Proof of Concept for TimedRobot Functional Tests

Signed-off-by: Mike Stitt <[email protected]>

Author: MikeStitt

subprojects/robotpy-wpilib/tests/test_poc_timedrobot.py

@@ -0,0 +1,260 @@
+"""
+Proof of concept to test TimedRobotPy using PyTest
+
+This POC was made by deconstructing pytest_plugin.py so that it is no longer a plugin but a class that provides
+fixtures.
+
+To run / debug this:
+
+pytest subprojects/robotpy-wpilib/tests/test_poc_timedrobot.py --no-header -vvv -s
+
+"""
+
+from pathlib import Path
+import pytest
+
+from wpilib.timedrobotpy import TimedRobotPy
+
+
+from pyfrc.tests.basic import test_practice as _test_practice
+
+
+
+
+class MyRobot(TimedRobotPy):
+    def __init__(self):
+        super().__init__(period=0.020)
+        self.robotInitialized = False
+        self.robotPeriodicCount = 0
+
+    #########################################################
+    ## Common init/update for all modes
+    def robotInit(self):
+        self.robotInitialized = True
+
+
+    def robotPeriodic(self):
+        self.robotPeriodicCount += 1
+
+    #########################################################
+    ## Autonomous-Specific init and update
+    def autonomousInit(self):
+        pass
+
+    def autonomousPeriodic(self):
+        pass
+
+    def autonomousExit(self):
+        pass
+
+
+    #########################################################
+    ## Teleop-Specific init and update
+    def teleopInit(self):
+        pass
+
+    def teleopPeriodic(self):
+        pass
+
+    #########################################################
+    ## Disabled-Specific init and update
+    def disabledPeriodic(self):
+        pass
+
+
+    def disabledInit(self):
+        pass
+
+    #########################################################
+    ## Test-Specific init and update
+    def testInit(self):
+        pass
+
+    def testPeriodic(self):
+        pass
+
+import gc
+import pathlib
+
+from typing import Type
+
+import pytest
+import weakref
+
+import hal
+import hal.simulation
+import ntcore
+import wpilib
+import wpilib.shuffleboard
+from wpilib.simulation import DriverStationSim, pauseTiming, restartTiming
+import wpilib.simulation
+
+# TODO: get rid of special-casing.. maybe should register a HAL shutdown hook or something
+try:
+    import commands2
+except ImportError:
+    commands2 = None
+
+from pyfrc.test_support.controller import TestController
+from pyfrc.physics.core import PhysicsInterface
+
+ROBOT_CLASS = MyRobot
+ISOLATED = True
+ROBOT_FILE = Path(__file__)
+
+# attach physics
+PHYSICS, ROBOT_CLASS = PhysicsInterface._create_and_attach(
+    ROBOT_CLASS,
+    ROBOT_FILE.parent,
+)
+
+
+# Tests need to know when robotInit is called, so override the robot
+# to do that
+class TestRobot(ROBOT_CLASS):
+    def robotInit(self):
+        try:
+            super().robotInit()
+        finally:
+            self.__robotInitialized()
+
+
+TestRobot.__name__ = ROBOT_CLASS.__name__
+TestRobot.__module__ = ROBOT_CLASS.__module__
+TestRobot.__qualname__ = ROBOT_CLASS.__qualname__
+
+ROBOT_CLASS = TestRobot
+
+
+if PHYSICS:
+    PHYSICS.log_init_errors = False
+
+
+class PyFrcNotPlugin:
+
+    @pytest.fixture(scope="function", autouse=True)
+    def robot(self):
+        """
+        Your robot instance
+
+        .. note:: RobotPy/WPILib testing infrastructure is really sensitive
+                  to ensuring that things get cleaned up properly. Make sure
+                  that you don't store references to your robot or other
+                  WPILib objects in a global or static context.
+        """
+
+        #
+        # This function needs to do the same things that RobotBase.main does
+        # plus some extra things needed for testing
+        #
+        # Previously this was separate from robot fixture, but we need to
+        # ensure that the robot cleanup happens deterministically relative to
+        # when handle cleanup/etc happens, otherwise unnecessary HAL errors will
+        # bubble up to the user
+        #
+
+        nt_inst = ntcore.NetworkTableInstance.getDefault()
+        nt_inst.startLocal()
+
+        pauseTiming()
+        restartTiming()
+
+        wpilib.DriverStation.silenceJoystickConnectionWarning(True)
+        DriverStationSim.setAutonomous(False)
+        DriverStationSim.setEnabled(False)
+        DriverStationSim.notifyNewData()
+
+        robot = ROBOT_CLASS()
+
+        # Tests only get a proxy to ensure cleanup is more reliable
+        yield weakref.proxy(robot)
+
+        # If running in separate processes, no need to do cleanup
+        if ISOLATED:
+            # .. and funny enough, in isolated mode we *don't* want the
+            # robot to be cleaned up, as that can deadlock
+            self._saved_robot = robot
+            return
+
+        # reset engine to ensure it gets cleaned up too
+        # -> might be holding wpilib objects, or the robot
+        if PHYSICS:
+            PHYSICS.engine = None
+
+        # HACK: avoid motor safety deadlock
+        wpilib.simulation._simulation._resetMotorSafety()
+
+        del robot
+
+        if commands2 is not None:
+            commands2.CommandScheduler.resetInstance()
+
+        # Double-check all objects are destroyed so that HAL handles are released
+        gc.collect()
+
+        # shutdown networktables before other kinds of global cleanup
+        # -> some reset functions will re-register listeners, so it's important
+        #    to do this before so that the listeners are active on the current
+        #    NetworkTables instance
+        nt_inst.stopLocal()
+        nt_inst._reset()
+
+        # Cleanup WPILib globals
+        # -> preferences, SmartDashboard, Shuffleboard, LiveWindow, MotorSafety
+        wpilib.simulation._simulation._resetWpilibSimulationData()
+        wpilib._wpilib._clearSmartDashboardData()
+        wpilib.shuffleboard._shuffleboard._clearShuffleboardData()
+
+        # Cancel all periodic callbacks
+        hal.simulation.cancelAllSimPeriodicCallbacks()
+
+        # Reset the HAL handles
+        hal.simulation.resetGlobalHandles()
+
+        # Reset the HAL data
+        hal.simulation.resetAllSimData()
+
+        # Don't call HAL shutdown! This is only used to cleanup HAL extensions,
+        # and functions will only be called the first time (unless re-registered)
+        # hal.shutdown()
+
+    @pytest.fixture(scope="function")
+    def control(self, reraise, robot: wpilib.RobotBase) -> TestController:
+        """
+        A pytest fixture that provides control over your robot
+        """
+        return TestController(reraise, robot)
+
+    @pytest.fixture()
+    def robot_file(self) -> pathlib.Path:
+        """The absolute filename your robot code is started from"""
+        return ROBOT_FILE
+
+    @pytest.fixture()
+    def robot_path(self) -> pathlib.Path:
+        """The absolute directory that your robot code is located at"""
+        return ROBOT_FILE.parent
+
+
+
+@pytest.mark.usefixtures("control","robot_file","robot_path")
+class TestThings(PyFrcNotPlugin):
+
+
+    def test_iterative(self, control, robot):
+        """Ensure that all states of the iterative robot run"""
+        assert robot.robotInitialized == False
+        assert robot.robotPeriodicCount == 0
+        _test_practice(control)
+
+        assert robot.robotInitialized == True
+        assert robot.robotPeriodicCount > 0
+
+    def test_iterative_again(self, control, robot):
+        """Ensure that all states of the iterative robot run"""
+        assert robot.robotInitialized == False
+        assert robot.robotPeriodicCount == 0
+        _test_practice(control)
+
+        assert robot.robotInitialized == True
+        assert robot.robotPeriodicCount > 0