Make python things work in the sandbox
Everything seems to be plotting now, and graph_edit draws again.
Change-Id: I2aceb13577c0d7529e3169f89e2d0c71612f3a47
diff --git a/WORKSPACE b/WORKSPACE
index 5bd89d2..90a57b3 100644
--- a/WORKSPACE
+++ b/WORKSPACE
@@ -36,6 +36,10 @@
"//debian:arm_frc_gnueabi_deps.bzl",
arm_frc_gnueabi_deps_debs = "files",
)
+load(
+ "//debian:python_gtk.bzl",
+ python_gtk_debs = "files",
+)
load("//debian:packages.bzl", "generate_repositories_for_debs")
generate_repositories_for_debs(python_debs)
@@ -56,6 +60,8 @@
generate_repositories_for_debs(arm_frc_gnueabi_deps_debs)
+generate_repositories_for_debs(python_gtk_debs)
+
new_http_archive(
name = "python_repo",
build_file = "debian/python.BUILD",
@@ -223,8 +229,8 @@
new_http_archive(
name = "matplotlib",
build_file = "debian/matplotlib.BUILD",
- sha256 = "4aa1efb22f74859ab5c478ff743f2fd34291fc30635f4b7cf2d67550ed226117",
- url = "http://frc971.org/Build-Dependencies/matplotlib.tar.gz",
+ sha256 = "dc8e04123a93180bf89727bf6b5a5a0f6d210b6c1c5eaec148f7f8183abbce24",
+ url = "http://frc971.org/Build-Dependencies/matplotlib-2.tar.gz",
)
new_http_archive(
@@ -241,6 +247,13 @@
url = "http://frc971.org/Build-Dependencies/arm_frc_gnueabi_deps.tar.gz",
)
+new_http_archive(
+ name = "python_gtk",
+ build_file = "debian/python_gtk.BUILD",
+ sha256 = "850f5c1521b94c5c049c44d9107cd8ae9110696fbf054d2cb48bae9620fd4d23",
+ url = "http://frc971.org/Build-Dependencies/python_gtk.tar.gz",
+)
+
# Downloaded from
# https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update
new_http_archive(
@@ -253,7 +266,7 @@
new_http_archive(
name = "cgal_repo",
+ build_file = "debian/cgal.BUILD",
sha256 = "d564dda558570344b4caa66c5bae2cdae9ef68e07829d64f5651b25f2c6a0e9e",
url = "http://frc971.org/Build-Dependencies/cgal-dev-4.5-2.tar.gz",
- build_file = 'debian/cgal.BUILD',
)
diff --git a/debian/BUILD b/debian/BUILD
index a052657..7ab6705 100644
--- a/debian/BUILD
+++ b/debian/BUILD
@@ -36,6 +36,10 @@
":arm_frc_gnueabi_deps.bzl",
arm_frc_gnueabi_deps_debs = "files",
)
+load(
+ ":python_gtk.bzl",
+ python_gtk_debs = "files",
+)
load("//debian:packages.bzl", "download_packages", "generate_deb_tarball")
filegroup(
@@ -46,6 +50,30 @@
visibility = ["@matplotlib//:__pkg__"],
)
+filegroup(
+ name = "python_shapely_patches",
+ srcs = [
+ "python_shapely_init.patch",
+ ],
+ visibility = ["@python_gtk//:__pkg__"],
+)
+
+filegroup(
+ name = "python_gi_patches",
+ srcs = [
+ "python_gi_init.patch",
+ ],
+ visibility = ["@python_gtk//:__pkg__"],
+)
+
+filegroup(
+ name = "python_geos_patches",
+ srcs = [
+ "python_geos.patch",
+ ],
+ visibility = ["@python_gtk//:__pkg__"],
+)
+
py_binary(
name = "download_packages",
srcs = [
@@ -143,6 +171,7 @@
],
packages = [
"python-matplotlib",
+ "python-tk",
"python3-matplotlib",
],
)
@@ -164,6 +193,25 @@
],
)
+download_packages(
+ name = "download_python_gtk_deps",
+ excludes = [
+ "fonts-freefont",
+ "gsettings-backend",
+ "libpng-dev",
+ "libz-dev",
+ "python3-dev",
+ "python3",
+ ],
+ packages = [
+ "libgtk-3-dev",
+ "python3-cairo",
+ "python3-gi",
+ "python3-gi-cairo",
+ "python3-shapely",
+ ],
+)
+
generate_deb_tarball(
name = "python",
files = python_debs,
@@ -208,3 +256,8 @@
name = "arm_frc_gnueabi_deps",
files = arm_frc_gnueabi_deps_debs,
)
+
+generate_deb_tarball(
+ name = "python_gtk",
+ files = python_gtk_debs,
+)
diff --git a/debian/matplotlib.BUILD b/debian/matplotlib.BUILD
index 208761a..5f89ba9 100644
--- a/debian/matplotlib.BUILD
+++ b/debian/matplotlib.BUILD
@@ -25,16 +25,18 @@
_data_files = glob([
"usr/share/matplotlib/mpl-data/**",
+ "usr/share/tcltk/**",
])
_src_copied = ["/".join(f.split("/")[4:]) for f in _src_files]
_builtin_so_files = glob([
"usr/lib/python2.7/dist-packages/**/*.x86_64-linux-gnu.so",
+ "usr/lib/python2.7/lib-dynload/*.so",
])
_system_so_files = glob([
- "usr/lib/x86_64-linux-gnu/**/*.so*",
+ "usr/lib/**/*.so*",
"lib/x86_64-linux-gnu/**/*.so*",
])
@@ -45,6 +47,7 @@
_builtin_rpaths = [":".join([
"\\$$ORIGIN/%s" % rel,
"\\$$ORIGIN/%s/rpathed/usr/lib/x86_64-linux-gnu" % rel,
+ "\\$$ORIGIN/%s/rpathed/usr/lib" % rel,
"\\$$ORIGIN/%s/rpathed/lib/x86_64-linux-gnu" % rel,
]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _builtin_so_copied]]
@@ -96,9 +99,15 @@
)
genrule(
- name = "create_empty_rc",
+ name = "create_rc",
outs = ["usr/share/matplotlib/mpl-data/matplotlibrc"],
- cmd = "touch $@",
+ cmd = "\n".join([
+ "cat > $@ << END",
+ # This is necessary to make matplotlib actually plot things to the
+ # screen by default.
+ "backend : TkAgg",
+ "END",
+ ]),
)
py_library(
diff --git a/debian/matplotlib.bzl b/debian/matplotlib.bzl
index d54ba56..8e441d6 100644
--- a/debian/matplotlib.bzl
+++ b/debian/matplotlib.bzl
@@ -1,4 +1,5 @@
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",
@@ -33,14 +34,14 @@
"libthai0_0.1.21-1_amd64.deb": "992e35bf8c1685ba1cb439a99a78db72c7960075cb25cf3175d67f782cbb75c3",
"libtiff5_4.0.3-12.3+deb8u6_amd64.deb": "73f4e28cd270d59698feb45564fb73329eef645c645218420d600d7e13115b84",
"libtk8.6_8.6.2-1_amd64.deb": "c8bf4cffca2af331cd323c88e68ac1e90f48b08de24813f6b24308b18977d396",
- "libx11-6_1.6.2-3+deb8u1_amd64.deb": "380aa38372e949f74b57e962146626aae847850ed4f1fcb83784086f239d50c3",
- "libx11-data_1.6.2-3+deb8u1_all.deb": "4879a3054d6508e86f737bf668737c3fc64980c3512b2912f18bceea823e1899",
+ "libx11-6_1.6.2-3+deb8u2_amd64.deb": "aac2335619b5a9ebabfd2be2d63d9f6791faf15993dc54abafde1fdf74297174",
+ "libx11-data_1.6.2-3+deb8u2_all.deb": "8b5c2679ca7ddee702ef58f2d31e7176bc7d08d648089a3b0ac48d51ec8f10e1",
"libxau6_1.0.8-1_amd64.deb": "b03b2d0d400c2002a2d38300bd6630306abb0ff325c3d4a4447ecceb58335228",
"libxcb-render0_1.10-3+b1_amd64.deb": "1277261ed3b901d70b01901836b2f6d89235dd6777636f3f26b5d2979f1c7e22",
"libxcb-shm0_1.10-3+b1_amd64.deb": "724749f2ea6a471ba353f6a93585bf98577c2103648297fac40c46b9a08671b0",
"libxcb1_1.10-3+b1_amd64.deb": "07bf131f4f0f8a9f1a023ab88cce3a1d12cc7222d3c7f08f00b60a3699af5188",
"libxcomposite1_0.4.4-1_amd64.deb": "ff739711c5aa6df107fdfb6e13491e8317b2c45477d91a6b17da5660cd8ca8f4",
- "libxcursor1_1.1.14-1+deb8u1_amd64.deb": "31c05ccd419d5c255643e3d21c871204e154a06af25300c2bd2b721989d038f0",
+ "libxcursor1_1.1.14-1+deb8u2_amd64.deb": "011d069b9bf6604c19c1d07dc7214b24a8fea6dfbb6748fb1fd90532c855c00b",
"libxdamage1_1.1.4-2+b1_amd64.deb": "c2b13deaa87dbad7d541e29755464f125409b9d4d038d6982bb9f8f35939b817",
"libxdmcp6_1.1.1-1+b1_amd64.deb": "6758bc820616254634fdd2354a2691e40d2973d6bf3a9c12417f02770f75081c",
"libxext6_1.3.3-1_amd64.deb": "5105f77289a7e08faaf3bb4c16c6945cafca65b9bdb4792fef820045ab43e568",
@@ -48,7 +49,7 @@
"libxft2_2.3.2-1_amd64.deb": "38d6013c0b6305caf38932e6274108d81b2b2df0dd67f04987aa3f69c1e6677e",
"libxi6_1.7.4-1+deb8u1_amd64.deb": "a99de627a07f54bc40e5dc77e3ca7e9d9b5619e068f1bb303f86edd138d6d037",
"libxinerama1_1.1.3-1+b1_amd64.deb": "3668c1178ac649879338192759e79879e0f5797764b448dcac6aed4b24ef495b",
- "libxml2_2.9.1+dfsg1-5+deb8u6_amd64.deb": "23c9e795d10443baf09fce7bcc007790f9c19597313fab3ff9691f7100fd0419",
+ "libxml2_2.9.1+dfsg1-5+deb8u7_amd64.deb": "34dcf3dc64e65935fa9e31ba9aa5d1795ed054f17203f01255a1875e55435f70",
"libxrandr2_1.4.2-1+deb8u1_amd64.deb": "e59996ac0e993331799aa7bc768f7edd7b0baec0fafdbeebeef658834ba96b63",
"libxrender1_0.9.8-1+b1_amd64.deb": "8980934c84c0ebbca4158023d91ced3ddbfa028a2be25959ff4566b37eceb8f4",
"libxss1_1.2.2-1_amd64.deb": "0f2fc4eff464b63a4fafed9ab2e499e1804dcee85c5d9a89e53c3ed6a2a06b88",
@@ -60,6 +61,7 @@
"python-pkg-resources_5.5.1-1_all.deb": "a6d6963f9a1943aee463356e462f7f5283938da6e810940514c1b6c8b8496595",
"python-pyparsing_2.0.3+dfsg1-1_all.deb": "b8051ce4e3108f52c9ee6137ce5c2175ac64a81782a3249dbfe1f75e409e5978",
"python-six_1.8.0-1_all.deb": "15e635be0154af9232cb30b10df8c598a274a9b55bbe5c0355aff51cc1e63e88",
+ "python-tk_2.7.8-2+b1_amd64.deb": "cc0e861c75984698874d62dbb23fbf67259364cfe7430bf872196758bdf68632",
"python-tz_2012c+dfsg-0.1_all.deb": "cb240ad52f4f5e225b7366fab31257664a7b2a50d1bf339c3cd9fdcf0b9e34f6",
"python3-dateutil_2.2-2_all.deb": "f64d71bddfe4d8ee3ec602495605f79b36c217e61192a35fe2f168f63cea2006",
"python3-matplotlib_1.4.2-3.1_amd64.deb": "38314c38dcef9332b5b76b32f4207bb0e84188f21ca8e4df5cc2e7895e08b0c8",
@@ -70,6 +72,7 @@
"python3-tz_2012c+dfsg-0.1_all.deb": "add2d6e1afd92c106d61d09854316ccab73931442b54298df0269899ee9a834c",
"python_2.7.9-1_amd64.deb": "93dc9d03df366d658832fb238a6c1e6c57e5e57dd648145c2f57a8f3e2b419ed",
"shared-mime-info_1.3-1_amd64.deb": "50c122e36f96e5cc808c6b7528ebd27f8086783e2c5b7c39ac7f6da6f62b09c1",
+ "tk8.6-blt2.5_2.5.3+dfsg-1_amd64.deb": "805970b3b4fca2f413852651ad249697d2ad4edd7402201e910d231094db6184",
"ttf-bitstream-vera_1.10-8_all.deb": "328def7f581bf94b3b06d21e641f3e5df9a9b2e84e93b4206bc952fe8e80f38a",
"tzdata_2018e-0+deb8u1_all.deb": "124fe7da8988d0779be3c1883e7de00742ed46464f5f94616d5222cd16f9537a",
"ucf_3.0030_all.deb": "1b93d9fc5930b9d8382705b71605e07fe11f4796db239b7ac2644bf4fbd7f6a2",
diff --git a/debian/matplotlib_init.patch b/debian/matplotlib_init.patch
index 11a3ad8..0106b64 100644
--- a/debian/matplotlib_init.patch
+++ b/debian/matplotlib_init.patch
@@ -8,16 +8,16 @@
import six
import sys
import distutils.version
-@@ -110,6 +111,21 @@
+@@ -110,6 +111,26 @@
__version__ = str('1.4.2')
__version__numpy__ = str('1.6') # minimum required numpy version
-+matplotlib_base = os.path.dirname(os.path.dirname(__file__))
++_matplotlib_base = os.path.dirname(os.path.dirname(__file__))
+
+# Hack to point matplotlib at its data.
+os.environ['MATPLOTLIBDATA'] = \
+ os.path.join( \
-+ matplotlib_base,
++ _matplotlib_base,
+ "usr", "share", "matplotlib", "mpl-data")
+# Avoid reading /etc/matplotlib in all cases. Matplotlib is pretty happy to
+# escape the sandbox by using absolute paths.
@@ -27,6 +27,11 @@
+# manually here to work around the bug.
+os.environ['MPLCONFIGDIR'] = '/tmp/matplotlib-nobody'
+
++# Tell Tcl where to find the sandboxed version. Otherwise, it will try using
++# one from the host system, even if that's an incompatible version.
++os.environ['TCL_LIBRARY'] = os.path.join(_matplotlib_base, 'usr', 'share',
++ 'tcltk', 'tcl8.6')
++
try:
import dateutil
except ImportError:
diff --git a/debian/python_geos.patch b/debian/python_geos.patch
new file mode 100644
index 0000000..9fd697a
--- /dev/null
+++ b/debian/python_geos.patch
@@ -0,0 +1,14 @@
+--- a/geos.py 2018-10-17 23:02:05.000000000 -0700
++++ b/geos.py 2018-10-17 23:16:33.017257372 -0700
+@@ -40,6 +40,11 @@ def load_dll(libname, fallbacks=None):
+ return CDLL(lib)
+ except OSError:
+ pass
++ base = os.path.dirname(os.path.dirname(__file__))
++ try:
++ return CDLL(os.path.join(base, 'rpathed', 'usr', 'lib', lib))
++ except OSError:
++ pass
+ if fallbacks is not None:
+ for name in fallbacks:
+ try:
diff --git a/debian/python_gi_init.patch b/debian/python_gi_init.patch
new file mode 100644
index 0000000..97ca2dc
--- /dev/null
+++ b/debian/python_gi_init.patch
@@ -0,0 +1,14 @@
+--- a/__init__.py 1969-12-31 16:00:00.000000000 -0800
++++ b/__init__.py 2018-10-17 21:45:04.908201161 -0700
+@@ -29,6 +29,11 @@ import os
+ import importlib
+ import types
+
++_base = os.path.dirname(os.path.dirname(__file__))
++os.environ['GI_TYPELIB_PATH'] = os.path.join(_base, 'usr', 'lib',
++ 'x86_64-linux-gnu',
++ 'girepository-1.0')
++
+ _static_binding_error = ('When using gi.repository you must not import static '
+ 'modules like "gobject". Please change all occurrences '
+ 'of "import gobject" to "from gi.repository import GObject". '
diff --git a/debian/python_gtk.BUILD b/debian/python_gtk.BUILD
new file mode 100644
index 0000000..367c137
--- /dev/null
+++ b/debian/python_gtk.BUILD
@@ -0,0 +1,163 @@
+genrule(
+ name = "patch_gi_init",
+ srcs = [
+ "usr/lib/python3/dist-packages/gi/__init__.py",
+ "@//debian:python_gi_patches",
+ ],
+ outs = ["gi/__init__.py"],
+ cmd = " && ".join([
+ "cp $(location usr/lib/python3/dist-packages/gi/__init__.py) $@",
+ "readonly PATCH=\"$$(readlink -f $(location @patch))\"",
+ "readonly FILE=\"$$(readlink -f $(location @//debian:python_gi_patches))\"",
+ "(cd $(@D) && \"$${PATCH}\" -p1 < \"$${FILE}\") > /dev/null",
+ ]),
+ tools = [
+ "@patch",
+ ],
+)
+
+genrule(
+ name = "patch_shapely_init",
+ srcs = [
+ "usr/lib/python3/dist-packages/shapely/__init__.py",
+ "@//debian:python_shapely_patches",
+ ],
+ outs = ["shapely/__init__.py"],
+ cmd = " && ".join([
+ "cp $(location usr/lib/python3/dist-packages/shapely/__init__.py) $@",
+ "readonly PATCH=\"$$(readlink -f $(location @patch))\"",
+ "readonly FILE=\"$$(readlink -f $(location @//debian:python_shapely_patches))\"",
+ "(cd $(@D) && \"$${PATCH}\" -p1 < \"$${FILE}\") > /dev/null",
+ ]),
+ tools = [
+ "@patch",
+ ],
+)
+
+genrule(
+ name = "patch_geos",
+ srcs = [
+ "usr/lib/python3/dist-packages/shapely/geos.py",
+ "@//debian:python_geos_patches",
+ ],
+ outs = ["shapely/geos.py"],
+ cmd = " && ".join([
+ "cp $(location usr/lib/python3/dist-packages/shapely/geos.py) $@",
+ "readonly PATCH=\"$$(readlink -f $(location @patch))\"",
+ "readonly FILE=\"$$(readlink -f $(location @//debian:python_geos_patches))\"",
+ "(cd $(@D) && \"$${PATCH}\" -p1 < \"$${FILE}\") > /dev/null",
+ ]),
+ tools = [
+ "@patch",
+ ],
+)
+
+_src_files = glob(
+ include = ["usr/lib/python3/dist-packages/**/*.py"],
+ exclude = [
+ "usr/lib/python3/dist-packages/gi/__init__.py",
+ "usr/lib/python3/dist-packages/shapely/__init__.py",
+ "usr/lib/python3/dist-packages/shapely/geos.py",
+ ],
+)
+
+_data_files = glob([
+ "usr/lib/x86_64-linux-gnu/girepository-1.0/**/*",
+])
+
+_src_copied = ["/".join(f.split("/")[4:]) for f in _src_files]
+
+_builtin_so_files = glob([
+ "usr/lib/python3/dist-packages/**/*.cpython-34m-x86_64-linux-gnu.so",
+])
+
+_system_so_files = glob(
+ include = [
+ "lib/x86_64-linux-gnu/**/*.so*",
+ "usr/lib/**/*.so*",
+ ],
+ exclude = [
+ "usr/lib/**/*.cpython-34m-x86_64-linux-gnu.so",
+ ],
+)
+
+_builtin_so_copied = ["/".join(f.split("/")[4:]) for f in _builtin_so_files]
+
+_system_so_copied = ["rpathed/" + f for f in _system_so_files]
+
+_builtin_rpaths = [":".join([
+ "\\$$ORIGIN/%s" % rel,
+ "\\$$ORIGIN/%s/rpathed/usr/lib/x86_64-linux-gnu" % rel,
+ "\\$$ORIGIN/%s/rpathed/usr/lib" % rel,
+ "\\$$ORIGIN/%s/rpathed/lib/x86_64-linux-gnu" % rel,
+]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _builtin_so_copied]]
+
+_system_rpaths = [":".join([
+ "\\$$ORIGIN/%s/rpathed/usr/lib/x86_64-linux-gnu" % rel,
+ "\\$$ORIGIN/%s/rpathed/usr/lib" % rel,
+ "\\$$ORIGIN/%s/rpathed/lib/x86_64-linux-gnu" % rel,
+]) for rel in ["/".join([".." for _ in so.split("/")[1:]]) for so in _system_so_copied]]
+
+genrule(
+ name = "run_patchelf_builtin",
+ srcs = _builtin_so_files,
+ outs = _builtin_so_copied,
+ cmd = "\n".join(
+ [
+ "cp $(location %s) $(location %s)" % (src, dest)
+ for src, dest in zip(_builtin_so_files, _builtin_so_copied)
+ ] +
+ ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_builtin_rpaths, _builtin_so_copied)],
+ ),
+ tools = [
+ "@patchelf",
+ ],
+)
+
+genrule(
+ name = "run_patchelf_system",
+ srcs = _system_so_files,
+ outs = _system_so_copied,
+ cmd = "\n".join(
+ [
+ "cp $(location %s) $(location %s)" % (src, dest)
+ for src, dest in zip(_system_so_files, _system_so_copied)
+ ] +
+ ["$(location @patchelf) --set-rpath %s $(location %s)" % (rpath, so) for rpath, so in zip(_system_rpaths, _system_so_copied)],
+ ),
+ tools = [
+ "@patchelf",
+ ],
+)
+
+genrule(
+ name = "copy_libgeos_c",
+ srcs = ["rpathed/usr/lib/libgeos_c.so.1"],
+ outs = ["rpathed/usr/lib/libgeos_c.so"],
+ cmd = "cp $< $@",
+)
+
+genrule(
+ name = "copy_files",
+ srcs = _src_files,
+ outs = _src_copied,
+ cmd = " && ".join(["cp $(location %s) $(location %s)" % (src, dest) for src, dest in zip(
+ _src_files,
+ _src_copied,
+ )]),
+)
+
+py_library(
+ name = "python_gtk",
+ srcs = _src_copied + [
+ "gi/__init__.py",
+ "shapely/__init__.py",
+ "shapely/geos.py",
+ ],
+ data = _data_files + _builtin_so_copied + _system_so_copied + [
+ "rpathed/usr/lib/libgeos_c.so",
+ ],
+ imports = ["usr/lib/python3/dist-packages"],
+ restricted_to = ["@//tools:k8"],
+ visibility = ["//visibility:public"],
+)
diff --git a/debian/python_gtk.bzl b/debian/python_gtk.bzl
new file mode 100644
index 0000000..18aa84b
--- /dev/null
+++ b/debian/python_gtk.bzl
@@ -0,0 +1,203 @@
+files = {
+ "adduser_3.113+nmu3_all.deb": "ae69ab0da5c36e48ba38e27c5e0886d6a67988adead5e5324b9b90736d37c11e",
+ "adwaita-icon-theme_3.14.0-2_all.deb": "3be4a0849080371cb26091128fe90c7541eb4b7e4f97c03a23b26f6748e8352a",
+ "coreutils_8.23-4_amd64.deb": "6d3764c746887015c88c684aecc14dd1317eefeb76ba2acdf59d9ad5e4d97236",
+ "dbus_1.8.22-0+deb8u1_amd64.deb": "d3fef69b6697ad9ac5400524f704736d986d701fa0f4b6d92b43521ad38f5d9e",
+ "dconf-gsettings-backend_0.22.0-1_amd64.deb": "38212d8e4ef3106d3f3f147c2fab9b601d2173fa76f12a85a0d9d2e3487752e9",
+ "dconf-service_0.22.0-1_amd64.deb": "14c4eeee6b2f43fe21a3189a2aa6cc5d5b25aea99bd1000db620f48dcc05566f",
+ "debianutils_4.4+b1_amd64.deb": "3d18d183b79d259e0ca77d65904c55810d70443743967c77f1a0aebf2dd94fb1",
+ "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",
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+ "gir1.2-atspi-2.0_2.14.0-1_amd64.deb": "b4601bc884526c8ce4319bc3eb2269f2ae7f68d8a0c6f6fad131fe728c84c95a",
+ "gir1.2-freedesktop_1.42.0-2.2_amd64.deb": "810d66b5d11aa6cb951f19c569ff664e86a15db70ad0f5d0ebecd5f0bdcb75bf",
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+ "gir1.2-pango-1.0_1.36.8-3_amd64.deb": "33366c4abd9cc201de7724d7711928b9e153f1df88831d59fd2fd34ecf81a36f",
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+ "glib-networking-services_2.42.0-2_amd64.deb": "5bae064daca2f6ac6e74ad0f2dbef867592a3652854884d136ee1d2dcdb511a3",
+ "glib-networking_2.42.0-2_amd64.deb": "aa6684a52e562f65c4974ecdd3c21a9ac92310dd575ef86e05d02107dd708c7f",
+ "gsettings-desktop-schemas_3.14.1-1_all.deb": "723ba6cc41e3e655a129c4b877016d792de083a46534e24754b9baf6ae7f6964",
+ "hicolor-icon-theme_0.13-1_all.deb": "f95a3a55833356285026543d663a6c2e91c1b6adc463bae38e79350021eba32a",
+ "libatk-bridge2.0-0_2.14.0-2_amd64.deb": "5a3eb5b006531726a78df46486414b5afa1bb17dd6f0adbd638d098b05224292",
+ "libatk-bridge2.0-dev_2.14.0-2_amd64.deb": "7f8ee97f9ec4c67f393ff16ee0d94f7414139c1b192e3e100adefad16570d792",
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+ "libaudit-common_2.4-1_all.deb": "be7f873c8f149b53b8cc3c337b067050d18208cb0de3f8cf6114a29bd20a17e3",
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+ "libavahi-common3_0.6.31-5_amd64.deb": "83bc43e646989a3f39684cf331b8fc15b009f54b88eeeb9c0851c20f4cc25310",
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+ "libxau-dev_1.0.8-1_amd64.deb": "256706493b32161b061c9fa452df1774d5004879cb73262ae2b52aa93b5dd91a",
+ "libxau6_1.0.8-1_amd64.deb": "b03b2d0d400c2002a2d38300bd6630306abb0ff325c3d4a4447ecceb58335228",
+ "libxcb-render0-dev_1.10-3+b1_amd64.deb": "ab98d4d5288bfedc75151ea69a2db20e24c9cfb7a88e3501e6bf4abc8f1eac57",
+ "libxcb-render0_1.10-3+b1_amd64.deb": "1277261ed3b901d70b01901836b2f6d89235dd6777636f3f26b5d2979f1c7e22",
+ "libxcb-shm0-dev_1.10-3+b1_amd64.deb": "2e2c84d6f2967a73d2c41ee63b754b74ffe382f52695fe9abe15f29bfbcdab0a",
+ "libxcb-shm0_1.10-3+b1_amd64.deb": "724749f2ea6a471ba353f6a93585bf98577c2103648297fac40c46b9a08671b0",
+ "libxcb1-dev_1.10-3+b1_amd64.deb": "b7897143190b96156330fbf4b0922911e79605a637169bdd795a3935ac89a8b2",
+ "libxcb1_1.10-3+b1_amd64.deb": "07bf131f4f0f8a9f1a023ab88cce3a1d12cc7222d3c7f08f00b60a3699af5188",
+ "libxcomposite-dev_0.4.4-1_amd64.deb": "13e10b5fe5684d51c34400f4bd3af4924c1e8df3b2c2ec97651c69af2cca7995",
+ "libxcomposite1_0.4.4-1_amd64.deb": "ff739711c5aa6df107fdfb6e13491e8317b2c45477d91a6b17da5660cd8ca8f4",
+ "libxcursor-dev_1.1.14-1+deb8u2_amd64.deb": "7bcddee3eeecdb4e36fbac248ccee9a7f003fda00a4f2f500525413fbcc7b592",
+ "libxcursor1_1.1.14-1+deb8u2_amd64.deb": "011d069b9bf6604c19c1d07dc7214b24a8fea6dfbb6748fb1fd90532c855c00b",
+ "libxdamage-dev_1.1.4-2+b1_amd64.deb": "8c2e84a5abf0659c25e63a8378c409fa933a84c3e5b03b8d26bfdc2fa422d108",
+ "libxdamage1_1.1.4-2+b1_amd64.deb": "c2b13deaa87dbad7d541e29755464f125409b9d4d038d6982bb9f8f35939b817",
+ "libxdmcp-dev_1.1.1-1+b1_amd64.deb": "953ad14c0ce8e57cd0aecf7b600494a15fec75ef348d316f31346c87058b6b5c",
+ "libxdmcp6_1.1.1-1+b1_amd64.deb": "6758bc820616254634fdd2354a2691e40d2973d6bf3a9c12417f02770f75081c",
+ "libxext-dev_1.3.3-1_amd64.deb": "35d62e8b6c72ea9ae67488f06360224a918f6d87ceb27575f49a9e712bf8b70a",
+ "libxext6_1.3.3-1_amd64.deb": "5105f77289a7e08faaf3bb4c16c6945cafca65b9bdb4792fef820045ab43e568",
+ "libxfixes-dev_5.0.1-2+deb8u1_amd64.deb": "4dc7467a9dbc531d95884217437e2e8e856c8f211fe3fcebb2297998f72901b3",
+ "libxfixes3_5.0.1-2+deb8u1_amd64.deb": "bc30bf139964c7505776374c7ba8a7f9bd7c6bd101823f3d6a1f3b0bf11e41ee",
+ "libxft-dev_2.3.2-1_amd64.deb": "c811f5f4e941224852f44b5b284c383f8b1d4c6bfd1ce15b19331eeb9b54aace",
+ "libxft2_2.3.2-1_amd64.deb": "38d6013c0b6305caf38932e6274108d81b2b2df0dd67f04987aa3f69c1e6677e",
+ "libxi-dev_1.7.4-1+deb8u1_amd64.deb": "77dd8c34c69d86dec841028c0fca646544cea079ee95643db3fdc15cbdf9d8bf",
+ "libxi6_1.7.4-1+deb8u1_amd64.deb": "a99de627a07f54bc40e5dc77e3ca7e9d9b5619e068f1bb303f86edd138d6d037",
+ "libxinerama-dev_1.1.3-1+b1_amd64.deb": "0e2504bbe3501aae376691e2519336533309c8a97715f8a2b060cdcd6abce15f",
+ "libxinerama1_1.1.3-1+b1_amd64.deb": "3668c1178ac649879338192759e79879e0f5797764b448dcac6aed4b24ef495b",
+ "libxkbcommon-dev_0.4.3-2_amd64.deb": "65e9044239f62b82d92582cb9d210ebe42e9c335c78b6c78977db996b7eacf77",
+ "libxkbcommon0_0.4.3-2_amd64.deb": "380200621efda1fb05daea2f858baad10c776a2ae0fd1fbce1844111f8cdff08",
+ "libxml2_2.9.1+dfsg1-5+deb8u7_amd64.deb": "34dcf3dc64e65935fa9e31ba9aa5d1795ed054f17203f01255a1875e55435f70",
+ "libxrandr-dev_1.4.2-1+deb8u1_amd64.deb": "d64ac2abe410fe6e25c6de2b90fd2a65dbfdf027c117a574714a0a60c019738f",
+ "libxrandr2_1.4.2-1+deb8u1_amd64.deb": "e59996ac0e993331799aa7bc768f7edd7b0baec0fafdbeebeef658834ba96b63",
+ "libxrender-dev_0.9.8-1+b1_amd64.deb": "d17bd9a32eaecdd75d465d38bfc6318aa00e92fa5289ed36a8853f94feb18cbe",
+ "libxrender1_0.9.8-1+b1_amd64.deb": "8980934c84c0ebbca4158023d91ced3ddbfa028a2be25959ff4566b37eceb8f4",
+ "libxtst-dev_1.2.2-1+deb8u1_amd64.deb": "185f048b97dc6c5eb2ce6cc433bdd617ce81ea886162907bb0905e03b04b7e9f",
+ "libxtst6_1.2.2-1+deb8u1_amd64.deb": "caf381b445c684c1d8b46e14750bba16999ab71067ec823060c70778d19d3300",
+ "lsb-base_4.1+Debian13+nmu1_all.deb": "1a200ffcc9d21838768f3acdc512e6ad6a8502bb70ecd3f597b660a56acaf739",
+ "passwd_4.2-3+deb8u4_amd64.deb": "fcbfdc2d0b102babbb7dc5d477a03a09f0b563a42a2b80508e7a18523138fead",
+ "pkg-config_0.28-1_amd64.deb": "0c2454f379d35c3acdeed1bb2b15e5fb8629fb347908a4fbe8815ec29e07f326",
+ "python3-cairo_1.10.0+dfsg-4+b1_amd64.deb": "89dd5d7a430e75fe31d95b92c84f97295164f419df166dfc9951d7bb89f76327",
+ "python3-gi-cairo_3.14.0-1_amd64.deb": "e67dee22e98f1c555fcff23cf2efbd2ef4a90b35200fe0edcc49e853401daf0f",
+ "python3-gi_3.14.0-1_amd64.deb": "67c6c67daf622fe0e0f38627873df6a8589d8716ce3ff41b4fde2e5f15235479",
+ "python3-shapely_1.4.3-1_amd64.deb": "c6bcd18fdd512b8d0a1516909e49a04a876cec60156c742ceab98405ec754389",
+ "python_2.7.9-1_amd64.deb": "93dc9d03df366d658832fb238a6c1e6c57e5e57dd648145c2f57a8f3e2b419ed",
+ "sensible-utils_0.0.9+deb8u1_all.deb": "0de3d1447f16851862e57951a6779c5adc9a97d0438092b2761c0d989c64ae9c",
+ "shared-mime-info_1.3-1_amd64.deb": "50c122e36f96e5cc808c6b7528ebd27f8086783e2c5b7c39ac7f6da6f62b09c1",
+ "ttf-bitstream-vera_1.10-8_all.deb": "328def7f581bf94b3b06d21e641f3e5df9a9b2e84e93b4206bc952fe8e80f38a",
+ "ucf_3.0030_all.deb": "1b93d9fc5930b9d8382705b71605e07fe11f4796db239b7ac2644bf4fbd7f6a2",
+ "x11-common_7.7+7_all.deb": "5ea7301f38ffdfd987655e55b7ce74aa556718f20fca79077e0cf69372022c95",
+ "x11proto-composite-dev_0.4.2-2_all.deb": "524fcfc77f61bcfda270ae6e2508e2eebdbf39e7d611d8ee13cd7ab38e2c0a44",
+ "x11proto-core-dev_7.0.26-1_all.deb": "9d60c962746bf2d1b1eb69e872a57eb21e13b341329ca592fd8eca527bab1df6",
+ "x11proto-damage-dev_1.2.1-2_all.deb": "a4fa4c2f2a24d0a1d49c66315c17d1600d1583ac20f7627bcec3aedc47865f2f",
+ "x11proto-fixes-dev_5.0-2_all.deb": "e08e0aa9b58ffccc7685c6715df77a9c00781575a6229b4497b06b32bd61336c",
+ "x11proto-input-dev_2.3.1-1_all.deb": "a61a10b34cb0ffac6a2603971be1afd4908ed2830b6a1c554e74ac3321bb1e35",
+ "x11proto-kb-dev_1.0.6-2_all.deb": "b7ff8eceb9f05eb470700807c73fdae88f5f9f8b8fbef869029882264dbebd81",
+ "x11proto-randr-dev_1.4.0-2_all.deb": "3d49d2e205da5d2ca4cdca8d5782e47da5c11ad762c046ffb6173beb5f0d837e",
+ "x11proto-record-dev_1.14.2-1_all.deb": "288f8b9f4b050ae21f6ab7c70503c66a3177be6611ae08045d128cba9dfa5ea9",
+ "x11proto-render-dev_0.11.1-2_all.deb": "606d63fab57421afe305e4866edb1948e4f9090409d6f63199838ac269d8cfba",
+ "x11proto-xext-dev_7.3.0-1_all.deb": "bb505470525281ad330093a9d9d23f4a36b00d0b8502dcbc05e44781375abdf0",
+ "x11proto-xinerama-dev_1.2.1-2_all.deb": "b043b371e81e8e276eefca53dc114947bf984a3a004ef007452c3f74560ce140",
+ "xkb-data_2.12-1_all.deb": "57c41945a76d9620af0df4dcb0aa7e62e1be9fa69b433fd0a577e116abcb28d3",
+ "xorg-sgml-doctools_1.11-1_all.deb": "359dc76bf7b19fbbdb0b9e3ca3077e415b5b9ca8ff85162ccc889f9974493600",
+ "xtrans-dev_1.3.4-1_all.deb": "c4e0b9534370762410efdaaa7375c97c95b77c60ec1502448dd549625d192786",
+ "zlib1g-dev_1.2.8.dfsg-2+b1_amd64.deb": "71678d2ff2774a726f413cd46a923f960cdcfb56f063d20c1544a2d8b6d12d7f",
+}
diff --git a/debian/python_shapely_init.patch b/debian/python_shapely_init.patch
new file mode 100644
index 0000000..0304760
--- /dev/null
+++ b/debian/python_shapely_init.patch
@@ -0,0 +1,8 @@
+--- a/__init__.py 2018-10-17 21:55:40.000000000 -0700
++++ b/__init__.py 2018-10-17 22:54:48.798723540 -0700
+@@ -1 +1,5 @@
+ __version__ = "1.4.3"
++
++import os
++_base = os.path.dirname(os.path.dirname(__file__))
++os.environ['LIBRARY_PATH'] = os.path.join(_base, 'rpathed', 'usr', 'lib')
diff --git a/motors/python/BUILD b/motors/python/BUILD
index 903b397..d5d74ae 100644
--- a/motors/python/BUILD
+++ b/motors/python/BUILD
@@ -3,6 +3,9 @@
srcs = [
"big_phase_current.py",
],
+ data = [
+ "@python_repo//:scipy",
+ ],
legacy_create_init = False,
restricted_to = ["//tools:k8"],
deps = [
@@ -10,6 +13,7 @@
"//external:python-gflags",
"//external:python-glog",
"//frc971/control_loops/python:controls",
+ "@matplotlib",
],
)
diff --git a/motors/python/big_phase_current.py b/motors/python/big_phase_current.py
index 7b967da..718d4d9 100755
--- a/motors/python/big_phase_current.py
+++ b/motors/python/big_phase_current.py
@@ -1,4 +1,6 @@
-#!/usr/bin/python3
+#!/usr/bin/python
+
+from __future__ import print_function
import numpy
from matplotlib import pylab
@@ -106,10 +108,10 @@
# by to get motor current.
one_amp_scalar = (phases(f_single, 0.0).T * phases(g_single, 0.0))[0, 0]
-print 'Max BEMF', max(f(theta_range))
-print 'Max current', max(g(theta_range))
-print 'Max drive voltage (one_amp_driving_voltage)', max(one_amp_driving_voltage)
-print 'one_amp_scalar', one_amp_scalar
+print('Max BEMF', max(f(theta_range)))
+print('Max current', max(g(theta_range)))
+print('Max drive voltage (one_amp_driving_voltage)', max(one_amp_driving_voltage))
+print('one_amp_scalar', one_amp_scalar)
pylab.figure()
pylab.subplot(1, 1, 1)
@@ -420,15 +422,15 @@
controls.c2d(-self.A_model, self.B_model, 1.0 / hz)
self.B_discrete_inverse_model = numpy.matrix(numpy.eye(3)) / (self.B_discrete_model[0, 0] - self.B_discrete_model[1, 0])
- print 'constexpr double kL = %g;' % self.L_model
- print 'constexpr double kM = %g;' % self.M_model
- print 'constexpr double kR = %g;' % self.R_model
- print 'constexpr float kAdiscrete_diagonal = %gf;' % self.A_discrete_model[0, 0]
- print 'constexpr float kAdiscrete_offdiagonal = %gf;' % self.A_discrete_model[1, 0]
- print 'constexpr float kBdiscrete_inv_diagonal = %gf;' % self.B_discrete_inverse_model[0, 0]
- print 'constexpr float kBdiscrete_inv_offdiagonal = %gf;' % self.B_discrete_inverse_model[1, 0]
- print 'constexpr double kOneAmpScalar = %g;' % one_amp_scalar
- print 'constexpr double kMaxOneAmpDrivingVoltage = %g;' % max_one_amp_driving_voltage
+ print('constexpr double kL = %g;' % self.L_model)
+ print('constexpr double kM = %g;' % self.M_model)
+ print('constexpr double kR = %g;' % self.R_model)
+ print('constexpr float kAdiscrete_diagonal = %gf;' % self.A_discrete_model[0, 0])
+ print('constexpr float kAdiscrete_offdiagonal = %gf;' % self.A_discrete_model[1, 0])
+ print('constexpr float kBdiscrete_inv_diagonal = %gf;' % self.B_discrete_inverse_model[0, 0])
+ print('constexpr float kBdiscrete_inv_offdiagonal = %gf;' % self.B_discrete_inverse_model[1, 0])
+ print('constexpr double kOneAmpScalar = %g;' % one_amp_scalar)
+ print('constexpr double kMaxOneAmpDrivingVoltage = %g;' % max_one_amp_driving_voltage)
print('A_discrete', self.A_discrete)
print('B_discrete', self.B_discrete)
print('B_discrete_sub', numpy.linalg.inv(self.B_discrete[0:2, 0:2]))
@@ -520,8 +522,8 @@
# So, we now know how much the change in current is due to changes in BEMF.
# Subtract that, and then run the stock statespace equation.
Vn_ff = self.B_discrete_inverse * (Inext - self.A_discrete * (Icurrent - p) - p_next_imag.real)
- print 'Vn_ff', Vn_ff
- print 'Inext', Inext
+ print('Vn_ff', Vn_ff)
+ print('Inext', Inext)
Vn = Vn_ff + self.K * (Icurrent - measured_current)
E = phases(f_single, self.X[3, 0]) / Kv * self.X[4, 0]
@@ -568,7 +570,7 @@
self.current_time = t
- print 'Took %f to simulate' % (time.time() - start_wall_time)
+ print('Took %f to simulate' % (time.time() - start_wall_time))
self.data_logger.plot()
diff --git a/y2018/control_loops/python/BUILD b/y2018/control_loops/python/BUILD
index 3982722..925e7b6 100644
--- a/y2018/control_loops/python/BUILD
+++ b/y2018/control_loops/python/BUILD
@@ -96,13 +96,13 @@
)
cc_library(
- name = 'dlqr',
- hdrs = [
- 'dlqr.h',
- ],
+ name = "dlqr",
+ hdrs = [
+ "dlqr.h",
+ ],
deps = [
- '@slycot_repo//:slicot',
- ],
+ "@slycot_repo//:slicot",
+ ],
)
cc_binary(
@@ -110,15 +110,15 @@
srcs = [
"arm_mpc.cc",
],
+ restricted_to = ["//tools:k8"],
deps = [
":arm_bounds",
- ':dlqr',
+ ":dlqr",
"//third_party/ct",
"//third_party/gflags",
"//third_party/matplotlib-cpp",
"@cgal_repo//:cgal",
],
- restricted_to = ["//tools:k8"],
)
cc_binary(
@@ -169,9 +169,11 @@
],
default_python_version = "PY3",
legacy_create_init = False,
+ restricted_to = ["//tools:k8"],
srcs_version = "PY3",
deps = [
":python_init",
+ "@python_gtk",
],
)
@@ -210,15 +212,15 @@
)
py_binary(
- name = 'arm_mpc_py',
- srcs = [
- 'arm_mpc.py',
- ],
- main = 'arm_mpc.py',
- deps = [
- '//external:python-gflags',
- '//external:python-glog',
- '//frc971/control_loops/python:controls',
- ],
- restricted_to = ['//tools:k8'],
+ name = "arm_mpc_py",
+ srcs = [
+ "arm_mpc.py",
+ ],
+ main = "arm_mpc.py",
+ restricted_to = ["//tools:k8"],
+ deps = [
+ "//external:python-gflags",
+ "//external:python-glog",
+ "//frc971/control_loops/python:controls",
+ ],
)
diff --git a/y2018/control_loops/python/graph_edit.py b/y2018/control_loops/python/graph_edit.py
index dde67c5..e2b0412 100644
--- a/y2018/control_loops/python/graph_edit.py
+++ b/y2018/control_loops/python/graph_edit.py
@@ -1,3 +1,5 @@
+#!/usr/bin/python3
+
from __future__ import print_function
import os
import basic_window