Implement robot tests, other stuff

robotpy / pyfrc

python3 library designed to make developing RobotPy-based code easier!

MIT License

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Implement robot tests, other stuff #189

Closed virtuald closed 2 years ago

virtuald commented 2 years ago

Fixes #166
Requires https://github.com/robotpy/robotpy-hal/pull/16
Requires https://github.com/robotpy/robotpy-wpilib/pull/704
Requires https://github.com/wpilibsuite/allwpilib/pull/4007

virtuald commented 2 years ago

There's still a bunch of obnoxious global state that will still need to be dealt with. Unfortunately, I don't think any of them are fixable except by modifications to the C++ code.

Command framework scheduler
SendableRegistry needs to be cleared
Probably LiveWindow too

virtuald commented 2 years ago

https://github.com/wpilibsuite/allwpilib/pull/4007 is merged so that clears the way for pyfrc testing to happen if we want to use a development release until the next release happens (affects wpiutil, wpilib)... but I'm going away this weekend, so probably a bad idea to do it before next week.

virtuald commented 2 years ago

All of the vendor code I've tested does bad things when confronted with basic tests of creating/destroying objects in the same process:

navx segfaults https://github.com/kauailabs/navxmxp/issues/104
ctre segfaults
rev hangs the test process on exit

virtuald commented 2 years ago

Due to potential issues with this, I'm not going to enable this for deploy by default