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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
committed by GitHub
parent d7ef817bae
commit 298f8a6e33
4 changed files with 192 additions and 42 deletions
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99
wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/Mechanism2dTest.java 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.
package edu.wpi.first.wpilibj.smartdashboard;
import static org.junit.jupiter.api.Assertions.assertArrayEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.util.Color8Bit;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
class Mechanism2dTest {
private NetworkTableInstance m_inst;
@BeforeEach
void setUp() {
m_inst = NetworkTableInstance.create();
SmartDashboard.setNetworkTableInstance(m_inst);
}
@Test
void testCanvas() {
try (var mechanism = new Mechanism2d(5, 10);
var dimsEntry = m_inst.getEntry("/SmartDashboard/mechanism/dims");
var colorEntry = m_inst.getEntry("/SmartDashboard/mechanism/backgroundColor")) {
SmartDashboard.putData("mechanism", mechanism);
SmartDashboard.updateValues();
assertArrayEquals(new double[] {5, 10}, dimsEntry.getDoubleArray(new double[0]));
assertEquals("#000020", colorEntry.getString(""));
mechanism.setBackgroundColor(new Color8Bit(255, 255, 255));
SmartDashboard.updateValues();
assertEquals("#FFFFFF", colorEntry.getString(""));
}
}
@Test
void testRoot() {
try (var mechanism = new Mechanism2d(5, 10);
var xEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/x");
var yEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/y")) {
final var root = mechanism.getRoot("root", 1, 2);
SmartDashboard.putData("mechanism", mechanism);
SmartDashboard.updateValues();
assertEquals(1, xEntry.getDouble(0));
assertEquals(2, yEntry.getDouble(0));
root.setPosition(2, 4);
SmartDashboard.updateValues();
assertEquals(2, xEntry.getDouble(0));
assertEquals(4, yEntry.getDouble(0));
}
}
@Test
void testLigament() {
try (var mechanism = new Mechanism2d(5, 10);
var angleEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/ligament/angle");
var colorEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/ligament/color");
var lengthEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/ligament/length");
var weightEntry = m_inst.getEntry("/SmartDashboard/mechanism/root/ligament/weight")) {
var root = mechanism.getRoot("root", 1, 2);
var ligament =
root.append(new MechanismLigament2d("ligament", 3, 90, 1, new Color8Bit(255, 255, 255)));
SmartDashboard.putData("mechanism", mechanism);
SmartDashboard.updateValues();
assertEquals(ligament.getAngle(), angleEntry.getDouble(0));
assertEquals(ligament.getColor().toHexString(), colorEntry.getString(""));
assertEquals(ligament.getLength(), lengthEntry.getDouble(0));
assertEquals(ligament.getLineWeight(), weightEntry.getDouble(0));
ligament.setAngle(45);
ligament.setColor(new Color8Bit(0, 0, 0));
ligament.setLength(2);
ligament.setLineWeight(4);
SmartDashboard.updateValues();
assertEquals(ligament.getAngle(), angleEntry.getDouble(0));
assertEquals(ligament.getColor().toHexString(), colorEntry.getString(""));
assertEquals(ligament.getLength(), lengthEntry.getDouble(0));
assertEquals(ligament.getLineWeight(), weightEntry.getDouble(0));
angleEntry.setDouble(22.5);
colorEntry.setString("#FF00FF");
lengthEntry.setDouble(4);
weightEntry.setDouble(6);
SmartDashboard.updateValues();
assertEquals(ligament.getAngle(), angleEntry.getDouble(0));
assertEquals(ligament.getColor().toHexString(), colorEntry.getString(""));
assertEquals(ligament.getLength(), lengthEntry.getDouble(0));
assertEquals(ligament.getLineWeight(), weightEntry.getDouble(0));
}
}
@AfterEach
void tearDown() {
m_inst.close();
SmartDashboard.setNetworkTableInstance(NetworkTableInstance.getDefault());
}
}