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[sim] Add SendableChooserSim (#6763)

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Co-authored-by: Tyler Veness <calcmogul@gmail.com>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
This commit is contained in:
Gold856
2024-08-15 18:00:10 -04:00
committed by GitHub
parent 477907e4cc
commit 0c58426f4c
5 changed files with 138 additions and 15 deletions
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53
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SendableChooserSim.java Normal file
View File

@@ -0,0 +1,53 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj.simulation;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.wpilibj.RobotBase;
/** Class that facilitates control of a SendableChooser's selected option in simulation. */
public class SendableChooserSim implements AutoCloseable {
private StringPublisher m_publisher;
/**
* Constructs a SendableChooserSim.
*
* @param path The path where the SendableChooser is published.
*/
public SendableChooserSim(String path) {
this(NetworkTableInstance.getDefault(), path);
}
/**
* Constructs a SendableChooserSim.
*
* @param inst The NetworkTables instance.
* @param path The path where the SendableChooser is published.
*/
public SendableChooserSim(NetworkTableInstance inst, String path) {
if (RobotBase.isSimulation()) {
m_publisher = inst.getStringTopic(path + "selected").publish();
}
}
@Override
public void close() {
if (RobotBase.isSimulation()) {
m_publisher.close();
}
}
/**
* Set the selected option.
*
* @param option The option.
*/
public void setSelected(String option) {
if (RobotBase.isSimulation()) {
m_publisher.set(option);
}
}
}

15
wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
View File

@@ -8,6 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertNull;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.simulation.SendableChooserSim;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
@@ -28,10 +29,9 @@ class SendableChooserTest {
@ParameterizedTest
void returnsSelected(int toSelect) {
try (var chooser = new SendableChooser<Integer>();
var publisher =
m_inst
.getStringTopic("/SmartDashboard/returnsSelectedChooser" + toSelect + "/selected")
.publish()) {
var chooserSim =
new SendableChooserSim(
m_inst, "/SmartDashboard/returnsSelectedChooser" + toSelect + "/")) {
for (int i = 1; i <= 3; i++) {
chooser.addOption(String.valueOf(i), i);
}
@@ -39,7 +39,7 @@ class SendableChooserTest {
SmartDashboard.putData("returnsSelectedChooser" + toSelect, chooser);
SmartDashboard.updateValues();
publisher.set(String.valueOf(toSelect));
chooserSim.setSelected(String.valueOf(toSelect));
SmartDashboard.updateValues();
assertEquals(toSelect, chooser.getSelected());
}
@@ -70,7 +70,8 @@ class SendableChooserTest {
@Test
void testChangeListener() {
try (var chooser = new SendableChooser<Integer>()) {
try (var chooser = new SendableChooser<Integer>();
var chooserSim = new SendableChooserSim(m_inst, "/SmartDashboard/changeListenerChooser/")) {
for (int i = 1; i <= 3; i++) {
chooser.addOption(String.valueOf(i), i);
}
@@ -79,7 +80,7 @@ class SendableChooserTest {
SmartDashboard.putData("changeListenerChooser", chooser);
SmartDashboard.updateValues();
SmartDashboard.putString("changeListenerChooser/selected", "3");
chooserSim.setSelected("3");
SmartDashboard.updateValues();
assertEquals(3, currentVal.get());
}