Updates the test scripts to prevent a race time condition

The two run scripts now take an extra optional parameter [-m] that overrides the giving and taking of the mutex and lets the user handle it. This is used by the jenkins script to prevent other users from jumping in at any time while the script is running.

Change-Id: Iffcbeb7ce677b173b1e9b7d9953d5a35b2643436

test-scripts/run-tests-on-robot.sh

@@ -17,7 +17,7 @@ source config.sh
 DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
 DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
 
-usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
+usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-m] [-A] [arg] [arg]...
 A script designed to run the integration tests.
 This script should only be run on the roborio.
 Where:
@@ -29,14 +29,19 @@ Where:
           This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
           directory when the driver station mutex is released.
           Default: Assumes the test is in the same directory as this scrip.
+    -m    The driver station mutex will be handled manually.
     -A    Do not use the default arguments for the given language.
     arg   The arguments to be passed to test."
 
 mutexTaken=false
+driverStationEnabled=false
 # This function should run even if the script exits abnormally
 function finish {
-	if [ "$mutexTaken" == true ]; then
+	if [ "$driverStationEnabled" == true ]; then
 		/usr/local/frc/bin/teststand ds --name="${NAME}" disable
+		driverStationEnabled=false
+	fi
+	if [ "$mutexTaken" == true ]; then
 		/usr/local/frc/bin/teststand give --name="${NAME}"
 		mutexTaken=false
 	fi
@@ -46,6 +51,8 @@ trap finish EXIT SIGINT
 # This function should be run asynchronysly to enable the tests 10
 # seconds after they have been run.
 function enableIn10Seconds {
+	/usr/local/frc/bin/teststand ds --name="${NAME}" disable
+	driverStationEnabled=true
 	sleep 10
 	/usr/local/frc/bin/teststand ds --name="${NAME}" enable
 }
@@ -68,6 +75,7 @@ PARAM_ARGS=${@:3}
 TEST_RUN_ARGS=${@:3}
 RUN_WITH_DEFAULT_ARGS=true
 DEFAULT_ARGS=""
+MUTEX_OVERRIDE=false
 
 # Determine the language that we are attempting to run
 if [[ "$1" = java ]]; then
@@ -92,7 +100,7 @@ PARAM_COUNTER=2
 printf "Param Args ${PARAM_ARGS}\n"
 
 # Check for optional paramaters
-while  getopts ':hd:A' option $PARAM_ARGS ; do
+while  getopts ':hmd:A' option $PARAM_ARGS ; do
 	case "$option" in
 	h)
 		# Print the help message
@@ -105,6 +113,10 @@ while  getopts ':hd:A' option $PARAM_ARGS ; do
 		RUN_WITH_DEFAULT_ARGS=false
 		PARAM_COUNTER=$[$PARAM_COUNTER +1]
 		;;
+	m)
+		MUTEX_OVERRIDE=true
+		PARAM_COUNTER=$[$PARAM_COUNTER +1]
+		;;
 	d)
 		TEST_DIR=$OPTARG
 		# Since we are selecting the directory the run args start from the 5th argument
@@ -130,9 +142,14 @@ if [[ $# -lt $PARAM_COUNTER ]]; then
 	exit 1
 fi
 
-# Attempt to take the mutex for the driver station
-mutexTaken=true
-/usr/local/frc/bin/teststand take --name="${NAME}"
+# If the mutex has been retrived a higher level in the tree
+if [ "$MUTEX_OVERRIDE" == false ]; then
+	# Attempt to take the mutex for the driver station
+	mutexTaken=true
+	/usr/local/frc/bin/teststand take --name="${NAME}"
+else
+	printf "Override driver station control enabled.\n"
+fi
 
 # Kill all running robot programs
 killall java FRCUserProgram