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Update WPILibExtension to call stepTiming() after each simulated loop #100

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Merged
kcooney merged 2 commits into from
Dec 1, 2025
Merged

Update WPILibExtension to call stepTiming() after each simulated loop #100

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d606116
Update WPILibExtension to call stepTiming() after each simulated loop
kcooney Dec 1, 2025
0638081
Always progress the timer kDefaultPeriod per loop run
kcooney Dec 1, 2025
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42 changes: 29 additions & 13 deletions testing/src/main/java/com/team2813/lib2813/testing/junit/jupiter/WPILibExtension.java
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Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
package com.team2813.lib2813.testing.junit.jupiter;

import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.RuntimeType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import org.junit.jupiter.api.extension.AfterAllCallback;
import org.junit.jupiter.api.extension.AfterEachCallback;
Expand Down Expand Up @@ -48,6 +51,7 @@ public final class WPILibExtension
AfterEachCallback,
BeforeAllCallback,
ParameterResolver {
private static final double NANOS_PER_SECOND = 1_000_000_000d;

@Override
public void beforeAll(ExtensionContext context) {
Expand All @@ -57,22 +61,27 @@ public void beforeAll(ExtensionContext context) {
}
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
CommandScheduler.getInstance().enable();
CommandScheduler.getInstance().cancelAll();
CommandScheduler.getInstance().unregisterAllSubsystems();
SimHooks.setHALRuntimeType(RuntimeType.kSimulation.value);

CommandScheduler commandScheduler = CommandScheduler.getInstance();
commandScheduler.enable();
commandScheduler.cancelAll();
commandScheduler.unregisterAllSubsystems();
}

@Override
public void afterEach(ExtensionContext context) {
CommandScheduler.getInstance().cancelAll();
CommandScheduler.getInstance().unregisterAllSubsystems();
CommandScheduler commandScheduler = CommandScheduler.getInstance();
commandScheduler.cancelAll();
commandScheduler.unregisterAllSubsystems();
}

@Override
public void afterAll(ExtensionContext context) {
CommandScheduler.getInstance().cancelAll();
CommandScheduler.getInstance().unregisterAllSubsystems();
CommandScheduler.getInstance().disable();
CommandScheduler commandScheduler = CommandScheduler.getInstance();
commandScheduler.cancelAll();
commandScheduler.unregisterAllSubsystems();
commandScheduler.disable();
DriverStationSim.setEnabled(false);
DriverStationSim.notifyNewData();
}
Expand All @@ -87,12 +96,19 @@ public boolean supportsParameter(
@Override
public CommandTester resolveParameter(
ParameterContext parameterContext, ExtensionContext extensionContext) {
CommandScheduler scheduler = CommandScheduler.getInstance();

return command -> {
CommandScheduler scheduler = CommandScheduler.getInstance();
scheduler.schedule(command);
do {
scheduler.run();
} while (scheduler.isScheduled(command));
SimHooks.pauseTiming();
try {
scheduler.schedule(command);
do {
scheduler.run();
SimHooks.stepTiming(TimedRobot.kDefaultPeriod);
} while (scheduler.isScheduled(command));
} finally {
SimHooks.resumeTiming();
}
};
}
}
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