[examples] DigitalCommunication, I2CCommunication: Add tests (#4865)

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/digitalcommunication/Robot.java

@@ -14,10 +14,10 @@ import edu.wpi.first.wpilibj.TimedRobot;
  */
 public class Robot extends TimedRobot {
   // define ports for digitalcommunication with light controller
-  private static final int kAlliancePort = 0;
-  private static final int kEnabledPort = 1;
-  private static final int kAutonomousPort = 2;
-  private static final int kAlertPort = 3;
+  static final int kAlliancePort = 0;
+  static final int kEnabledPort = 1;
+  static final int kAutonomousPort = 2;
+  static final int kAlertPort = 3;
 
   private final DigitalOutput m_allianceOutput = new DigitalOutput(kAlliancePort);
   private final DigitalOutput m_enabledOutput = new DigitalOutput(kEnabledPort);
@@ -39,4 +39,14 @@ public class Robot extends TimedRobot {
     var matchTime = DriverStation.getMatchTime();
     m_alertOutput.set(matchTime <= 30 && matchTime >= 25);
   }
+
+  /** Close all resources. */
+  @Override
+  public void close() {
+    m_allianceOutput.close();
+    m_enabledOutput.close();
+    m_autonomousOutput.close();
+    m_alertOutput.close();
+    super.close();
+  }
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json

@@ -803,7 +803,8 @@
     "name": "Digital Communication Sample",
     "description": "An example program that communicates with external devices (such as an Arduino) using the roboRIO's DIO",
     "tags": [
-      "Digital"
+      "Digital",
+      "Unit Testing"
     ],
     "foldername": "digitalcommunication",
     "gradlebase": "java",

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.i2ccommunication;
 
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.I2C;
+import edu.wpi.first.wpilibj.I2C.Port;
 import edu.wpi.first.wpilibj.TimedRobot;
 
 /**
@@ -13,9 +14,10 @@ import edu.wpi.first.wpilibj.TimedRobot;
  * code using the roboRIO's I2C port.
  */
 public class Robot extends TimedRobot {
-  private static int kDeviceAddress = 4;
+  static final Port kPort = Port.kOnboard;
+  private static final int kDeviceAddress = 4;
 
-  private static I2C m_arduino = new I2C(I2C.Port.kOnboard, kDeviceAddress);
+  private final I2C m_arduino = new I2C(kPort, kDeviceAddress);
 
   private void writeString(String input) {
     // Creates a char array from the input string
@@ -30,7 +32,7 @@ public class Robot extends TimedRobot {
     }
 
     // Writes bytes over I2C
-    m_arduino.transaction(data, data.length, null, 0);
+    m_arduino.transaction(data, data.length, new byte[] {}, 0);
   }
 
   @Override
@@ -54,4 +56,11 @@ public class Robot extends TimedRobot {
 
     writeString(stateMessage.toString());
   }
+
+  /** Close all resources. */
+  @Override
+  public void close() {
+    m_arduino.close();
+    super.close();
+  }
 }

wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/digitalcommunication/DigitalCommunicationTest.java

@@ -0,0 +1,114 @@
+// 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.examples.digitalcommunication;
+
+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 edu.wpi.first.hal.AllianceStationID;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.DIOSim;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.parallel.ResourceLock;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ValueSource;
+
+@ResourceLock("timing")
+class DigitalCommunicationTest {
+  private Robot m_robot;
+  private Thread m_thread;
+  private final DIOSim m_allianceOutput = new DIOSim(Robot.kAlliancePort);
+  private final DIOSim m_enabledOutput = new DIOSim(Robot.kEnabledPort);
+  private final DIOSim m_autonomousOutput = new DIOSim(Robot.kAutonomousPort);
+  private final DIOSim m_alertOutput = new DIOSim(Robot.kAlertPort);
+
+  @BeforeEach
+  void startThread() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+    DriverStationSim.resetData();
+    m_robot = new Robot();
+    m_thread = new Thread(m_robot::startCompetition);
+    m_thread.start();
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
+  }
+
+  @AfterEach
+  void stopThread() {
+    m_robot.endCompetition();
+    try {
+      m_thread.interrupt();
+      m_thread.join();
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+    }
+    m_robot.close();
+    m_allianceOutput.resetData();
+    m_enabledOutput.resetData();
+    m_autonomousOutput.resetData();
+    m_alertOutput.resetData();
+  }
+
+  @EnumSource(AllianceStationID.class)
+  @ParameterizedTest(name = "alliance[{index}]: {0}")
+  void allianceTest(AllianceStationID alliance) {
+    DriverStationSim.setAllianceStationId(alliance);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_allianceOutput.getInitialized());
+    assertFalse(m_allianceOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(alliance.name().startsWith("Red"), m_allianceOutput.getValue());
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "enabled[{index}]: {0}")
+  void enabledTest(boolean enabled) {
+    DriverStationSim.setEnabled(enabled);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_enabledOutput.getInitialized());
+    assertFalse(m_enabledOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(enabled, m_enabledOutput.getValue());
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "autonomous[{index}]: {0}")
+  void autonomousTest(boolean autonomous) {
+    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_autonomousOutput.getInitialized());
+    assertFalse(m_autonomousOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(autonomous, m_autonomousOutput.getValue());
+  }
+
+  @ValueSource(doubles = {45.0, 27.0, 23.0})
+  @ParameterizedTest(name = "alert[{index}]: {0}s")
+  void alertTest(double matchTime) {
+    DriverStationSim.setMatchTime(matchTime);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_alertOutput.getInitialized());
+    assertFalse(m_alertOutput.getIsInput());
+
+    SimHooks.stepTiming(0.02);
+
+    assertEquals(matchTime <= 30 && matchTime >= 25, m_alertOutput.getValue());
+  }
+}

wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/i2ccommunication/I2CCommunicationTest.java

@@ -0,0 +1,126 @@
+// 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.examples.i2ccommunication;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.AllianceStationID;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.simulation.CallbackStore;
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import edu.wpi.first.wpilibj.simulation.I2CSim;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
+import java.time.Duration;
+import java.util.concurrent.CompletableFuture;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.parallel.ResourceLock;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ValueSource;
+
+@ResourceLock("timing")
+class I2CCommunicationTest {
+  private Robot m_robot;
+  private Thread m_thread;
+  private final I2CSim m_i2c = new I2CSim(Robot.kPort.value);
+  private CompletableFuture<String> m_future;
+  private CallbackStore m_callback;
+
+  @BeforeEach
+  void startThread() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+    DriverStationSim.resetData();
+    m_future = new CompletableFuture<>();
+    m_callback =
+        m_i2c.registerWriteCallback(
+            (name, buffer, count) -> m_future.complete(new String(buffer, 0, count)));
+    m_robot = new Robot();
+    m_thread = new Thread(m_robot::startCompetition);
+    m_thread.start();
+    SimHooks.stepTiming(0.0); // Wait for Notifiers
+  }
+
+  @AfterEach
+  void stopThread() {
+    m_robot.endCompetition();
+    try {
+      m_thread.interrupt();
+      m_thread.join();
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+    }
+    m_robot.close();
+    m_callback.close();
+    m_i2c.resetData();
+  }
+
+  @EnumSource(AllianceStationID.class)
+  @ParameterizedTest(name = "alliance[{index}]: {0}")
+  void allianceTest(AllianceStationID alliance) {
+    DriverStationSim.setAllianceStationId(alliance);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = alliance.name().startsWith("Red") ? 'R' : 'B';
+
+    assertEquals(expected, str.charAt(0));
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "enabled[{index}]: {0}")
+  void enabledTest(boolean enabled) {
+    DriverStationSim.setEnabled(enabled);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = enabled ? 'E' : 'D';
+
+    assertEquals(expected, str.charAt(1));
+  }
+
+  @ValueSource(booleans = {true, false})
+  @ParameterizedTest(name = "autonomous[{index}]: {0}")
+  void autonomousTest(boolean autonomous) {
+    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.notifyNewData();
+
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    char expected = autonomous ? 'A' : 'T';
+
+    assertEquals(expected, str.charAt(2));
+  }
+
+  @ValueSource(doubles = {112.0, 45.0, 27.0, 23.0, 3.0})
+  @ParameterizedTest(name = "matchTime[{index}]: {0}s")
+  void matchTimeTest(double matchTime) {
+    DriverStationSim.setMatchTime(matchTime);
+    DriverStationSim.notifyNewData();
+    assertTrue(m_i2c.getInitialized());
+
+    SimHooks.stepTiming(0.02);
+
+    String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> m_future.get());
+    String expected = String.format("%03d", (int) DriverStation.getMatchTime());
+
+    assertEquals(expected, str.substring(3));
+  }
+}