PathplannerLib Test Failures

Technical Python
,
1

I have an odd thing I can’t figure out with PyTest…or pathplanner, or both.

When I run the tests with an extra summary report, here’s the output

python -m robotpy test -- -rpf

.......
====================================================== short test summary info ======================================================
PASSED pyfrc_test.py::test_autonomous
FAILED pyfrc_test.py::test_disabled - RuntimeError: AutoBuilder has already been configured. Please only configure AutoBuilder once
FAILED pyfrc_test.py::test_operator_control - RuntimeError: AutoBuilder has already been configured. Please only configure AutoBuilder once
FAILED pyfrc_test.py::test_practice - RuntimeError: AutoBuilder has already been configured. Please only configure AutoBuilder once
==================================================== 3 failed, 1 passed in 3.36s ====================================================

My code is only calling Autobuilder from Pathplanner in one spot, RobotInit.

So it would appear that somehow I’m in a state where the library knows that I’ve configured the builder once, but RobotInit() is being called once for each test run. I don’t understand how that is happening, or how to fix the tests.

Any advice?

2

My guess is that pathplannerlib has a global somewhere, which is not supported for RobotPy programs.

3

Update to the latest version. This should be fixed

4

My Toml file:

# Use this configuration file to control what RobotPy packages are installed
# on your RoboRIO
#

[tool.robotpy]

# Version of robotpy this project depends on
robotpy_version = "2024.2.1.1"

# Which extra RobotPy components should be installed
# -> equivalent to `pip install robotpy[extra1, ...]
robotpy_extras = [
    # "all"
    #"apriltag",
    "commands2",
    # "cscore"
    "navx",
    # "pathplannerlib"
    # "phoenix5",
    "phoenix6",
    # "playingwithfusion"
    # "rev"
    # "romi"
    # "sim",
    # "xrp"
]

# Other pip packages to install
requires = [
    "robotpy-ctre==2024.1.1",
    "robotpy-pathplannerlib",
]

Then I run python -m robotpy sync

pip list
robotpy                  2024.2.1.1
...
robotpy-pathplannerlib   2024.1.3
...

Still broken.

pip install -U robotpy-pathplannerlib    

pip list
robotpy                  2024.2.1.1
...
robotpy-pathplannerlib   2024.1.6
...

Tests all pass.

5

I put my results in here for posterity, in case for some reason they see the same problem with syncing to latest.

6

Is this the right list? The latest is 2024.1.6

7

No, I had to manually update with pip -U to get it to update.

Edit… now I see the copy paste error…will fix above.

1 Like
8

I’m not 100% sure on this, maybe @virtuald can confirm. But I think since the requirement you have is just robotpy-pathplannerlib, any version will satisfy that. I believe that if you changed it to something like robotpy-pathplannerlib>=2024.1.6 it would get a new version if available (I think as long as its 2024.1.X).

9

Is this also fixed for Java? I was having a similar issue before but I worked around it.

10

Yes, you would need to put a version constraint in pyproject.toml to avoid having to run pip separately.

requires = [
    ...
    "robotpy-pathplannerlib>=2024.1.6",
]
11

Yes, all languages will just print an error now instead of throwing

12

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