[copybara] Sync with mostrobotpy (#8820)

GitOrigin-RevId: f03f29e57af22a74b680873090028b9c9f5c8063

wpilibc/src/main/python/pyproject.toml

@@ -2,7 +2,7 @@
 build-backend = "hatchling.build"
 requires = [
     "semiwrap~=0.3.0",
-    "hatch-meson~=0.1.0",
+    "hatch-meson~=0.1.2",
     "hatch-robotpy~=0.2.1",
     "hatchling",
     "robotpy-native-wpilib==0.0.0",

wpilibc/src/main/python/wpilib/_impl/cli_test.py

@@ -90,7 +90,11 @@ class RobotTest:
             pyproject_path = project_path / "pyproject.toml"
             if pyproject_path.exists():
                 with open(pyproject_path, "rb") as fp:
-                    d = tomllib.load(fp)
+                    try:
+                        d = tomllib.load(fp)
+                    except tomllib.TOMLDecodeError as e:
+                        print(f"ERROR: {pyproject_path}: {e}", file=sys.stderr)
+                        return 1
 
                 try:
                     v = d["tool"]["robotpy"]["testing"]["isolated"]
@@ -98,9 +102,12 @@ class RobotTest:
                     pass
                 else:
                     if not isinstance(v, bool):
-                        raise ValueError(
-                            f"tool.robotpy.testing.isolated must be a boolean value (got {v})"
+                        print(
+                            f"ERROR: {pyproject_path}: tool.robotpy.testing.isolated "
+                            f"must be a boolean value (got {v!r})",
+                            file=sys.stderr,
                         )
+                        return 1
 
                     isolated = v
 
@@ -162,7 +169,10 @@ class RobotTest:
                 break
         else:
             if not builtin:
-                print("ERROR: Cannot run robot tests, as test directory was not found!")
+                print(
+                    "ERROR: Cannot run robot tests, as test directory was not found!",
+                    file=sys.stderr,
+                )
                 retv = self._no_tests(main_file, project_path)
                 return 1
 
@@ -194,8 +204,11 @@ class RobotTest:
 
         # requires pytest 2.8.x
         if retv == 5:
-            print()
-            print("ERROR: a tests directory was found, but no tests were defined")
+            print(file=sys.stderr)
+            print(
+                "ERROR: a tests directory was found, but no tests were defined",
+                file=sys.stderr,
+            )
             retv = self._no_tests(main_file, project_path, retv)
 
         return retv

wpilibc/src/test/python/test_alert.py

@@ -18,11 +18,7 @@ def group_name(request):
 
 
 def get_active_alerts(level: Alert.Level) -> T.List[str]:
-    return [
-        a.text
-        for a in AlertSim.getAll()
-        if a.level == level and a.isActive()
-    ]
+    return [a.text for a in AlertSim.getAll() if a.level == level and a.isActive()]
 
 
 def is_alert_active(text: str, level: Alert.Level):
@@ -144,6 +140,7 @@ def test_set_text_while_set(group_name):
         assert not is_alert_active("BEFORE", Alert.Level.LOW)
         assert is_alert_active("AFTER", Alert.Level.LOW)
 
+
 def test_get_active(group_name):
     with (
         Alert(group_name, "A", Alert.Level.HIGH) as a,
@@ -154,10 +151,10 @@ def test_get_active(group_name):
         a.set(True)
         b.set(True)
         c.set(False)
-        
+
         active = AlertSim.getActive()
         allAlerts = AlertSim.getAll()
-        
+
         assert len(active) == 2
         assert len(allAlerts) == 3
 
@@ -169,4 +166,4 @@ def test_get_active(group_name):
         allAlerts = AlertSim.getAll()
         assert len(active) == 1
         assert len(allAlerts) == 3
-        assert active[0].text == "B"
+        assert active[0].text == "B"

wpilibc/src/test/python/test_opmode_robot.py

@@ -41,6 +41,7 @@ class MockRobot(OpModeRobot):
         super().__init__()
         self.driver_station_connected_count = 0
         self.none_periodic_count = 0
+        self.periodic_count = 0
 
     def driverStationConnected(self):
         self.driver_station_connected_count += 1
@@ -48,6 +49,9 @@ class MockRobot(OpModeRobot):
     def nonePeriodic(self):
         self.none_periodic_count += 1
 
+    def robotPeriodic(self):
+        self.periodic_count += 1
+
 
 @pytest.fixture(autouse=True)
 def sim_timing_setup():
@@ -135,8 +139,8 @@ def test_remove_op_mode():
     assert options[0].name == "OneArgOpMode"
 
 
-@pytest.mark.xfail(reason="wpilib bug")
-def test_none_periodic():
+@pytest.fixture
+def periodic_robot_test_fixture():
     class MyMockRobot(MockRobot):
         def __init__(self):
             super().__init__()
@@ -146,14 +150,40 @@ def test_none_periodic():
     robot = MyMockRobot()
 
     robot_thread = threading.Thread(target=robot.startCompetition)
-    robot_thread.daemon = True  # Make thread daemon so it doesn't block test exit
     robot_thread.start()
 
+    yield robot
+
+    robot.endCompetition()
+    robot_thread.join()
+
+
+# @pytest.mark.xfail(reason="wpilib bug")
+def test_none_periodic(periodic_robot_test_fixture):
+    robot = periodic_robot_test_fixture
+
     wsim.waitForProgramStart()
 
+    # Time step to get periodic calls on 20 ms robot loop
     wsim.stepTiming(0.110)
 
-    assert robot.none_periodic_count == 2
+    assert robot.none_periodic_count == 5
 
-    robot.endCompetition()
-    robot_thread.join(timeout=1.0)  # Add timeout to prevent hanging
+
+def test_robot_periodic(periodic_robot_test_fixture):
+    kPeriod = 0.020  # 20 ms
+
+    robot = periodic_robot_test_fixture
+
+    wsim.waitForProgramStart()
+
+    # RobotPeriodic should be called regardless of state
+    assert robot.periodic_count == 0
+
+    # Time step to get periodic calls on 20 ms robot loop
+    wsim.stepTiming(kPeriod)
+    assert robot.periodic_count == 1
+
+    # Additional time steps should continue calling RobotPeriodic
+    wsim.stepTiming(kPeriod)
+    assert robot.periodic_count == 2