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[wpilib] Add method to enable/disable LiveWindow in test mode (#4678)

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This commit is contained in:
Starlight220
2022-12-01 23:28:06 +02:00
committed by GitHub
parent eae68fc165
commit 1f1461e254
5 changed files with 146 additions and 12 deletions
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44
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
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@@ -5,14 +5,20 @@
package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.simulation.DriverStationSim;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import java.util.ConcurrentModificationException;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.ValueSource;
class TimedRobotTest {
static class MockRobot extends TimedRobot {
@@ -119,6 +125,7 @@ class TimedRobotTest {
@BeforeEach
void setup() {
SimHooks.pauseTiming();
DriverStationSim.resetData();
}
@AfterEach
@@ -391,10 +398,12 @@ class TimedRobotTest {
robot.close();
}
@Test
@ValueSource(booleans = {true, false})
@ParameterizedTest
@ResourceLock("timing")
void testModeTest() {
void testModeTest(boolean isLW) {
MockRobot robot = new MockRobot();
robot.enableLiveWindowInTest(isLW);
Thread robotThread =
new Thread(
@@ -415,6 +424,7 @@ class TimedRobotTest {
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertFalse(LiveWindow.isEnabled());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
@@ -457,6 +467,9 @@ class TimedRobotTest {
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(isLW, LiveWindow.isEnabled());
assertThrows(ConcurrentModificationException.class, () -> robot.enableLiveWindowInTest(isLW));
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
@@ -470,6 +483,33 @@ class TimedRobotTest {
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
DriverStationSim.setEnabled(false);
DriverStationSim.setAutonomous(false);
DriverStationSim.setTest(false);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(0.02);
assertEquals(1, robot.m_robotInitCount.get());
assertEquals(1, robot.m_simulationInitCount.get());
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertFalse(LiveWindow.isEnabled());
assertEquals(3, robot.m_robotPeriodicCount.get());
assertEquals(3, robot.m_simulationPeriodicCount.get());
assertEquals(1, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(2, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(1, robot.m_testExitCount.get());
robot.endCompetition();
try {
robotThread.interrupt();