WIP still sims.

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

Author: MikeStitt

subprojects/robotpy-wpilib/tests/test_poc_timedrobot.py

@@ -16,7 +16,26 @@
 from wpilib.timedrobotpy import TimedRobotPy
 
 
-from pyfrc.tests.basic import test_practice as _test_practice
+import gc
+
+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
 
 
 
@@ -73,188 +92,181 @@ def testInit(self):
     def testPeriodic(self):
         pass
 
-import gc
-import pathlib
 
-from typing import Type
+@pytest.fixture(scope="module", autouse=True)
+def myrobot_class()->type[MyRobot]:
+    return MyRobot
 
-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
+@pytest.fixture(scope="module", autouse=True)
+def physics_and_decorated_robot_class(myrobot_class)->tuple:
+    # attach physics
+    PHYSICS, ROBOT_CLASS = PhysicsInterface._create_and_attach(
+        myrobot_class,
+        Path(__file__).parent,
+    )
 
-# TODO: get rid of special-casing.. maybe should register a HAL shutdown hook or something
-try:
-    import commands2
-except ImportError:
-    commands2 = None
+    if PHYSICS:
+        PHYSICS.log_init_errors = False
 
-from pyfrc.test_support.controller import TestController
-from pyfrc.physics.core import PhysicsInterface
+    # 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()
 
-ROBOT_CLASS = MyRobot
-ISOLATED = True
-ROBOT_FILE = Path(__file__)
 
-# attach physics
-PHYSICS, ROBOT_CLASS = PhysicsInterface._create_and_attach(
-    ROBOT_CLASS,
-    ROBOT_FILE.parent,
-)
+    TestRobot.__name__ = ROBOT_CLASS.__name__
+    TestRobot.__module__ = ROBOT_CLASS.__module__
+    TestRobot.__qualname__ = ROBOT_CLASS.__qualname__
 
+    return (PHYSICS, TestRobot)
 
-# 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
 
+@pytest.fixture(scope="function", autouse=True)
+def robot_with_sim_setup_teardown(physics_and_decorated_robot_class):
+    """
+    Your robot instance
 
-if PHYSICS:
-    PHYSICS.log_init_errors = False
+    .. 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
+    #
 
-class PyFrcNotPlugin:
+    nt_inst = ntcore.NetworkTableInstance.getDefault()
+    nt_inst.startLocal()
 
-    @pytest.fixture(scope="function", autouse=True)
-    def robot(self):
-        """
-        Your robot instance
+    pauseTiming()
+    restartTiming()
 
-        .. 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.
-        """
+    wpilib.DriverStation.silenceJoystickConnectionWarning(True)
+    DriverStationSim.setAutonomous(False)
+    DriverStationSim.setEnabled(False)
+    DriverStationSim.notifyNewData()
 
-        #
-        # 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
-        #
+    robot = physics_and_decorated_robot_class[1]()
 
-        nt_inst = ntcore.NetworkTableInstance.getDefault()
-        nt_inst.startLocal()
+    # Tests only get a proxy to ensure cleanup is more reliable
+    yield weakref.proxy(robot)
 
-        pauseTiming()
-        restartTiming()
+    # 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
 
-        wpilib.DriverStation.silenceJoystickConnectionWarning(True)
-        DriverStationSim.setAutonomous(False)
-        DriverStationSim.setEnabled(False)
-        DriverStationSim.notifyNewData()
+    # reset engine to ensure it gets cleaned up too
+    # -> might be holding wpilib objects, or the robot
+    if physics_and_decorated_robot_class[0]:
+        physics_and_decorated_robot_class[0].engine = None
 
-        robot = ROBOT_CLASS()
+    # HACK: avoid motor safety deadlock
+    wpilib.simulation._simulation._resetMotorSafety()
 
-        # Tests only get a proxy to ensure cleanup is more reliable
-        yield weakref.proxy(robot)
+    del 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
+    if commands2 is not None:
+        commands2.CommandScheduler.resetInstance()
 
-        # reset engine to ensure it gets cleaned up too
-        # -> might be holding wpilib objects, or the robot
-        if PHYSICS:
-            PHYSICS.engine = None
+    # Double-check all objects are destroyed so that HAL handles are released
+    gc.collect()
 
-        # HACK: avoid motor safety deadlock
-        wpilib.simulation._simulation._resetMotorSafety()
+    # 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()
 
-        del robot
+    # Cleanup WPILib globals
+    # -> preferences, SmartDashboard, Shuffleboard, LiveWindow, MotorSafety
+    wpilib.simulation._simulation._resetWpilibSimulationData()
+    wpilib._wpilib._clearSmartDashboardData()
+    wpilib.shuffleboard._shuffleboard._clearShuffleboardData()
 
-        if commands2 is not None:
-            commands2.CommandScheduler.resetInstance()
+    # Cancel all periodic callbacks
+    hal.simulation.cancelAllSimPeriodicCallbacks()
 
-        # Double-check all objects are destroyed so that HAL handles are released
-        gc.collect()
+    # Reset the HAL handles
+    hal.simulation.resetGlobalHandles()
 
-        # 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()
+    # Reset the HAL data
+    hal.simulation.resetAllSimData()
 
-        # Cleanup WPILib globals
-        # -> preferences, SmartDashboard, Shuffleboard, LiveWindow, MotorSafety
-        wpilib.simulation._simulation._resetWpilibSimulationData()
-        wpilib._wpilib._clearSmartDashboardData()
-        wpilib.shuffleboard._shuffleboard._clearShuffleboardData()
+    # 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()
 
-        # Cancel all periodic callbacks
-        hal.simulation.cancelAllSimPeriodicCallbacks()
+@pytest.fixture(scope="function")
+def control(reraise, robot_with_sim_setup_teardown: wpilib.RobotBase) -> TestController:
+    """
+    A pytest fixture that provides control over your robot_with_sim_setup_teardown
+    """
+    return TestController(reraise, robot_with_sim_setup_teardown)
 
-        # Reset the HAL handles
-        hal.simulation.resetGlobalHandles()
+#@pytest.fixture()
+#def robot_file() -> pathlib.Path:
+#    """The absolute filename your robot code is started from"""
+#    return ROBOT_FILE
 
-        # Reset the HAL data
-        hal.simulation.resetAllSimData()
+#@pytest.fixture()
+#def robot_path() -> pathlib.Path:
+#    """The absolute directory that your robot code is located at"""
+#    return ROBOT_FILE.parent
 
-        # 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)
+def run_practice(control: "TestController"):
+    """Runs through the entire span of a practice match"""
 
-    @pytest.fixture()
-    def robot_file(self) -> pathlib.Path:
-        """The absolute filename your robot code is started from"""
-        return ROBOT_FILE
+    with control.run_robot():
+        # Run disabled for a short period
+        control.step_timing(seconds=0.5, autonomous=True, enabled=False)
 
-    @pytest.fixture()
-    def robot_path(self) -> pathlib.Path:
-        """The absolute directory that your robot code is located at"""
-        return ROBOT_FILE.parent
+        # Run autonomous + enabled for 15 seconds
+        control.step_timing(seconds=15, autonomous=True, enabled=True)
 
+        # Disabled for another short period
+        control.step_timing(seconds=0.5, autonomous=False, enabled=False)
 
+        # Run teleop + enabled for 2 minutes
+        control.step_timing(seconds=120, autonomous=False, enabled=True)
 
-@pytest.mark.usefixtures("control","robot_file","robot_path")
-class TestThings(PyFrcNotPlugin):
+@pytest.mark.filterwarnings("ignore")
+class TestThings():
 
 
-    def test_iterative(self, control, robot):
+    def test_iterative(self, control, robot_with_sim_setup_teardown):
         """Ensure that all states of the iterative robot run"""
-        assert robot.robotInitialized == False
-        assert robot.robotPeriodicCount == 0
-        _test_practice(control)
+        assert robot_with_sim_setup_teardown.robotInitialized == False
+        assert robot_with_sim_setup_teardown.robotPeriodicCount == 0
+        run_practice(control)
 
-        assert robot.robotInitialized == True
-        assert robot.robotPeriodicCount > 0
+        assert robot_with_sim_setup_teardown.robotInitialized == True
+        assert robot_with_sim_setup_teardown.robotPeriodicCount > 0
 
-    def test_iterative_again(self, control, robot):
+    def test_iterative_again(self, control, robot_with_sim_setup_teardown):
         """Ensure that all states of the iterative robot run"""
-        assert robot.robotInitialized == False
-        assert robot.robotPeriodicCount == 0
-        _test_practice(control)
+        assert robot_with_sim_setup_teardown.robotInitialized == False
+        assert robot_with_sim_setup_teardown.robotPeriodicCount == 0
+        run_practice(control)
 
-        assert robot.robotInitialized == True
-        assert robot.robotPeriodicCount > 0
+        assert robot_with_sim_setup_teardown.robotInitialized == True
+        assert robot_with_sim_setup_teardown.robotPeriodicCount > 0