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Merge pull request #157 from robotpy/alert-tests
wpilib: Add context support and tests to Alert
2 parents 1bf304b + e52deb0 commit 895bc49

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3 files changed

+245
-2
lines changed

3 files changed

+245
-2
lines changed

‎subprojects/robotpy-wpilib/gen/Alert.yml

+12
Original file line numberDiff line numberDiff line change
@@ -18,3 +18,15 @@ classes:
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SetText:
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GetText:
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GetType:
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inline_code: |
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.def("close", [](frc::Alert &self) {
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py::gil_scoped_release release;
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self.Set(false);
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}, py::doc("Disables the alert"))
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.def("__enter__", [](frc::Alert &self) -> frc::Alert& {
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return self;
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})
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.def("__exit__", [](frc::Alert &self, py::args args) {
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py::gil_scoped_release release;
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self.Set(false);
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})

‎subprojects/robotpy-wpilib/tests/conftest.py

+10-2
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@@ -3,6 +3,7 @@
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import pytest
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import ntcore
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import wpilib
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from wpilib.simulation._simulation import _resetWpilibSimulationData
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@pytest.fixture
@@ -11,7 +12,15 @@ def cfg_logging(caplog):
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@pytest.fixture(scope="function")
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def nt(cfg_logging):
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def wpilib_state():
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try:
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yield None
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finally:
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_resetWpilibSimulationData()
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@pytest.fixture(scope="function")
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def nt(cfg_logging, wpilib_state):
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instance = ntcore.NetworkTableInstance.getDefault()
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instance.startLocal()
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@@ -20,4 +29,3 @@ def nt(cfg_logging):
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finally:
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instance.stopLocal()
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instance._reset()
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wpilib._wpilib._clearSmartDashboardData()

‎subprojects/robotpy-wpilib/tests/test_alert.py

+223
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,223 @@
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import typing as T
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3+
import pytest
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from ntcore import NetworkTableInstance
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from wpilib import Alert, SmartDashboard
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from wpilib.simulation import pauseTiming, resumeTiming, stepTiming
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AlertType = Alert.AlertType
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@pytest.fixture(scope="function")
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def group_name(nt, request):
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group_name = f"AlertTest_{request.node.name}"
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yield group_name
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SmartDashboard.updateValues()
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assert len(get_active_alerts(nt, group_name, AlertType.kError)) == 0
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assert len(get_active_alerts(nt, group_name, AlertType.kWarning)) == 0
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assert len(get_active_alerts(nt, group_name, AlertType.kInfo)) == 0
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def get_subscriber_for_type(
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nt: NetworkTableInstance, group_name: str, alert_type: AlertType
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):
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subtable_name = {
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AlertType.kError: "errors",
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AlertType.kWarning: "warnings",
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AlertType.kInfo: "infos",
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}.get(alert_type, "unknown")
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topic = f"/SmartDashboard/{group_name}/{subtable_name}"
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return nt.getStringArrayTopic(topic).subscribe([])
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def get_active_alerts(
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nt: NetworkTableInstance, group_name: str, alert_type: AlertType
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) -> T.List[str]:
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SmartDashboard.updateValues()
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with get_subscriber_for_type(nt, group_name, alert_type) as sub:
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return sub.get()
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def is_alert_active(
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nt: NetworkTableInstance, group_name: str, text: str, alert_type: AlertType
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):
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active_alerts = get_active_alerts(nt, group_name, alert_type)
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return text in active_alerts
49+
50+
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def assert_state(
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nt: NetworkTableInstance,
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group_name: str,
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alert_type: AlertType,
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expected_state: T.List[str],
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):
57+
assert expected_state == get_active_alerts(nt, group_name, alert_type)
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59+
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def test_set_unset_single(nt, group_name):
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with Alert(group_name, "one", AlertType.kError) as one:
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assert not is_alert_active(nt, group_name, "one", AlertType.kError)
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assert not is_alert_active(nt, group_name, "two", AlertType.kInfo)
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one.set(True)
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assert is_alert_active(nt, group_name, "one", AlertType.kError)
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one.set(True)
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assert is_alert_active(nt, group_name, "one", AlertType.kError)
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one.set(False)
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assert not is_alert_active(nt, group_name, "one", AlertType.kError)
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def test_set_unset_multiple(nt, group_name):
77+
with (
78+
Alert(group_name, "one", AlertType.kError) as one,
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Alert(group_name, "two", AlertType.kInfo) as two,
80+
):
81+
82+
assert not is_alert_active(nt, group_name, "one", AlertType.kError)
83+
assert not is_alert_active(nt, group_name, "two", AlertType.kInfo)
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one.set(True)
86+
assert is_alert_active(nt, group_name, "one", AlertType.kError)
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assert not is_alert_active(nt, group_name, "two", AlertType.kInfo)
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89+
one.set(True)
90+
two.set(True)
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assert is_alert_active(nt, group_name, "one", AlertType.kError)
92+
assert is_alert_active(nt, group_name, "two", AlertType.kInfo)
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94+
one.set(False)
95+
assert not is_alert_active(nt, group_name, "one", AlertType.kError)
96+
assert is_alert_active(nt, group_name, "two", AlertType.kInfo)
97+
98+
99+
def test_set_is_idempotent(nt, group_name):
100+
group_name = group_name
101+
with (
102+
Alert(group_name, "A", AlertType.kInfo) as a,
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Alert(group_name, "B", AlertType.kInfo) as b,
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Alert(group_name, "C", AlertType.kInfo) as c,
105+
):
106+
107+
a.set(True)
108+
b.set(True)
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c.set(True)
110+
111+
start_state = get_active_alerts(nt, group_name, AlertType.kInfo)
112+
assert set(start_state) == {"A", "B", "C"}
113+
114+
b.set(True)
115+
assert_state(nt, group_name, AlertType.kInfo, start_state)
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a.set(True)
118+
assert_state(nt, group_name, AlertType.kInfo, start_state)
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120+
121+
def test_close_unsets_alert(nt, group_name):
122+
group_name = group_name
123+
with Alert(group_name, "alert", AlertType.kWarning) as alert:
124+
alert.set(True)
125+
assert is_alert_active(nt, group_name, "alert", AlertType.kWarning)
126+
assert not is_alert_active(nt, group_name, "alert", AlertType.kWarning)
127+
128+
129+
def test_set_text_while_unset(nt, group_name):
130+
group_name = group_name
131+
with Alert(group_name, "BEFORE", AlertType.kInfo) as alert:
132+
assert alert.getText() == "BEFORE"
133+
alert.set(True)
134+
assert is_alert_active(nt, group_name, "BEFORE", AlertType.kInfo)
135+
alert.set(False)
136+
assert not is_alert_active(nt, group_name, "BEFORE", AlertType.kInfo)
137+
alert.setText("AFTER")
138+
assert alert.getText() == "AFTER"
139+
alert.set(True)
140+
assert not is_alert_active(nt, group_name, "BEFORE", AlertType.kInfo)
141+
assert is_alert_active(nt, group_name, "AFTER", AlertType.kInfo)
142+
143+
144+
def test_set_text_while_set(nt, group_name):
145+
with Alert(group_name, "BEFORE", AlertType.kInfo) as alert:
146+
assert alert.getText() == "BEFORE"
147+
alert.set(True)
148+
assert is_alert_active(nt, group_name, "BEFORE", AlertType.kInfo)
149+
alert.setText("AFTER")
150+
assert alert.getText() == "AFTER"
151+
assert not is_alert_active(nt, group_name, "BEFORE", AlertType.kInfo)
152+
assert is_alert_active(nt, group_name, "AFTER", AlertType.kInfo)
153+
154+
155+
def test_set_text_does_not_affect_sort(nt, group_name):
156+
pauseTiming()
157+
try:
158+
with (
159+
Alert(group_name, "A", AlertType.kInfo) as a,
160+
Alert(group_name, "B", AlertType.kInfo) as b,
161+
Alert(group_name, "C", AlertType.kInfo) as c,
162+
):
163+
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a.set(True)
165+
stepTiming(1)
166+
b.set(True)
167+
stepTiming(1)
168+
c.set(True)
169+
170+
expected_state = get_active_alerts(nt, group_name, AlertType.kInfo)
171+
expected_state[expected_state.index("B")] = "AFTER"
172+
173+
b.setText("AFTER")
174+
assert_state(nt, group_name, AlertType.kInfo, expected_state)
175+
finally:
176+
resumeTiming()
177+
178+
179+
def test_sort_order(nt, group_name):
180+
pauseTiming()
181+
try:
182+
with (
183+
Alert(group_name, "A", AlertType.kInfo) as a,
184+
Alert(group_name, "B", AlertType.kInfo) as b,
185+
Alert(group_name, "C", AlertType.kInfo) as c,
186+
):
187+
188+
a.set(True)
189+
assert_state(nt, group_name, AlertType.kInfo, ["A"])
190+
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stepTiming(1)
192+
b.set(True)
193+
assert_state(nt, group_name, AlertType.kInfo, ["B", "A"])
194+
195+
stepTiming(1)
196+
c.set(True)
197+
assert_state(nt, group_name, AlertType.kInfo, ["C", "B", "A"])
198+
199+
stepTiming(1)
200+
c.set(False)
201+
assert_state(nt, group_name, AlertType.kInfo, ["B", "A"])
202+
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stepTiming(1)
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c.set(True)
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assert_state(nt, group_name, AlertType.kInfo, ["C", "B", "A"])
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stepTiming(1)
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a.set(False)
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assert_state(nt, group_name, AlertType.kInfo, ["C", "B"])
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stepTiming(1)
212+
b.set(False)
213+
assert_state(nt, group_name, AlertType.kInfo, ["C"])
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215+
stepTiming(1)
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b.set(True)
217+
assert_state(nt, group_name, AlertType.kInfo, ["B", "C"])
218+
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stepTiming(1)
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a.set(True)
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assert_state(nt, group_name, AlertType.kInfo, ["A", "B", "C"])
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finally:
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resumeTiming()

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