def pytest_runtest_setup(self):
# This function needs to do the same things that RobotBase.main does,
# plus some extra things needed for testing
import networktables
networktables.NetworkTable.setTestMode()
self._fake_time.reset()
hal_impl.functions.reset_hal()
self._test_controller = TestController(self._fake_time)
import wpilib
wpilib.RobotBase.initializeHardwareConfiguration()
# The DS task causes too many problems, do it ourselves instead
wpilib.DriverStation.getInstance().release()
notify_new_ds_data()
self._test_controller._robot = self.robot_class()
# TODO: Remove after 2016
getattr(self._test_controller._robot, 'prestart', lambda: True)()
assert hasattr(self._test_controller._robot, '_RobotBase__initialized'), \
"If your robot class has an __init__ function, it must call super().__init__()!"
def pytest_runtest_setup(self):
# This function needs to do the same things that RobotBase.main does,
# plus some extra things needed for testing
import networktables
networktables.NetworkTable.setTestMode()
self._fake_time.reset()
hal_impl.functions.reset_hal()
self._test_controller = TestController(self._fake_time)
import wpilib
wpilib.RobotBase.initializeHardwareConfiguration()
# The DS task causes too many problems, do it ourselves instead
wpilib.DriverStation.getInstance().release()
notify_new_ds_data()
self._test_controller._robot = self.robot_class()
# TODO: Remove after 2016
getattr(self._test_controller._robot, 'prestart', lambda: True)()
assert hasattr(self._test_controller._robot, '_RobotBase__initialized'), \
"If your robot class has an __init__ function, it must call super().__init__()!"
def on_joystick(self, idx, msg: Joystick):
logger.info("joystick! %s", msg)
js = hal_data['joysticks'][idx]
buttons = js['buttons']
axes = js['axes']
js['has_source'] = True
# super inefficient, but could be worse..
# -> probably will be bit by race conditions here
for i, (a, _) in enumerate(zip(msg.axes, axes)):
axes[i] = a
for i, (b, _) in enumerate(zip(msg.buttons, buttons)):
buttons[i] = b
mode_helpers.notify_new_ds_data()
def on_joystick(self, idx, msg):
js = hal_data['joysticks'][idx]
buttons = js['buttons']
axes = js['axes']
js['has_source'] = True
msg = Joystick.FromString(msg)
# super inefficient, but could be worse..
# -> probably will be bit by race conditions here
for i, (a, _) in enumerate(zip(msg.axes, axes)):
axes[i] = a
for i, (b, _) in enumerate(zip(msg.buttons, buttons)):
buttons[i] = b
mode_helpers.notify_new_ds_data()
def _ds_thread(self):
# TODO: This needs to be fixed, breaks things when paused in IterativeRobot
while True:
time.sleep(0.020)
mode_helpers.notify_new_ds_data()
def terrible_hack(self):
# This terrible hack allows the DS thread to receive new joystick data
while True:
mode_helpers.notify_new_ds_data()
time.sleep(0.02)
def _ds_thread(self):
# TODO: This needs to be fixed, breaks things when paused in IterativeRobot
while True:
time.sleep(0.020)
mode_helpers.notify_new_ds_data()
def terrible_hack(self):
# This terrible hack allows the DS thread to receive new joystick data
while True:
mode_helpers.notify_new_ds_data()
time.sleep(0.02)
