Load path file from single location only

pathplannerlib/src/sources.patch

@@ -1,45 +1,21 @@
 --- orig/pathplanner/lib/PathPlanner.cpp	2022-04-03 03:30:25.000000000 -0500
 +++ patched/pathplanner/lib/PathPlanner.cpp	2022-04-03 03:30:37.000000000 -0500
-@@ -16,18 +16,35 @@
+@@ -10,6 +10,8 @@
+ #include <units/velocity.h>
+ #include <vector>
 
++#include <rpy/Filesystem.h>
++
+ using namespace pathplanner;
+
+ double PathPlanner::resolution = 0.004;
+@@ -17,7 +19,8 @@ double PathPlanner::resolution = 0.004;
  PathPlannerTrajectory PathPlanner::loadPath(std::string name, units::meters_per_second_t maxVel, units::meters_per_second_squared_t maxAccel, bool reversed){
      std::string line;
-+    wpi::json json;
-+
-+    std::vector<std::string> prefixes = {
-+        frc::filesystem::GetDeployDirectory() + "/pathplanner/",
-+        "./",
-+        "/home/lvuser/py/"
-+    };
 
 -    std::string filePath = frc::filesystem::GetDeployDirectory() + "/pathplanner/" + name + ".path";
-+    bool fileFound = false;
-+    std::string errorMessage = "Cannot open file: \n";
-
--    std::error_code error_code;
--    wpi::raw_fd_istream input{filePath, error_code};
-+    for(auto prefix : prefixes){
-+        std::string filePath = prefix + name + ".path";
-
--    if(error_code){
--        throw std::runtime_error(("Cannot open file: " + filePath));
-+        std::error_code error_code;
-+        wpi::raw_fd_istream input{filePath, error_code};
-+
-+        if(!error_code){
-+            fileFound = true;
-+            input >> json;
-+            break;
-+        }
++    std::string filePath = (robotpy::filesystem::GetDeployDirectoryFs() / "pathplanner" / (name + ".path")).string();
 +
-+        errorMessage += "  - " + filePath + "\n";
-     }
-
--    wpi::json json;
--    input >> json;
-+    if(!fileFound){
-+        throw std::runtime_error(errorMessage);
-+    }
 
-     std::vector<PathPlannerTrajectory::Waypoint> waypoints;
-     for (wpi::json::reference waypoint : json.at("waypoints")){
+     std::error_code error_code;
+     wpi::raw_fd_istream input{filePath, error_code};

pyproject.toml

@@ -1,7 +1,7 @@
 [build-system]
 requires = [
     "robotpy-build<2023.0.0,>=2022.2.1",
-    "wpilib<2023.0.0,>=2022.4.1.0",
+    "wpilib<2023.0.0,>=2022.4.1.6",
     "robotpy-wpimath<2023.0.0,>=2022.4.1.3",
 ]
 
@@ -60,5 +60,5 @@ author_email = "[email protected]"
 url = "https://github.com/robotpy/robotpy-pathplannerlib"
 license = "BSD-3-Clause"
 install_requires = [
-    "wpilib<2023.0.0,>=2022.4.1.0",
+    "wpilib<2023.0.0,>=2022.4.1.6",
 ]