Merge pull request #207 from robotpy/2023-beta

2023 beta

Author: virtuald

.github/workflows/dist.yml

@@ -11,7 +11,7 @@ on:
 
 jobs:
   ci:
-    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2022
+    uses: robotpy/build-actions/.github/workflows/package-pure.yml@v2023
     with:
       enable_sphinx_check: false
     secrets:

README.md

@@ -9,7 +9,7 @@ FIRST Robotics Competition easier.
 This library contains a few primary parts:
 
 * A built-in uploader that will upload your robot code to the robot
-* Integration with the py.test testing tool to allow you to easily write unit
+* Integration with the pytest testing tool to allow you to easily write unit
   tests for your robot code.
 * Various support for robot simulation
 

docs/index.rst

@@ -8,7 +8,7 @@ FIRST Robotics Competition easier.
 This library contains a few primary parts:
 
 * A built-in uploader that will upload your robot code to the robot
-* Integration with the py.test testing tool to allow you to easily write unit
+* Integration with the pytest testing tool to allow you to easily write unit
   tests for your robot code.
 * Simulation and 'robot physics' support
 

pyfrc/mains/cli_test.py

@@ -11,7 +11,7 @@
 
 from ..test_support import pytest_plugin
 
-# TODO: setting the plugins so that the end user can invoke py.test directly
+# TODO: setting the plugins so that the end user can invoke pytest directly
 # could be a useful thing. Will have to consider that later.
 
 
@@ -24,7 +24,7 @@ class _TryAgain(Exception):
 #
 class PyFrcTest:
     """
-    Executes unit tests on the robot code using a special py.test plugin
+    Executes unit tests on the robot code using a special pytest plugin
     """
 
     def __init__(self, parser=None):
@@ -67,7 +67,7 @@ def run_test(self, *a, **k):
 
     def _run_test(self, pytest_args, robot_class, use_builtin, **static_options):
 
-        # find test directory, change current directory so py.test can find the tests
+        # find test directory, change current directory so pytest can find the tests
         # -> assume that tests reside in tests or ../tests
 
         curdir = pathlib.Path.cwd().absolute()

pyfrc/test_support/pytest_plugin.py

@@ -8,7 +8,7 @@
 
 import hal
 import hal.simulation
-import networktables
+import ntcore
 import wpilib
 from wpilib.simulation import DriverStationSim, pauseTiming, restartTiming
 import wpilib.simulation
@@ -87,7 +87,8 @@ def robot(self):
         # bubble up to the user
         #
 
-        networktables.NetworkTables.startLocal()
+        nt_inst = ntcore.NetworkTableInstance.getDefault()
+        nt_inst.startLocal()
 
         pauseTiming()
         restartTiming()
@@ -107,6 +108,9 @@ def robot(self):
         if self._physics:
             self._physics.engine = None
 
+        # HACK: avoid motor safety deadlock
+        wpilib.simulation._simulation._resetMotorSafety()
+
         del robot
 
         # Double-check all objects are destroyed so that HAL handles are released
@@ -119,7 +123,7 @@ def robot(self):
         # -> 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
-        networktables.NetworkTables.stopLocal()
+        nt_inst.stopLocal()
 
         # Cleanup WPILib globals
         # -> preferences, SmartDashboard, LiveWindow, MotorSafety
@@ -133,7 +137,7 @@ def robot(self):
         hal.simulation.resetGlobalHandles()
 
         # Reset the HAL data
-        hal.simulation.resetAllData()
+        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)

setup.cfg

@@ -33,12 +33,12 @@ install_requires =
     pint>=0.11.0
     importlib-metadata; python_version < '3.8'
 
-    robotpy-wpiutil>=2022.4.1.1,<2023
-    pyntcore>=2022,<2023
-    robotpy-hal>=2022.4.1.1,<2023
-    wpilib>=2022.4.1.1,<2023
+    robotpy-wpiutil>=2023.0.0b3.post1,<2024
+    pyntcore>=2023.0.0b3,<2024
+    robotpy-hal>=2023.0.0b3.post1,<2024
+    wpilib>=2023.0.0b3,<2024
 
-    robotpy-installer>=2022,<2023
+    robotpy-installer>=2023.0.0b3,<2024
 setup_requires =
     setuptools_scm > 6
 python_requires = >=3.6