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WPILibJ More Integration Tests

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Refactors the MotorEncoderTest to make use of the parameterized testing framework
Adds a test for the Preferences Class
Updates the TiltPanCameraTest to work
Makes the TimerTest use math for long values
Adds a Button Test to Test the internal Button
Speeds up the FakeCounterSource/FakeEncoderSource to decrease test time
Moves the AbstractComsSetup Block to a static method so that it only runs once
Updates the logging.properties class so that tests are quieter

Change-Id: I70b39f34122e6398f406a63e6ef04cde9fbe95ef
This commit is contained in:
Jonathan Leitschuh
2014-06-10 16:25:06 -04:00
parent 85d9ead4e2
commit 8b19137ca6
17 changed files with 574 additions and 122 deletions
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4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
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@@ -95,7 +95,7 @@ public class DIOCrossConnectTest extends AbstractComsSetup {
public void testSetHigh() {
dio.getOutput().set(true);
assertTrue("DIO Not High after no delay", dio.getInput().get());
Timer.delay(.05);
Timer.delay(.02);
assertTrue("DIO Not High after .05s delay", dio.getInput().get());
}
@@ -106,7 +106,7 @@ public class DIOCrossConnectTest extends AbstractComsSetup {
public void testSetLow() {
dio.getOutput().set(false);
assertFalse("DIO Not Low after no delay", dio.getInput().get());
Timer.delay(.05);
Timer.delay(.02);
assertFalse("DIO Not Low after .05s delay", dio.getInput().get());
}
}

200
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -9,36 +9,47 @@ package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.ArrayList;
import java.util.List;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
@RunWith(Parameterized.class)
public class MotorEncoderTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(MotorEncoderTest.class.getName());
private static final double MOTOR_RUNTIME = .25;
private static final List<MotorEncoderFixture> pairs = new ArrayList<MotorEncoderFixture>();
//private static final List<MotorEncoderFixture> pairs = new ArrayList<MotorEncoderFixture>();
private static MotorEncoderFixture me = null;
@BeforeClass
public static void classSetup() {
// Set up the fixture before the test is created
pairs.add(TestBench.getInstance().getTalonPair());
pairs.add(TestBench.getInstance().getVictorPair());
pairs.add(TestBench.getInstance().getJaguarPair());
//pairs.add(TestBench.getInstance().getCanJaguarPair());
for(MotorEncoderFixture me : pairs){
me.reset();
}
public MotorEncoderTest(MotorEncoderFixture mef){
logger.fine("Constructor with: " + mef.getType());
if(me != null && !me.equals(mef)) me.teardown();
me = mef;
}
@Parameters
public static Collection<MotorEncoderFixture[]> generateData(){
//logger.fine("Loading the MotorList");
return Arrays.asList(new MotorEncoderFixture[][]{
{TestBench.getInstance().getTalonPair()},
{TestBench.getInstance().getVictorPair()},
{TestBench.getInstance().getJaguarPair()}
// TestBench.getInstance().getCanJaguarPair()
});
}
/**
@@ -52,21 +63,23 @@ public class MotorEncoderTest extends AbstractComsSetup {
@Before
public void setUp() {
for(MotorEncoderFixture me : pairs){
double initialSpeed = me.getMotor().get();
assertTrue(me.getType() + " Did not start with an initial speeed of 0 instead got: " + initialSpeed, Math.abs(initialSpeed) < 0.001);
me.setup();
}
double initialSpeed = me.getMotor().get();
assertTrue(me.getType()
+ " Did not start with an initial speeed of 0 instead got: "
+ initialSpeed, Math.abs(initialSpeed) < 0.001);
me.setup();
}
@After
public void tearDown() throws Exception {
me.reset();
}
@AfterClass
public static void tearDown() {
public static void tearDownAfterClass() {
// Clean up the fixture after the test
for(MotorEncoderFixture me : pairs){
me.teardown();
}
pairs.clear();
me.teardown();
}
/**
@@ -75,13 +88,12 @@ public class MotorEncoderTest extends AbstractComsSetup {
*/
@Test
public void testIsMotorWithinRange(){
for(MotorEncoderFixture me: pairs){
double range = 0.01;
assertTrue(me.getType() + " 1", me.isMotorSpeedWithinRange(0.0, range));
assertTrue(me.getType() + " 2", me.isMotorSpeedWithinRange(0.0, -range));
assertFalse(me.getType() + " 3", me.isMotorSpeedWithinRange(1.0, range));
assertFalse(me.getType() + " 4", me.isMotorSpeedWithinRange(-1.0, range));
}
double range = 0.01;
assertTrue(me.getType() + " 1", me.isMotorSpeedWithinRange(0.0, range));
assertTrue(me.getType() + " 2", me.isMotorSpeedWithinRange(0.0, -range));
assertFalse(me.getType() + " 3", me.isMotorSpeedWithinRange(1.0, range));
assertFalse(me.getType() + " 4",
me.isMotorSpeedWithinRange(-1.0, range));
}
/**
@@ -89,37 +101,39 @@ public class MotorEncoderTest extends AbstractComsSetup {
*/
@Test
public void testIncrement() {
for(MotorEncoderFixture me: pairs){
int startValue = me.getEncoder().get();
me.getMotor().set(.75);
Timer.delay(MOTOR_RUNTIME);
int currentValue = me.getEncoder().get();
if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
assertTrue(me.getType() + " Encoder not incremented: start: " + startValue + "; current: " + currentValue, startValue < currentValue);
}
me.reset();
encodersResetCheck(me);
int startValue = me.getEncoder().get();
me.getMotor().set(.75);
Timer.delay(MOTOR_RUNTIME);
int currentValue = me.getEncoder().get();
if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
// PROPERLY ATTACHED
assertTrue(me.getType() + " Encoder not incremented: start: "
+ startValue + "; current: " + currentValue,
startValue < currentValue);
}
me.reset();
encodersResetCheck(me);
}
/**
* This test is designed to see if the values of different motors will decrement when spun in reverse
*/
@Test
public void testDecrement(){
for(MotorEncoderFixture me: pairs){
int startValue = me.getEncoder().get();
me.getMotor().set(-.75);
Timer.delay(MOTOR_RUNTIME);
int currentValue = me.getEncoder().get();
if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
assertTrue(me.getType() + " Encoder not decremented: start: " + startValue + "; current: " + currentValue, startValue > currentValue);
}
me.reset();
encodersResetCheck(me);
int startValue = me.getEncoder().get();
me.getMotor().set(-.75);
Timer.delay(MOTOR_RUNTIME);
int currentValue = me.getEncoder().get();
if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
// PROPERLY ATTACHED
assertTrue(me.getType() + " Encoder not decremented: start: "
+ startValue + "; current: " + currentValue,
startValue > currentValue);
}
me.reset();
encodersResetCheck(me);
}
/**
@@ -127,21 +141,24 @@ public class MotorEncoderTest extends AbstractComsSetup {
*/
@Test
public void testCouter(){
for(MotorEncoderFixture me: pairs){
int counter1Start = me.getCounters()[0].get();
int counter2Start = me.getCounters()[1].get();
me.getMotor().set(.75);
Timer.delay(MOTOR_RUNTIME);
int counter1End = me.getCounters()[0].get();
int counter2End = me.getCounters()[1].get();
if(shouldRunTest(me)){ //TODO REMOVE THIS WHEN ALL ENCODERS ARE PROPERLY ATTACHED
assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: " + counter1End, counter1Start < counter1End);
assertTrue(me.getType() + " Counter not incremented: start: " + counter1Start + "; current: " + counter2End, counter2Start < counter2End);
}
me.reset();
encodersResetCheck(me);
int counter1Start = me.getCounters()[0].get();
int counter2Start = me.getCounters()[1].get();
me.getMotor().set(.75);
Timer.delay(MOTOR_RUNTIME);
int counter1End = me.getCounters()[0].get();
int counter2End = me.getCounters()[1].get();
if (shouldRunTest(me)) { // TODO REMOVE THIS WHEN ALL ENCODERS ARE
// PROPERLY ATTACHED
assertTrue(me.getType() + " Counter not incremented: start: "
+ counter1Start + "; current: " + counter1End,
counter1Start < counter1End);
assertTrue(me.getType() + " Counter not incremented: start: "
+ counter1Start + "; current: " + counter2End,
counter2Start < counter2End);
}
me.reset();
encodersResetCheck(me);
}
/**
@@ -149,25 +166,42 @@ public class MotorEncoderTest extends AbstractComsSetup {
*/
@Test
public void testSetHighForwardSpeed(){
for(MotorEncoderFixture me:pairs){
me.getMotor().set(15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
me.reset();
}
me.getMotor().set(15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
+ me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
me.reset();
}
/**
* Tests to see if you set the speed to something not >= -1.0 if the code appropriately throttles the value
*/
@Test
public void testSetHighReverseSpeed(){
for(MotorEncoderFixture me:pairs){
me.getMotor().set(-15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: " + me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
me.reset();
}
public void testSetHighReverseSpeed() {
me.getMotor().set(-15);
assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
+ me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
me.reset();
}
@Test
public void testPIDController() {
PIDController pid = new PIDController(0.003, 0.001, 0, me.getEncoder(),
me.getMotor());
pid.setAbsoluteTolerance(15);
pid.setOutputRange(-0.2, 0.2);
pid.setSetpoint(2500);
pid.enable();
Timer.delay(5.0);
pid.disable();
assertTrue("PID loop did not reach setpoint within 5 seconds. The error was: " + pid.getError(),
pid.onTarget());
pid.free();
me.reset();
}
@@ -186,6 +220,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertTrue(me.getType() + " Motor value: " + motorVal + " when it should be 0", motorVal == 0);
assertTrue(me.getType() + " Counter value " + counterVal[0] + " when is should be 0", counterVal[0] == 0);
assertTrue(me.getType() + " Counter value " + counterVal[1] + " when is should be 0", counterVal[1] == 0);
Timer.delay(.1);
assertTrue(me.getType() + " Encoder.getStopped() returned false", me.getEncoder().getStopped());
}
}

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -115,7 +115,7 @@ public class PIDTest extends AbstractComsSetup {
@Test (timeout = 6000)
public void testRotateToTarget() {
double setpoint = 2500;
double setpoint = 2500.0;
System.out.println("Entering testRotateToTarget");
assertEquals("PID did not start at 0", 0, controller.get(), 0);
controller.setSetpoint(setpoint);
@@ -123,7 +123,7 @@ public class PIDTest extends AbstractComsSetup {
controller.enable();
Timer.delay(5);
controller.disable();
assertTrue(controller.onTarget());
assertTrue("PID Controller Error: " + controller.getError(), controller.onTarget());
}
}

135
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PrefrencesTest.java Normal file
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@@ -0,0 +1,135 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import static org.junit.Assert.*;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.OutputStream;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import edu.wpi.first.wpilibj.command.AbstractCommandTest;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
/**
* @author jonathanleitschuh
*
*/
public class PrefrencesTest extends AbstractCommandTest {
private NetworkTable prefTable;
private Preferences pref;
private long check;
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
try {
File file = new File("wpilib-preferences.ini");
file.mkdirs();
if (file.exists()) {
file.delete();
}
file.createNewFile();
OutputStream output = new FileOutputStream(file);
output.write("checkedValueInt = 2\ncheckedValueDouble = .2\ncheckedValueFloat = 3.14\ncheckedValueLong = 172\ncheckedValueString =\"hello \nHow are you ?\"\ncheckedValueBoolean = false"
.getBytes());
} catch (IOException e) {
e.printStackTrace();
}
pref = Preferences.getInstance();
prefTable = NetworkTable.getTable("Preferences");
check = System.currentTimeMillis();
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
}
public void remove() {
pref.remove("checkedValueLong");
pref.remove("checkedValueDouble");
pref.remove("checkedValueString");
pref.remove("checkedValueInt");
pref.remove("checkedValueFloat");
pref.remove("checkedValueBoolean");
}
public void addCheckedValue() {
pref.putLong("checkedValueLong", check);
pref.putDouble("checkedValueDouble", 1);
pref.putString("checkedValueString", "checked");
pref.putInt("checkedValueInt", 1);
pref.putFloat("checkedValueFloat", 1);
pref.putBoolean("checkedValueBoolean", true);
}
@Test
public void testAddRemoveSave() {
assertEquals(pref.getLong("checkedValueLong", 0), 172L);
assertEquals(pref.getDouble("checkedValueDouble", 0), .2, 0);
assertEquals(pref.getString("checkedValueString", ""),
"hello \nHow are you ?");
assertEquals(pref.getInt("checkedValueInt", 0), 2);
assertEquals(pref.getFloat("checkedValueFloat", 0), 3.14, .001);
assertFalse(pref.getBoolean("checkedValueBoolean", true));
remove();
assertEquals(pref.getLong("checkedValueLong", 0), 0);
assertEquals(pref.getDouble("checkedValueDouble", 0), 0, 0);
assertEquals(pref.getString("checkedValueString", ""), "");
assertEquals(pref.getInt("checkedValueInt", 0), 0);
assertEquals(pref.getFloat("checkedValueFloat", 0), 0, 0);
assertFalse(pref.getBoolean("checkedValueBoolean", false));
addCheckedValue();
pref.save();
assertEquals(check, pref.getLong("checkedValueLong", 0));
assertEquals(pref.getDouble("checkedValueDouble", 0), 1, 0);
assertEquals(pref.getString("checkedValueString", ""),
"checked");
assertEquals(pref.getInt("checkedValueInt", 0), 1);
assertEquals(pref.getFloat("checkedValueFloat", 0), 1, 0);
assertTrue(pref.getBoolean("checkedValueBoolean", false));
}
@Test
public void testPreferencesToNetworkTables(){
String networkedNumber = "networkCheckedValue";
int networkNumberValue = 100;
pref.putInt(networkedNumber, networkNumberValue);
assertEquals((new Integer(networkNumberValue).toString()), prefTable.getString(networkedNumber));
pref.remove(networkedNumber);
}
}

15
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TiltPanCameraTest.java
View File

@@ -8,6 +8,8 @@ package edu.wpi.first.wpilibj;
import static org.junit.Assert.*;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
@@ -20,12 +22,15 @@ import edu.wpi.first.wpilibj.test.TestBench;
public class TiltPanCameraTest extends AbstractComsSetup {
public static final double TEST_ANGLE = 180.0;
private static final Logger logger = Logger.getLogger(TiltPanCameraTest.class.getName());
public static final double TEST_ANGLE = 185.0;
private static TiltPanCameraFixture tpcam;
@BeforeClass
public static void setUpBeforeClass() throws Exception {
logger.fine("Setup: TiltPan camera");
tpcam = TestBench.getInstance().getTiltPanCam();
}
@@ -48,7 +53,7 @@ public class TiltPanCameraTest extends AbstractComsSetup {
@Test
public void testInitial(){
double angle = tpcam.getGyro().getAngle();
assertTrue(errorMessage(angle, 0), Math.abs(angle) < 0.5);
assertEquals(errorMessage(angle, 0), 0, angle, .5);
}
/**
@@ -58,11 +63,11 @@ public class TiltPanCameraTest extends AbstractComsSetup {
public void testGyroAngle() {
for(double i = 0; i < 1.0; i+=.01){
//System.out.println("i: " + i);
System.out.println("Angle " + tpcam.getGyro().getAngle());
//System.out.println("Angle " + tpcam.getGyro().getAngle());
tpcam.getPan().set(i);
Timer.delay(.05);
}
Timer.delay(TiltPanCameraFixture.RESET_TIME);
//Timer.delay(TiltPanCameraFixture.RESET_TIME);
double angle = tpcam.getGyro().getAngle();
double difference = TEST_ANGLE - angle;
@@ -70,7 +75,7 @@ public class TiltPanCameraTest extends AbstractComsSetup {
double diff = Math.abs(difference);
assertTrue(errorMessage(diff, TEST_ANGLE), diff < 4.0);
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 8);
}
private String errorMessage(double difference, double target){

19
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
View File

@@ -6,6 +6,7 @@
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
import org.junit.AfterClass;
@@ -18,12 +19,11 @@ import edu.wpi.first.wpilibj.test.AbstractComsSetup;
public class TimerTest extends AbstractComsSetup {
private static double TIMER_TOLARANCE = 0.005;
private static double TIMER_RUNTIME = 5.0;
private static final long TIMER_TOLARANCE = 5 * 1000;
private static final long TIMER_RUNTIME = 5 * 1000000;
@BeforeClass
public static void classSetup() {
}
@Before
@@ -39,16 +39,15 @@ public class TimerTest extends AbstractComsSetup {
@Test
public void delayTest(){
double startTime = Timer.getFPGATimestamp();
Timer.delay(TIMER_RUNTIME);
double endTime =Timer.getFPGATimestamp();
long startTime = Utility.getFPGATime();
Timer.delay(TIMER_RUNTIME/1000000);
long endTime = Utility.getFPGATime();
double difference = endTime - startTime;
long difference = endTime - startTime;
double offset = difference - TIMER_RUNTIME;
assertTrue("Timer.delay ran " + offset + " seconds too long", Math.abs(offset) < TIMER_TOLARANCE);
long offset = difference - TIMER_RUNTIME;
assertEquals("Timer.delay ran " + offset + " seconds too long", 0, Math.abs(offset), TIMER_TOLARANCE);
}
}

145
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/ButtonTest.java Normal file
View File

@@ -0,0 +1,145 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.command;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import edu.wpi.first.wpilibj.buttons.InternalButton;
import edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* @author Mitchell
* @author jonathanleitschuh
*
*/
public class ButtonTest extends AbstractCommandTest {
private InternalButton button1;
private InternalButton button2;
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
button1 = new InternalButton();
button2 = new InternalButton();
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
}
/**
* Simple Button Test
*/
@Test
public void test() {
MockCommand command1 = new MockCommand();
MockCommand command2 = new MockCommand();
MockCommand command3 = new MockCommand();
MockCommand command4 = new MockCommand();
button1.whenPressed(command1);
button1.whenReleased(command2);
button1.whileHeld(command3);
button2.whileHeld(command4);
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 0, 0, 0, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
button1.setPressed(true);
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 0, 0, 0, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 0, 0, 0, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 1, 1, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 1, 1, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 2, 2, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 2, 2, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
button2.setPressed(true);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 3, 3, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 3, 3, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 4, 4, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 0);
assertCommandState(command4, 1, 1, 1, 0, 0);
button1.setPressed(false);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 5, 5, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 2, 2, 0, 0);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 6, 6, 0, 0);
assertCommandState(command2, 1, 1, 1, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 0);
button2.setPressed(false);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 7, 7, 0, 0);
assertCommandState(command2, 1, 2, 2, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 1);
command1.cancel();
Scheduler.getInstance().run();
assertCommandState(command1, 1, 7, 7, 0, 1);
assertCommandState(command2, 1, 3, 3, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 1);
command2.setHasFinished(true);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 7, 7, 0, 1);
assertCommandState(command2, 1, 4, 4, 1, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 1);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 7, 7, 0, 1);
assertCommandState(command2, 1, 4, 4, 1, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 1);
}
}

3
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -155,6 +155,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
@Override
public boolean teardown() {
String type = getType();
if(!tornDown){
initialize();
reset();
@@ -173,6 +174,8 @@ public abstract class MotorEncoderFixture implements ITestFixture {
bSource.free();
bSource = null;
tornDown = true;
} else {
throw new RuntimeException(type + " Motor Encoder torn down multiple times");
}
return true;

2
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
View File

@@ -131,7 +131,7 @@ public class FakeCounterSource
{
}
m_task = new EncoderThread(this);
Timer.delay(.1);
Timer.delay(.01);
}
/**

2
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
View File

@@ -139,7 +139,7 @@ public class FakeEncoderSource
{
}
m_task = new QuadEncoderThread(this);
Timer.delay(.1);
Timer.delay(.01);
}
/**

114
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java Normal file
View File

@@ -0,0 +1,114 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.smartdashboard;
import static org.junit.Assert.assertEquals;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Ignore;
import org.junit.Test;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.networktables.NetworkTableKeyNotDefined;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
/**
* @author jonathanleitschuh
*
*/
public class SmartDashboardTest extends AbstractComsSetup {
private static final NetworkTable table = NetworkTable.getTable("SmartDashboard");
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
}
@Test(expected=NetworkTableKeyNotDefined.class)
public void testGetBadValue(){
SmartDashboard.getString("_404_STRING_KEY_SHOULD_NOT_BE_FOUND_");
}
@Test
public void testPutString() {
String key = "testPutString";
String value = "thisIsAValue";
SmartDashboard.putString(key, value);
assertEquals(value, SmartDashboard.getString(key));
assertEquals(value, table.getString(key));
}
@Test
public void testPutNumber(){
String key = "testPutNumber";
int value = 2147483647;
SmartDashboard.putNumber(key, value);
assertEquals(value, SmartDashboard.getNumber(key), 0.01);
assertEquals(value, table.getNumber(key), 0.01);
}
@Test
public void testPutBoolean(){
String key = "testPutBoolean";
boolean value = true;
SmartDashboard.putBoolean(key, value);
assertEquals(value, SmartDashboard.getBoolean(key));
assertEquals(value, table.getBoolean(key));
}
@Test
public void testReplaceString(){
String key = "testReplaceString";
String valueOld = "oldValue";
String valueNew = "newValue";
SmartDashboard.putString(key, valueOld);
assertEquals(valueOld, SmartDashboard.getString(key));
assertEquals(valueOld, table.getString(key));
SmartDashboard.putString(key, valueNew);
assertEquals(valueNew, SmartDashboard.getString(key));
assertEquals(valueNew, table.getString(key));
}
@Ignore
@Test(expected=IllegalArgumentException.class)
public void testPutStringNullKey(){
SmartDashboard.putString(null, "This should not work");
}
@Ignore
@Test(expected=IllegalArgumentException.class)
public void testPutStringNullValue(){
SmartDashboard.putString("KEY_SHOULD_NOT_BE_STORED", null);
}
}

16
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
View File

@@ -21,22 +21,17 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* @author Fredric Silberberg
*/
public abstract class AbstractComsSetup {
/** Stores whether network coms have been initialized */
private static boolean initialized = false;
/**
* This sets up the network communications library to enable the driver
* station. After starting network coms, it will loop until the driver
* station returns that the robot is enabled, to ensure that tests will be
* able to run on the hardware.
*
* @throws InterruptedException
* If we failed to sleep while waiting for the driver station to
* enable.
*/
@BeforeClass
public static void setupNetworkComs() throws InterruptedException {
static{
if (!initialized) {
// Start up the network communications
FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
@@ -47,7 +42,11 @@ public abstract class AbstractComsSetup {
// Wait until the robot is enabled before starting the tests
while (!DriverStation.getInstance().isEnabled()) {
Thread.sleep(100);
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
}
System.out.println("Waiting for enable");
}
@@ -56,4 +55,5 @@ public abstract class AbstractComsSetup {
System.out.println("Running!");
}
}
}

3
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -70,10 +70,11 @@ public final class TestBench {
* @return a freshly allocated Talon, Encoder pair
*/
public MotorEncoderFixture getTalonPair() {
MotorEncoderFixture talonPair = new MotorEncoderFixture(){
@Override
protected SpeedController giveSpeedController() {
return new Talon(1);
return new Talon(0);
}
@Override
protected DigitalInput giveDigitalInputA() {

11
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
View File

@@ -20,15 +20,19 @@ import edu.wpi.first.wpilibj.CounterTest;
import edu.wpi.first.wpilibj.DIOCrossConnectTest;
import edu.wpi.first.wpilibj.EncoderTest;
import edu.wpi.first.wpilibj.MotorEncoderTest;
import edu.wpi.first.wpilibj.PIDTest;
import edu.wpi.first.wpilibj.PrefrencesTest;
import edu.wpi.first.wpilibj.SampleTest;
import edu.wpi.first.wpilibj.TiltPanCameraTest;
import edu.wpi.first.wpilibj.TimerTest;
import edu.wpi.first.wpilibj.command.ButtonTest;
import edu.wpi.first.wpilibj.command.CommandParallelGroupTest;
import edu.wpi.first.wpilibj.command.CommandScheduleTest;
import edu.wpi.first.wpilibj.command.CommandSequentialGroupTest;
import edu.wpi.first.wpilibj.command.CommandSupersedeTest;
import edu.wpi.first.wpilibj.command.CommandTimeoutTest;
import edu.wpi.first.wpilibj.command.DefaultCommandTest;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTest;
/**
* The WPILibJ Integeration Test Suite collects all of the tests to be run by
@@ -38,11 +42,15 @@ import edu.wpi.first.wpilibj.command.DefaultCommandTest;
*/
@RunWith(Suite.class)
@SuiteClasses({ SampleTest.class,
SmartDashboardTest.class,
DIOCrossConnectTest.class,
CounterTest.class,
EncoderTest.class,
PIDTest.class,
TiltPanCameraTest.class,
MotorEncoderTest.class,
PrefrencesTest.class,
ButtonTest.class,
CommandParallelGroupTest.class,
CommandScheduleTest.class,
CommandSequentialGroupTest.class,
@@ -57,10 +65,11 @@ public class TestSuite {
final InputStream inputStream = TestSuite.class.getResourceAsStream("/logging.properties");
try
{
if(inputStream == null ) throw new NullPointerException("./logging.properties was not loaded");
LogManager.getLogManager().readConfiguration(inputStream);
Logger.getAnonymousLogger().info("Loaded");
}
catch (final IOException e)
catch (final IOException | NullPointerException e)
{
Logger.getAnonymousLogger().severe("Could not load default logging.properties file");
Logger.getAnonymousLogger().severe(e.getMessage());

4
wpilibj/wpilibJavaIntegrationTests/src/main/java/logging.properties
View File

@@ -12,7 +12,7 @@ handlers = java.util.logging.ConsoleHandler
# Note that the ConsoleHandler also has a separate level
# setting to limit messages printed to the console.
#.level= INFO
.level= FINEST
.level= INFO
############################################################
# Handler specific properties.
@@ -26,7 +26,7 @@ java.util.logging.ConsoleHandler.formatter=java.util.logging.SimpleFormatter
# Provides extra control for each logger.
############################################################
edu.wpi.first.wpilibj.level=INFO
edu.wpi.first.wpilibj.command.level=FINEST
edu.wpi.first.wpilibj.command.level=INFO