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Assert that version checking won't throw on startup (#1512)

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# Overview

Previously if the coproc came up later, getProperty would return the
string literal "null", which made us print the BFW. Add tests to make
sure that we don't do that anymore by rebooting a sim coproc +
robot in a combination of different orders.
This commit is contained in:
Matt
2024-11-01 20:50:21 -07:00
committed by GitHub
parent 5e1a93950e
commit 7a4ea3dd56
13 changed files with 305 additions and 67 deletions
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44
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
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@@ -28,6 +28,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.apriltag.AprilTag;
import edu.wpi.first.apriltag.AprilTagFieldLayout;
@@ -63,7 +64,6 @@ import org.photonvision.jni.WpilibLoader;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
import org.photonvision.targeting.PhotonPipelineResult;
import org.photonvision.targeting.PhotonTrackedTarget;
class VisionSystemSimTest {
@@ -110,27 +110,6 @@ class VisionSystemSimTest {
HAL.shutdown();
}
private PhotonPipelineResult waitForSequenceNumber(PhotonCamera camera, int seq) {
assertTrue(camera.heartbeatEntry.getTopic().getHandle() != 0);
System.out.println(
"Waiting for seq=" + seq + " on " + camera.heartbeatEntry.getTopic().getName());
// wait up to 1 second for a new result
for (int i = 0; i < 100; i++) {
var res = camera.getLatestResult();
if (res.metadata.sequenceID == seq) {
return res;
}
try {
Thread.sleep(10);
} catch (InterruptedException e) {
e.printStackTrace();
}
}
throw new RuntimeException("Never saw sequence number " + seq);
}
@Test
public void testEmpty() {
Assertions.assertDoesNotThrow(
@@ -247,7 +226,8 @@ class VisionSystemSimTest {
assertTrue(waitForSequenceNumber(camera, 1).hasTargets());
// Pitched back camera should mean target goes out of view below the robot as distance increases
// Pitched back camera should mean target goes out of view below the robot as
// distance increases
robotPose = new Pose2d(new Translation2d(0, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -350,7 +330,8 @@ class VisionSystemSimTest {
assertTrue(res.hasTargets());
var tgt = res.getBestTarget();
// Since the camera is level with the target, a positive-upward point will mean the target is in
// Since the camera is level with the target, a positive-upward point will mean
// the target is in
// the
// lower half of the image
// which should produce negative pitch.
@@ -358,7 +339,8 @@ class VisionSystemSimTest {
}
private static Stream<Arguments> testDistanceCalcArgs() {
// Arbitrary and fairly random assortment of distances, camera pitches, and heights
// Arbitrary and fairly random assortment of distances, camera pitches, and
// heights
return Stream.of(
Arguments.of(5, -15.98, 0),
Arguments.of(6, -15.98, 1),
@@ -382,7 +364,8 @@ class VisionSystemSimTest {
@ParameterizedTest
@MethodSource("testDistanceCalcArgs")
public void testDistanceCalc(double testDist, double testPitch, double testHeight) {
// Assume dist along ground and tgt height the same. Iterate over other parameters.
// Assume dist along ground and tgt height the same. Iterate over other
// parameters.
final var targetPose =
new Pose3d(new Translation3d(15.98, 0, 1), new Rotation3d(0, 0, Math.PI * 0.98));
@@ -406,10 +389,13 @@ class VisionSystemSimTest {
visionSysSim.update(robotPose);
// Note that target 2d yaw/pitch accuracy is hindered by two factors in photonvision:
// 1. These are calculated with the average of the minimum area rectangle, which does not
// Note that target 2d yaw/pitch accuracy is hindered by two factors in
// photonvision:
// 1. These are calculated with the average of the minimum area rectangle, which
// does not
// actually find the target center because of perspective distortion.
// 2. Yaw and pitch are calculated separately which gives incorrect pitch values.
// 2. Yaw and pitch are calculated separately which gives incorrect pitch
// values.
var res = waitForSequenceNumber(camera, 1);
assertTrue(res.hasTargets());