mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-02 02:51:42 +00:00
44b9cc1398
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.
166 lines
3.8 KiB
Python
166 lines
3.8 KiB
Python
#
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# Useful fixtures
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#
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from contextlib import contextmanager
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from threading import Condition
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import logging
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logger = logging.getLogger("conftest")
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import pytest
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from ntcore import NetworkTableInstance, MultiSubscriber, Event, EventFlags
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#
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# Fixtures for a usable in-memory version of networktables
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#
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@pytest.fixture
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def cfg_logging(caplog):
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caplog.set_level(logging.INFO)
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@pytest.fixture(scope="function")
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def nt(cfg_logging):
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instance = NetworkTableInstance.create()
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instance.startLocal()
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try:
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yield instance
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finally:
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NetworkTableInstance.destroy(instance)
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#
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# Live NT instance fixtures
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#
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class NtTestBase:
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"""
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Object for managing a live pair of NT server/client
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"""
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_wait_lock = None
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def __init__(self):
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self.reset()
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def reset(self):
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self._impl = NetworkTableInstance.create()
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self.getTable = self._impl.getTable
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self.isConnected = self._impl.isConnected
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def shutdown(self):
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logger.info("shutting down %s", self.__class__.__name__)
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if self._impl:
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NetworkTableInstance.destroy(self._impl)
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self._impl = None
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# def disconnect(self):
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# self._api.dispatcher.stop()
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def _init_common(self):
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# This resets the instance to be independent
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self.shutdown()
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self.reset()
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# self._wait_init()
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def _init_server(self, port=23232):
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self._init_common()
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self.port = port
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def _init_client(self):
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self._init_common()
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def _wait_init(self):
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logger.info("wait-init %s", self.__class__.__name__)
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self._wait_lock = Condition()
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self._wait = 0
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self.msub = MultiSubscriber(self._impl, [""])
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self.vl = self._impl.addListener(
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self.msub, EventFlags.kValueRemote, self._wait_cb
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)
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def _wait_cb(self, evt: Event):
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logger.info("wait-callback %s: %s", self.__class__.__name__, evt)
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with self._wait_lock:
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self._wait += 1
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self._wait_lock.notify()
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@contextmanager
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def expect_changes(self, count):
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"""Use this on the *other* instance that you're making
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changes on, to wait for the changes to propagate to the
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other instance"""
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if self._wait_lock is None:
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self._wait_init()
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with self._wait_lock:
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self._wait = 0
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logger.info("Begin actions")
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yield
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logger.info("Waiting for %s changes", count)
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with self._wait_lock:
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self._wait_lock.wait_for(lambda: self._wait >= count, 4)
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logger.info("expect_changes: %s == %s", self._wait, count)
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msg = "Failed waiting for exactly %s changes (got %s)" % (count, self._wait)
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assert self._wait == count, msg
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@pytest.fixture()
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def nt_server(request, cfg_logging):
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class NtServer(NtTestBase):
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_test_saved_port = None
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def start_test(self):
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logger.info("NtServer::start_test")
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# Restore server port on restart
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if self._test_saved_port is not None:
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self.port = self._test_saved_port
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self._impl.startServer(listen_address="127.0.0.1", port=self.port)
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self._test_saved_port = self.port
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server = NtServer()
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server._init_server()
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try:
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yield server
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finally:
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server.shutdown()
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@pytest.fixture()
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def nt_client(request, nt_server):
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class NtClient(NtTestBase):
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def start_test(self):
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self._impl.startClient("C4")
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self._impl.setServer("127.0.0.1", nt_server.port)
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client = NtClient()
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client._init_client()
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yield client
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client.shutdown()
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@pytest.fixture
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def nt_live(nt_server, nt_client):
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"""This fixture automatically starts the client and server"""
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nt_server.start_test()
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nt_client.start_test()
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return nt_server, nt_client
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