Unit Tests In Python

[mfisher31]

Whatever it takes to get unit tests running, do it.

[mfisher31]

The test suite crashes around line 114 in telemetry.py. There is a segmentation fault that gets triggered in this block of code. Don't know why:

Current thread 0x0000797ec7200640 (most recent call first):
  File "/home/mfisher/workspace/snidercs/frc-bot-2025/pybot/telemetry.py", line 114 in telemeterize
  File "/home/mfisher/workspace/snidercs/frc-bot-2025/pybot/robotcontainer.py", line 140 in <lambda>
  File "/home/mfisher/.local/lib/python3.10/site-packages/phoenix6/swerve/swerve_drivetrain.py", line 697 in telem_callback

Thread 0x0000797ebcc00640 (most recent call first):
  File "/home/mfisher/.local/lib/python3.10/site-packages/phoenix6/swerve/sim_swerve_drivetrain.py", line 221 in update
  File "/home/mfisher/.local/lib/python3.10/site-packages/phoenix6/swerve/swerve_drivetrain.py", line 534 in update_sim_state
  File "/home/mfisher/workspace/snidercs/frc-bot-2025/pybot/subsystems/command_swerve_drivetrain.py", line 304 in _sim_periodic
  File "/usr/lib/python3.10/threading.py", line 953 in run
  File "/usr/lib/python3.10/threading.py", line 1016 in _bootstrap_inner
  File "/usr/lib/python3.10/threading.py", line 973 in _bootstrap

Thread 0x0000797f0bd63000 (most recent call first):
  File "/home/mfisher/.local/lib/python3.10/site-packages/_pytest/capture.py", line 574 in snap
  File "/home/mfisher/.local/lib/python3.10/site-packages/_pytest/capture.py", line 687 in readouterr
  File "/home/mfisher/.local/lib/python3.10/site-packages/_pytest/capture.py", line 783 in read_global_capture
  File "/home/mfisher/.local/lib/python3.10/site-packages/_pytest/capture.py", line 847 in item_capture

Extension modules: _cffi_backend, numpy._core._multiarray_umath, numpy.linalg._umath_linalg (total: 3)
Segmentation fault (core dumped)

telemetry.py

# Telemeterize the module states to a Mechanism2d
for i, module_state in enumerate(state.module_states):
    self._module_speeds[i].setAngle(module_state.angle.degrees())
    self._module_directions[i].setAngle(module_state.angle.degrees())
    self._module_speeds[i].setLength(module_state.speed / (2 * self._max_speed))

    SmartDashboard.putData(f"Module {i}", self._module_mechanisms[i])

[mfisher31]

CTRE is aware of this crash: currently their recommendation is essentially "hope for the best":
https://www.chiefdelphi.com/t/fatal-python-error-segmentation-fault-when-using-register-telemetry-in-phoenix-6-swerve-drive-api/483721/4?u=mfisher31

[JaydenGordan]

I'll look at it but I'm not to sure how much I can get it done since I won't have my personal laptop on me today

[KawiMinn]

@mfisher31 did you do that with custom unit tests, or just the built-in ones? If it was just the built-in ones, all 4 are passing for me now, after a few changes. Not sure I fully understand how robotpy test works though, so there's probably some things I'm just not aware of, and thus missing.

[mfisher31]

Interesting... I meant the built-in tests. I wonder why these pass for you but not me (or any other *nix system)