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robotpy / robotpy-rev

RobotPy bindings for REV Robotics' REVLib
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[BUG]: Creating a brushed Spark Max aborts in sim #55

Closed auscompgeek closed 8 months ago

auscompgeek commented 9 months ago

Problem description

Constructing a CANSparkMax with MotorType.kBrushed in simulation causes the robot code to exit with SIGABRT.

[CAN SPARK] IDs: 2, Parameter type mismatch for parameter id Getting Product ID parameter failed. Unable to account for device-specific behavior differences.

[CAN SPARK] IDs: 2, Error Invalid Cannot set motor type to kBrushed for SPARK without a dock connected.

libc++abi: terminating
fish: Job 1, 'python' terminated by signal SIGABRT (Abort)

Operating System

MacOS

Installed Python Packages

Package                  Version                               Editable project location
------------------------ ------------------------------------- ------------------------------------------------------
bcrypt                   4.1.2
beartype                 0.16.4
black                    23.12.1
cffi                     1.16.0
click                    8.1.7
cryptography             41.0.7
cxxheaderparser          1.3.0
delocate                 0.10.7
iniconfig                2.0.0
Jinja2                   3.1.2
MarkupSafe               2.1.3
mypy-extensions          1.0.0
overtake                 0.4.0
packaging                23.2
paramiko                 3.4.0
patch                    1.16
pathspec                 0.12.1
pcpp                     1.30
Pint                     0.23
pip                      23.3.2
platformdirs             4.1.0
pluggy                   1.3.0
pybind11-stubgen         2.3.7
pycparser                2.21
pydantic                 1.10.13
pyfrc                    2024.0.1
PyNaCl                   1.5.0
pynetconsole             2.0.4
pyntcore                 2024.1.1.0
pytest                   7.4.2
pytest-reraise           2.1.2
PyYAML                   6.0.1
robotpy                  2024.1.1
robotpy-build            2024.0.0                              /Users/davidv/dev/frc/robotpy/robotpy-build
robotpy-cli              2024.0.0
robotpy-commands-v2      2024.0.0b4                            /Users/davidv/dev/frc/robotpy/robotpy-commands-v2
robotpy-hal              2024.1.1.0
robotpy-halsim-gui       2024.1.1.0
robotpy-installer        2024.0.2
robotpy-rev              2024.0.0b1.post2.dev1+gba85a5563af7   /Users/davidv/dev/frc/robotpy/robotpy-rev
robotpy-wpilib-utilities 2024.0.1.dev0+g58dc9c8ff091.d20240107 /Users/davidv/dev/frc/robotpy/robotpy-wpilib-utilities
robotpy-wpimath          2024.1.1.0
robotpy-wpinet           2024.1.1.0
robotpy-wpiutil          2024.1.1.0
setuptools               68.1.2
setuptools-scm           7.1.0
sphinxify                0.11                                  /Users/davidv/dev/frc/robotpy/sphinxify
tomli                    2.0.1
tomli_w                  1.0.0
toposort                 1.10
typing_extensions        4.9.0
wheel                    0.42.0
wpilib                   2024.1.1.0

Reproducible example code

import rev
sm = rev.CANSparkMax(2, rev.CANSparkLowLevel.MotorType.kBrushed)
virtuald commented 9 months ago

This is a bug in the revlib library, here's what I see on Linux under gdb:

(gdb) bt
#0  __pthread_kill_implementation (threadid=<optimized out>, signo=signo@entry=6, no_tid=no_tid@entry=0) at pthread_kill.c:44
#1  0x00007ffff7aae8a3 in __pthread_kill_internal (signo=6, threadid=<optimized out>) at pthread_kill.c:78
#2  0x00007ffff7a5c8ee in __GI_raise (sig=sig@entry=6) at ../sysdeps/posix/raise.c:26
#3  0x00007ffff7a448ff in __GI_abort () at abort.c:79
#4  0x00007fffe96a4d19 in __gnu_cxx::__verbose_terminate_handler () at ../../../../libstdc++-v3/libsupc++/vterminate.cc:95
#5  0x00007fffe96b4f4c in __cxxabiv1::__terminate (handler=<optimized out>)
    at ../../../../libstdc++-v3/libsupc++/eh_terminate.cc:48
#6  0x00007fffe96b4fb7 in std::terminate () at ../../../../libstdc++-v3/libsupc++/eh_terminate.cc:58
#7  0x00007fffe54362c2 in c_REVLib_FlushErrorsAndTerminate ()
   from robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#8  0x00007fffe5434873 in c_SparkMax_Create () from robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#9  0x00007fffe542bfc2 in rev::CANSparkLowLevel::CANSparkLowLevel(int, rev::CANSparkLowLevel::MotorType) ()
   from robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#10 0x00007fffe542c53d in rev::CANSparkBase::CANSparkBase(int, rev::CANSparkLowLevel::MotorType) ()
   from robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#11 0x00007fffe542b42d in rev::CANSparkMax::CANSparkMax(int, rev::CANSparkLowLevel::MotorType) ()
   from robotpy-rev/rev/_rev.cpython-38-x86_64-linux-gnu.so
#12 0x00007fffe536e244 in pybind11::detail::initimpl::construct_or_initialize<rev::CANSparkMax, int, rev::CANSparkLowLevel::MotorType, 0> () at robotpy-build/robotpy_build/pybind11/include/pybind11/detail/init.h:77
virtuald commented 9 months ago

I sent an email reporting this to rev and got this response:

Thanks for reaching out to let us know about this! I've forwarded this information to our software team and hopefully, we will be able to improve this in an upcoming REVLib update.

auscompgeek commented 9 months ago

Of note, this is new behaviour in the kickoff release. It worked fine in the beta.

bdmiller42 commented 8 months ago

@virtuald, have you heard anything from rev about an update or progress before I reach out?

virtuald commented 8 months ago

The more paying customers annoy them the more likely they'll actually fix it.

martinrioux commented 8 months ago

Having the same issue

jfabellera commented 8 months ago

We just released REVLib v2024.2.1 which should fix this issue

virtuald commented 8 months ago

@jfabellera that fixed it, thanks.

See #59 for a new issue that popped up in this release.