autodiscover opmodes + opmode example

examples/robot/ExpansionHubSample/defaultautomode.py

@@ -0,0 +1,31 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+from wpilib import PeriodicOpMode, Timer
+from wpilib.opmoderobot import autonomous
+
+
+@autonomous
+class DefaultAutoMode(PeriodicOpMode):
+    def __init__(self, robot):
+        super().__init__()
+        self.robot = robot
+        self.timer = Timer()
+
+    def start(self):
+        self.timer.reset()
+        self.timer.start()
+
+    def periodic(self):
+        if self.timer.get() < 2.0:
+            self.robot.motor0.setThrottle(0.5)
+            self.robot.motor1.setThrottle(0.5)
+        elif self.timer.get() < 4.0:
+            self.robot.motor0.setThrottle(0.9)
+            self.robot.motor1.setThrottle(0.9)
+        else:
+            self.robot.motor0.setThrottle(0.0)
+            self.robot.motor1.setThrottle(0.0)

examples/robot/ExpansionHubSample/defaulttelemode.py

@@ -0,0 +1,24 @@
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+from wpilib import Gamepad, PeriodicOpMode
+from wpilib.opmoderobot import teleop
+
+
+@teleop
+class DefaultTeleMode(PeriodicOpMode):
+    def __init__(self, robot):
+        super().__init__()
+        self.robot = robot
+        self.gamepad = Gamepad(0)
+
+    def periodic(self):
+        self.robot.motor0.setThrottle(-self.gamepad.getLeftY())
+        self.robot.motor1.setThrottle(-self.gamepad.getRightY())
+        self.robot.motor2.setThrottle(-self.gamepad.getLeftX())
+        self.robot.motor3.setThrottle(-self.gamepad.getRightX())
+        self.robot.servo0.setPosition(self.gamepad.getLeftTriggerAxis())
+        self.robot.servo1.setPosition(self.gamepad.getRightTriggerAxis())

examples/robot/ExpansionHubSample/robot.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+#
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+#
+
+from wpilib import ExpansionHubMotor, ExpansionHubServo
+from wpilib.opmoderobot import OpModeRobot
+
+
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+        self.motor0 = ExpansionHubMotor(0, 0)
+        self.motor1 = ExpansionHubMotor(0, 1)
+        self.motor2 = ExpansionHubMotor(0, 2)
+        self.motor3 = ExpansionHubMotor(0, 3)
+        self.servo0 = ExpansionHubServo(0, 0)
+        self.servo1 = ExpansionHubServo(0, 1)

examples/robot/examples.toml

@@ -19,6 +19,7 @@ base = [
   "ElevatorTrapezoidProfile",
   "Encoder",
   "EventLoop",
+  "ExpansionHubSample",
   "FlywheelBangBangController",
   "GettingStarted",
   "Gyro",

subprojects/robotpy-wpilib/tests/test_opmode_robot.py

@@ -1,9 +1,10 @@
+import importlib
 import pytest
 import threading
 from wpilib import simulation as wsim
 from wpimath.units import seconds
-from wpilib.opmoderobot import OpModeRobot
-from wpilib import OpMode, RobotState
+from wpilib.opmoderobot import OpModeRobot, autonomous, teleop, utility
+from wpilib import OpMode, RobotState, autonomous as top_level_autonomous
 from hal._wpiHal import RobotMode
 from wpiutil import Color
 
@@ -62,6 +63,45 @@ def sim_timing_setup():
     RobotState.clearOpModes()
 
 
+def test_opmode_decorators_attach_metadata():
+    @autonomous(group="Drive", description="Auto desc")
+    class AutoMode(OpMode):
+        pass
+
+    metadata = AutoMode.__wpilib_opmode_metadata__
+    assert metadata.mode == RobotMode.AUTONOMOUS
+    assert metadata.name == "AutoMode"
+    assert metadata.group == "Drive"
+    assert metadata.description == "Auto desc"
+
+
+def test_opmode_decorator_rejects_multiple_modes():
+    with pytest.raises(ValueError, match="multiple opmode decorators"):
+
+        @teleop
+        @autonomous
+        class BadMode(OpMode):
+            pass
+
+
+def test_opmode_decorator_preserves_explicit_metadata():
+    @utility(
+        name="Arm Test",
+        group="Mechanisms",
+        description="tests arm",
+        textColor=Color.WHITE,
+        backgroundColor=Color.BLACK,
+    )
+    class UtilityMode(OpMode):
+        pass
+
+    metadata = UtilityMode.__wpilib_opmode_metadata__
+    assert metadata.name == "Arm Test"
+    assert metadata.textColor == Color.WHITE
+    assert metadata.backgroundColor == Color.BLACK
+    assert top_level_autonomous is autonomous
+
+
 def test_add_op_mode():
     class MyMockRobot(MockRobot):
         def __init__(self):
@@ -187,3 +227,196 @@ def test_robot_periodic(periodic_robot_test_fixture):
     # Additional time steps should continue calling RobotPeriodic
     wsim.stepTiming(kPeriod)
     assert robot.periodic_count == 2
+
+
+def test_opmode_robot_auto_discovers_decorated_modules(tmp_path, monkeypatch):
+    pkg = tmp_path / "samplebot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "default_auto_mode.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import autonomous
+@autonomous
+class DefaultAutoMode(PeriodicOpMode):
+    pass
+""")
+    (pkg / "default_tele_mode.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import teleop
+@teleop
+class DefaultTeleMode(PeriodicOpMode):
+    pass
+""")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("samplebot.robot")
+    robot = module.Robot()
+
+    options = wsim.DriverStationSim.getOpModeOptions()
+    assert {opt.name for opt in options} == {"DefaultAutoMode", "DefaultTeleMode"}
+
+
+def test_opmode_robot_skips_non_candidate_files(tmp_path, monkeypatch):
+    pkg = tmp_path / "safeimportbot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "default_auto_mode.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import autonomous
+@autonomous
+class DefaultAutoMode(PeriodicOpMode):
+    pass
+""")
+    (pkg / "helper.py").write_text("raise RuntimeError('should not import')\n")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("safeimportbot.robot")
+    module.Robot()
+
+    options = wsim.DriverStationSim.getOpModeOptions()
+    assert {opt.name for opt in options} == {"DefaultAutoMode"}
+
+
+def test_opmode_robot_fails_on_syntax_error_in_scan_tree(tmp_path, monkeypatch):
+    pkg = tmp_path / "brokenbot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "broken.py").write_text("def nope(:\n")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("brokenbot.robot")
+
+    with pytest.raises(RuntimeError, match="broken.py"):
+        module.Robot()
+
+
+def test_opmode_robot_fails_on_candidate_import_error(tmp_path, monkeypatch):
+    pkg = tmp_path / "importbrokenbot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "bad_auto.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import autonomous
+raise RuntimeError('boom')
+@autonomous
+class BadAuto(PeriodicOpMode):
+    pass
+""")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("importbrokenbot.robot")
+
+    with pytest.raises(RuntimeError, match="bad_auto.py"):
+        module.Robot()
+
+
+def test_opmode_robot_rejects_duplicate_names_within_mode(tmp_path, monkeypatch):
+    pkg = tmp_path / "duplicatebot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "drive_modes.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import teleop
+@teleop(name='Drive')
+class DriveModeA(PeriodicOpMode):
+    pass
+@teleop(name='Drive')
+class DriveModeB(PeriodicOpMode):
+    pass
+""")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("duplicatebot.robot")
+
+    with pytest.raises(ValueError, match="duplicate"):
+        module.Robot()
+
+
+def test_opmode_robot_rejects_decorated_non_opmode_class(tmp_path, monkeypatch):
+    pkg = tmp_path / "typecheckbot"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "not_an_opmode.py").write_text("""\
+from wpilib.opmoderobot import autonomous
+@autonomous
+class NotAnOpMode:
+    pass
+""")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("typecheckbot.robot")
+
+    with pytest.raises(TypeError, match="OpMode"):
+        module.Robot()
+
+
+def test_expansion_hub_style_project_discovers_split_opmodes(tmp_path, monkeypatch):
+    pkg = tmp_path / "expansionhubsample"
+    pkg.mkdir()
+    (pkg / "__init__.py").write_text("")
+    (pkg / "robot.py").write_text("""\
+from wpilib.opmoderobot import OpModeRobot
+class Robot(OpModeRobot):
+    motor0 = None
+    def __init__(self):
+        super().__init__()
+""")
+    (pkg / "defaultautomode.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import autonomous
+@autonomous
+class DefaultAutoMode(PeriodicOpMode):
+    def __init__(self, robot):
+        self.robot = robot
+""")
+    (pkg / "defaulttelemode.py").write_text("""\
+from wpilib import PeriodicOpMode
+from wpilib.opmoderobot import teleop
+@teleop
+class DefaultTeleMode(PeriodicOpMode):
+    def __init__(self, robot):
+        self.robot = robot
+""")
+
+    monkeypatch.syspath_prepend(str(tmp_path))
+    module = importlib.import_module("expansionhubsample.robot")
+    module.Robot()
+
+    options = wsim.DriverStationSim.getOpModeOptions()
+    assert {opt.name for opt in options} == {"DefaultAutoMode", "DefaultTeleMode"}

subprojects/robotpy-wpilib/wpilib/__init__.py

@@ -234,9 +234,9 @@
 
 del _init__wpilib
 
-from .opmoderobot import OpModeRobot
+from .opmoderobot import OpModeRobot, autonomous, teleop, utility
 
-__all__ += ["OpModeRobot"]
+__all__ += ["OpModeRobot", "autonomous", "teleop", "utility"]
 
 from .cameraserver import CameraServer
 from .deployinfo import getDeployData