Various bugfixes

.github/workflows/check.yml

@@ -4,22 +4,25 @@ on:
   push:
   workflow_dispatch:
 
+env:
+  WEBOTS_VER: "2025a"
+
 jobs:
   test:
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
-        py_version: ["3.8", "3.9", "3.10", "3.11"]
+        py_version: ["3.10", "3.11", "3.12", "3.13"]
         include:
           - os: windows-latest
-            py_version: "3.8"
+            py_version: "3.10"
           - os: windows-latest
-            py_version: "3.11"
+            py_version: "3.13"
           - os: macos-latest
-            py_version: "3.8"
+            py_version: "3.10"
           - os: macos-latest
-            py_version: "3.11"
+            py_version: "3.13"
     runs-on: ${{ matrix.os }}
     steps:
     - uses: actions/checkout@v4
@@ -36,8 +39,9 @@ jobs:
     - name: Download & install Webots (Linux)
       if: runner.os == 'Linux'
       run: |
+        sudo apt-get update
         wget -O ./webots.deb \
-        https://github.com/cyberbotics/webots/releases/download/R2023b/webots_2023b_amd64.deb
+        https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots_${WEBOTS_VER}_amd64.deb
         sudo apt-get install --yes ./webots.deb
     - name: Download & extract Webots (Windows)
       # Windows install was problematic so we just extract the python library for typehints
@@ -46,14 +50,14 @@ jobs:
       run: |
         mkdir stubs
         C:\\msys64\\usr\\bin\\wget.exe -O ./webots.tar.bz2 \
-          https://github.com/cyberbotics/webots/releases/download/R2023b/webots-R2023b-x86-64.tar.bz2
+          https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots-R$WEBOTS_VER-x86-64.tar.bz2
         C:\\msys64\\usr\\bin\\tar.exe xvf webots.tar.bz2 --strip-components=4 \
           --directory=stubs webots/lib/controller/python/controller
     - name: Download & install Webots (macOS)
       if: runner.os == 'macOS'
       run: |
         wget -O ./webots.dmg \
-        https://github.com/cyberbotics/webots/releases/download/R2023b/webots-R2023b.dmg
+        https://github.com/cyberbotics/webots/releases/download/R$WEBOTS_VER/webots-R$WEBOTS_VER.dmg
         hdiutil mount ./webots.dmg
         sudo cp -R /Volumes/Webots/Webots.app /Applications
         hdiutil unmount /Volumes/Webots

requirements.txt

@@ -1,15 +1,15 @@
-sr-robot3==2025.0.1
-april_vision==2.2.0
-opencv-python-headless >=4.8.0.76,<5
+sr-robot3==2026.0.1
+april_vision==3.0.0
+opencv-python-headless >=4.10,<5
 
-# Library versions are selected to provide support for Python 3.9-3.12
+# Library versions are selected to provide support for Python 3.10-3.13
 
 flask==2.3.3
-matplotlib==3.9.2
+matplotlib==3.10.6
 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
+numpy>=2.2.6,<=2.3.2
+pandas==2.3.2  # no 3.14 support
+pillow==11.3.0
+scikit-learn==1.7.1  # no 3.14 support
+scipy>=1.15.3,<=1.16.1
+shapely==2.1.1  # no 3.14 support

scripts/run_simulator.py

@@ -14,6 +14,10 @@
 from shutil import which
 from subprocess import Popen
 
+BOLD_RED = '\x1b[31;1m'
+RESET_COLOUR = '\x1b[0m'
+
+
 if sys.platform == "win32":
     from subprocess import CREATE_NEW_PROCESS_GROUP, DETACHED_PROCESS
 
@@ -51,6 +55,10 @@ def get_webots_parameters() -> tuple[Path, Path]:
     if not (SIM_BASE / "venv").exists():
         raise RuntimeError("Please run the setup.py script before running the simulator.")
 
+    # Check setup finish successfully
+    if not (SIM_BASE / "venv/setup_success").exists():
+        raise RuntimeError("Setup has not completed successfully. Please re-run the setup.py script.")
+
     # Check if Webots is in the PATH
     webots = which("webots")
 
@@ -86,13 +94,15 @@ def main() -> None:
         else:
             Popen([str(webots), str(world_file)], start_new_session=True)
     except RuntimeError as e:
-        print(f"An error occurred: {e}")
-        input("Press enter to continue...")
+        print(BOLD_RED)
+        print(f"An error occurred: \n{e}")
+        input(f"Press enter to continue...{RESET_COLOUR}")
         exit(1)
     except Exception as e:
+        print(BOLD_RED)
         print(f"An error occurred: {e}")
         print(traceback.format_exc())
-        input("Press enter to continue...")
+        input(f"Press enter to continue...{RESET_COLOUR}")
         exit(1)
 
 

scripts/setup.py

@@ -15,12 +15,16 @@
 import shutil
 import sys
 from pathlib import Path
-from subprocess import run
+from subprocess import SubprocessError, check_call
 from venv import create
 
 logging.basicConfig(level=logging.INFO, format="[%(asctime)s] %(levelname)s: %(message)s")
 logger = logging.getLogger(__name__)
 
+BOLD_RED = '\x1b[31;1m'
+GREEN = '\x1b[32;20m'
+RESET_COLOUR = '\x1b[0m'
+
 
 def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
     """
@@ -76,6 +80,9 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
 
     venv_dir = project_root / "venv"
 
+    # Reset success flag
+    (venv_dir / "setup_success").unlink(missing_ok=True)
+
     logger.info(f"Creating virtual environment in {venv_dir.absolute()}")
     create(venv_dir, with_pip=True)
 
@@ -86,11 +93,17 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
     else:
         pip = venv_dir / "bin/pip"
         venv_python = venv_dir / "bin/python"
-    run(
+    check_call(
         [str(venv_python), "-m", "pip", "install", "--upgrade", "pip", "setuptools", "wheel"],
         cwd=venv_dir,
     )
-    run([str(pip), "install", "-r", str(requirements)], cwd=venv_dir)
+    check_call(
+        [str(pip), "install", "--only-binary=:all:", "-r", str(requirements)],
+        cwd=venv_dir,
+    )
+
+    logger.info("Preloading OpenCV & sr.robot3")
+    check_call([str(venv_python), "-c", "import cv2;import sr.robot3"], cwd=venv_dir)
 
     logger.info("Setting up Webots Python location")
 
@@ -100,14 +113,22 @@ def populate_python_config(runtime_ini: Path, venv_python: Path) -> None:
     populate_python_config(usercode_ini, venv_python)
     populate_python_config(supervisor_ini, venv_python)
 
+    # Mark that we succeeded
+    (venv_dir / "setup_success").touch()
+
     # repopulate zone 0 with example code if robot.py is missing
     zone_0 = project_root / "zone_0"
     if not (zone_0 / "robot.py").exists():
         logger.info("Repopulating zone 0 with example code")
         zone_0.mkdir(exist_ok=True)
         shutil.copy(project_root / "example_robots/basic_robot.py", zone_0 / "robot.py")
+except SubprocessError:
+    print(BOLD_RED)
+    logger.error("Setup failed due to an error.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")
 except Exception:
+    print(BOLD_RED)
     logger.exception("Setup failed due to an error.")
-    input("An error occurred, press enter to close.")
+    input(f"An error occurred, press enter to close.{RESET_COLOUR}")
 else:
-    input("Setup complete, press enter to close.")
+    input(f"{GREEN}Setup complete, press enter to close.{RESET_COLOUR}")

simulator/controllers/competition_supervisor/competition_supervisor.py

@@ -226,6 +226,8 @@ def run_match(
 def main() -> None:
     """Run the competition supervisor."""
     if is_dev_mode():
+        robots = Robots()
+        robots.remove_unoccupied_robots()
         exit()
 
     match_data = get_match_data()

simulator/modules/sbot_interface/boards/servo_board.py

@@ -44,7 +44,7 @@ def handle_command(self, command: str) -> str:
         if args[0] == '*IDN?':
             return f'Student Robotics:SBv4B:{self.asset_tag}:{self.software_version}'
         elif args[0] == '*STATUS?':
-            return f"{self.watchdog_fail}:{self.pgood}"
+            return f"{self.watchdog_fail:d}:{self.pgood:d}"
         elif args[0] == '*RESET':
             LOGGER.info(f'Resetting servo board {self.asset_tag}')
             for servo in self.servos:

simulator/modules/sbot_interface/devices/servo.py

@@ -20,8 +20,10 @@
 if TYPE_CHECKING:
     from controller import PositionSensor
 
-MAX_POSITION = 2000
-MIN_POSITION = 1000
+MAX_POSITION = 4000
+MIN_POSITION = 500
+SERVO_MAX = 2000
+SERVO_MIN = 1000
 
 
 class BaseServo(ABC):
@@ -98,7 +100,7 @@ class Servo(BaseServo):
     """A servo connected to the Servo board."""
 
     def __init__(self, device_name: str) -> None:
-        self.position = (MAX_POSITION + MIN_POSITION) // 2
+        self.position = (SERVO_MAX + SERVO_MIN) // 2
         # TODO use setAvailableForce to simulate disabled
         self._enabled = False
         g = get_globals()
@@ -121,11 +123,11 @@ def set_position(self, value: int) -> None:
         """
         # Apply a small amount of variation to the power setting to simulate
         # inaccuracies in the servo
-        value = int(add_jitter(value, (MIN_POSITION, MAX_POSITION), std_dev_percent=0.5))
+        value = int(add_jitter(value, (SERVO_MIN, SERVO_MAX), std_dev_percent=0.5))
 
         self._device.setPosition(map_to_range(
             value,
-            (MIN_POSITION, MAX_POSITION),
+            (SERVO_MIN, SERVO_MAX),
             (self._min_position + 0.001, self._max_position - 0.001),
         ))
         self.position = value