Add tests for the test harness to ensure that they can catch test fai…

…lures

- Will prevent future issues like #70

tests/conftest.py

@@ -0,0 +1,7 @@
+
+def pytest_runtest_setup():
+    import wpilib
+    import networktables
+
+    networktables.NetworkTables.setTestMode()
+    wpilib.DriverStation._reset()

tests/test_tests.py

@@ -0,0 +1,142 @@
+
+import contextlib
+
+import hal
+import wpilib
+
+import pytest
+
+from pyfrc.test_support.pytest_plugin import PyFrcPlugin
+from pyfrc.tests.basic import test_practice as _test_practice
+
+@contextlib.contextmanager
+def get_plugin(cls):
+
+    wpilib.DriverStation._reset()
+
+    plugin = PyFrcPlugin(cls, None, None)
+    plugin.pytest_runtest_setup()
+
+    try:
+        yield plugin, plugin.control()
+    finally:
+        plugin.pytest_runtest_teardown(None)
+
+class SampleRobotInit(wpilib.SampleRobot):
+    def robotInit(self):
+        assert False
+
+class SampleAutonomous(wpilib.SampleRobot):
+    def autonomous(self):
+        assert False
+
+class SampleTeleop(wpilib.SampleRobot):
+    def operatorControl(self):
+        assert False
+
+class IterativeRobotInit(wpilib.IterativeRobot):
+    def robotInit(self):
+        assert False
+
+class IterativeAutoInit(wpilib.IterativeRobot):
+    def autonomousInit(self):
+        assert False 
+
+class IterativeAutoPeriodic(wpilib.IterativeRobot):
+    def autonomousPeriodic(self):
+        assert False
+
+class IterativeTeleopInit(wpilib.IterativeRobot):
+    def teleopInit(self):
+        assert False 
+
+class IterativeTeleopPeriodic(wpilib.IterativeRobot):
+    def teleopPeriodic(self):
+        assert False
+
+@pytest.mark.parametrize('cls', [
+    SampleRobotInit, SampleAutonomous,
+    IterativeRobotInit, IterativeAutoInit, IterativeAutoPeriodic])
+def test_auto_failure(cls):
+    '''Ensure that failures can be detected in autonomous mode'''
+    with get_plugin(cls) as (plugin, control):
+        control.set_autonomous(enabled=True)
+        with pytest.raises(AssertionError):
+            control.run_test(lambda tm: tm < 15)
+
+@pytest.mark.parametrize('cls', [
+    SampleRobotInit, SampleTeleop,
+    IterativeRobotInit, IterativeTeleopInit, IterativeTeleopPeriodic])
+def test_teleop_failure(cls):
+    '''Ensure that failures can be detected in teleop mode'''
+    with get_plugin(cls) as (plugin, control):
+        control.set_operator_control(enabled=True)
+        with pytest.raises(AssertionError):
+            control.run_test(lambda tm: tm < 15)
+
+
+class Iterative(wpilib.IterativeRobot):
+
+    def robotInit(self):
+        self.did_robot_init = True
+
+    def disabledInit(self):
+        self.did_disabled_init = True
+
+    def disabledPeriodic(self):
+        self.did_disabled_periodic = True
+
+    def autonomousInit(self):
+        self.did_auto_init = True
+
+    def autonomousPeriodic(self):
+        self.did_auto_periodic = True
+
+    def teleopInit(self):
+        self.did_teleop_init = True
+
+    def teleopPeriodic(self):
+        self.did_teleop_periodic = True
+
+def test_iterative():
+    '''Ensure that all states of the iterative robot run'''
+    with get_plugin(Iterative) as (plugin, control):
+        _test_practice(plugin.control(),
+                       plugin.fake_time(),
+                       plugin.robot())
+
+        robot = plugin.robot()
+        assert robot.did_robot_init == True
+        assert robot.did_disabled_init == True
+        assert robot.did_disabled_periodic == True
+        assert robot.did_auto_init == True
+        assert robot.did_auto_periodic == True
+        assert robot.did_teleop_init == True
+        assert robot.did_teleop_periodic == True
+
+class Sample(wpilib.SampleRobot):
+
+    def robotInit(self):
+        self.did_robot_init = True
+
+    def disabled(self):
+        self.did_robot_disabled = True
+
+    def autonomous(self):
+        self.did_autonomous = True
+
+    def operatorControl(self):
+        self.did_operator = True
+
+def test_sample():
+    '''Ensure that all states of the sample robot run'''
+    with get_plugin(Sample) as (plugin, control):
+        _test_practice(plugin.control(),
+                       plugin.fake_time(),
+                       plugin.robot())
+
+        robot = plugin.robot()
+        assert robot.did_robot_init == True
+        assert robot.did_robot_disabled == True
+        assert robot.did_autonomous == True
+        assert robot.did_operator == True