WPILibJ Integration Tests

This is the first commit to add the WPILibJ integration test framework.
This creates a project called wpilibJavaIntegrationTests, which is will
create testing framework when running the maven package target. This
framework will need to have the TestBench.java file updated to match
the testing harness set up at WPI. Tests must currently be run manually.

Change-Id: I09fe0278580751e813af591c15b9079360089987

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java

@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.assertTrue;
+
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.fixtures.SampleFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+/**
+ * Sample test for a sample PID controller. This demonstrates the general
+ * pattern of how to create a test and use testing fixtures and categories.
+ * 
+ * All tests must extend from {@link AbstractComsSetup} in order to ensure that
+ * Network Communications are set up before the tests are run.
+ * 
+ * @author Fredric Silberberg
+ */
+public class SampleTest extends AbstractComsSetup {
+
+	static SampleFixture fixture = new SampleFixture();
+
+	public SampleTest() {
+	}
+
+	@BeforeClass
+	public static void classSetup() {
+		// Set up the fixture before the test is created
+		fixture.setup();
+	}
+
+	@Before
+	public void setUp() {
+		// Reset the fixture elements before every test
+		fixture.reset();
+	}
+
+	@AfterClass
+	public static void tearDown() {
+		// Clean up the fixture after the test
+		fixture.teardown();
+	}
+
+	/**
+	 * This is just a sample test that asserts true. Any traditional junit code
+	 * can be used, these are ordinary junit tests!
+	 */
+	@Test
+	public void test() {
+		assertTrue(true);
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * Master interface for all test fixtures. This ensures that all test fixtures
+ * have setup and teardown methods, to ensure that the tests run properly.
+ * 
+ * Test fixtures should be modeled around the content of a test, rather than the
+ * actual physical layout of the testing board. They should obtain references to
+ * hardware from the {@link TestBench} class, which is a singleton. Testing
+ * Fixtures are responsible for ensuring that the hardware is in an appropriate
+ * state for the start of a test, and ensuring that future tests will not be
+ * affected by the results of a test.
+ * 
+ * @author Fredric Silberberg
+ */
+public interface ITestFixture {
+
+	/**
+	 * Performs any required setup for this fixture, ensuring that all fixture
+	 * elements are ready for testing.
+	 * 
+	 * @return True if the fixture is ready for testing
+	 */
+	boolean setup();
+
+	/**
+	 * Resets the fixture back to test start state. This should be called by the
+	 * test class in the test setup method to ensure that the hardware is in the
+	 * default state. This differs from {@link ITestFixture#setup()} as that is
+	 * called once, before the class is constructed, so it may need to start
+	 * sensors. This method should not have to start anything, just reset
+	 * sensors and ensure that motors are stopped.
+	 * 
+	 * @return True if the fixture is ready for testing
+	 */
+	boolean reset();
+
+	/**
+	 * Performs any required teardown after use of the fixture, ensuring that
+	 * future tests will not run into conflicts.
+	 * 
+	 * @return True if the teardown succeeded
+	 */
+	boolean teardown();
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+
+/**
+ * This is an example of how to use the {@link ITestFixture} interface to create
+ * test fixtures for a test.
+ * 
+ * @author Fredric Silberberg
+ * 
+ */
+public class SampleFixture implements ITestFixture {
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public boolean setup() {
+		/*
+		 * If this fixture actually accessed the hardware, here is where it
+		 * would set up the starting state of the test bench. For example,
+		 * reseting encoders, ensuring motors are stopped, reseting any serial
+		 * communication if necessary, etc.
+		 */
+		return true;
+	}
+
+	@Override
+	public boolean reset() {
+		/*
+		 * This is where the fixture would reset any sensors or motors used by
+		 * the fixture to test default state. This method should not worry about
+		 * whether or not the sensors have been allocated correctly, that is the
+		 * job of the setup function.
+		 */
+		return false;
+	}
+
+	/**
+	 * {@inheritDoc}
+	 */
+	@Override
+	public boolean teardown() {
+		/*
+		 * This is where the fixture would deallocate and reset back to normal
+		 * conditions any necessary hardware. This includes ensuring motors are
+		 * stopped, stoppable sensors are actually stopped, ensuring serial
+		 * communications are ready for the next test, etc.
+		 */
+		return true;
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.test;
+
+import org.junit.BeforeClass;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
+
+/**
+ * This class serves as a superclass for all tests that involve the hardware on
+ * the roboRIO. It uses an {@link BeforeClass} statement to initialize network
+ * communications. Any test that needs to use the hardware <b>MUST</b> extend
+ * from this class, to ensure that all of the hardware will be able to run.
+ * 
+ * @author Fredric Silberberg
+ */
+public abstract class AbstractComsSetup {
+
+	/** Stores whether network coms have been initialized */
+	private static boolean initialized = false;
+
+	/**
+	 * This sets up the network communications library to enable the driver
+	 * station. After starting network coms, it will loop until the driver
+	 * station returns that the robot is enabled, to ensure that tests will be
+	 * able to run on the hardware.
+	 * 
+	 * @throws InterruptedException
+	 *             If we failed to sleep while waiting for the driver station to
+	 *             enable.
+	 */
+	@BeforeClass
+	public static void setupNetworkComs() throws InterruptedException {
+		if (!initialized) {
+			// Start up the network communications
+			FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
+			FRCNetworkCommunicationsLibrary
+					.FRCNetworkCommunicationObserveUserProgramStarting();
+			System.out.println("Started coms");
+
+			// Wait until the robot is enabled before starting the tests
+			while (!DriverStation.getInstance().isEnabled()) {
+				Thread.sleep(100);
+				System.out.println("Waiting for enable");
+			}
+
+			// Ready to go!
+			initialized = true;
+			System.out.println("Running!");
+		}
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.test;
+
+
+/**
+ * This class provides access to all of the elements on the test bench, for use
+ * in fixtures. This class is a singleton, you should use {@link #getInstance()}
+ * to obtain a reference to the {@code TestBench}.
+ * 
+ * TODO: This needs to be updated to the most recent test bench setup.
+ * 
+ * @author Fredric Silberberg
+ */
+public final class TestBench {
+
+	public static TestBench instance;
+
+	public static TestBench getInstance() {
+		if (instance == null) {
+			instance = new TestBench();
+		}
+		return instance;
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -0,0 +1,24 @@
+package edu.wpi.first.wpilibj.test;
+
+import org.junit.runner.JUnitCore;
+import org.junit.runner.RunWith;
+import org.junit.runners.Suite;
+import org.junit.runners.Suite.SuiteClasses;
+
+import edu.wpi.first.wpilibj.SampleTest;
+
+/**
+ * The WPILibJ Integeration Test Suite collects all of the tests to be run by
+ * junit. In order for a test to be run, it must be added the list of suite
+ * classes below. The tests will be run in the order they are listed in the
+ * suite classes annotation.
+ */
+@RunWith(Suite.class)
+@SuiteClasses({ SampleTest.class })
+public class TestSuite {
+
+	public static void main(String[] args) {
+		JUnitCore.main("edu.wpi.first.wpilibj.test.TestSuite");
+	}
+
+}