diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java index 8f5c333a8..95262912a 100644 --- a/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java +++ b/photon-core/src/test/java/org/photonvision/common/configuration/ConfigTest.java @@ -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(); } diff --git a/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java b/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java index 7c9d6d6f4..0cc3c027c 100644 --- a/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java +++ b/photon-core/src/test/java/org/photonvision/common/configuration/NetworkConfigTest.java @@ -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); } } } diff --git a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java index e83487464..9f96b59bd 100644 --- a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java +++ b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java @@ -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)); diff --git a/photon-core/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java b/photon-core/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java index 7b7567d67..5039ebd99 100644 --- a/photon-core/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java +++ b/photon-core/src/test/java/org/photonvision/common/util/TimedTaskManagerTest.java @@ -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); } } diff --git a/photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java b/photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java index b9b088e84..67822816b 100644 --- a/photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java +++ b/photon-core/src/test/java/org/photonvision/hardware/HardwareConfigTest.java @@ -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) { diff --git a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java index 927a2cf27..e9126bf28 100644 --- a/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/QuirkyCameraTest.java @@ -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); } } diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java index 94f1db534..7a1fa9648 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/AprilTagTest.java @@ -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); } } diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java index 1c4ee4cef..a145b503e 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java @@ -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); } } diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java index 1d7b9faa4..53283228b 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/CalibrationRotationPipeTest.java @@ -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); } } diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/PipelineProfilerTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/PipelineProfilerTest.java index dbabd15e6..e7cb30d11 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/PipelineProfilerTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/PipelineProfilerTest.java @@ -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")); } } diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java index 04ab24434..5e10b56b1 100644 --- a/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/pipeline/ReflectivePipelineTest.java @@ -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"); } diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java index b90de65ae..3d229bdfe 100644 --- a/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/processes/PipelineManagerTest.java @@ -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 diff --git a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java index 32d8ec762..d71866677 100644 --- a/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/processes/VisionModuleManagerTest.java @@ -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); } diff --git a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java index 340b8c993..c6aad210c 100644 --- a/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java +++ b/photon-core/src/test/java/org/photonvision/vision/target/TargetCalculationsTest.java @@ -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); } } diff --git a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java index c25955480..2f8e6c57d 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java @@ -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(); diff --git a/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java b/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java index bbc70cf85..fbb632a91 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonUtilTest.java @@ -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()); } diff --git a/photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java b/photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java index 216a0536a..f21c8957f 100644 --- a/photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java +++ b/photon-lib/src/test/java/org/photonvision/PhotonVersionTest.java @@ -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 diff --git a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java index d4c324965..9ba79d463 100644 --- a/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java +++ b/photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java @@ -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(