Add builtin robot tests that exercise all opmodes

virtuald · virtuald · commit 07940c3a1485 · 2026-01-25T20:08:12.000-05:00
- Fixes #220
diff --git a/subprojects/robotpy-wpilib/tests/test_pytest_plugins.py b/subprojects/robotpy-wpilib/tests/test_pytest_plugins.py
@@ -7,6 +7,7 @@
 def _make_robot_module(pytester):
     pytester.makepyfile(robot_module="""
 import wpilib
+from hal import RobotMode
 
 
 class DummyRobot(wpilib.TimedRobot):
@@ -50,6 +51,42 @@ def teleopInit(self):
     def teleopPeriodic(self):
         self.did_teleop_periodic = True
 
+
+class OpModeAuto(wpilib.OpMode):
+    label = "OpModeAuto"
+
+    def __init__(self, robot):
+        super().__init__()
+        self._robot = robot
+
+    def opModeRun(self, op_mode_id: int):
+        self._robot.opmode_test_observed.add(self.label)
+
+    def opModeStop(self):
+        pass
+
+
+class OpModeTeleop(wpilib.OpMode):
+    label = "OpModeTeleop"
+
+    def __init__(self, robot):
+        super().__init__()
+        self._robot = robot
+
+    def opModeRun(self, op_mode_id: int):
+        self._robot.opmode_test_observed.add(self.label)
+
+    def opModeStop(self):
+        pass
+
+
+class OpModeDemoRobot(wpilib.OpModeRobot):
+    def __init__(self):
+        super().__init__()
+        self.opmode_test_observed = set()
+        self.addOpMode(OpModeAuto, RobotMode.AUTONOMOUS, "OpModeAuto")
+        self.addOpMode(OpModeTeleop, RobotMode.TELEOPERATED, "OpModeTeleop")
+        self.publishOpModes()
 """)
 
 
@@ -275,7 +312,42 @@ def test_builtin_tests_module(pytester, isolated):
 
     result = pytester.runpytest_subprocess("-q")
 
-    result.assert_outcomes(passed=4)
+    result.assert_outcomes(passed=4, skipped=1)
+
+
+@pytest.mark.parametrize("isolated", [False, True])
+def test_builtin_tests_module_opmode(pytester, isolated):
+    _make_robot_module(pytester)
+    if isolated:
+        _configure_isolated_plugin(pytester, robot_class="OpModeDemoRobot")
+    else:
+        _configure_robot_testing_plugin(pytester, robot_class="OpModeDemoRobot")
+    pytester.makepyfile(pyfrc_test="from wpilib.testing.robot_tests import *\n")
+
+    result = pytester.runpytest_subprocess("-q")
+
+    result.assert_outcomes(passed=5)
+
+
+@pytest.mark.parametrize("isolated", [False, True])
+def test_opmode_robot_runs_opmodes(pytester, isolated):
+    _make_robot_module(pytester)
+    if isolated:
+        _configure_isolated_plugin(pytester, robot_class="OpModeDemoRobot")
+    else:
+        _configure_robot_testing_plugin(pytester, robot_class="OpModeDemoRobot")
+    pytester.makepyfile(test_robot="""
+from wpilib.testing.robot_tests import test_all_opmodes
+
+
+def test_opmodes_run(robot, control):
+    test_all_opmodes(control)
+    assert robot.opmode_test_observed == {"OpModeAuto", "OpModeTeleop"}
+""")
+
+    result = pytester.runpytest_subprocess("-q")
+
+    result.assert_outcomes(passed=2)
 
 
 def _run_robot_suite(pytester, isolated, robot_class, test_source, *args):
diff --git a/subprojects/robotpy-wpilib/wpilib/testing/pytest_plugin.py b/subprojects/robotpy-wpilib/wpilib/testing/pytest_plugin.py
@@ -76,7 +76,9 @@ def robot(self):
         wpilib.DriverStation.silenceJoystickConnectionWarning(True)
         DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS)
         DriverStationSim.setEnabled(False)
+        DriverStationSim.setOpMode(0)
         DriverStationSim.notifyNewData()
+        wpilib.DriverStation.clearOpModes()
 
         # Create the user's robot instance
         robot = self._robot_class()
diff --git a/subprojects/robotpy-wpilib/wpilib/testing/robot_tests.py b/subprojects/robotpy-wpilib/wpilib/testing/robot_tests.py
@@ -12,9 +12,45 @@
 
 import pytest
 
+import wpilib
+from hal._wpiHal import _RobotMode as RobotMode
+from hal._wpiHal import opMode_GetRobotMode
+from wpilib.simulation import DriverStationSim, stepTiming
+
 from .controller import RobotTestController
 
 
+def _step_timing_with_mode(
+    control: RobotTestController,
+    *,
+    seconds: float,
+    robot_mode: RobotMode,
+    enabled: bool,
+    assert_alive: bool = True,
+    record_opmode_ids: set[int] | None = None,
+) -> float:
+    """Step simulation time while explicitly setting the robot mode."""
+
+    assert control.robot_is_alive, "did you call control.run_robot()?"
+    assert seconds > 0
+
+    DriverStationSim.setDsAttached(True)
+    DriverStationSim.setRobotMode(robot_mode)
+    DriverStationSim.setEnabled(enabled)
+
+    tm = 0.0
+    while tm < seconds + 0.01:
+        DriverStationSim.notifyNewData()
+        stepTiming(0.2)
+        if record_opmode_ids is not None:
+            record_opmode_ids.add(wpilib.DriverStation.getOpModeId())
+        if assert_alive:
+            assert control.robot_is_alive
+        tm += 0.2
+
+    return tm
+
+
 def test_autonomous(control: RobotTestController):
     """Runs autonomous mode by itself"""
 
@@ -72,3 +108,42 @@ def test_practice(control: RobotTestController):
 
         # Run teleop + enabled for 2 minutes
         control.step_timing(seconds=120, autonomous=False, enabled=True)
+
+
+@pytest.mark.filterwarnings("ignore")
+def test_all_opmodes(control: RobotTestController):
+    """Runs each registered opmode briefly."""
+
+    with control.run_robot():
+        opmodes = DriverStationSim.getOpModeOptions()
+        if len(opmodes) == 0:
+            pytest.skip("robot did not register opmodes")
+
+        selected = []
+        seen = set()
+        for opmode in reversed(opmodes):
+            mode = opMode_GetRobotMode(opmode.id)
+            if mode == RobotMode.UNKNOWN:
+                continue
+            key = (opmode.name, mode)
+            if key in seen:
+                continue
+            seen.add(key)
+            selected.append((opmode, mode))
+
+        for opmode, mode in reversed(selected):
+            DriverStationSim.setOpMode(opmode.id)
+
+            _step_timing_with_mode(control, seconds=0.5, robot_mode=mode, enabled=False)
+            opmode_ids = set()
+            _step_timing_with_mode(
+                control,
+                seconds=2.0,
+                robot_mode=mode,
+                enabled=True,
+                record_opmode_ids=opmode_ids,
+            )
+            _step_timing_with_mode(control, seconds=0.5, robot_mode=mode, enabled=False)
+            assert (
+                opmode.id in opmode_ids
+            ), f"opmode {opmode.name} ({opmode.id}) did not run"
