotpy-playingwithfusion 2024.0.0
robotpy-rev               2024.2.0
robotpy-wpilib-utilities  2024.0.0
robotpy-wpimath           2024.2.1.2
robotpy-wpinet            2024.2.1.2
robotpy-wpiutil           2024.2.1.2
wpilib                    2024.2.1.2

Reproducible example code

import wpilib
from playingwithfusion import TimeOfFlight


class MyRobot(wpilib.TimedRobot):
    def robotInit(self):
        self.testSensor = TimeOfFlight(12)

roborio release

We can't support this until simulation support is released by PWF, but attached is a roborio wheel.

robotpy-pwf.zip