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Always statically import JUnit Assertions

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This commit is contained in:
Gold856
2025-04-07 08:01:35 -04:00
committed by Matt Morley
parent 3ed8d3a4f3
commit 0dfca8c04f
18 changed files with 115 additions and 107 deletions
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21
photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java
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@@ -17,6 +17,9 @@
package org.photonvision.common.configuration;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
@@ -87,9 +90,9 @@ public class ConfigTest {
Path.of(configMgr.configDirectoryFile.toString(), "cameras", "TestCamera")
.toAbsolutePath()
.toString());
Assertions.assertTrue(camConfDir.exists(), "TestCamera config folder not found!");
assertTrue(camConfDir.exists(), "TestCamera config folder not found!");
Assertions.assertTrue(
assertTrue(
Files.exists(Path.of(configMgr.configDirectoryFile.toString(), "networkSettings.json")),
"networkSettings.json file not found!");
}
@@ -104,17 +107,17 @@ public class ConfigTest {
var apriltagPipelineSettings =
configMgr.getConfig().getCameraConfigurations().get("TestCamera").pipelineSettings.get(2);
Assertions.assertEquals(REFLECTIVE_PIPELINE_SETTINGS, reflectivePipelineSettings);
Assertions.assertEquals(COLORED_SHAPE_PIPELINE_SETTINGS, coloredShapePipelineSettings);
Assertions.assertEquals(APRIL_TAG_PIPELINE_SETTINGS, apriltagPipelineSettings);
assertEquals(REFLECTIVE_PIPELINE_SETTINGS, reflectivePipelineSettings);
assertEquals(COLORED_SHAPE_PIPELINE_SETTINGS, coloredShapePipelineSettings);
assertEquals(APRIL_TAG_PIPELINE_SETTINGS, apriltagPipelineSettings);
Assertions.assertTrue(
assertTrue(
reflectivePipelineSettings instanceof ReflectivePipelineSettings,
"Config loaded pipeline settings for index 0 not of expected type ReflectivePipelineSettings!");
Assertions.assertTrue(
assertTrue(
coloredShapePipelineSettings instanceof ColoredShapePipelineSettings,
"Config loaded pipeline settings for index 1 not of expected type ColoredShapePipelineSettings!");
Assertions.assertTrue(
assertTrue(
apriltagPipelineSettings instanceof AprilTagPipelineSettings,
"Config loaded pipeline settings for index 2 not of expected type AprilTagPipelineSettings!");
}
@@ -184,7 +187,7 @@ public class ConfigTest {
AprilTagPipelineSettings settings =
(AprilTagPipelineSettings)
JacksonUtils.deserialize(tempFile.toPath(), CVPipelineSettings.class);
Assertions.assertEquals(TargetModel.kAprilTag6in_16h5, settings.targetModel);
assertEquals(TargetModel.kAprilTag6in_16h5, settings.targetModel);
tempFile.delete();
}

10
photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java
View File

@@ -17,11 +17,13 @@
package org.photonvision.common.configuration;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import com.fasterxml.jackson.databind.ObjectMapper;
import java.io.File;
import java.io.IOException;
import java.nio.file.Path;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
public class NetworkConfigTest {
@@ -30,7 +32,7 @@ public class NetworkConfigTest {
var mapper = new ObjectMapper();
var path = Path.of("netTest.json");
mapper.writeValue(path.toFile(), new NetworkConfig());
Assertions.assertDoesNotThrow(() -> mapper.readValue(path.toFile(), NetworkConfig.class));
assertDoesNotThrow(() -> mapper.readValue(path.toFile(), NetworkConfig.class));
new File("netTest.json").delete();
}
@@ -40,13 +42,13 @@ public class NetworkConfigTest {
var folder = Path.of("test-resources/network-old-team-number");
var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
configMgr.load();
Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
}
{
var folder = Path.of("test-resources/network-new-team-number");
var configMgr = new ConfigManager(folder, new LegacyConfigProvider(folder));
configMgr.load();
Assertions.assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
assertEquals("9999", configMgr.getConfig().getNetworkConfig().ntServerAddress);
}
}
}

15
photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
View File

@@ -17,6 +17,11 @@
package org.photonvision.common.util;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
@@ -26,7 +31,6 @@ import java.time.LocalDateTime;
import java.time.ZoneOffset;
import org.apache.commons.io.FileUtils;
import org.apache.commons.io.filefilter.WildcardFileFilter;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.logging.Logger;
@@ -39,7 +43,7 @@ public class LogFileManagementTest {
String testDir = ConfigManager.getInstance().getLogsDir().toString() + "/test";
Assertions.assertDoesNotThrow(() -> Files.createDirectories(Path.of(testDir)));
assertDoesNotThrow(() -> Files.createDirectories(Path.of(testDir)));
// Create a bunch of log files with dummy contents.
for (int fileIdx = 0; fileIdx < Logger.MAX_LOGS_TO_KEEP + 5; fileIdx++) {
@@ -52,20 +56,19 @@ public class LogFileManagementTest {
testLogWriter.write("Test log contents created for testing purposes only");
testLogWriter.close();
} catch (IOException e) {
Assertions.fail("Could not create test files");
fail("Could not create test files");
}
}
// Confirm new log files were created
Assertions.assertTrue(
assertTrue(
Logger.MAX_LOGS_TO_KEEP + 5 <= countLogFiles(testDir), "Not enough log files discovered");
// Run the log cleanup routine
Logger.cleanLogs(Path.of(testDir));
// Confirm we deleted log files
Assertions.assertEquals(
Logger.MAX_LOGS_TO_KEEP, countLogFiles(testDir), "Not enough log files deleted");
assertEquals(Logger.MAX_LOGS_TO_KEEP, countLogFiles(testDir), "Not enough log files deleted");
// Clean uptest directory
org.photonvision.common.util.file.FileUtils.deleteDirectory(Path.of(testDir));

5
photon-core/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java
View File

@@ -17,8 +17,9 @@
package org.photonvision.common.util;
import static org.junit.jupiter.api.Assertions.assertEquals;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
public class TimedTaskManagerTest {
@@ -27,6 +28,6 @@ public class TimedTaskManagerTest {
AtomicInteger i = new AtomicInteger();
TimedTaskManager.getInstance().addTask("TaskManagerTest", i::getAndIncrement, 2);
Thread.sleep(400);
Assertions.assertEquals(200, i.get(), 15);
assertEquals(200, i.get(), 15);
}
}

5
photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java
View File

@@ -17,11 +17,11 @@
package org.photonvision.hardware;
import static org.junit.jupiter.api.Assertions.assertArrayEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;
import com.fasterxml.jackson.databind.ObjectMapper;
import java.io.IOException;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.HardwareConfig;
import org.photonvision.common.hardware.GPIO.CustomGPIO;
@@ -37,8 +37,7 @@ public class HardwareConfigTest {
assertEquals(config.deviceName(), "PhotonVision");
assertEquals(config.deviceLogoPath(), "photonvision.png");
assertEquals(config.supportURL(), "https://support.photonvision.com");
Assertions.assertArrayEquals(
config.ledPins().stream().mapToInt(i -> i).toArray(), new int[] {2, 13});
assertArrayEquals(config.ledPins().stream().mapToInt(i -> i).toArray(), new int[] {2, 13});
CustomGPIO.setConfig(config);
} catch (IOException e) {

7
photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java
View File

@@ -17,8 +17,9 @@
package org.photonvision.vision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import java.util.HashMap;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
import org.photonvision.vision.camera.CameraQuirk;
import org.photonvision.vision.camera.QuirkyCamera;
@@ -35,7 +36,7 @@ public class QuirkyCameraTest {
}
QuirkyCamera psEye = QuirkyCamera.getQuirkyCamera(0x1415, 0x2000);
Assertions.assertEquals(psEye.quirks, ps3EyeQuirks);
assertEquals(psEye.quirks, ps3EyeQuirks);
}
@Test
@@ -46,6 +47,6 @@ public class QuirkyCameraTest {
}
QuirkyCamera quirkless = QuirkyCamera.getQuirkyCamera(1234, 8888);
Assertions.assertEquals(quirkless.quirks, noQuirks);
assertEquals(quirkless.quirks, noQuirks);
}
}

39
photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java
View File

@@ -17,8 +17,9 @@
package org.photonvision.vision.pipeline;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Translation3d;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.ConfigManager;
@@ -72,33 +73,31 @@ public class AprilTagTest {
// Test corner order
var corners = target.getTargetCorners();
Assertions.assertEquals(260, corners.get(0).x, 10);
Assertions.assertEquals(245, corners.get(0).y, 10);
Assertions.assertEquals(315, corners.get(1).x, 10);
Assertions.assertEquals(245, corners.get(1).y, 10);
Assertions.assertEquals(315, corners.get(2).x, 10);
Assertions.assertEquals(190, corners.get(2).y, 10);
Assertions.assertEquals(260, corners.get(3).x, 10);
Assertions.assertEquals(190, corners.get(3).y, 10);
assertEquals(260, corners.get(0).x, 10);
assertEquals(245, corners.get(0).y, 10);
assertEquals(315, corners.get(1).x, 10);
assertEquals(245, corners.get(1).y, 10);
assertEquals(315, corners.get(2).x, 10);
assertEquals(190, corners.get(2).y, 10);
assertEquals(260, corners.get(3).x, 10);
assertEquals(190, corners.get(3).y, 10);
var pose = target.getBestCameraToTarget3d();
// Test pose estimate translation
Assertions.assertEquals(2, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(0.1, pose.getTranslation().getY(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
assertEquals(2, pose.getTranslation().getX(), 0.2);
assertEquals(0.1, pose.getTranslation().getY(), 0.2);
assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
// Test pose estimate rotation
// We expect the object axes to be in NWU, with the x-axis coming out of the tag
// This visible tag is facing the camera almost parallel, so in world space:
// The object's X axis should be (-1, 0, 0)
Assertions.assertEquals(
-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
assertEquals(-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
// The object's Y axis should be (0, -1, 0)
Assertions.assertEquals(
-1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
assertEquals(-1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
// The object's Z axis should be (0, 0, 1)
Assertions.assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
}
@Test
@@ -134,8 +133,8 @@ public class AprilTagTest {
// these numbers are not *accurate*, but they are known and expected
var pose = pipelineResult.targets.get(0).getBestCameraToTarget3d();
Assertions.assertEquals(4.14, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(2, pose.getTranslation().getY(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
assertEquals(4.14, pose.getTranslation().getX(), 0.2);
assertEquals(2, pose.getTranslation().getY(), 0.2);
assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
}
}

33
photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
View File

@@ -17,8 +17,9 @@
package org.photonvision.vision.pipeline;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.Translation3d;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.ConfigManager;
@@ -72,32 +73,30 @@ public class ArucoPipelineTest {
// Test corner order
var corners = target.getTargetCorners();
Assertions.assertEquals(260, corners.get(0).x, 10);
Assertions.assertEquals(245, corners.get(0).y, 10);
Assertions.assertEquals(315, corners.get(1).x, 10);
Assertions.assertEquals(245, corners.get(1).y, 10);
Assertions.assertEquals(315, corners.get(2).x, 10);
Assertions.assertEquals(190, corners.get(2).y, 10);
Assertions.assertEquals(260, corners.get(3).x, 10);
Assertions.assertEquals(190, corners.get(3).y, 10);
assertEquals(260, corners.get(0).x, 10);
assertEquals(245, corners.get(0).y, 10);
assertEquals(315, corners.get(1).x, 10);
assertEquals(245, corners.get(1).y, 10);
assertEquals(315, corners.get(2).x, 10);
assertEquals(190, corners.get(2).y, 10);
assertEquals(260, corners.get(3).x, 10);
assertEquals(190, corners.get(3).y, 10);
var pose = target.getBestCameraToTarget3d();
// Test pose estimate translation
Assertions.assertEquals(2, pose.getTranslation().getX(), 0.2);
Assertions.assertEquals(0.1, pose.getTranslation().getY(), 0.2);
Assertions.assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
assertEquals(2, pose.getTranslation().getX(), 0.2);
assertEquals(0.1, pose.getTranslation().getY(), 0.2);
assertEquals(0.0, pose.getTranslation().getZ(), 0.2);
// Test pose estimate rotation
// We expect the object axes to be in NWU, with the x-axis coming out of the tag
// This visible tag is facing the camera almost parallel, so in world space:
// The object's X axis should be (-1, 0, 0)
Assertions.assertEquals(
-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
assertEquals(-1, new Translation3d(1, 0, 0).rotateBy(pose.getRotation()).getX(), 0.1);
// The object's Y axis should be (0, -1, 0)
Assertions.assertEquals(
-1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
assertEquals(-1, new Translation3d(0, 1, 0).rotateBy(pose.getRotation()).getY(), 0.1);
// The object's Z axis should be (0, 0, 1)
Assertions.assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
assertEquals(1, new Translation3d(0, 0, 1).rotateBy(pose.getRotation()).getZ(), 0.1);
}
}

16
photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java
View File

@@ -23,7 +23,6 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import java.io.IOException;
import java.util.Arrays;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.junitpioneer.jupiter.cartesian.CartesianTest;
@@ -324,14 +323,11 @@ public class CalibrationRotationPipeTest {
System.out.println("Base: " + pose_base);
System.out.println("rot-unrot: " + pose_unrotated);
Assertions.assertEquals(pose_base.getX(), pose_unrotated.getX(), 0.01);
Assertions.assertEquals(pose_base.getY(), pose_unrotated.getY(), 0.01);
Assertions.assertEquals(pose_base.getZ(), pose_unrotated.getZ(), 0.01);
Assertions.assertEquals(
pose_base.getRotation().getX(), pose_unrotated.getRotation().getX(), 0.01);
Assertions.assertEquals(
pose_base.getRotation().getY(), pose_unrotated.getRotation().getY(), 0.01);
Assertions.assertEquals(
pose_base.getRotation().getZ(), pose_unrotated.getRotation().getZ(), 0.01);
assertEquals(pose_base.getX(), pose_unrotated.getX(), 0.01);
assertEquals(pose_base.getY(), pose_unrotated.getY(), 0.01);
assertEquals(pose_base.getZ(), pose_unrotated.getZ(), 0.01);
assertEquals(pose_base.getRotation().getX(), pose_unrotated.getRotation().getX(), 0.01);
assertEquals(pose_base.getRotation().getY(), pose_unrotated.getRotation().getY(), 0.01);
assertEquals(pose_base.getRotation().getZ(), pose_unrotated.getRotation().getZ(), 0.01);
}
}

8
photon-core/src/test/java/org/photonvision/vision/pipeline/PipelineProfilerTest.java
View File

@@ -17,7 +17,9 @@
package org.photonvision.vision.pipeline;
import org.junit.jupiter.api.Assertions;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.Test;
public class PipelineProfilerTest {
@@ -35,7 +37,7 @@ public class PipelineProfilerTest {
System.out.println(validResult);
Assertions.assertEquals("Invalid data", invalidResult);
Assertions.assertTrue(validResult.contains("Total: 45.0ms"));
assertEquals("Invalid data", invalidResult);
assertTrue(validResult.contains("Total: 45.0ms"));
}
}

8
photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java
View File

@@ -17,7 +17,9 @@
package org.photonvision.vision.pipeline;
import org.junit.jupiter.api.Assertions;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.Test;
import org.photonvision.common.util.TestUtils;
import org.photonvision.vision.camera.QuirkyCamera;
@@ -62,8 +64,8 @@ public class ReflectivePipelineTest {
pipelineResult = pipeline.run(frameProvider.get(), QuirkyCamera.DefaultCamera);
TestUtils.printTestResults(pipelineResult);
Assertions.assertTrue(pipelineResult.hasTargets());
Assertions.assertEquals(2, pipelineResult.targets.size(), "Target count wrong!");
assertTrue(pipelineResult.hasTargets());
assertEquals(2, pipelineResult.targets.size(), "Target count wrong!");
TestUtils.showImage(pipelineResult.inputAndOutputFrame.colorImage.getMat(), "Pipeline output");
}

5
photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java
View File

@@ -17,9 +17,10 @@
package org.photonvision.vision.processes;
import static org.junit.jupiter.api.Assertions.assertEquals;
import java.util.ArrayList;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.ConfigManager;
@@ -62,7 +63,7 @@ public class PipelineManagerTest {
for (int i = 2; i < 15; i++) {
expected.add("Another (" + i + ")");
}
Assertions.assertEquals(expected, nicks);
assertEquals(expected, nicks);
}
@Test

4
photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java
View File

@@ -17,6 +17,7 @@
package org.photonvision.vision.processes;
import static org.junit.jupiter.api.Assertions.assertNotNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
@@ -25,7 +26,6 @@ import java.io.IOException;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.photonvision.common.configuration.CameraConfiguration;
@@ -188,7 +188,7 @@ public class VisionModuleManagerTest {
sleep(1500);
Assertions.assertNotNull(module0DataConsumer.result);
assertNotNull(module0DataConsumer.result);
TestUtils.printTestResults(module0DataConsumer.result);
}

9
photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java
View File

@@ -24,7 +24,6 @@ import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import java.util.List;
import java.util.stream.Stream;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
@@ -316,9 +315,9 @@ public class TargetCalculationsTest {
Point crosshairPointOutside =
TargetCalculations.calculateDualOffsetCrosshair(dualOffsetValues, 1);
Assertions.assertEquals(expectedHalfway.x, crosshairPointHalfway.x);
Assertions.assertEquals(expectedHalfway.y, crosshairPointHalfway.y);
Assertions.assertEquals(expectedOutside.x, crosshairPointOutside.x);
Assertions.assertEquals(expectedOutside.y, crosshairPointOutside.y);
assertEquals(expectedHalfway.x, crosshairPointHalfway.x);
assertEquals(expectedHalfway.y, crosshairPointHalfway.y);
assertEquals(expectedOutside.x, crosshairPointOutside.x);
assertEquals(expectedOutside.y, crosshairPointOutside.y);
}
}

3
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
View File

@@ -46,7 +46,6 @@ import java.util.List;
import java.util.Optional;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
@@ -95,7 +94,7 @@ class PhotonCameraTest {
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
assertDoesNotThrow(
() -> {
var packet = new Packet(1);
var ret = new PhotonPipelineResult();

17
photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java
View File

@@ -24,9 +24,10 @@
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.geometry.*;
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
class PhotonUtilTest {
@@ -40,7 +41,7 @@ class PhotonUtilTest {
var dist =
PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
Assertions.assertEquals(3.464, dist, 0.01);
assertEquals(3.464, dist, 0.01);
camHeight = 1;
targetHeight = 2;
@@ -49,7 +50,7 @@ class PhotonUtilTest {
dist =
PhotonUtils.calculateDistanceToTargetMeters(camHeight, targetHeight, camPitch, targetPitch);
Assertions.assertEquals(5.671, dist, 0.01);
assertEquals(5.671, dist, 0.01);
}
@Test
@@ -75,9 +76,9 @@ class PhotonUtilTest {
fieldToTarget,
cameraToRobot);
Assertions.assertEquals(-3.464, fieldToRobot.getX(), 0.1);
Assertions.assertEquals(0, fieldToRobot.getY(), 0.1);
Assertions.assertEquals(0, fieldToRobot.getRotation().getDegrees(), 0.1);
assertEquals(-3.464, fieldToRobot.getX(), 0.1);
assertEquals(0, fieldToRobot.getY(), 0.1);
assertEquals(0, fieldToRobot.getRotation().getDegrees(), 0.1);
}
@Test
@@ -94,8 +95,8 @@ class PhotonUtilTest {
new Translation2d(Units.inchesToMeters(324), Units.inchesToMeters(162)),
new Rotation2d());
var currentPose = new Pose2d(0, 0, Rotation2d.fromDegrees(0));
Assertions.assertEquals(4.0, fieldToRobot.getX());
Assertions.assertEquals(
assertEquals(4.0, fieldToRobot.getX());
assertEquals(
Math.toDegrees(Math.atan2((Units.inchesToMeters(162)), (Units.inchesToMeters(324)))),
PhotonUtils.getYawToPose(currentPose, targetPose).getDegrees());
}

13
photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java
View File

@@ -25,10 +25,11 @@
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.Test;
public class PhotonVersionTest {
@@ -52,11 +53,11 @@ public class PhotonVersionTest {
@Test
public void testVersion() {
Assertions.assertTrue(versionMatches("v2021.1.6", "v2021.1.6"));
Assertions.assertTrue(versionMatches("dev-v2021.1.6", "v2021.1.6"));
Assertions.assertTrue(versionMatches("dev-v2021.1.6-5-gca49ea50", "v2021.1.6"));
Assertions.assertFalse(versionMatches("", "v2021.1.6"));
Assertions.assertFalse(versionMatches("v2021.1.6", ""));
assertTrue(versionMatches("v2021.1.6", "v2021.1.6"));
assertTrue(versionMatches("dev-v2021.1.6", "v2021.1.6"));
assertTrue(versionMatches("dev-v2021.1.6-5-gca49ea50", "v2021.1.6"));
assertFalse(versionMatches("", "v2021.1.6"));
assertFalse(versionMatches("v2021.1.6", ""));
}
@Test

4
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -24,6 +24,7 @@
package org.photonvision;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
@@ -50,7 +51,6 @@ import java.util.ArrayList;
import java.util.List;
import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.Assertions;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
@@ -111,7 +111,7 @@ class VisionSystemSimTest {
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
assertDoesNotThrow(
() -> {
var sysUnderTest = new VisionSystemSim("Test");
sysUnderTest.addVisionTargets(