Runs DS enabled loop in process (#785)

Solves mutex issues, and other issues with the existing teststand
software. And simplifies the unit test structure.

test-scripts/run-tests-on-robot.sh

@@ -17,45 +17,20 @@ source config.sh
 DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
 DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
 
-usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-m] [-A] [arg] [arg]...
+usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
 A script designed to run the integration tests.
 This script should only be run on the roborio.
 Where:
     -h    Show this help text
     name  The name of the user trying to run the tests (used for driver station)
     -d    The directory where the tests have been placed.
-          This is done to prevent overwriting an already running program
-          in the case where another user already has the driver station mutex.
+          This is done to prevent overwriting an already running program.
           This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
-          directory when the driver station mutex is released.
+          directory.
           Default: Assumes the test is in the same directory as this scrip.
-    -m    The driver station mutex will be handled manually.
     -A    Do not use the default arguments for the given language.
     arg   The arguments to be passed to test."
 
-mutexTaken=false
-driverStationEnabled=false
-# This function should run even if the script exits abnormally
-function finish {
-	if [ "$driverStationEnabled" == true ]; then
-		/usr/local/frc/bin/teststand ds --name="${NAME}" disable
-		driverStationEnabled=false
-	fi
-	if [ "$mutexTaken" == true ]; then
-		/usr/local/frc/bin/teststand give --name="${NAME}"
-		mutexTaken=false
-	fi
-}
-trap finish EXIT SIGINT
-
-# This function should be run asynchronysly to enable the tests 10
-# seconds after they have been run.
-function enableIn10Seconds {
-	/usr/local/frc/bin/teststand ds --name="${NAME}" disable
-	driverStationEnabled=true
-	sleep 10
-	/usr/local/frc/bin/teststand ds --name="${NAME}" enable
-}
 
 # Are you trying to run this program on a platform other than the roboRIO?
 if [[ ! -e "${DEFAULT_TEST_DIR}" ]]; then
@@ -75,7 +50,6 @@ PARAM_ARGS=${@:3}
 TEST_RUN_ARGS=${@:3}
 RUN_WITH_DEFAULT_ARGS=true
 DEFAULT_ARGS=""
-MUTEX_OVERRIDE=false
 
 # Determine the language that we are attempting to run
 if [[ "$1" = java ]]; then
@@ -113,10 +87,6 @@ while  getopts ':hmd:A' option $PARAM_ARGS ; do
 		RUN_WITH_DEFAULT_ARGS=false
 		PARAM_COUNTER=$[$PARAM_COUNTER +1]
 		;;
-	m)
-		MUTEX_OVERRIDE=true
-		PARAM_COUNTER=$[$PARAM_COUNTER +1]
-		;;
 	d)
 		TEST_DIR=$OPTARG
 		# Since we are selecting the directory the run args start from the 5th argument
@@ -142,19 +112,9 @@ if [[ $# -lt $PARAM_COUNTER ]]; then
 	exit 1
 fi
 
-# If the mutex has been retrived a higher level in the tree
-if [ "$MUTEX_OVERRIDE" == false ]; then
-	# Attempt to take the mutex for the driver station
-	mutexTaken=true
-	/usr/local/frc/bin/teststand take --name="${NAME}"
-else
-	printf "Override driver station control enabled.\n"
-fi
-
 # Kill all running robot programs
 killall java FRCUserProgram
 
-# Once we have the mutex no other tests are running
 # If we are running with the -d argument move the test to the DEFAULT_TEST_DIR
 if [[ ! -e "${TEST_DIR}/${TEST_FILE}" ]]; then
 	printf "Failed to find %s.\nDid you copy the test file correctly?\n" "${TEST_DIR}/${TEST_FILE}"
@@ -166,9 +126,6 @@ fi
 
 # Make sure the excecutable file has permission to run
 
-# Setup the driver station to enable automatically in 10 seconds without waiting for the function to excecute.
-enableIn10Seconds&
-
 # Get the serial number and FPGADeviceCode for this rio
 export serialnum=`/sbin/fw_printenv -n serial#`
 export eval `/sbin/fw_printenv DeviceCode FPGADeviceCode DeviceDesc TargetClass`