Add tests for SendableChooser and Command Sendable functionality (#5179)

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandSendableButtonTest.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.wpilibj2.command;
+
+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.networktables.BooleanPublisher;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import java.util.concurrent.atomic.AtomicInteger;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class CommandSendableButtonTest extends CommandTestBase {
+  private NetworkTableInstance m_inst;
+  private AtomicInteger m_schedule;
+  private AtomicInteger m_cancel;
+  private BooleanPublisher m_publish;
+  private CommandBase m_command;
+
+  @BeforeEach
+  void setUp() {
+    m_inst = NetworkTableInstance.create();
+    SmartDashboard.setNetworkTableInstance(m_inst);
+    m_schedule = new AtomicInteger();
+    m_cancel = new AtomicInteger();
+    m_command = Commands.startEnd(m_schedule::incrementAndGet, m_cancel::incrementAndGet);
+    m_publish = m_inst.getBooleanTopic("/SmartDashboard/command/running").publish();
+    SmartDashboard.putData("command", m_command);
+    SmartDashboard.updateValues();
+  }
+
+  @Test
+  void trueAndNotScheduledSchedules() {
+    // Not scheduled and true -> scheduled
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(true);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void trueAndScheduledNoOp() {
+    // Scheduled and true -> no-op
+    m_command.schedule();
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(true);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void falseAndNotScheduledNoOp() {
+    // Not scheduled and false -> no-op
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(false);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertFalse(m_command.isScheduled());
+    assertEquals(0, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+  }
+
+  @Test
+  void falseAndScheduledCancel() {
+    // Scheduled and false -> cancel
+    m_command.schedule();
+    CommandScheduler.getInstance().run();
+    SmartDashboard.updateValues();
+    assertTrue(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(0, m_cancel.get());
+
+    m_publish.set(false);
+    SmartDashboard.updateValues();
+    CommandScheduler.getInstance().run();
+    assertFalse(m_command.isScheduled());
+    assertEquals(1, m_schedule.get());
+    assertEquals(1, m_cancel.get());
+  }
+
+  @AfterEach
+  void tearDown() {
+    m_publish.close();
+    m_inst.close();
+    SmartDashboard.setNetworkTableInstance(NetworkTableInstance.getDefault());
+  }
+}

wpilibNewCommands/src/test/native/cpp/frc2/command/CommandSendableButtonTest.cpp

@@ -0,0 +1,98 @@
+// 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 <frc2/command/Commands.h>
+
+#include <frc/smartdashboard/SmartDashboard.h>
+#include <networktables/BooleanTopic.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "CommandTestBase.h"
+
+using namespace frc2;
+
+class CommandSendableButtonTest : public CommandTestBase {
+ protected:
+  int m_schedule;
+  int m_cancel;
+  nt::BooleanPublisher m_publish;
+  std::optional<CommandPtr> m_command;
+
+  void SetUp() override {
+    m_schedule = 0;
+    m_cancel = 0;
+    m_command = cmd::StartEnd([this] { m_schedule++; }, [this] { m_cancel++; });
+    m_publish = nt::NetworkTableInstance::GetDefault()
+                    .GetBooleanTopic("/SmartDashboard/command/running")
+                    .Publish();
+    frc::SmartDashboard::PutData("command", m_command->get());
+    frc::SmartDashboard::UpdateValues();
+  }
+};
+
+TEST_F(CommandSendableButtonTest, trueAndNotScheduledSchedules) {
+  // Not scheduled and true -> scheduled
+  GetScheduler().Run();
+  frc::SmartDashboard::UpdateValues();
+  EXPECT_FALSE(m_command->IsScheduled());
+  EXPECT_EQ(0, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+
+  m_publish.Set(true);
+  frc::SmartDashboard::UpdateValues();
+  GetScheduler().Run();
+  EXPECT_TRUE(m_command->IsScheduled());
+  EXPECT_EQ(1, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+}
+
+TEST_F(CommandSendableButtonTest, trueAndScheduledNoOp) {
+  // Scheduled and true -> no-op
+  m_command->Schedule();
+  GetScheduler().Run();
+  frc::SmartDashboard::UpdateValues();
+  EXPECT_TRUE(m_command->IsScheduled());
+  EXPECT_EQ(1, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+
+  m_publish.Set(true);
+  frc::SmartDashboard::UpdateValues();
+  GetScheduler().Run();
+  EXPECT_TRUE(m_command->IsScheduled());
+  EXPECT_EQ(1, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+}
+
+TEST_F(CommandSendableButtonTest, falseAndNotScheduledNoOp) {
+  // Not scheduled and false -> no-op
+  GetScheduler().Run();
+  frc::SmartDashboard::UpdateValues();
+  EXPECT_FALSE(m_command->IsScheduled());
+  EXPECT_EQ(0, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+
+  m_publish.Set(false);
+  frc::SmartDashboard::UpdateValues();
+  GetScheduler().Run();
+  EXPECT_FALSE(m_command->IsScheduled());
+  EXPECT_EQ(0, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+}
+
+TEST_F(CommandSendableButtonTest, falseAndScheduledCancel) {
+  // Scheduled and false -> cancel
+  m_command->Schedule();
+  GetScheduler().Run();
+  frc::SmartDashboard::UpdateValues();
+  EXPECT_TRUE(m_command->IsScheduled());
+  EXPECT_EQ(1, m_schedule);
+  EXPECT_EQ(0, m_cancel);
+
+  m_publish.Set(false);
+  frc::SmartDashboard::UpdateValues();
+  GetScheduler().Run();
+  EXPECT_FALSE(m_command->IsScheduled());
+  EXPECT_EQ(1, m_schedule);
+  EXPECT_EQ(1, m_cancel);
+}

wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp

@@ -0,0 +1,60 @@
+// 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/SendableChooser.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+#include <string>
+
+#include <networktables/NetworkTableInstance.h>
+
+#include "gtest/gtest.h"
+
+class SendableChooserTest : public ::testing::TestWithParam<int> {};
+
+TEST_P(SendableChooserTest, ReturnsSelected) {
+  frc::SendableChooser<int> chooser;
+
+  for (int i = 1; i <= 3; i++) {
+    chooser.AddOption(std::to_string(i), i);
+  }
+  chooser.SetDefaultOption("0", 0);
+
+  auto pub = nt::NetworkTableInstance::GetDefault()
+                 .GetStringTopic("/SmartDashboard/chooser/selected")
+                 .Publish();
+
+  frc::SmartDashboard::PutData("chooser", &chooser);
+  frc::SmartDashboard::UpdateValues();
+  pub.Set(std::to_string(GetParam()));
+  frc::SmartDashboard::UpdateValues();
+  EXPECT_EQ(GetParam(), chooser.GetSelected());
+}
+
+TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
+  frc::SendableChooser<int> chooser;
+
+  for (int i = 1; i <= 3; i++) {
+    chooser.AddOption(std::to_string(i), i);
+  }
+
+  // Use 4 here rather than 0 to make sure it's not default-init int.
+  chooser.SetDefaultOption("4", 4);
+
+  EXPECT_EQ(4, chooser.GetSelected());
+}
+
+TEST(SendableChooserTest,
+     DefaultConstructableIsReturnedOnNoSelectAndNoDefault) {
+  frc::SendableChooser<int> chooser;
+
+  for (int i = 1; i <= 3; i++) {
+    chooser.AddOption(std::to_string(i), i);
+  }
+
+  EXPECT_EQ(0, chooser.GetSelected());
+}
+
+INSTANTIATE_TEST_SUITE_P(SendableChooserTests, SendableChooserTest,
+                         ::testing::Values(0, 1, 2, 3));

wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java

@@ -0,0 +1,72 @@
+// 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.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNull;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.ValueSource;
+
+class SendableChooserTest {
+  private NetworkTableInstance m_inst;
+
+  @BeforeEach
+  void setUp() {
+    m_inst = NetworkTableInstance.create();
+    SmartDashboard.setNetworkTableInstance(m_inst);
+  }
+
+  @ValueSource(ints = {0, 1, 2, 3})
+  @ParameterizedTest
+  void returnsSelected(int toSelect) {
+    try (var chooser = new SendableChooser<Integer>();
+        var publisher = m_inst.getStringTopic("/SmartDashboard/chooser/selected").publish()) {
+      for (int i = 1; i <= 3; i++) {
+        chooser.addOption(String.valueOf(i), i);
+      }
+      chooser.setDefaultOption(String.valueOf(0), 0);
+
+      SmartDashboard.putData("chooser", chooser);
+      SmartDashboard.updateValues();
+      publisher.set(String.valueOf(toSelect));
+      SmartDashboard.updateValues();
+      assertEquals(toSelect, chooser.getSelected());
+    }
+  }
+
+  @Test
+  void defaultIsReturnedOnNoSelect() {
+    try (var chooser = new SendableChooser<Integer>()) {
+      for (int i = 1; i <= 3; i++) {
+        chooser.addOption(String.valueOf(i), i);
+      }
+      chooser.setDefaultOption(String.valueOf(0), 0);
+
+      assertEquals(0, chooser.getSelected());
+    }
+  }
+
+  @Test
+  void nullIsReturnedOnNoSelectAndNoDefault() {
+    try (var chooser = new SendableChooser<Integer>()) {
+      for (int i = 1; i <= 3; i++) {
+        chooser.addOption(String.valueOf(i), i);
+      }
+
+      assertNull(chooser.getSelected());
+    }
+  }
+
+  @AfterEach
+  void tearDown() {
+    m_inst.close();
+    SmartDashboard.setNetworkTableInstance(NetworkTableInstance.getDefault());
+  }
+}