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https://github.com/wpilibsuite/allwpilib
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[wpilib] Add TimedRobot unit tests (#2771)
To make the tests reliable, the synchronization in simulation Notifiers had to be reworked. StepTiming() now waits for all Notifiers to reach HAL_WaitForNotifierAlarm(), then steps the time, then lets any expired Notifiers run. While there, we made some variable names more descriptive and added more comments.
This commit is contained in:
Tyler Veness
395
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
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395
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import java.util.concurrent.atomic.AtomicInteger;
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import org.junit.jupiter.api.AfterEach;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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import org.junit.jupiter.api.parallel.ResourceLock;
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import edu.wpi.first.wpilibj.simulation.DriverStationSim;
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import edu.wpi.first.wpilibj.simulation.SimHooks;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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class TimedRobotTest {
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@SuppressWarnings("PMD.TooManyMethods")
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class MockRobot extends TimedRobot {
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public final AtomicInteger m_robotInitCount = new AtomicInteger(0);
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public final AtomicInteger m_simulationInitCount = new AtomicInteger(0);
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public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);
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public final AtomicInteger m_autonomousInitCount = new AtomicInteger(0);
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public final AtomicInteger m_teleopInitCount = new AtomicInteger(0);
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public final AtomicInteger m_testInitCount = new AtomicInteger(0);
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public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_simulationPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_disabledPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_autonomousPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_teleopPeriodicCount = new AtomicInteger(0);
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public final AtomicInteger m_testPeriodicCount = new AtomicInteger(0);
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@Override
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public void robotInit() {
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m_robotInitCount.addAndGet(1);
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}
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@Override
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public void simulationInit() {
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m_simulationInitCount.addAndGet(1);
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}
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@Override
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public void disabledInit() {
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m_disabledInitCount.addAndGet(1);
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}
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@Override
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public void autonomousInit() {
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m_autonomousInitCount.addAndGet(1);
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}
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@Override
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public void teleopInit() {
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m_teleopInitCount.addAndGet(1);
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}
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@Override
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public void testInit() {
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m_testInitCount.addAndGet(1);
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}
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@Override
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public void robotPeriodic() {
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m_robotPeriodicCount.addAndGet(1);
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}
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@Override
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public void simulationPeriodic() {
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m_simulationPeriodicCount.addAndGet(1);
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}
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@Override
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public void disabledPeriodic() {
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m_disabledPeriodicCount.addAndGet(1);
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}
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@Override
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public void autonomousPeriodic() {
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m_autonomousPeriodicCount.addAndGet(1);
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}
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@Override
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public void teleopPeriodic() {
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m_teleopPeriodicCount.addAndGet(1);
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}
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@Override
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public void testPeriodic() {
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m_testPeriodicCount.addAndGet(1);
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}
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}
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@BeforeEach
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void setup() {
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SimHooks.pauseTiming();
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}
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@AfterEach
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void cleanup() {
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SimHooks.resumeTiming();
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}
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@Test
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@ResourceLock("timing")
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void disabledTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(() -> {
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robot.startCompetition();
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});
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robotThread.start();
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DriverStationSim.setEnabled(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(1, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(1, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(1, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(2, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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@ResourceLock("timing")
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void autonomousTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(() -> {
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robot.startCompetition();
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});
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(true);
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DriverStationSim.setTest(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(1, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(1, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(1, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(2, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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@ResourceLock("timing")
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void teleopTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(() -> {
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robot.startCompetition();
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});
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(false);
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DriverStationSim.setTest(false);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(1, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(1, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(1, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(2, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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@Test
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@ResourceLock("timing")
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void testTest() {
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MockRobot robot = new MockRobot();
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Thread robotThread = new Thread(() -> {
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robot.startCompetition();
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});
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robotThread.start();
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DriverStationSim.setEnabled(true);
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DriverStationSim.setAutonomous(false);
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DriverStationSim.setTest(true);
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DriverStationSim.notifyNewData();
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SimHooks.stepTiming(0.0); // Wait for Notifiers
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(0, robot.m_testInitCount.get());
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assertEquals(0, robot.m_robotPeriodicCount.get());
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assertEquals(0, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(0, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(1, robot.m_testInitCount.get());
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assertEquals(1, robot.m_robotPeriodicCount.get());
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assertEquals(1, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(1, robot.m_testPeriodicCount.get());
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SimHooks.stepTiming(0.02);
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assertEquals(1, robot.m_robotInitCount.get());
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assertEquals(1, robot.m_simulationInitCount.get());
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assertEquals(0, robot.m_disabledInitCount.get());
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assertEquals(0, robot.m_autonomousInitCount.get());
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assertEquals(0, robot.m_teleopInitCount.get());
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assertEquals(1, robot.m_testInitCount.get());
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assertEquals(2, robot.m_robotPeriodicCount.get());
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assertEquals(2, robot.m_simulationPeriodicCount.get());
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assertEquals(0, robot.m_disabledPeriodicCount.get());
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assertEquals(0, robot.m_autonomousPeriodicCount.get());
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assertEquals(0, robot.m_teleopPeriodicCount.get());
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assertEquals(2, robot.m_testPeriodicCount.get());
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robot.endCompetition();
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try {
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robotThread.interrupt();
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robotThread.join();
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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robot.close();
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}
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}
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