[copybara] Sync with mostrobotpy (#8820)

GitOrigin-RevId: f03f29e57af22a74b680873090028b9c9f5c8063

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