[copybara] Resync robotpy (#8585)

Project import generated by Copybara.
    
GitOrigin-RevId: fd000778e9b78c72cc7ca7b2ebe476129b78c6e0

wpilibc/src/test/python/test_boolean_event.py

@@ -0,0 +1,476 @@
+from wpilib import BooleanEvent, EventLoop
+
+
+def test_binary_compositions():
+    loop = EventLoop()
+    and_counter = {"value": 0}
+    or_counter = {"value": 0}
+
+    def inc_and():
+        and_counter["value"] += 1
+
+    def inc_or():
+        or_counter["value"] += 1
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 0
+
+    BooleanEvent(loop, lambda: True).and_(lambda: False).ifHigh(inc_and)
+    BooleanEvent(loop, lambda: True).or_(lambda: False).ifHigh(inc_or)
+
+    loop.poll()
+
+    assert and_counter["value"] == 0
+    assert or_counter["value"] == 1
+
+
+def test_binary_compositions_with_edge_decorators():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"]).rising()
+    event2 = BooleanEvent(loop, lambda: bool2["value"]).rising()
+    event3 = BooleanEvent(loop, lambda: bool3["value"]).rising()
+    event4 = BooleanEvent(loop, lambda: bool4["value"]).rising()
+    event1.and_(event2).ifHigh(inc)
+    event3.or_(event4).ifHigh(inc)
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    bool3["value"] = False
+    bool4["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = False
+    bool2["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    loop.poll()
+
+    assert counter["value"] == 4
+
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    loop.poll()
+
+    assert counter["value"] == 5
+
+
+def test_binary_composition_loop_semantics():
+    loop1 = EventLoop()
+    loop2 = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    counter1 = {"value": 0}
+    counter2 = {"value": 0}
+
+    def inc1():
+        counter1["value"] += 1
+
+    def inc2():
+        counter2["value"] += 1
+
+    BooleanEvent(loop1, lambda: bool1["value"]).and_(
+        BooleanEvent(loop2, lambda: bool2["value"])
+    ).ifHigh(inc1)
+
+    BooleanEvent(loop2, lambda: bool2["value"]).and_(
+        BooleanEvent(loop1, lambda: bool1["value"])
+    ).ifHigh(inc2)
+
+    assert counter1["value"] == 0
+    assert counter2["value"] == 0
+
+    loop1.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 0
+
+    loop2.poll()
+
+    assert counter1["value"] == 1
+    assert counter2["value"] == 1
+
+    bool2["value"] = False
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    loop1.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 1
+
+    bool2["value"] = True
+    loop2.poll()
+
+    assert counter1["value"] == 2
+    assert counter2["value"] == 2
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 2
+
+    bool1["value"] = False
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop1.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+    loop2.poll()
+
+    assert counter1["value"] == 3
+    assert counter2["value"] == 3
+
+
+def test_poll_ordering():
+    loop = EventLoop()
+    bool1 = {"value": True}
+    bool2 = {"value": True}
+    enable_assert = {"value": False}
+    counter = {"value": 0}
+
+    def action1():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 1
+        return bool1["value"]
+
+    def action2():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 2
+        return bool2["value"]
+
+    def action3():
+        if enable_assert["value"]:
+            counter["value"] += 1
+            assert counter["value"] % 3 == 0
+
+    BooleanEvent(loop, action1).and_(BooleanEvent(loop, action2)).ifHigh(action3)
+    enable_assert["value"] = True
+    loop.poll()
+    loop.poll()
+    loop.poll()
+    loop.poll()
+
+
+def test_edge_decorators():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    def dec():
+        counter["value"] -= 1
+
+    BooleanEvent(loop, lambda: flag["value"]).falling().ifHigh(dec)
+    BooleanEvent(loop, lambda: flag["value"]).rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 0
+
+
+def test_edge_reuse():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+    event.ifHigh(inc)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_edge_reconstruct():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"])
+    event.rising().ifHigh(inc)
+    event.rising().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event = BooleanEvent(loop, lambda: flag["value"]).rising()
+
+    def first_action():
+        flag["value"] = False
+        counter["value"] += 1
+
+    event.ifHigh(first_action)
+    event.ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 0
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 4
+
+
+def test_mid_loop_boolean_change_with_composed_events():
+    loop = EventLoop()
+    bool1 = {"value": False}
+    bool2 = {"value": False}
+    bool3 = {"value": False}
+    bool4 = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    event1 = BooleanEvent(loop, lambda: bool1["value"])
+    event2 = BooleanEvent(loop, lambda: bool2["value"])
+    event3 = BooleanEvent(loop, lambda: bool3["value"])
+    event4 = BooleanEvent(loop, lambda: bool4["value"])
+
+    def action1():
+        bool2["value"] = False
+        bool3["value"] = False
+        counter["value"] += 1
+
+    event1.ifHigh(action1)
+
+    def action2():
+        bool1["value"] = False
+        counter["value"] += 1
+
+    event3.or_(event4).ifHigh(action2)
+
+    def action3():
+        bool4["value"] = False
+        counter["value"] += 1
+
+    event1.and_(event2).ifHigh(action3)
+
+    assert counter["value"] == 0
+
+    bool1["value"] = True
+    bool2["value"] = True
+    bool3["value"] = True
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    loop.poll()
+
+    assert counter["value"] == 3
+
+    bool1["value"] = True
+    bool2["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 5
+
+    bool1["value"] = True
+    bool3["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 7
+
+    bool1["value"] = False
+    bool4["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 8
+
+
+def test_negation():
+    loop = EventLoop()
+    flag = {"value": False}
+    counter = {"value": 0}
+
+    def inc():
+        counter["value"] += 1
+
+    BooleanEvent(loop, lambda: flag["value"]).negate().ifHigh(inc)
+
+    assert counter["value"] == 0
+
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 1
+
+    flag["value"] = False
+    loop.poll()
+
+    assert counter["value"] == 2
+
+    flag["value"] = True
+    loop.poll()
+
+    assert counter["value"] == 2

wpilibc/src/test/python/test_opmode_robot.py

@@ -135,6 +135,7 @@ def test_remove_op_mode():
     assert options[0].name == "OneArgOpMode"
 
 
+# @pytest.mark.xfail(reason="wpilib bug")
 def test_none_periodic():
     class MyMockRobot(MockRobot):
         def __init__(self):

wpilibc/src/test/python/test_pytest_plugins.py

@@ -5,8 +5,7 @@ import pytest
 
 
 def _make_robot_module(pytester):
-    pytester.makepyfile(
-        robot_module="""
+    pytester.makepyfile(robot_module="""
 import wpilib
 
 
@@ -51,13 +50,11 @@ class IterativeStateRobot(wpilib.TimedRobot):
     def teleopPeriodic(self):
         self.did_teleop_periodic = True
 
-"""
-    )
+""")
 
 
 def _configure_robot_testing_plugin(pytester, robot_class="DummyRobot"):
-    pytester.makeconftest(
-        f"""
+    pytester.makeconftest(f"""
 import pathlib
 
 from wpilib.testing.pytest_plugin import RobotTestingPlugin
@@ -68,13 +65,11 @@ from robot_module import {robot_class}
 def pytest_configure(config):
     robot_file = pathlib.Path(__file__).resolve()
     config.pluginmanager.register(RobotTestingPlugin({robot_class}, robot_file, False))
-"""
-    )
+""")
 
 
 def _configure_isolated_plugin(pytester, parallelism=1, robot_class="DummyRobot"):
-    pytester.makeconftest(
-        f"""
+    pytester.makeconftest(f"""
 import pathlib
 
 from wpilib.testing.pytest_isolated_tests_plugin import IsolatedTestsPlugin
@@ -88,19 +83,16 @@ def pytest_configure(config):
     config.pluginmanager.register(
         IsolatedTestsPlugin({robot_class}, robot_file, False, False, {parallelism})
     )
-"""
-    )
+""")
 
 
 def test_robot_testing_plugin_success(pytester):
     _make_robot_module(pytester)
     _configure_robot_testing_plugin(pytester)
-    pytester.makepyfile(
-        test_success="""
+    pytester.makepyfile(test_success="""
 def test_robot_fixture(robot):
     assert robot.did_init
-"""
-    )
+""")
 
     result = pytester.runpytest("-vv")
 
@@ -110,13 +102,11 @@ def test_robot_fixture(robot):
 def test_robot_testing_plugin_failure_shows_output(pytester):
     _make_robot_module(pytester)
     _configure_robot_testing_plugin(pytester)
-    pytester.makepyfile(
-        test_failure="""
+    pytester.makepyfile(test_failure="""
 def test_robot_failure(robot):
     print("checked failure output")
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest("-vv")
 
@@ -132,8 +122,7 @@ def test_robot_failure(robot):
 def test_isolated_plugin_process_and_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 import os
 
 
@@ -155,8 +144,7 @@ def test_robot_pid_two(robot):
 def test_robot_failure_output(robot):
     print("isolated failure output")
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-vv")
 
@@ -181,8 +169,7 @@ def test_robot_failure_output(robot):
 def test_isolated_plugin_no_duplicate_verbose_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_non_robot():
     assert True
 
@@ -193,8 +180,7 @@ def test_robot_one(robot):
 
 def test_robot_two(robot):
     assert robot is not None
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-v")
 
@@ -216,16 +202,14 @@ def test_robot_two(robot):
 def test_isolated_plugin_reports_signal_exit(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 import os
 import signal
 
 
 def test_robot_signal_exit(robot):
     os.kill(os.getpid(), signal.SIGTERM)
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-vv")
 
@@ -241,8 +225,7 @@ def test_robot_signal_exit(robot):
 def test_isolated_plugin_shows_file_in_non_verbose_output(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_non_robot():
     assert True
 
@@ -253,8 +236,7 @@ def test_robot_one(robot):
 
 def test_robot_two(robot):
     assert robot is not None
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess()
 
@@ -267,16 +249,14 @@ def test_robot_two(robot):
 def test_isolated_plugin_maxfail_stops_early(pytester):
     _make_robot_module(pytester)
     _configure_isolated_plugin(pytester)
-    pytester.makepyfile(
-        test_isolated="""
+    pytester.makepyfile(test_isolated="""
 def test_robot_first(robot):
     assert False
 
 
 def test_robot_second(robot):
     assert False
-"""
-    )
+""")
 
     result = pytester.runpytest_subprocess("-v", "-x")