Source code for wpilib._impl.main

# novalidate

import argparse
import inspect
import os
import sys

from os.path import exists
from pkg_resources import iter_entry_points

from .logconfig import configure_logging

def _log_versions():
    import wpilib
    import hal

    import logging

    logger = logging.getLogger("wpilib")"WPILib version %s", wpilib.__version__)"HAL version %s", hal.__version__)

    # should we just die here?
    if hal.__version__.split(".")[:3] != wpilib.__version__.split(".")[:3]:
            "Core component versions are not identical! This is not a supported configuration, and you may run into errors!"

    if wpilib.RobotBase.isSimulation():"Running with simulated HAL.")

        # check to see if we're on a RoboRIO
        # NOTE: may have false positives, but it should work well enough
        if exists("/etc/natinst/share/scs_imagemetadata.ini"):
                "Running simulation HAL on actual roboRIO! This probably isn't what you want, and will probably cause difficult-to-debug issues!"

    versions = {}

    # Log third party versions
    # -> TODO: in the future, expand 3rd party HAL support here?
    for group in ("robotpylib", "robotpybuild"):
        for entry_point in iter_entry_points(group=group, name=None):
            # Don't actually load the entry points -- just print the
            # packages unless we need to load them
            dist = entry_point.dist
            versions[dist.project_name] = dist.version

    for k, v in versions.items():
        if k not in ("wpilib", "robotpy-hal"):
  "%s version %s", k, v)

def _enable_faulthandler():
    # In the event of a segfault, faulthandler will dump the currently
    # active stack so you can figure out what went wrong.
    # Additionally, on non-Windows platforms we register a SIGUSR2
    # handler -- if you send the robot process a SIGUSR2, then
    # faulthandler will dump all of your current stacks. This can
    # be really useful for figuring out things like deadlocks.

    import logging

    logger = logging.getLogger("faulthandler")

        # These should work on all platforms
        import faulthandler

    except Exception as e:
        logger.warn("Could not enable faulthandler: %s", e)

        import signal

        faulthandler.register(signal.SIGUSR2)"registered SIGUSR2 for PID %s", os.getpid())
    except Exception:

class _CustomHelpAction(argparse.Action):
    def __init__(
        super(_CustomHelpAction, self).__init__(

    def __call__(self, parser, namespace, values, option_string=None):
        parser.exit(1)  # argparse uses an exit code of zero by default

argparse._HelpAction = _CustomHelpAction

[docs]def run(robot_class, **kwargs): """ This function gets called in like so:: if __name__ == '__main__': This function loads available entry points, parses arguments, and sets things up specific to RobotPy so that the robot can run. This function is used whether the code is running on the roboRIO or a simulation. :param robot_class: A class that inherits from :class:`.RobotBase` :param kwargs: Keyword arguments that will be passed to the executed entry points :returns: This function should never return """ # sanity check if not hasattr(robot_class, "main"): print( "ERROR: run() must be passed a robot class that inherits from RobotBase (or IterativeBase/SampleBase)" ) exit(1) parser = argparse.ArgumentParser() subparser = parser.add_subparsers(dest="command", help="commands") subparser.required = True parser.add_argument( "-v", "--verbose", action="store_true", default=False, help="Enable debug logging", ) parser.add_argument( "--ignore-plugin-errors", action="store_true", default=False, help="Ignore errors caused by RobotPy plugins (probably should fix or replace instead!)", ) has_cmd = False for entry_point in iter_entry_points(group="robotpy", name=None): try: cmd_class = entry_point.load() except ImportError: if "--ignore-plugin-errors" in sys.argv: print("WARNING: Ignoring error in '%s'" % entry_point) continue else: print( "Plugin error detected in '%s' (use --ignore-plugin-errors to ignore this)" % entry_point ) raise cmdparser = subparser.add_parser(, help=inspect.getdoc(cmd_class) ) obj = cmd_class(cmdparser) cmdparser.set_defaults(cmdobj=obj) has_cmd = True if not has_cmd: parser.error( "No entry points defined -- robot code can't do anything. Install packages to add entry points (see README)" ) exit(1) options = parser.parse_args() configure_logging(options.verbose) _log_versions() _enable_faulthandler() retval =, robot_class, **kwargs) if retval is None: retval = 0 elif retval is True: retval = 0 elif retval is False: retval = 1 exit(retval)