Upgrade python to 3.5
This uses the latest debian stretch packages--unfortunately, buster uses
a newer version of glibc that makes it a pain to get things running on
Ubuntu 18.04 as well.
Change-Id: Ib62c001cfa3245c9b1fcb4ec8acfc9a0c889e94d
diff --git a/WORKSPACE b/WORKSPACE
index 400fb87..cbc390c 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -79,8 +79,8 @@
http_archive(
name = "python_repo",
build_file = "@//debian:python.BUILD",
- sha256 = "4ff939f90cffd8c72f9992d7420481e361b6016b0ce5c6fa701be0691d4e20fa",
- url = "http://www.frc971.org/Build-Dependencies/python-2.tar.gz",
+ sha256 = "cc48d18417f015238b7efb083f4ff64a80f0baf347fbaf94d5437c14f7a3d84c",
+ url = "http://www.frc971.org/Build-Dependencies/python-4.tar.gz",
)
http_archive(
@@ -280,8 +280,8 @@
http_archive(
name = "matplotlib",
build_file = "@//debian:matplotlib.BUILD",
- sha256 = "dc8e04123a93180bf89727bf6b5a5a0f6d210b6c1c5eaec148f7f8183abbce24",
- url = "http://www.frc971.org/Build-Dependencies/matplotlib-2.tar.gz",
+ sha256 = "fa1ff9f3bb7fddba6d0b904af5ffdca97c6233a950840273c25145b8cad80483",
+ url = "http://www.frc971.org/Build-Dependencies/matplotlib-3.tar.gz",
)
http_archive(
diff --git a/debian/matplotlib.bzl b/debian/matplotlib.bzl
index 8e441d6..b1687d6 100644
--- a/debian/matplotlib.bzl
+++ b/debian/matplotlib.bzl
@@ -1,79 +1,99 @@
files = {
- "blt_2.5.3+dfsg-1_amd64.deb": "0a66841fa4f764fa504f3921b7566a85234859e552ce2a2d599a10a10f2ea7c4",
- "coreutils_8.23-4_amd64.deb": "6d3764c746887015c88c684aecc14dd1317eefeb76ba2acdf59d9ad5e4d97236",
- "fontconfig-config_2.11.0-6.3+deb8u1_all.deb": "f7963c0338fd031101f3f684a4e37306eefcd05094220947dd9cb7388a2fe85f",
- "fontconfig_2.11.0-6.3+deb8u1_amd64.deb": "5383eabf18c4c3dc3d581d1efea0e6ccbfd2c08a6a98cd3e6c491b1a99759375",
- "fonts-dejavu-core_2.34-1_all.deb": "002c9fa9445cfec4964637f22c73265d8a868f0810104452a6c906af52e43dab",
- "fonts-liberation_1.07.4-1_all.deb": "5490dd0b745bae9aa0c9a31ab75597229042d8fb45910ebbc21fe04f0cb1b87b",
- "fonts-lyx_2.1.2-2_all.deb": "81b282c02eeec70568ffc25ae385abe81fd133270fc110258b965692ec7e5f09",
- "libatk1.0-0_2.14.0-1_amd64.deb": "3c09c360031a4d251b294557ac3dd4365150c1bffd522b4a78ba9d93f6d3ab26",
- "libatk1.0-data_2.14.0-1_all.deb": "fd3d0906bdb08b9d8db9458f29b3c24640ca56669d30d82b9db7c9d1abaf2535",
- "libcairo2_1.14.0-2.1+deb8u2_amd64.deb": "5bb8028434e2ecbc75734bb7bd8ebc1f2f4d824834820c09729fd713b67ca0fe",
- "libdatrie1_0.2.8-1_amd64.deb": "8f1c9f4acaaa7cbe8b742c16d3b7c261c42193ceefef927cdefeccfc2b92348d",
- "libfontconfig1_2.11.0-6.3+deb8u1_amd64.deb": "0bb54d61c13aa5b5253cb5e08aaca0dfc4c626a05ee30f51d0e3002cda166fec",
- "libfreetype6_2.5.2-3+deb8u2_amd64.deb": "58e384796f31cd582e6da200fad74d09f5aad968eb7a45c5c2fa202675660b46",
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- "libgdk-pixbuf2.0-common_2.31.1-2+deb8u7_all.deb": "04cf3a42d105483677363328d074c2a72bed3e782606e489d3b8b90723bedc47",
- "libglib2.0-0_2.42.1-1+b1_amd64.deb": "a4b30c84c0c050f23a986fbc576daa04b246ab816ec0fcb0b471d19aa2689a97",
- "libgraphite2-3_1.3.10-1~deb8u1_amd64.deb": "49e1434c15e17654714b7f158d75d8a8a2f0bef7c7d1f7eb9e6f1c55ec69c598",
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- "libharfbuzz0b_0.9.35-2_amd64.deb": "24cb370d0dab9769ab1cce6a8362e5a785152b253319789ac6d2420f1ce42185",
- "libjasper1_1.900.1-debian1-2.4+deb8u3_amd64.deb": "a0887eb2f617ac0031ba195fd00119c85f3c20eb9d9670b2dc2d93e75faf1de9",
- "libjbig0_2.1-3.1_amd64.deb": "d0b55e2da6648d6b91ced51e8c8ccfbe024283ffbbc1484f704ff7b0c97f8c51",
- "libjpeg62-turbo_1.3.1-12_amd64.deb": "ac397a0c8d16891dbc0348a9ee30506b8b4cafe138a25b3af9e3cd0b417fab3d",
- "libjs-jquery-ui_1.10.1+dfsg-1_all.deb": "4433e948caa120c7d92574b292491b3e1924d761d091f1144adda5cacacb012c",
- "libjs-jquery_1.7.2+dfsg-3.2_all.deb": "e1a43ad00bc8b0d469544ddc2f11573fba9beda9d1b09c4ffd946fcdbf6cd1e4",
- "libpango-1.0-0_1.36.8-3_amd64.deb": "54c29cbec70cc2dc45affb3cece358e6a8c57c0c4c4a1690f3adac472c8ee24c",
- "libpangocairo-1.0-0_1.36.8-3_amd64.deb": "c088f8e9ce755eed168ff1e5be789252cadd4199070f2df703acb41742d90186",
- "libpangoft2-1.0-0_1.36.8-3_amd64.deb": "30f34db7a73ac7e1b8f2945ac1b5d34e649beb2fa71b2232c0ccde0ca19e697d",
- "libpixman-1-0_0.32.6-3_amd64.deb": "dfce4b6483c5704da051bc7da6aee76c025bf8a093212be122e956d7a8ea4c64",
- "libpng12-0_1.2.50-2+deb8u3_amd64.deb": "fa86f58f9595392dc078abe3b446327089c47b5ed8632c19128a156a1ea68b96",
- "libtcl8.6_8.6.2+dfsg-2_amd64.deb": "79124f4bde0867e63db1466d9ba9bbf7650f2e2f15c64e8bf1fe2dac42b98221",
- "libthai-data_0.1.21-1_all.deb": "805c372a6f0da8e487933638cf74d969626175d2f77682691bd5c74b3bc02168",
- "libthai0_0.1.21-1_amd64.deb": "992e35bf8c1685ba1cb439a99a78db72c7960075cb25cf3175d67f782cbb75c3",
- "libtiff5_4.0.3-12.3+deb8u6_amd64.deb": "73f4e28cd270d59698feb45564fb73329eef645c645218420d600d7e13115b84",
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- "libx11-6_1.6.2-3+deb8u2_amd64.deb": "aac2335619b5a9ebabfd2be2d63d9f6791faf15993dc54abafde1fdf74297174",
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+ "adwaita-icon-theme_3.22.0-1+deb9u1_all.deb": "9f956279c715b657f590370751ee91e74376fe06b18cf35a05930b13bb1737a6",
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+ "coreutils_8.26-3_amd64.deb": "ef6c0ab3d52a7d3e85ba4a9c04a1931264d34bab842da6e1428c8c4bda28a800",
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diff --git a/debian/python.bzl b/debian/python.bzl
index ffecc8d..0b6bf7b 100644
--- a/debian/python.bzl
+++ b/debian/python.bzl
@@ -1,51 +1,51 @@
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+ "libpython3-stdlib_3.5.3-1_amd64.deb": "800f1de01b9b3e831cd01c4400fa21f50596d77d8fb5d494a04cdda437181d61",
+ "libpython3.5-dev_3.5.3-1+deb9u1_amd64.deb": "683aea6b0b9266dbde902256985667715488e9724a3bcc3741e386b6fdc5d977",
+ "libpython3.5-minimal_3.5.3-1+deb9u1_amd64.deb": "db962e6e460a48d1190ff644441b7e0cd622d84fe4d6e664fd309d21e8c77e81",
+ "libpython3.5-stdlib_3.5.3-1+deb9u1_amd64.deb": "c2c804139153e6e63df8f1d6dbc18a7d398880360bd978f9589bcb09471bfbb0",
+ "libpython3.5_3.5.3-1+deb9u1_amd64.deb": "5184f95e9d5434fb5e1c6d86befb9d9078ce0b71e643b312988928f5846972f4",
+ "libquadmath0_6.3.0-18+deb9u1_amd64.deb": "a98030608d1b8eb07d2028ae5b03e1a83f6ae07fda4c765c096f5042992a27f0",
+ "libreadline7_7.0-3_amd64.deb": "9d90cd02554b1f0637fc1fbceb3bd69feb576b07a4d25df82970ab04f71f35da",
+ "libsqlite3-0_3.16.2-5+deb9u1_amd64.deb": "f448b8dbab36f859cc37627472a5df6aa281ab05fdab386296ee6c9503a5f666",
+ "libssl1.1_1.1.0l-1~deb9u1_amd64.deb": "385ce03f4b995e2f756ff92f8fb2c431f51c51866e08695d329223ca6cd3bfaa",
+ "libstdc++6_6.3.0-18+deb9u1_amd64.deb": "d05373fbbb0d2c538fa176dfe71d1fa7983c58d35a7a456263ca87e8e0d45030",
+ "libtinfo5_6.0+20161126-1+deb9u2_amd64.deb": "1d249a3193568b5ef785ad8993b9ba6d6fdca0eb359204c2355532b82d25e9f5",
+ "mime-support_3.60_all.deb": "d0685a72625b474b0a8a85a9465701eab60f16d6f0359ac120ec603a5b37044f",
+ "python-decorator_4.0.11-1_all.deb": "d4f72b36358c1db27b7eb20b0727fdee6d5cdbd409f8a343dacc9badb17a3e15",
+ "python-dev_2.7.13-2_amd64.deb": "287a1407d97c0d6fca9a877eb1c26171df0067e82babf5bf9137d10365a6a32c",
+ "python-minimal_2.7.13-2_amd64.deb": "425f1e6b2e1047a208b2e7c334455b8db2d0c03ea1ca761c4f53893a244c65c9",
+ "python-numpy_1.12.1-3_amd64.deb": "76b19ba44b2cce9c79b5150ed0bad5b1247c3f810612b00a397f3a2df7227356",
+ "python-scipy_0.18.1-2_amd64.deb": "30f7231c534b121f67587a8426098f091ee572a9071b2c87106fd365619dcd10",
+ "python2.7-dev_2.7.13-2+deb9u3_amd64.deb": "88a6d17f20944800e4f6fa4581f47ade05cc6f0fb66eb7d43a50da6ef0364639",
+ "python2.7-minimal_2.7.13-2+deb9u3_amd64.deb": "f0d2a33dce0b3723aa8ce8e0f82e6287035dcf88ae3038210718c661b13981b6",
+ "python2.7_2.7.13-2+deb9u3_amd64.deb": "ef3ba6e3c867b95c49da1a30c4505ffccc11f9fef39c3448204a46bab72b6d7e",
+ "python3-decorator_4.0.11-1_all.deb": "63cca50dc848d1d68c4ac8d4b5a6f8886f592977822019673529f797938b5091",
+ "python3-dev_3.5.3-1_amd64.deb": "288b35a42eb3f88fd0065d1522edfb19db8e66cb64fad6c2abae0a0359fe584d",
+ "python3-minimal_3.5.3-1_amd64.deb": "4184ede57b6764f4adb38193711d363f83e1797e4e680cabf277304c16dd9fd0",
+ "python3-numpy_1.12.1-3_amd64.deb": "acb93bfe28f5928ec50baff5486f8a84ee675cebb3fbcaccb29492b2dcaa3424",
+ "python3-scipy_0.18.1-2_amd64.deb": "3fc84587b650884ee197fadeb72a689afa4d42e4de0b4a7296fb9a035abaae1f",
+ "python3.5-dev_3.5.3-1+deb9u1_amd64.deb": "2e73e416b39e06bd0356ebddc51751d77872c31acbb46fb25d7630ad99c2fd96",
+ "python3.5-minimal_3.5.3-1+deb9u1_amd64.deb": "e1f791c8351b8cce3bd269d5bdf9e7fd5537cbd18ca53922f2ea7c061615b99c",
+ "python3.5_3.5.3-1+deb9u1_amd64.deb": "4cd0fbbc04529e055c7b403ff31c327955312c8b5f9227a3634facd1d2717541",
+ "python3_3.5.3-1_amd64.deb": "3d8a80b4c0d35d33ae067b3fab230f6f13bc5ae28597e5942a90ba91b85e2a86",
+ "python_2.7.13-2_amd64.deb": "4d5dc639f4fb86b924ca7728188982e9062a7f056f64c4f95b48d6a3a0ec042b",
+ "readline-common_7.0-3_all.deb": "d03bb49ebe933b06515323f876300d7e71dff572f73a29656dd06e846844e54d",
}
diff --git a/frc971/control_loops/python/libspline.py b/frc971/control_loops/python/libspline.py
index e9e6c5f..9799caa 100644
--- a/frc971/control_loops/python/libspline.py
+++ b/frc971/control_loops/python/libspline.py
@@ -16,16 +16,20 @@
pass
# Define required output types.
+libSpline.NewSpline.restype = ct.c_void_p
libSpline.SplineTheta.restype = ct.c_double
libSpline.SplineDTheta.restype = ct.c_double
libSpline.SplineDDTheta.restype = ct.c_double
+libSpline.NewDistanceSpline.restype = ct.c_void_p
libSpline.DistanceSplineTheta.restype = ct.c_double
libSpline.DistanceSplineDTheta.restype = ct.c_double
libSpline.DistanceSplineDThetaDt.restype = ct.c_double
libSpline.DistanceSplineDDTheta.restype = ct.c_double
libSpline.DistanceSplineLength.restype = ct.c_double
+libSpline.NewTrajectory.restype = ct.c_void_p
libSpline.TrajectoryLength.restype = ct.c_double
-libSpline.TrajectoryDistance.resType = ct.c_double
+libSpline.TrajectoryDistance.restype = ct.c_double
+libSpline.TrajectoryGetPlanXVAPtr.restype = ct.c_void_p
# Required for trajectory
libSpline.SetUpLogging()
@@ -40,9 +44,9 @@
def __init__(self, points):
assert points.shape == (2, 6)
self.__points = points
- self.__spline = libSpline.NewSpline(
+ self.__spline = ct.c_void_p(libSpline.NewSpline(
np.ctypeslib.as_ctypes(self.__points[0]),
- np.ctypeslib.as_ctypes(self.__points[1]))
+ np.ctypeslib.as_ctypes(self.__points[1])))
def __del__(self):
libSpline.deleteSpline(self.__spline)
@@ -51,9 +55,9 @@
self.__points[0, index] = x
self.__points[1, index] = y
libSpline.deleteSpline(self.__spline)
- self.__spline = libSpline.newSpline(
+ self.__spline = ct.c_void_p(libSpline.newSpline(
np.ctypeslib.as_ctypes(self.__points[0]),
- np.ctypeslib.as_ctypes(self.__points[1]))
+ np.ctypeslib.as_ctypes(self.__points[1])))
def Point(self, alpha):
result = np.zeros(2)
@@ -106,12 +110,12 @@
self.__spline = None
spline_ptrs = []
for spline in splines:
- spline_ptrs.append(spline.GetSplinePtr())
+ spline_ptrs.append(spline.GetSplinePtr().value)
spline_ptrs = np.array(spline_ptrs)
spline_array = np.ctypeslib.as_ctypes(spline_ptrs)
- self.__spline = libSpline.NewDistanceSpline(
- ct.byref(spline_array), len(splines))
+ self.__spline = ct.c_void_p(libSpline.NewDistanceSpline(
+ ct.byref(spline_array), len(splines)))
def __del__(self):
libSpline.deleteDistanceSpline(self.__spline)
@@ -162,8 +166,8 @@
"""A wrapper around trajectory.h/cc through libspline.cc."""
def __init__(self, distance_spline, vmax=10, num_distance=0):
- self.__trajectory = libSpline.NewTrajectory(
- distance_spline.GetSplinePtr(), ct.c_double(vmax), num_distance)
+ self.__trajectory = ct.c_void_p(libSpline.NewTrajectory(
+ distance_spline.GetSplinePtr(), ct.c_double(vmax), num_distance))
def __del__(self):
libSpline.deleteTrajectory(self.__trajectory)
@@ -239,7 +243,7 @@
long it takes to run the path.
This is slow so don't call more than once with the same data.
"""
- XVAPtr = libSpline.TrajectoryGetPlanXVAPtr(self.__trajectory, int(dt*1e9))
+ XVAPtr = ct.c_void_p(libSpline.TrajectoryGetPlanXVAPtr(self.__trajectory, int(dt*1e9)))
XVALength = libSpline.TrajectoryGetVectorLength(XVAPtr)
X = np.zeros(XVALength)
V = np.zeros(XVALength)