RobotPy bindings for REV Robotics' REVLib
License: Other
This is a python wrapper around the REV Robotics REVLib. The RobotPy project is not associated with or endorsed by REV Robotics.
RobotPy specific bits are available under a BSD-3-Clause license. The REV specific pieces are available under a BSD license.
Dustin Spicuzza ([email protected])
When running code in simulation using Robotpy 2024 Beta 3, any time CANSparkMax is imported, the code fails to run with error ImportError: generic_type: type "CANSparkMaxLowLevel" referenced unknown base type "frc::MotorController"
reported. Limiting the code to just this import line still gives the same error. This import statement still has no issue in 2023 RobotPy.
[NOTE: I'm not really a Python developer or experienced with Github, so I apologize if I'm using this bug reporting process wrong.]
Windows
asttokens 2.2.1
attrs 22.2.0
backcall 0.2.0
bcrypt 4.0.1
CacheControl 0.12.11
certifi 2023.5.7
cffi 1.15.1
charset-normalizer 3.1.0
click 8.1.3
cmake 3.26.4
colorama 0.4.6
comm 0.1.3
contourpy 1.1.0
cryptography 40.0.1
cycler 0.11.0
debugpy 1.6.7
decorator 5.1.1
executing 1.2.0
fonttools 4.42.0
idna 3.4
iniconfig 2.0.0
ipykernel 6.23.1
ipython 8.13.2
jedi 0.18.2
jupyter_client 8.2.0
jupyter_core 5.3.0
kiwisolver 1.4.4
matplotlib 3.7.2
matplotlib-inline 0.1.6
msgpack 1.0.5
nest-asyncio 1.5.6
numpy 1.24.3
opencv-python 4.7.0.72
packaging 23.0
paramiko 3.1.0
parso 0.8.3
phoenix6 24.0.0b2
pickleshare 0.7.5
Pillow 9.5.0
Pint 0.20.1
pip 23.3.1
platformdirs 3.5.1
pluggy 1.0.0
prompt-toolkit 3.0.38
psutil 5.9.5
pupil-apriltags 1.0.4.post10
pure-eval 0.2.2
pycparser 2.21
pyfrc 2024.0.0b1
Pygments 2.15.1
PyNaCl 1.5.0
pynetconsole 2.0.4
pyntcore 2024.0.0b3.post1
pyparsing 3.0.9
pypng 0.20220715.0
pytest 7.2.2
pytest-reraise 2.1.2
python-dateutil 2.8.2
pywin32 306
pyzmq 25.0.2
qrcode 7.4.2
requests 2.31.0
robotpy 2024.0.0b3
robotpy-commands-v2 2024.0.0b3
robotpy-ctre 2024.0.0b1
robotpy-hal 2024.0.0b3.post1
robotpy-halsim-gui 2024.0.0b3.post1
robotpy-installer 2024.0.0b2
robotpy-navx 2023.0.3
robotpy-pathplannerlib 2023.3.4.1
robotpy-rev 2024.0.0b1
robotpy-wpilib-utilities 2024.0.0b1
robotpy-wpimath 2024.0.0b3.post1
robotpy-wpinet 2024.0.0b3.post1
robotpy-wpiutil 2024.0.0b3.post1
setuptools 68.0.0
six 1.16.0
stack-data 0.6.2
statbotics 2.0.3
tbapy 1.3.2
tornado 6.3.2
traitlets 5.9.0
typing_extensions 4.5.0
urllib3 2.0.2
wcwidth 0.2.6
wheel 0.40.0
wpilib 2024.0.0b3.post1
from rev import CANSparkMax
The previous 2019 version of rev installs correctly and works but when I try to run pip install --upgrade robotpy-rev to upgrade to the 2020 release, it gives me a bunch of errors and refuses to install. First it says it is missing build requirements in pyproject.toml for robotpy-rev then trys to build wheels but fails, giving the final error message of: ERROR: Could not build wheels for robotpy-rev which use PEP 517 and cannot be installed directly I have attached a text document with all the error messages and would appreciate some help figuring out how to update the rev library on my computer.
Constructing a CANSparkMax with MotorType.kBrushed in simulation causes the robot code to exit with SIGABRT.
[CAN SPARK] IDs: 2, Parameter type mismatch for parameter id Getting Product ID parameter failed. Unable to account for device-specific behavior differences.
[CAN SPARK] IDs: 2, Error Invalid Cannot set motor type to kBrushed for SPARK without a dock connected.
libc++abi: terminating
fish: Job 1, 'python' terminated by signal SIGABRT (Abort)
MacOS
Package Version Editable project location
------------------------ ------------------------------------- ------------------------------------------------------
bcrypt 4.1.2
beartype 0.16.4
black 23.12.1
cffi 1.16.0
click 8.1.7
cryptography 41.0.7
cxxheaderparser 1.3.0
delocate 0.10.7
iniconfig 2.0.0
Jinja2 3.1.2
MarkupSafe 2.1.3
mypy-extensions 1.0.0
overtake 0.4.0
packaging 23.2
paramiko 3.4.0
patch 1.16
pathspec 0.12.1
pcpp 1.30
Pint 0.23
pip 23.3.2
platformdirs 4.1.0
pluggy 1.3.0
pybind11-stubgen 2.3.7
pycparser 2.21
pydantic 1.10.13
pyfrc 2024.0.1
PyNaCl 1.5.0
pynetconsole 2.0.4
pyntcore 2024.1.1.0
pytest 7.4.2
pytest-reraise 2.1.2
PyYAML 6.0.1
robotpy 2024.1.1
robotpy-build 2024.0.0 /Users/davidv/dev/frc/robotpy/robotpy-build
robotpy-cli 2024.0.0
robotpy-commands-v2 2024.0.0b4 /Users/davidv/dev/frc/robotpy/robotpy-commands-v2
robotpy-hal 2024.1.1.0
robotpy-halsim-gui 2024.1.1.0
robotpy-installer 2024.0.2
robotpy-rev 2024.0.0b1.post2.dev1+gba85a5563af7 /Users/davidv/dev/frc/robotpy/robotpy-rev
robotpy-wpilib-utilities 2024.0.1.dev0+g58dc9c8ff091.d20240107 /Users/davidv/dev/frc/robotpy/robotpy-wpilib-utilities
robotpy-wpimath 2024.1.1.0
robotpy-wpinet 2024.1.1.0
robotpy-wpiutil 2024.1.1.0
setuptools 68.1.2
setuptools-scm 7.1.0
sphinxify 0.11 /Users/davidv/dev/frc/robotpy/sphinxify
tomli 2.0.1
tomli_w 1.0.0
toposort 1.10
typing_extensions 4.9.0
wheel 0.42.0
wpilib 2024.1.1.0
import rev
sm = rev.CANSparkMax(2, rev.CANSparkLowLevel.MotorType.kBrushed)
Happening in 2024.2.1, seen in CI. Really hard to reproduce locally, but I caught this:
(gdb) bt
#0 ___pthread_mutex_lock (mutex=0x7f5cac038) at pthread_mutex_lock.c:80
#1 0x00007f5cb569a7e0 in __gthread_mutex_lock (__mutex=0x7f5cac038)
at /usr/include/x86_64-linux-gnu/c++/11/bits/gthr-default.h:749
#2 std::mutex::lock (this=0x7f5cac038) at /usr/include/c++/11/bits/std_mutex.h:100
#3 std::scoped_lock<std::mutex>::scoped_lock (__m=..., this=<synthetic pointer>)
at /usr/include/c++/11/mutex:655
#4 HAL_StopNotifier (notifierHandle=<optimized out>, status=<optimized out>)
at /work/hal/src/main/native/sim/Notifier.cpp:200
#5 0x00007f5cb122f541 in (anonymous namespace)::HeartbeatDaemon::Main() ()
from /home/virtuald/src/frc/robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#6 0x00007f5cb5939c4b in operator() (__closure=0x5587df615988)
at /work/wpiutil/src/main/native/cpp/SafeThread.cpp:79
#7 std::__invoke_impl<void, wpi::detail::SafeThreadOwnerBase::Start(std::shared_ptr<wpi::SafeThreadBase>)::<lambda()> > (__f=...) at /usr/include/c++/11/bits/invoke.h:61
#8 std::__invoke<wpi::detail::SafeThreadOwnerBase::Start(std::shared_ptr<wpi::SafeThreadBase>)::<lambda()> > (__fn=...) at /usr/include/c++/11/bits/invoke.h:96
#9 std::thread::_Invoker<std::tuple<wpi::detail::SafeThreadOwnerBase::Start(std::shared_ptr<wpi::SafeThreadBase>)::<lambda()> > >::_M_invoke<0> (this=0x5587df615988) at /usr/include/c++/11/bits/std_thread.h:259
#10 std::thread::_Invoker<std::tuple<wpi::detail::SafeThreadOwnerBase::Start(std::shared_ptr<wpi::SafeThreadBase>)::<lambda()> > >::operator() (this=0x5587df615988) at /usr/include/c++/11/bits/std_thread.h:266
#11 std::thread::_State_impl<std::thread::_Invoker<std::tuple<wpi::detail::SafeThreadOwnerBase::Start(std::shared_ptr<wpi::SafeThreadBase>)::<lambda()> > > >::_M_run(void) (this=0x5587df615980)
at /usr/include/c++/11/bits/std_thread.h:211
#12 0x00007f5cb54e31e3 in std::execute_native_thread_routine (__p=0x5587df615980)
at ../../../../../libstdc++-v3/src/c++11/thread.cc:104
#13 0x00007f5cc36ac897 in start_thread (arg=<optimized out>) at pthread_create.c:444
#14 0x00007f5cc373380c in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:78
Sad.
RoboRIO
No response
>>> import rev
>>> s = rev.CANSparkMax(1, rev.CANSparkMaxLowLevel.MotorType.kBrushless)
>>> e = s.getEncoder()
>>> p = s.getPIDController()
>>> p.setFeedbackDevice(e)
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
TypeError: setFeedbackDevice(): incompatible function arguments. The following argument types are supported:
1. (self: rev._rev.SparkMaxPIDController, sensor: rev._rev.CANSensor) -> rev._rev.REVLibError
Invoked with: <rev._rev.SparkMaxPIDController object at 0x10e266670>, <rev._rev.SparkMaxRelativeEncoder object at 0x10fdffd30>
Does it work? Who knows.
Warning at CANSparkMax: Warning: CANSparkMax object created for CAN ID 1, which is not a SPARK MAX. Some functionalities may not work.
File "/home/davo/dev/frc/thedropbears/pycrescendo/.venv/lib64/python3.12/site-packages/wpilib/_impl/start.py", line 247, in _start
self.robot.startCompetition()
File "/home/davo/dev/frc/thedropbears/pycrescendo/.venv/lib/python3.12/site-packages/magicbot/magicrobot.py", line 361, in startCompetition
self.robotInit()
File "/home/davo/dev/frc/thedropbears/pycrescendo/.venv/lib/python3.12/site-packages/magicbot/magicrobot.py", line 110, in robotInit
self._create_components()
File "/home/davo/dev/frc/thedropbears/pycrescendo/.venv/lib/python3.12/site-packages/magicbot/magicrobot.py", line 616, in _create_components
component = self._create_component(m, ctyp, injectables)
File "/home/davo/dev/frc/thedropbears/pycrescendo/.venv/lib/python3.12/site-packages/magicbot/magicrobot.py", line 687, in _create_component
component = ctyp(**injections)
File "/home/davo/dev/frc/thedropbears/pycrescendo/components/shooter.py", line 61, in __init__
self.injector = CANSparkMax(
[CAN SPARK] IDs: 1, 2, 3, Parameter type mismatch for parameter id Getting Product ID parameter failed. Unable to account for device-specific behavior differences.Windows, MacOS, Linux
╭──────────────────────────┬────────────┬──────────╮
│ name │ version │ location │
├──────────────────────────┼────────────┼──────────┤
│ attrs │ 23.2.0 │ │
│ bcrypt │ 4.1.2 │ │
│ cffi │ 1.16.0 │ │
│ coverage │ 7.4.0 │ │
│ cryptography │ 41.0.7 │ │
│ hypothesis │ 6.97.4 │ │
│ iniconfig │ 2.0.0 │ │
│ mypy │ 1.8.0 │ │
│ mypy-extensions │ 1.0.0 │ │
│ numpy │ 1.26.3 │ │
│ packaging │ 23.2 │ │
│ paramiko │ 3.4.0 │ │
│ phoenix6 │ 24.1.0 │ │
│ photonlibpy │ 2024.2.2 │ │
│ Pint │ 0.23 │ │
│ pip │ 23.2.1 │ │
│ pluggy │ 1.3.0 │ │
│ py │ 1.11.0 │ │
│ pycparser │ 2.21 │ │
│ pyfrc │ 2024.0.1 │ │
│ PyNaCl │ 1.5.0 │ │
│ pynetconsole │ 2.0.4 │ │
│ pyntcore │ 2024.2.1.2 │ │
│ pytest │ 8.0.0 │ │
│ pytest-forked │ 1.6.0 │ │
│ pytest-reraise │ 2.1.2 │ │
│ robotpy │ 2024.2.1.1 │ │
│ robotpy-apriltag │ 2024.2.1.2 │ │
│ robotpy-cli │ 2024.0.0 │ │
│ robotpy-ctre │ 2024.1.1 │ │
│ robotpy-hal │ 2024.2.1.2 │ │
│ robotpy-halsim-gui │ 2024.2.1.2 │ │
│ robotpy-installer │ 2024.1.3 │ │
│ robotpy-navx │ 2024.1.0 │ │
│ 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 │ │
│ setuptools │ 69.0.3 │ │
│ sortedcontainers │ 2.4.0 │ │
│ tomli │ 2.0.1 │ │
│ typing_extensions │ 4.9.0 │ │
│ wpilib │ 2024.2.1.2 │ │
╰──────────────────────────┴────────────┴──────────╯
motor = rev.CANSparkMax(1, rev.CANSparkMax.MotorType.kBrushless)
We're working on porting the Java code from REV for their new swerve modules and noticed the Python bindings for revlib seem to lack the AbsoluteEncoder and SparkMaxAbsoluteEncoder that the swerve modules utilize.
dir(rev)
['AnalogInput', 'CANSensor', 'CANSparkMax', 'CANSparkMaxLowLevel', 'CIEColor', 'ColorMatch', 'ColorSensorV3', 'MotorFeedbackSensor', 'REVLibError', 'RelativeEncoder', 'SparkMaxAlternateEncoder', 'SparkMaxAnalogSensor', 'SparkMaxLimitSwitch', 'SparkMaxPIDController', 'SparkMaxRelativeEncoder', 'all', 'builtins', 'cached', 'doc', 'file', 'loader', 'name', 'package', 'path', 'spec', 'version', '_rev', 'version']
rev.version
'2023.1.2'
grepping around in the site-packages, it looks like the C++ code is there and it looks like it's in the rev._rev package -
import rev._rev
dir(rev._rev)
['AbsoluteEncoder', 'AnalogInput', 'CANSensor', 'CANSparkMax', 'CANSparkMaxLowLevel', 'CIEColor', 'ColorMatch', 'ColorSensorV3', 'MotorFeedbackSensor', 'REVLibError', 'RelativeEncoder', 'SparkMaxAbsoluteEncoder', 'SparkMaxAlternateEncoder', 'SparkMaxAnalogSensor', 'SparkMaxLimitSwitch', 'SparkMaxPIDController', 'SparkMaxRelativeEncoder', 'doc', 'file', 'loader', 'name', 'package', 'spec']
So, I think it's just missing from the rev init.py perhaps?
Thanks
-Brian
Windows
No response
No response
The single-argument overload actually calls the 2-argument overload with a freeLimit of 0. Perhaps it might be better/simpler for us to just expose the 3-arg overload with freeLimit defaulting to 0.
It's going to be really similar for simulation autogen + class autogen.
rev/_rev/__init__.pyi begins with:
import rev._rev
import typing
import AnalogMode
import ArbFFUnits
import CANAnalog
import CANDigitalInput
import CANEncoder
import CANPIDController
import CANSparkMax
import CANSparkMaxLowLevel
import ControlType
import EncoderType
import wpilib._wpilib
import wpilib.interfaces._interfacesThe "imports" of all the classes should not be there, and breaks autocomplete/Intellisense.
Since it's a reference, didn't get detected as an 'out' parameter.
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