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Reenable and fix flaky tests (#1837)

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This commit is contained in:
Gold856
2025-07-10 00:16:44 -04:00
committed by GitHub
parent 78f57600cc
commit dbbb00f955
5 changed files with 20 additions and 22 deletions
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14
photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java
View File

@@ -28,7 +28,6 @@ import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertNull;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assumptions.assumeTrue;
import static org.photonvision.UnitTestUtils.waitForCondition;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
@@ -48,7 +47,10 @@ import java.util.stream.Stream;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.MethodOrderer;
import org.junit.jupiter.api.Order;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestMethodOrder;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
@@ -60,6 +62,7 @@ import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.targeting.PhotonPipelineMetadata;
import org.photonvision.targeting.PhotonPipelineResult;
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
class PhotonCameraTest {
// A test-scoped, local-only NT instance
NetworkTableInstance inst = null;
@@ -76,6 +79,7 @@ class PhotonCameraTest {
HAL.initialize(500, 0);
inst = NetworkTableInstance.create();
assertTrue(inst.isValid());
inst.stopClient();
inst.stopServer();
inst.startLocal();
@@ -105,6 +109,7 @@ class PhotonCameraTest {
// Just a smoketest for dev use -- don't run by default
@Test
@Order(3)
public void testTimeSyncServerWithPhotonCamera() throws InterruptedException, IOException {
load_wpilib();
PhotonTargetingJniLoader.load();
@@ -189,12 +194,10 @@ class PhotonCameraTest {
* check
*/
@ParameterizedTest
@Order(2)
@MethodSource("testNtOffsets")
public void testRestartingRobotAndCoproc(
int robotStart, int coprocStart, int robotRestart, int coprocRestart) throws Throwable {
// See #1574 - test flakey, disabled until we address this
assumeTrue(false);
var robotNt = NetworkTableInstance.create();
var coprocNt = NetworkTableInstance.create();
@@ -304,9 +307,8 @@ class PhotonCameraTest {
}
@Test
@Order(1) // Alerts can't be reset, need to run this test first to have a clean slate
public void testAlerts() throws InterruptedException {
// See https://github.com/PhotonVision/photonvision/pull/1969. Flaky on Linux
assumeTrue(false);
// GIVEN a fresh NT instance
var cameraName = "foobar";

15
photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java
View File

@@ -29,7 +29,6 @@ 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.junit.jupiter.api.Assumptions.assumeTrue;
import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
import edu.wpi.first.apriltag.AprilTag;
@@ -67,7 +66,6 @@ import org.photonvision.simulation.VisionSystemSim;
import org.photonvision.simulation.VisionTargetSim;
import org.photonvision.targeting.PhotonTrackedTarget;
// See #1574 - flakey on windows and also linux, so commenting out until we bump wpilib
class VisionSystemSimTest {
private static final double kRotDeltaDeg = 0.25;
@@ -85,9 +83,6 @@ class VisionSystemSimTest {
}
OpenCvLoader.forceStaticLoad();
// See #1574 - test flakey, disabled until we address this
assumeTrue(false);
}
@BeforeEach
@@ -200,7 +195,7 @@ class VisionSystemSimTest {
var cameraSim = new PhotonCameraSim(camera);
visionSysSim.addCamera(cameraSim, new Transform3d());
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 3.0), 3));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(3.0, 3.0), 3));
var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -225,7 +220,7 @@ class VisionSystemSimTest {
var cameraSim = new PhotonCameraSim(camera);
visionSysSim.addCamera(cameraSim, robotToCamera);
cameraSim.prop.setCalibration(1234, 1234, Rotation2d.fromDegrees(80));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.5), 1736));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 1736));
var robotPose = new Pose2d(new Translation2d(13.98, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -250,7 +245,7 @@ class VisionSystemSimTest {
visionSysSim.addCamera(cameraSim, new Transform3d());
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
cameraSim.setMinTargetAreaPixels(20.0);
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.1, 0.025), 24));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.1, 0.1), 24));
var robotPose = new Pose2d(new Translation2d(12, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -274,7 +269,7 @@ class VisionSystemSimTest {
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
cameraSim.setMaxSightRange(10);
cameraSim.setMinTargetAreaPixels(1.0);
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.25), 78));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 1), 78));
var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(5));
visionSysSim.update(robotPose);
@@ -322,7 +317,7 @@ class VisionSystemSimTest {
visionSysSim.addCamera(cameraSim, new Transform3d());
cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(120));
cameraSim.setMinTargetAreaPixels(0.0);
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 23));
visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
// Transform is now robot -> camera
visionSysSim.adjustCamera(