Fix main function initialization (#1176)

I don't have a good way to ensure this always works, so this is going to be a documentation issue.
But initializeHardwareConfiguration is now reentrant, so we can just have all tests call it.

wpilibj/src/test/java/edu/wpi/first/wpilibj/MockHardwareExtension.java

@@ -7,16 +7,12 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.util.concurrent.TimeUnit;
-
-import com.google.common.base.Stopwatch;
-
 import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 
 import edu.wpi.first.wpilibj.hal.HAL;
-import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
+import edu.wpi.first.wpilibj.sim.DriverStationSim;
 
 public final class MockHardwareExtension implements BeforeAllCallback {
   private static ExtensionContext getRoot(ExtensionContext context) {
@@ -33,72 +29,12 @@ public final class MockHardwareExtension implements BeforeAllCallback {
 
   private void initializeHardware() {
     HAL.initialize(500, 0);
-    try {
-      // Check to see if this has been setup
-      Timer.getFPGATimestamp();
-    } catch (BaseSystemNotInitializedException ex) {
-      // If it hasn't been then do this setup
+    DriverStationSim dsSim = new DriverStationSim();
+    dsSim.setDsAttached(true);
+    dsSim.setAutonomous(false);
+    dsSim.setEnabled(true);
+    dsSim.setTest(true);
 
-      HLUsageReporting.SetImplementation(new HLUsageReporting.Null());
-      RobotState.SetImplementation(new MockRobotStateInterface());
-      Timer.SetImplementation(new Timer.StaticInterface() {
-        @Override
-        public double getFPGATimestamp() {
-          return System.currentTimeMillis() / 1000.0;
-        }
 
-        @Override
-        public double getMatchTime() {
-          return 0;
-        }
-
-        @Override
-        public void delay(double seconds) {
-          try {
-            Thread.sleep((long) (seconds * 1e3));
-          } catch (InterruptedException ex) {
-            Thread.currentThread().interrupt();
-          }
-        }
-
-        @Override
-        public Timer.Interface newTimer() {
-          return new Timer.Interface() {
-            private final Stopwatch m_stopwatch = Stopwatch.createUnstarted();
-
-            @Override
-            public double get() {
-              return m_stopwatch.elapsed(TimeUnit.SECONDS);
-            }
-
-            @Override
-            public void reset() {
-              m_stopwatch.reset();
-            }
-
-            @Override
-            public void start() {
-              m_stopwatch.start();
-            }
-
-            @Override
-            public void stop() {
-              m_stopwatch.stop();
-            }
-
-            @Override
-            public boolean hasPeriodPassed(double period) {
-              if (get() > period) {
-                // Advance the start time by the period.
-                // Don't set it to the current time... we want to avoid drift.
-                m_stopwatch.reset().start();
-                return true;
-              }
-              return false;
-            }
-          };
-        }
-      });
-    }
   }
 }

wpilibj/src/test/java/edu/wpi/first/wpilibj/MockRobotStateInterface.java

@@ -1,38 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2016-2018 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj;
-
-/**
- * A concrete implementation of the robot state interface that can be used in UnitTests.
- */
-public class MockRobotStateInterface implements RobotState.Interface {
-  @Override
-  public boolean isDisabled() {
-    return false;
-  }
-
-  @Override
-  public boolean isEnabled() {
-    return true;
-  }
-
-  @Override
-  public boolean isOperatorControl() {
-    return false;
-  }
-
-  @Override
-  public boolean isAutonomous() {
-    return false;
-  }
-
-  @Override
-  public boolean isTest() {
-    return true;
-  }
-}