WIP - tests should pass.

Signed-off-by: Mike Stitt <mike@stitt.cc>

Author: MikeStitt

subprojects/robotpy-wpilib/tests/conftest.py

@@ -2,23 +2,8 @@
 
 import pytest
 import ntcore
-import wpilib
 from wpilib.simulation._simulation import _resetWpilibSimulationData
 
-from pathlib import Path
-
-import gc
-
-import weakref
-
-import hal
-import hal.simulation
-import wpilib.shuffleboard
-from wpilib.simulation import DriverStationSim, pauseTiming, restartTiming
-import wpilib.simulation
-from pyfrc.test_support.controller import TestController
-from pyfrc.physics.core import PhysicsInterface
-
 try:
     import commands2
 except ImportError:
@@ -48,133 +33,3 @@ def nt(cfg_logging, wpilib_state):
     finally:
         instance.stopLocal()
         instance._reset()
-
-
-@pytest.fixture(scope="class", autouse=False)
-def physics_and_decorated_robot_class(
-    myrobot_class, robots_sim_enable_physics
-) -> tuple:
-    # attach physics
-
-    robotClass = myrobot_class
-    physicsInterface = None
-    if robots_sim_enable_physics:
-        physicsInterface, robotClass = PhysicsInterface._create_and_attach(
-            myrobot_class,
-            Path(__file__).parent,
-        )
-
-    if physicsInterface:
-        physicsInterface.log_init_errors = False
-
-    # Tests need to know when robotInit is called, so override the robot
-    # to do that
-    class TestRobot(robotClass):
-        def robotInit(self):
-            try:
-                super().robotInit()
-            finally:
-                self.__robotInitialized()
-
-    TestRobot.__name__ = robotClass.__name__
-    TestRobot.__module__ = robotClass.__module__
-    TestRobot.__qualname__ = robotClass.__qualname__
-
-    return (physicsInterface, TestRobot)
-
-
-@pytest.fixture(scope="function", autouse=False)
-def robot_with_sim_setup_teardown(physics_and_decorated_robot_class):
-    """
-    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 = physics_and_decorated_robot_class[1]()
-
-    # 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_and_decorated_robot_class[0]:
-        physics_and_decorated_robot_class[0].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 getTestController(
-    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)