Merge pull request #219 from robotpy/integrated-testing

Move core functionality from pyfrc into wpilib

Author: virtuald

.github/workflows/dist.yml

@@ -131,7 +131,6 @@ jobs:
         - "macos-14" # arm64
         - "windows-2022"
         python_version:
-        - '3.10'
         - '3.11'
         - '3.12'
         - '3.13'

devtools/subproject.py

@@ -2,10 +2,10 @@
 import shutil
 import sys
 import tempfile
+import tomllib
 import typing as T
 
 from packaging.requirements import Requirement
-import tomli
 
 from .config import SubprojectConfig
 from .util import run_cmd
@@ -24,9 +24,9 @@ def __init__(
         self.pyproject_path = self.path / "pyproject.toml"
         self.name = path.name
 
-        # Use tomli here because it's faster and we just need the data
+        # Use tomllib here because it's faster and we just need the data
         with open(self.pyproject_path, "rb") as fp:
-            self.pyproject_data = tomli.load(fp)
+            self.pyproject_data = tomllib.load(fp)
 
         self.build_requires = [
             Requirement(req) for req in self.pyproject_data["build-system"]["requires"]

rdev_requirements.txt

@@ -4,7 +4,6 @@ click
 packaging
 pytest
 tomlkit
-tomli
 toposort
 validobj~=1.2
 

subprojects/robotpy-wpilib/pyproject.toml

@@ -26,14 +26,21 @@ dependencies = [
     "robotpy-wpimath==2027.0.0a3",
     "robotpy-hal==2027.0.0a3",
     "pyntcore==2027.0.0a3",
-    "robotpy-cli~=2027.0.0a1"
+    "robotpy-cli~=2027.0.0a1",
+
+    # For running robot tests
+    "pytest>=3.9",
+    "pytest-reraise",
 ]
 
 [project.urls]
 "Source code" = "https://github.com/robotpy/mostrobotpy"
 
 [project.entry-points."robotpy_cli.2027"]
-run = "wpilib._impl.start:Main"
+add-tests = "wpilib._impl.cli_add_tests:AddTests"
+run = "wpilib._impl.cli_run:Main"
+sim = "wpilib._impl.cli_sim:RobotSim"
+test = "wpilib._impl.cli_test:RobotTest"
 
 
 [tool.hatch.build.hooks.robotpy]

subprojects/robotpy-wpilib/semiwrap/IterativeRobotBase.yml

@@ -18,9 +18,7 @@ classes:
           wpi::units::second_t:
       LoopFunc:
       SimulationInit:
-        internal: true
       SimulationPeriodic:
-        internal: true
       DisabledExit:
       AutonomousExit:
       TeleopExit:

subprojects/robotpy-wpilib/tests/conftest.py

@@ -5,6 +5,8 @@
 import wpilib
 from wpilib.simulation._simulation import _resetWpilibSimulationData
 
+pytest_plugins = "pytester"
+
 
 @pytest.fixture
 def cfg_logging(caplog):