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[wpilib] Add Mechanism2d tests and make Java impl match C++ (#5527)

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Gold856
2023-09-11 01:01:33 -04:00
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parent d7ef817bae
commit 298f8a6e33
4 changed files with 192 additions and 42 deletions
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wpilibc/src/test/native/cpp/smartdashboard/Mechanism2dTest.cpp Normal file
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// 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.
#include <frc/smartdashboard/Mechanism2d.h>
#include <frc/smartdashboard/MechanismLigament2d.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc/util/Color8Bit.h>
#include <gtest/gtest.h>
#include <networktables/NetworkTableInstance.h>
#include <units/angle.h>
class Mechanism2dTest;
TEST(Mechanism2dTest, Canvas) {
frc::Mechanism2d mechanism{5, 10};
auto dimsEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/dims");
auto colorEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/backgroundColor");
frc::SmartDashboard::PutData("mechanism", &mechanism);
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(5.0, dimsEntry.GetDoubleArray({})[0]);
EXPECT_EQ(10.0, dimsEntry.GetDoubleArray({})[1]);
EXPECT_EQ("#000020", colorEntry.GetString(""));
mechanism.SetBackgroundColor({255, 255, 255});
frc::SmartDashboard::UpdateValues();
EXPECT_EQ("#FFFFFF", colorEntry.GetString(""));
}
TEST(Mechanism2dTest, Root) {
frc::Mechanism2d mechanism{5, 10};
auto xEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/x");
auto yEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/y");
frc::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
frc::SmartDashboard::PutData("mechanism", &mechanism);
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(1.0, xEntry.GetDouble(0.0));
EXPECT_EQ(2.0, yEntry.GetDouble(0.0));
root->SetPosition(2, 4);
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(2.0, xEntry.GetDouble(0.0));
EXPECT_EQ(4.0, yEntry.GetDouble(0.0));
}
TEST(Mechanism2dTest, Ligament) {
frc::Mechanism2d mechanism{5, 10};
auto angleEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/ligament/angle");
auto colorEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/ligament/color");
auto lengthEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/ligament/length");
auto weightEntry = nt::NetworkTableInstance::GetDefault().GetEntry(
"/SmartDashboard/mechanism/root/ligament/weight");
frc::MechanismRoot2d* root = mechanism.GetRoot("root", 1, 2);
frc::MechanismLigament2d* ligament = root->Append<frc::MechanismLigament2d>(
"ligament", 3, units::degree_t{90}, 1, frc::Color8Bit{255, 255, 255});
frc::SmartDashboard::PutData("mechanism", &mechanism);
EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetLineWeight(), weightEntry.GetDouble(0.0));
ligament->SetAngle(units::degree_t{45});
ligament->SetColor({0, 0, 0});
ligament->SetLength(2);
ligament->SetLineWeight(4);
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetLineWeight(), weightEntry.GetDouble(0.0));
angleEntry.SetDouble(22.5);
colorEntry.SetString("#FF00FF");
lengthEntry.SetDouble(4.0);
weightEntry.SetDouble(6.0);
frc::SmartDashboard::UpdateValues();
EXPECT_EQ(ligament->GetAngle(), angleEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetColor().HexString(), colorEntry.GetString(""));
EXPECT_EQ(ligament->GetLength(), lengthEntry.GetDouble(0.0));
EXPECT_EQ(ligament->GetLineWeight(), weightEntry.GetDouble(0.0));
}