Misc

gen/Filesystem.yml

@@ -1,6 +1,9 @@
 ---
 
 functions:
-  GetLaunchDirectory:
   GetOperatingDirectory:
   GetDeployDirectory:
+  GetOperatingDirectoryFs:
+    ignore: true
+  GetDeployDirectoryFs:
+    ignore: true

pyproject.toml

@@ -29,6 +29,7 @@ extension = "_wpilib"
 sources = [
     "wpilib/src/main.cpp",
     "wpilib/src/rpy/ControlWord.cpp",
+    "wpilib/src/rpy/Filesystem.cpp",
     "wpilib/src/rpy/Notifier.cpp",
     "wpilib/src/rpy/SmartDashboardData.cpp",
     "wpilib/src/rpy/MotorControllerGroup.cpp",
@@ -91,6 +92,7 @@ DutyCycleEncoder = "frc/DutyCycleEncoder.h"
 Encoder = "frc/Encoder.h"
 Errors = "frc/Errors.h"
 # Filesystem = "frc/Filesystem.h"
+Filesystem = "rpy/Filesystem.h"
 # GenericHID = "frc/GenericHID.h"   # interfaces
 I2C = "frc/I2C.h"
 IterativeRobotBase = "frc/IterativeRobotBase.h"

wpilib/__init__.py

@@ -99,7 +99,9 @@
     Watchdog,
     XboxController,
     getCurrentThreadPriority,
+    getDeployDirectory,
     getErrorMessage,
+    getOperatingDirectory,
     getTime,
     setCurrentThreadPriority,
     wait,
@@ -200,7 +202,9 @@
     "Watchdog",
     "XboxController",
     "getCurrentThreadPriority",
+    "getDeployDirectory",
     "getErrorMessage",
+    "getOperatingDirectory",
     "getTime",
     "setCurrentThreadPriority",
     "wait",

wpilib/deployinfo.py

@@ -23,7 +23,7 @@ def getDeployData() -> typing.Optional[typing.Dict[str, str]]:
 
     :returns: None in simulation, or a dictionary
     """
-    if RobotBase.isReal():
+    if not RobotBase.isReal():
         return None
 
     try:

wpilib/src/rpy/Filesystem.h

@@ -0,0 +1,33 @@
+
+#pragma once
+
+#include <wpi/fs.h>
+
+namespace robotpy::filesystem {
+
+/**
+ * Obtains the operating directory of the program. On the roboRIO, this
+ * is /home/lvuser/py. In simulation, it is the location of robot.py
+ *
+ * @return The result of the operating directory lookup.
+ */
+std::string GetOperatingDirectory();
+
+/**
+ * Obtains the deploy directory of the program, which is the remote location
+ * the deploy directory is deployed to by default. On the roboRIO, this is
+ * /home/lvuser/py/deploy. In simulation, it is where the simulation was launched
+ * from, in the subdirectory "deploy" (`dirname(robot.py)`/deploy).
+ *
+ * @return The result of the operating directory lookup
+ */
+std::string GetDeployDirectory();
+
+// intended to be used by C++ bindings, returns same as GetOperatingDirectory
+fs::path GetOperatingDirectoryFs();
+// intended to be used by C++ bindings, returns same as GetDeployDirectory
+fs::path GetDeployDirectoryFs();
+
+} // namespace robotpy::filesystem
+
+#include "Filesystem.inc"

wpilib/src/rpy/Filesystem.inc

@@ -0,0 +1,45 @@
+
+// TODO: this should be in a shared library, but robotpy-build does not support that
+
+#include <pybind11/eval.h>
+#include <robotpy_build.h>
+
+namespace robotpy::filesystem {
+
+static fs::path getMainPath() {
+  py::gil_scoped_acquire gil;
+  py::dict locals;
+  py::exec(R"(
+        import sys, os.path
+        main = sys.modules['__main__'];
+        if hasattr(main, '__file__'):
+            main_path = os.path.abspath(os.path.dirname(main.__file__))
+
+    )",
+           py::globals(), locals);
+
+  if (locals.contains("main_path")) {
+    return fs::path(py::cast<std::string>(locals["main_path"]));
+  } else {
+#ifdef __FRC_ROBORIO__
+    return fs::path("/home/lvuser/py");
+#else
+    return fs::current_path();
+#endif
+  }
+}
+
+inline std::string GetOperatingDirectory() {
+  return GetOperatingDirectoryFs().string();
+}
+
+inline std::string GetDeployDirectory() { return GetDeployDirectoryFs().string(); }
+
+inline fs::path GetOperatingDirectoryFs() {
+  static fs::path operatingPath = getMainPath();
+  return operatingPath;
+}
+
+inline fs::path GetDeployDirectoryFs() { return GetOperatingDirectoryFs() / "deploy"; }
+
+} // namespace robotpy::filesystem