Merge pull request #3 from srobo/SR2025-fixes

Various minor fixes

requirements.txt

@@ -1,3 +1,15 @@
 sr-robot3==2025.0.1
 april_vision==2.2.0
-opencv-python-headless >=4,<5
+opencv-python-headless >=4.8.0.76,<5
+
+# Library versions are selected to provide support for Python 3.9-3.12
+
+flask==2.3.3
+matplotlib==3.9.2
+networkx==3.1
+numpy==1.26.4
+pandas==2.2.3
+pillow==11.0.0
+scikit-learn==1.3.1
+scipy==1.11.2
+shapely==2.0.6

scripts/run_comp_match.py

@@ -175,8 +175,8 @@ def execute_match(arena_root: Path) -> None:
     # Webots is only on the PATH on Linux so we have a helper function to find it
     try:
         webots, world_file = get_webots_parameters()
-    except RuntimeError:
-        raise FileNotFoundError("Webots executable not found.")
+    except RuntimeError as e:
+        raise FileNotFoundError(e)
 
     sim_env = os.environ.copy()
     sim_env['ARENA_ROOT'] = str(arena_root)

scripts/run_simulator.py

@@ -4,6 +4,7 @@
 
 Largely just a shortcut to running the arena world in Webots.
 """
+# ruff: noqa: E501
 from __future__ import annotations
 
 import sys
@@ -18,11 +19,22 @@
 
 if (Path(__file__).parent / 'simulator/VERSION').exists():
     print("Running in release mode")
-    SIM_BASE = Path(__file__).parent
+    SIM_BASE = Path(__file__).parent.resolve()
 else:
     print("Running in development mode")
     # Assume the script is in the scripts directory
-    SIM_BASE = Path(__file__).parents[1]
+    SIM_BASE = Path(__file__).parents[1].resolve()
+
+POSSIBLE_WEBOTS_PATHS = [
+    ("darwin", "/Applications/Webots.app/Contents/MacOS/webots"),
+    ("win32", "C:\\Program Files\\Webots\\msys64\\mingw64\\bin\\webotsw.exe"),
+    ("win32", expandvars("%LOCALAPPDATA%\\Programs\\Webots\\msys64\\mingw64\\bin\\webotsw.exe")),
+    # Attempt to use the start menu shortcut
+    ("win32", expandvars("%ProgramData%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("win32", expandvars("%APPDATA%\\Microsoft\\Windows\\Start Menu\\Programs\\Cyberbotics\\Webots.lnk")),
+    ("linux", "/usr/local/bin/webots"),
+    ("linux", "/usr/bin/webots"),
+]
 
 
 def get_webots_parameters() -> tuple[Path, Path]:
@@ -36,45 +48,23 @@ def get_webots_parameters() -> tuple[Path, Path]:
     if not world_file.exists():
         raise RuntimeError("World file not found.")
 
+    if not (SIM_BASE / "venv").exists():
+        raise RuntimeError("Please run the setup.py script before running the simulator.")
+
     # Check if Webots is in the PATH
     webots = which("webots")
 
     # Find the webots executable, if it is not in the PATH
     if webots is None:
-        if sys.platform == "darwin":
-            webots = "/Applications/Webots.app/Contents/MacOS/webots"
-        elif sys.platform == "win32":
-            possible_paths = [
-                "C:\\Program Files\\Webots\\msys64\\mingw64\\bin\\webotsw.exe",
-                expandvars("%LOCALAPPDATA%\\Programs\\Webots\\msys64\\mingw64\\bin\\webotsw.exe"),
-            ]
-            for path in possible_paths:
-                if Path(path).exists():
-                    webots = path
-                    break
-            else:
-                print("Webots executable not found.")
-                raise RuntimeError
-        elif sys.platform.startswith("linux"):
-            possible_paths = ["/usr/local/bin/webots", "/usr/bin/webots"]
-            for path in possible_paths:
+        for system_filter, path in POSSIBLE_WEBOTS_PATHS:
+            if sys.platform.startswith(system_filter):
+                print(f"Checking {path}")
                 if Path(path).exists():
                     webots = path
                     break
-            else:
-                print("Webots executable not found.")
-                raise RuntimeError
-        else:
-            print("Unsupported platform.")
-            raise RuntimeError
 
-    if not Path(webots).exists():
-        print("Webots executable not found.")
-        raise RuntimeError
-
-    if not (SIM_BASE / "venv").exists():
-        print("Please run the setup.py script before running the simulator.")
-        raise RuntimeError
+    if webots is None or not Path(webots).exists():
+        raise RuntimeError("Webots executable not found.")
 
     return Path(webots), world_file
 
@@ -90,10 +80,13 @@ def main() -> None:
             Popen(
                 [str(webots), str(world_file)],
                 creationflags=DETACHED_PROCESS | CREATE_NEW_PROCESS_GROUP,
+                # shell=True is needed to run from shortcuts
+                shell=(webots.suffix == ".lnk"),
             )
         else:
             Popen([str(webots), str(world_file)], start_new_session=True)
-    except RuntimeError:
+    except RuntimeError as e:
+        print(f"An error occurred: {e}")
         input("Press enter to continue...")
         exit(1)
     except Exception as e:

scripts/setup.py

@@ -13,6 +13,7 @@
 import logging
 import platform
 import shutil
+import sys
 from pathlib import Path
 from subprocess import run
 from venv import create
@@ -62,13 +63,17 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
 try:
     if (Path(__file__).parent / 'simulator/VERSION').exists():
         # This is running from a release
+        print("Running in release mode")
         project_root = Path(__file__).parent
         requirements = project_root / "simulator/requirements.txt"
     else:
         # This is running from the repository
+        print("Running in development mode")
         project_root = Path(__file__).parents[1]
         requirements = project_root / "requirements.txt"
 
+    print(f"Python version: {sys.version} on {platform.platform()}")
+
     venv_dir = project_root / "venv"
 
     logger.info(f"Creating virtual environment in {venv_dir.absolute()}")

simulator/controllers/competition_supervisor/lighting_control.py

@@ -178,7 +178,7 @@ def expand_lighting_fade(
         """Expand a fade effect into a list of steps."""
         fades = []
 
-        assert isinstance(cue.start_time, float), \
+        assert isinstance(cue.start_time, (float, int)), \
             "FromEnd times should be converted to absolute times"
         cue_start = int((cue.start_time * 1000) / self.timestep)
 

simulator/modules/robot_utils.py

@@ -2,6 +2,7 @@
 from __future__ import annotations
 
 import json
+import platform
 import subprocess
 import sys
 from pathlib import Path
@@ -87,7 +88,10 @@ def print_simulation_version() -> None:
         except subprocess.CalledProcessError:
             version = 'unknown'
 
-    print(f"Running simulator version: {version}")
+    print(
+        f"Running simulator version: {version} in Python {platform.python_version()} "
+        f"({platform.system()}-{platform.machine()})"
+    )
 
 
 def get_match_data() -> MatchData: