[robotpy] Mirror most other subprojects (#8208)

GitOrigin-RevId: ac60fd3cf4a24023184376687da28373d14b781a

This mirrors the robotpy files for the following projects:
- apriltag
- datalog
- hal
- ntcore
- romiVendordep
- wpilibc
- wpimath
- xrpVendordep

This excludes cscore and the halsim wrappers for at this time.

NOTE: This does not hook these projects up to the build system, just simply mirrors the files. The building will take place in a follow up PR to make it easier to review the changes necessary to build.

ntcore/src/test/python/conftest.py

@@ -0,0 +1,165 @@
+#
+# Useful fixtures
+#
+
+from contextlib import contextmanager
+from threading import Condition
+
+import logging
+
+logger = logging.getLogger("conftest")
+
+import pytest
+
+from ntcore import NetworkTableInstance, MultiSubscriber, Event, EventFlags
+
+#
+# Fixtures for a usable in-memory version of networktables
+#
+
+
+@pytest.fixture
+def cfg_logging(caplog):
+    caplog.set_level(logging.INFO)
+
+
+@pytest.fixture(scope="function")
+def nt(cfg_logging):
+    instance = NetworkTableInstance.create()
+    instance.startLocal()
+
+    try:
+        yield instance
+    finally:
+        NetworkTableInstance.destroy(instance)
+
+
+#
+# Live NT instance fixtures
+#
+
+
+class NtTestBase:
+    """
+    Object for managing a live pair of NT server/client
+    """
+
+    _wait_lock = None
+
+    def __init__(self):
+        self.reset()
+
+    def reset(self):
+        self._impl = NetworkTableInstance.create()
+        self.getTable = self._impl.getTable
+        self.isConnected = self._impl.isConnected
+
+    def shutdown(self):
+        logger.info("shutting down %s", self.__class__.__name__)
+        if self._impl:
+            NetworkTableInstance.destroy(self._impl)
+        self._impl = None
+
+    # def disconnect(self):
+    #     self._api.dispatcher.stop()
+
+    def _init_common(self):
+        # This resets the instance to be independent
+        self.shutdown()
+        self.reset()
+
+        # self._wait_init()
+
+    def _init_server(self, port=23232):
+        self._init_common()
+
+        self.port = port
+
+    def _init_client(self):
+        self._init_common()
+
+    def _wait_init(self):
+        logger.info("wait-init %s", self.__class__.__name__)
+        self._wait_lock = Condition()
+        self._wait = 0
+
+        self.msub = MultiSubscriber(self._impl, [""])
+        self.vl = self._impl.addListener(
+            self.msub, EventFlags.kValueRemote, self._wait_cb
+        )
+
+    def _wait_cb(self, evt: Event):
+        logger.info("wait-callback %s: %s", self.__class__.__name__, evt)
+        with self._wait_lock:
+            self._wait += 1
+            self._wait_lock.notify()
+
+    @contextmanager
+    def expect_changes(self, count):
+        """Use this on the *other* instance that you're making
+        changes on, to wait for the changes to propagate to the
+        other instance"""
+
+        if self._wait_lock is None:
+            self._wait_init()
+
+        with self._wait_lock:
+            self._wait = 0
+
+        logger.info("Begin actions")
+        yield
+        logger.info("Waiting for %s changes", count)
+
+        with self._wait_lock:
+            self._wait_lock.wait_for(lambda: self._wait >= count, 4)
+            logger.info("expect_changes: %s == %s", self._wait, count)
+
+            msg = "Failed waiting for exactly %s changes (got %s)" % (count, self._wait)
+            assert self._wait == count, msg
+
+
+@pytest.fixture()
+def nt_server(request, cfg_logging):
+    class NtServer(NtTestBase):
+        _test_saved_port = None
+
+        def start_test(self):
+            logger.info("NtServer::start_test")
+
+            # Restore server port on restart
+            if self._test_saved_port is not None:
+                self.port = self._test_saved_port
+
+            self._impl.startServer(listen_address="127.0.0.1", port=self.port)
+
+            self._test_saved_port = self.port
+
+    server = NtServer()
+    server._init_server()
+    try:
+        yield server
+    finally:
+        server.shutdown()
+
+
+@pytest.fixture()
+def nt_client(request, nt_server):
+    class NtClient(NtTestBase):
+        def start_test(self):
+            self._impl.startClient("C4")
+            self._impl.setServer("127.0.0.1", nt_server.port)
+
+    client = NtClient()
+    client._init_client()
+    yield client
+    client.shutdown()
+
+
+@pytest.fixture
+def nt_live(nt_server, nt_client):
+    """This fixture automatically starts the client and server"""
+
+    nt_server.start_test()
+    nt_client.start_test()
+
+    return nt_server, nt_client