mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
[hal,wpilib] Move Alert to HAL (#8646)
SystemCore implementation is not yet connected to MRCComm.
This commit is contained in:
Peter Johnson
158
wpilibj/src/test/java/org/wpilib/simulation/AlertSimTest.java
Normal file
158
wpilibj/src/test/java/org/wpilib/simulation/AlertSimTest.java
Normal file
@@ -0,0 +1,158 @@
|
||||
// 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 org.wpilib.simulation;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertFalse;
|
||||
import static org.junit.jupiter.api.Assertions.assertTrue;
|
||||
|
||||
import java.util.Arrays;
|
||||
import java.util.List;
|
||||
import org.junit.jupiter.api.AfterEach;
|
||||
import org.junit.jupiter.api.BeforeEach;
|
||||
import org.junit.jupiter.api.Test;
|
||||
import org.junit.jupiter.api.TestInfo;
|
||||
import org.wpilib.driverstation.Alert;
|
||||
import org.wpilib.driverstation.Alert.Level;
|
||||
import org.wpilib.hardware.hal.HAL;
|
||||
|
||||
class AlertSimTest {
|
||||
private String m_groupName;
|
||||
|
||||
@BeforeEach
|
||||
void setup(TestInfo info) {
|
||||
HAL.initialize(500, 0);
|
||||
m_groupName = "AlertTest_" + info.getDisplayName();
|
||||
}
|
||||
|
||||
@AfterEach
|
||||
void cleanup() {
|
||||
AlertSim.resetData();
|
||||
}
|
||||
|
||||
private String[] getActiveAlerts(Level type) {
|
||||
return Arrays.stream(AlertSim.getAll())
|
||||
.filter(a -> a.isActive() && a.level == type)
|
||||
.map(a -> a.text)
|
||||
.toArray(String[]::new);
|
||||
}
|
||||
|
||||
private boolean isAlertActive(String text, Alert.Level type) {
|
||||
return Arrays.stream(AlertSim.getAll())
|
||||
.filter(a -> a.isActive() && a.level == type)
|
||||
.anyMatch(a -> a.text.equals(text));
|
||||
}
|
||||
|
||||
private void assertState(Alert.Level type, List<String> state) {
|
||||
assertEquals(state, Arrays.asList(getActiveAlerts(type)));
|
||||
}
|
||||
|
||||
private Alert makeAlert(String text, Alert.Level type) {
|
||||
return new Alert(m_groupName, text, type);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testInitialization() {
|
||||
assertEquals(0, AlertSim.getCount());
|
||||
assertEquals(0, AlertSim.getAll().length);
|
||||
}
|
||||
|
||||
@Test
|
||||
void testReset() {
|
||||
try (var alert = makeAlert("alert", Level.HIGH)) {
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("alert", Level.HIGH));
|
||||
}
|
||||
AlertSim.resetData();
|
||||
assertFalse(isAlertActive("alert", Level.HIGH));
|
||||
}
|
||||
|
||||
@Test
|
||||
void setUnsetSingle() {
|
||||
try (var one = makeAlert("one", Level.LOW)) {
|
||||
assertFalse(isAlertActive("one", Level.LOW));
|
||||
one.set(true);
|
||||
assertTrue(isAlertActive("one", Level.LOW));
|
||||
one.set(false);
|
||||
assertFalse(isAlertActive("one", Level.LOW));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setUnsetMultiple() {
|
||||
try (var one = makeAlert("one", Level.HIGH);
|
||||
var two = makeAlert("two", Level.LOW)) {
|
||||
assertFalse(isAlertActive("one", Level.HIGH));
|
||||
assertFalse(isAlertActive("two", Level.LOW));
|
||||
one.set(true);
|
||||
assertTrue(isAlertActive("one", Level.HIGH));
|
||||
assertFalse(isAlertActive("two", Level.LOW));
|
||||
one.set(true);
|
||||
two.set(true);
|
||||
assertTrue(isAlertActive("one", Level.HIGH));
|
||||
assertTrue(isAlertActive("two", Level.LOW));
|
||||
one.set(false);
|
||||
assertFalse(isAlertActive("one", Level.HIGH));
|
||||
assertTrue(isAlertActive("two", Level.LOW));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setIsIdempotent() {
|
||||
try (var a = makeAlert("A", Level.LOW);
|
||||
var b = makeAlert("B", Level.LOW);
|
||||
var c = makeAlert("C", Level.LOW)) {
|
||||
a.set(true);
|
||||
b.set(true);
|
||||
c.set(true);
|
||||
|
||||
var startState = List.of(getActiveAlerts(Level.LOW));
|
||||
|
||||
b.set(true);
|
||||
assertState(Level.LOW, startState);
|
||||
|
||||
a.set(true);
|
||||
assertState(Level.LOW, startState);
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void closeUnsetsAlert() {
|
||||
try (var alert = makeAlert("alert", Level.MEDIUM)) {
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("alert", Level.MEDIUM));
|
||||
}
|
||||
assertFalse(isAlertActive("alert", Level.MEDIUM));
|
||||
}
|
||||
|
||||
@Test
|
||||
void setTextWhileUnset() {
|
||||
try (var alert = makeAlert("BEFORE", Level.LOW)) {
|
||||
assertEquals("BEFORE", alert.getText());
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("BEFORE", Level.LOW));
|
||||
alert.set(false);
|
||||
assertFalse(isAlertActive("BEFORE", Level.LOW));
|
||||
alert.setText("AFTER");
|
||||
assertEquals("AFTER", alert.getText());
|
||||
alert.set(true);
|
||||
assertFalse(isAlertActive("BEFORE", Level.LOW));
|
||||
assertTrue(isAlertActive("AFTER", Level.LOW));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setTextWhileSet() {
|
||||
try (var alert = makeAlert("BEFORE", Level.LOW)) {
|
||||
assertEquals("BEFORE", alert.getText());
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("BEFORE", Level.LOW));
|
||||
alert.setText("AFTER");
|
||||
assertEquals("AFTER", alert.getText());
|
||||
assertFalse(isAlertActive("BEFORE", Level.LOW));
|
||||
assertTrue(isAlertActive("AFTER", Level.LOW));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,243 +0,0 @@
|
||||
// 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 org.wpilib.util;
|
||||
|
||||
import static org.junit.jupiter.api.Assertions.assertEquals;
|
||||
import static org.junit.jupiter.api.Assertions.assertFalse;
|
||||
import static org.junit.jupiter.api.Assertions.assertTrue;
|
||||
|
||||
import java.util.ArrayList;
|
||||
import java.util.Arrays;
|
||||
import java.util.List;
|
||||
import org.junit.jupiter.api.AfterEach;
|
||||
import org.junit.jupiter.api.BeforeEach;
|
||||
import org.junit.jupiter.api.Test;
|
||||
import org.junit.jupiter.api.TestInfo;
|
||||
import org.junit.jupiter.api.parallel.ResourceLock;
|
||||
import org.wpilib.networktables.NetworkTableInstance;
|
||||
import org.wpilib.networktables.StringArraySubscriber;
|
||||
import org.wpilib.simulation.SimHooks;
|
||||
import org.wpilib.smartdashboard.SmartDashboard;
|
||||
import org.wpilib.util.Alert.AlertType;
|
||||
|
||||
class AlertTest {
|
||||
private NetworkTableInstance m_inst;
|
||||
private String m_groupName;
|
||||
|
||||
@BeforeEach
|
||||
void setup(TestInfo info) {
|
||||
m_groupName = "AlertTest_" + info.getDisplayName();
|
||||
|
||||
m_inst = NetworkTableInstance.create();
|
||||
SmartDashboard.setNetworkTableInstance(m_inst);
|
||||
}
|
||||
|
||||
@AfterEach
|
||||
void checkClean() {
|
||||
update();
|
||||
assertEquals(0, getActiveAlerts(AlertType.kError).length);
|
||||
assertEquals(0, getActiveAlerts(AlertType.kWarning).length);
|
||||
assertEquals(0, getActiveAlerts(AlertType.kInfo).length);
|
||||
|
||||
m_inst.close();
|
||||
SmartDashboard.setNetworkTableInstance(NetworkTableInstance.getDefault());
|
||||
}
|
||||
|
||||
private String getSubtableName(Alert.AlertType type) {
|
||||
switch (type) {
|
||||
case kError:
|
||||
return "errors";
|
||||
case kWarning:
|
||||
return "warnings";
|
||||
case kInfo:
|
||||
return "infos";
|
||||
default:
|
||||
return "unknown";
|
||||
}
|
||||
}
|
||||
|
||||
private StringArraySubscriber getSubscriberForType(Alert.AlertType type) {
|
||||
return m_inst
|
||||
.getStringArrayTopic("/SmartDashboard/" + m_groupName + "/" + getSubtableName(type))
|
||||
.subscribe(new String[] {});
|
||||
}
|
||||
|
||||
private String[] getActiveAlerts(AlertType type) {
|
||||
update();
|
||||
try (var sub = getSubscriberForType(type)) {
|
||||
return sub.get();
|
||||
}
|
||||
}
|
||||
|
||||
private void update() {
|
||||
SmartDashboard.updateValues();
|
||||
}
|
||||
|
||||
private boolean isAlertActive(String text, Alert.AlertType type) {
|
||||
return Arrays.asList(getActiveAlerts(type)).contains(text);
|
||||
}
|
||||
|
||||
private void assertState(Alert.AlertType type, List<String> state) {
|
||||
assertEquals(state, Arrays.asList(getActiveAlerts(type)));
|
||||
}
|
||||
|
||||
private Alert makeAlert(String text, Alert.AlertType type) {
|
||||
return new Alert(m_groupName, text, type);
|
||||
}
|
||||
|
||||
@Test
|
||||
void setUnsetSingle() {
|
||||
try (var one = makeAlert("one", AlertType.kInfo)) {
|
||||
assertFalse(isAlertActive("one", AlertType.kInfo));
|
||||
one.set(true);
|
||||
assertTrue(isAlertActive("one", AlertType.kInfo));
|
||||
one.set(false);
|
||||
assertFalse(isAlertActive("one", AlertType.kInfo));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setUnsetMultiple() {
|
||||
try (var one = makeAlert("one", AlertType.kError);
|
||||
var two = makeAlert("two", AlertType.kInfo)) {
|
||||
assertFalse(isAlertActive("one", AlertType.kError));
|
||||
assertFalse(isAlertActive("two", AlertType.kInfo));
|
||||
one.set(true);
|
||||
assertTrue(isAlertActive("one", AlertType.kError));
|
||||
assertFalse(isAlertActive("two", AlertType.kInfo));
|
||||
one.set(true);
|
||||
two.set(true);
|
||||
assertTrue(isAlertActive("one", AlertType.kError));
|
||||
assertTrue(isAlertActive("two", AlertType.kInfo));
|
||||
one.set(false);
|
||||
assertFalse(isAlertActive("one", AlertType.kError));
|
||||
assertTrue(isAlertActive("two", AlertType.kInfo));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setIsIdempotent() {
|
||||
try (var a = makeAlert("A", AlertType.kInfo);
|
||||
var b = makeAlert("B", AlertType.kInfo);
|
||||
var c = makeAlert("C", AlertType.kInfo)) {
|
||||
a.set(true);
|
||||
b.set(true);
|
||||
c.set(true);
|
||||
|
||||
var startState = List.of(getActiveAlerts(AlertType.kInfo));
|
||||
|
||||
b.set(true);
|
||||
assertState(AlertType.kInfo, startState);
|
||||
|
||||
a.set(true);
|
||||
assertState(AlertType.kInfo, startState);
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void closeUnsetsAlert() {
|
||||
try (var alert = makeAlert("alert", AlertType.kWarning)) {
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("alert", AlertType.kWarning));
|
||||
}
|
||||
assertFalse(isAlertActive("alert", AlertType.kWarning));
|
||||
}
|
||||
|
||||
@Test
|
||||
void setTextWhileUnset() {
|
||||
try (var alert = makeAlert("BEFORE", AlertType.kInfo)) {
|
||||
assertEquals("BEFORE", alert.getText());
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("BEFORE", AlertType.kInfo));
|
||||
alert.set(false);
|
||||
assertFalse(isAlertActive("BEFORE", AlertType.kInfo));
|
||||
alert.setText("AFTER");
|
||||
assertEquals("AFTER", alert.getText());
|
||||
alert.set(true);
|
||||
assertFalse(isAlertActive("BEFORE", AlertType.kInfo));
|
||||
assertTrue(isAlertActive("AFTER", AlertType.kInfo));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void setTextWhileSet() {
|
||||
try (var alert = makeAlert("BEFORE", AlertType.kInfo)) {
|
||||
assertEquals("BEFORE", alert.getText());
|
||||
alert.set(true);
|
||||
assertTrue(isAlertActive("BEFORE", AlertType.kInfo));
|
||||
alert.setText("AFTER");
|
||||
assertEquals("AFTER", alert.getText());
|
||||
assertFalse(isAlertActive("BEFORE", AlertType.kInfo));
|
||||
assertTrue(isAlertActive("AFTER", AlertType.kInfo));
|
||||
}
|
||||
}
|
||||
|
||||
@ResourceLock("timing")
|
||||
@Test
|
||||
void setTextDoesNotAffectFirstOrderSort() {
|
||||
SimHooks.pauseTiming();
|
||||
try (var a = makeAlert("A", AlertType.kInfo);
|
||||
var b = makeAlert("B", AlertType.kInfo);
|
||||
var c = makeAlert("C", AlertType.kInfo)) {
|
||||
a.set(true);
|
||||
SimHooks.stepTiming(1);
|
||||
b.set(true);
|
||||
SimHooks.stepTiming(1);
|
||||
c.set(true);
|
||||
|
||||
var expectedEndState = new ArrayList<>(List.of(getActiveAlerts(AlertType.kInfo)));
|
||||
expectedEndState.replaceAll(s -> "B".equals(s) ? "AFTER" : s);
|
||||
b.setText("AFTER");
|
||||
|
||||
assertState(AlertType.kInfo, expectedEndState);
|
||||
} finally {
|
||||
SimHooks.resumeTiming();
|
||||
}
|
||||
}
|
||||
|
||||
@ResourceLock("timing")
|
||||
@Test
|
||||
void sortOrder() {
|
||||
SimHooks.pauseTiming();
|
||||
try (var a = makeAlert("A", AlertType.kInfo);
|
||||
var b = makeAlert("B", AlertType.kInfo);
|
||||
var c = makeAlert("C", AlertType.kInfo)) {
|
||||
a.set(true);
|
||||
assertState(AlertType.kInfo, List.of("A"));
|
||||
SimHooks.stepTiming(1);
|
||||
b.set(true);
|
||||
assertState(AlertType.kInfo, List.of("B", "A"));
|
||||
SimHooks.stepTiming(1);
|
||||
c.set(true);
|
||||
assertState(AlertType.kInfo, List.of("C", "B", "A"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
c.set(false);
|
||||
assertState(AlertType.kInfo, List.of("B", "A"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
c.set(true);
|
||||
assertState(AlertType.kInfo, List.of("C", "B", "A"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
a.set(false);
|
||||
assertState(AlertType.kInfo, List.of("C", "B"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
b.set(false);
|
||||
assertState(AlertType.kInfo, List.of("C"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
b.set(true);
|
||||
assertState(AlertType.kInfo, List.of("B", "C"));
|
||||
|
||||
SimHooks.stepTiming(1);
|
||||
a.set(true);
|
||||
assertState(AlertType.kInfo, List.of("A", "B", "C"));
|
||||
} finally {
|
||||
SimHooks.resumeTiming();
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user