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Switch non-integration tests to JUnit 5 (#1120)

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This commit is contained in:
Austin Shalit
2018-06-11 18:01:49 -04:00
committed by Peter Johnson
parent c7e97f45f5
commit 9108a93598
34 changed files with 383 additions and 445 deletions
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8
cscore/src/test/java/edu/wpi/cscore/JNITest.java
View File

@@ -7,12 +7,12 @@
package edu.wpi.cscore;
import org.junit.Test;
import org.junit.jupiter.api.Test;
public class JNITest {
class JNITest {
@Test
public void jniLinkTest() {
void jniLinkTest() {
// Test to verify that the JNI test link works correctly.
edu.wpi.cscore.CameraServerJNI.getHostname();
CameraServerJNI.getHostname();
}
}

13
hal/src/test/java/edu/wpi/first/hal/sim/AccelerometerSimTest.java
View File

@@ -7,25 +7,24 @@
package edu.wpi.first.hal.sim;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Test;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.sim.AccelerometerSim;
import edu.wpi.first.wpilibj.sim.CallbackStore;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
public class AccelerometerSimTest {
class AccelerometerSimTest {
static class TriggeredStore {
public boolean wasTriggered = false;
public boolean wasTriggered;
public boolean setValue = true;
}
@Test
public void testCallbacks() {
void testCallbacks() {
HAL.initialize(500, 0);
AccelerometerSim sim = new AccelerometerSim();
sim.resetData();

2
ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java
View File

@@ -44,6 +44,7 @@ class ConnectionListenerTest {
/**
* Connect to the server.
*/
@SuppressWarnings("PMD.AvoidUsingHardCodedIP")
private void connect() {
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
@@ -112,6 +113,7 @@ class ConnectionListenerTest {
@Test
@DisabledOnOs(OS.WINDOWS)
@SuppressWarnings("PMD.AvoidUsingHardCodedIP")
void testThreaded() {
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
List<ConnectionNotification> events = new ArrayList<>();

41
ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java
View File

@@ -10,14 +10,21 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class EntryListenerTest extends TestCase {
NetworkTableInstance m_serverInst;
NetworkTableInstance m_clientInst;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.Assertions.fail;
@Override
protected void setUp() throws Exception {
class EntryListenerTest {
private NetworkTableInstance m_serverInst;
private NetworkTableInstance m_clientInst;
@BeforeEach
void setUp() {
m_serverInst = NetworkTableInstance.create();
m_serverInst.setNetworkIdentity("server");
@@ -25,12 +32,13 @@ public class EntryListenerTest extends TestCase {
m_clientInst.setNetworkIdentity("client");
}
@Override
protected void tearDown() throws Exception {
@AfterEach
void tearDown() {
m_clientInst.close();
m_serverInst.close();
}
@SuppressWarnings("PMD.AvoidUsingHardCodedIP")
private void connect() {
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
@@ -51,7 +59,8 @@ public class EntryListenerTest extends TestCase {
/**
* Test prefix with a new remote.
*/
public void testPrefixNewRemote() {
@Test
void testPrefixNewRemote() {
connect();
List<EntryNotification> events = new ArrayList<>();
final int handle = m_serverInst.addEntryListener("/foo", events::add,
@@ -70,11 +79,13 @@ public class EntryListenerTest extends TestCase {
assertTrue(m_serverInst.waitForEntryListenerQueue(1.0));
// Check the event
assertEquals(events.size(), 1);
assertEquals(events.get(0).listener, handle);
assertEquals(events.get(0).getEntry(), m_serverInst.getEntry("/foo/bar"));
assertEquals(events.get(0).name, "/foo/bar");
assertEquals(events.get(0).value, NetworkTableValue.makeDouble(1.0));
assertEquals(events.get(0).flags, EntryListenerFlags.kNew);
assertAll("Event",
() -> assertEquals(1, events.size()),
() -> assertEquals(handle, events.get(0).listener),
() -> assertEquals(m_serverInst.getEntry("/foo/bar"), events.get(0).getEntry()),
() -> assertEquals("/foo/bar", events.get(0).name),
() -> assertEquals(NetworkTableValue.makeDouble(1.0), events.get(0).value),
() -> assertEquals(EntryListenerFlags.kNew, events.get(0).flags)
);
}
}

6
ntcore/src/test/java/edu/wpi/first/networktables/JNITest.java
View File

@@ -7,11 +7,11 @@
package edu.wpi.first.networktables;
import org.junit.Test;
import org.junit.jupiter.api.Test;
public class JNITest {
class JNITest {
@Test
public void jniLinkTest() {
void jniLinkTest() {
// Test to verify that the JNI test link works correctly.
int inst = NetworkTablesJNI.getDefaultInstance();
NetworkTablesJNI.flush(inst);

26
ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java
View File

@@ -10,25 +10,29 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class LoggerTest extends TestCase {
NetworkTableInstance m_clientInst;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.fail;
@Override
protected void setUp() throws Exception {
class LoggerTest {
private NetworkTableInstance m_clientInst;
@BeforeEach
protected void setUp() {
m_clientInst = NetworkTableInstance.create();
}
@Override
protected void tearDown() throws Exception {
@AfterEach
protected void tearDown() {
m_clientInst.close();
}
/**
* Test the logger.
*/
public void testLogger() {
@Test
@SuppressWarnings("PMD.AvoidUsingHardCodedIP")
void addMessageTest() {
List<LogMessage> msgs = new ArrayList<>();
m_clientInst.addLogger(msgs::add, LogMessage.kInfo, 100);

102
ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
View File

@@ -7,68 +7,74 @@
package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Stream;
import junit.framework.TestCase;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
public class NetworkTableTest extends TestCase {
public void testBasenameKey() {
assertEquals("simple", NetworkTable.basenameKey("simple"));
assertEquals("simple", NetworkTable.basenameKey("one/two/many/simple"));
assertEquals("simple",
NetworkTable.basenameKey("//////an/////awful/key////simple"));
import static org.junit.jupiter.api.Assertions.assertEquals;
class NetworkTableTest {
private static Stream<Arguments> basenameKeyArguments() {
return Stream.of(
Arguments.of("simple", "simple"),
Arguments.of("simple", "one/two/many/simple"),
Arguments.of("simple", "//////an/////awful/key////simple")
);
}
public void testNormalizeKeySlash() {
assertEquals("/", NetworkTable.normalizeKey("///"));
assertEquals("/no/normal/req", NetworkTable.normalizeKey("/no/normal/req"));
assertEquals("/no/leading/slash",
NetworkTable.normalizeKey("no/leading/slash"));
assertEquals(
"/what/an/awful/key/",
NetworkTable.normalizeKey("//////what////an/awful/////key///"));
@ParameterizedTest
@MethodSource("basenameKeyArguments")
void basenameKeyTest(final String expected, final String testString) {
assertEquals(expected, NetworkTable.basenameKey(testString));
}
public void testNormalizeKeyNoSlash() {
assertEquals("a", NetworkTable.normalizeKey("a", false));
assertEquals("a", NetworkTable.normalizeKey("///a", false));
assertEquals("leading/slash",
NetworkTable.normalizeKey("/leading/slash", false));
assertEquals("no/leading/slash",
NetworkTable.normalizeKey("no/leading/slash", false));
assertEquals(
"what/an/awful/key/",
NetworkTable.normalizeKey("//////what////an/awful/////key///", false));
private static Stream<Arguments> normalizeKeySlashArguments() {
return Stream.of(
Arguments.of("/", "///"),
Arguments.of("/no/normal/req", "/no/normal/req"),
Arguments.of("/no/leading/slash", "no/leading/slash"),
Arguments.of("/what/an/awful/key/", "//////what////an/awful/////key///")
);
}
public void testGetHierarchyEmpty() {
List<String> expected = new ArrayList<>();
expected.add("/");
assertEquals(expected, NetworkTable.getHierarchy(""));
@ParameterizedTest
@MethodSource("normalizeKeySlashArguments")
void normalizeKeySlashTest(final String expected, final String testString) {
assertEquals(expected, NetworkTable.normalizeKey(testString));
}
public void testGetHierarchyRoot() {
List<String> expected = new ArrayList<>();
expected.add("/");
assertEquals(expected, NetworkTable.getHierarchy("/"));
private static Stream<Arguments> normalizeKeyNoSlashArguments() {
return Stream.of(
Arguments.of("a", "a"),
Arguments.of("a", "///a"),
Arguments.of("leading/slash", "/leading/slash"),
Arguments.of("no/leading/slash", "no/leading/slash"),
Arguments.of("what/an/awful/key/", "//////what////an/awful/////key///")
);
}
public void testGetHierarchyNormal() {
List<String> expected = new ArrayList<>();
expected.add("/");
expected.add("/foo");
expected.add("/foo/bar");
expected.add("/foo/bar/baz");
assertEquals(expected, NetworkTable.getHierarchy("/foo/bar/baz"));
@ParameterizedTest
@MethodSource("normalizeKeyNoSlashArguments")
void normalizeKeyNoSlashTest(final String expected, final String testString) {
assertEquals(expected, NetworkTable.normalizeKey(testString, false));
}
public void testGetHierarchyTrailingSlash() {
List<String> expected = new ArrayList<>();
expected.add("/");
expected.add("/foo");
expected.add("/foo/bar");
expected.add("/foo/bar/");
assertEquals(expected, NetworkTable.getHierarchy("/foo/bar/"));
private static Stream<Arguments> getHierarchyArguments() {
return Stream.of(
Arguments.of(Arrays.asList("/"), ""),
Arguments.of(Arrays.asList("/"), "/"),
Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/baz"), "/foo/bar/baz"),
Arguments.of(Arrays.asList("/", "/foo", "/foo/bar", "/foo/bar/"), "/foo/bar/")
);
}
@ParameterizedTest
@MethodSource("getHierarchyArguments")
void getHierarchyTest(final List<String> expected, final String testString) {
assertEquals(expected, NetworkTable.getHierarchy(testString));
}
}

3
shared/java/javacommon.gradle
View File

@@ -115,10 +115,9 @@ compileJava {
}
dependencies {
testCompileOnly 'junit:junit:4.12'
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.2.0'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.2.0'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
testRuntimeOnly 'org.junit.vintage:junit-vintage-engine:5.2.0'
devCompile sourceSets.main.output
}

43
styleguide/pmd-ruleset.xml
View File

@@ -7,7 +7,7 @@
<description>PMD Ruleset for WPILib</description>
<exclude-pattern>.*/*JNI.*</exclude-pattern>
<exclude-pattern>.*/*Test.*</exclude-pattern>
<exclude-pattern>.*/*IntegrationTests.*</exclude-pattern>
<rule ref="category/java/bestpractices.xml">
<exclude name="AccessorClassGeneration" />
@@ -16,6 +16,8 @@
<exclude name="AvoidReassigningParameters" />
<exclude name="JUnitAssertionsShouldIncludeMessage" />
<exclude name="JUnitTestContainsTooManyAsserts" />
<exclude name="JUnit4TestShouldUseAfterAnnotation" />
<exclude name="JUnit4TestShouldUseBeforeAnnotation" />
<exclude name="JUnit4TestShouldUseTestAnnotation" />
<exclude name="ReplaceHashtableWithMap" />
<exclude name="ReplaceVectorWithList" />
@@ -23,6 +25,12 @@
<exclude name="SystemPrintln" />
<exclude name="UseVarargs" />
</rule>
<rule ref="category/java/bestpractices.xml/UnusedPrivateMethod">
<properties>
<property name="violationSuppressRegex"
value=".*'.*Arguments\(\)'.*" />
</properties>
</rule>
<rule ref="category/java/design.xml">
<exclude name="DataClass" />
@@ -61,33 +69,6 @@
class="net.sourceforge.pmd.lang.java.rule.migrating.UnnecessaryCastRule"
externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/migrating/UnnecessaryCastRule.java" />
<!--
<rule ref="rulesets/java/basic.xml" />
<rule ref="rulesets/java/braces.xml" />
<rule ref="rulesets/java/empty.xml" />
<rule ref="rulesets/java/empty.xml/EmptyCatchBlock">
<properties>
<property name="allowCommentedBlocks"
value="true" />
</properties>
</rule>
<rule ref="rulesets/java/imports.xml" />
<rule ref="rulesets/java/junit.xml">
<exclude name="JUnitTestContainsTooManyAsserts" />
</rule>
<rule ref="rulesets/java/strings.xml">
<exclude name="AvoidDuplicateLiterals" />
</rule>
<rule ref="rulesets/java/unnecessary.xml" />
<rule ref="rulesets/java/unusedcode.xml" />
<rule ref="rulesets/java/unusedcode.xml/UnusedFormalParameter">
<properties>
<property name="checkAll"
value="true" />
</properties>
</rule>
-->
<!-- Custom Rules -->
<rule name="UseRequireNonNull"
message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."
@@ -98,9 +79,9 @@
<properties>
<property name="xpath">
<value>
<![CDATA[
//IfStatement[child::Expression//NullLiteral]/Statement//ThrowStatement/Expression/PrimaryExpression/PrimaryPrefix/AllocationExpression/ClassOrInterfaceType[@Image='NullPointerException']
]]>
<![CDATA[
//IfStatement[child::Expression//NullLiteral]/Statement//ThrowStatement/Expression/PrimaryExpression/PrimaryPrefix/AllocationExpression/ClassOrInterfaceType[@Image='NullPointerException']
]]>
</value>
</property>
</properties>

2
wpilibj/build.gradle
View File

@@ -60,8 +60,6 @@ dependencies {
compile project(':ntcore')
compile project(':cscore')
compile project(':cameraserver')
testCompile 'org.hamcrest:hamcrest-all:1.3'
testCompile 'junit:junit:4.12'
testCompile 'com.google.guava:guava:19.0'
devCompile project(':hal')
devCompile project(':wpiutil')

29
wpilibj/src/test/java/edu/wpi/first/wpilibj/CircularBufferTest.java
View File

@@ -7,26 +7,26 @@
package edu.wpi.first.wpilibj;
import org.junit.BeforeClass;
import org.junit.Test;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.Test;
import static org.junit.Assert.assertEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;
public class CircularBufferTest {
private double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
class CircularBufferTest {
private final double[] m_values = {751.848, 766.366, 342.657, 234.252, 716.126,
132.344, 445.697, 22.727, 421.125, 799.913};
private double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
private final double[] m_addFirstOut = {799.913, 421.125, 22.727, 445.697, 132.344,
716.126, 234.252, 342.657};
private double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
private final double[] m_addLastOut = {342.657, 234.252, 716.126, 132.344, 445.697,
22.727, 421.125, 799.913};
@BeforeClass
public static void before() {
@BeforeAll
static void before() {
UnitTestUtility.setupMockBase();
}
@Test
public void addFirstTest() {
void addFirstTest() {
CircularBuffer queue = new CircularBuffer(8);
for (double value : m_values) {
@@ -39,7 +39,7 @@ public class CircularBufferTest {
}
@Test
public void addLastTest() {
void addLastTest() {
CircularBuffer queue = new CircularBuffer(8);
for (double value : m_values) {
@@ -52,7 +52,7 @@ public class CircularBufferTest {
}
@Test
public void pushPopTest() {
void pushPopTest() {
CircularBuffer queue = new CircularBuffer(3);
// Insert three elements into the buffer
@@ -96,7 +96,7 @@ public class CircularBufferTest {
}
@Test
public void resetTest() {
void resetTest() {
CircularBuffer queue = new CircularBuffer(5);
for (int i = 0; i < 6; i++) {
@@ -111,7 +111,8 @@ public class CircularBufferTest {
}
@Test
public void resizeTest() {
@SuppressWarnings("PMD.ExcessiveMethodLength")
void resizeTest() {
CircularBuffer queue = new CircularBuffer(5);
/* Buffer contains {1, 2, 3, _, _}

62
wpilibj/src/test/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
View File

@@ -7,22 +7,22 @@
package edu.wpi.first.wpilibj;
import org.junit.After;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
public class PIDToleranceTest {
class PIDToleranceTest {
private PIDController m_pid;
private final double m_setPoint = 50.0;
private final double m_tolerance = 10.0;
private final double m_range = 200;
private static final double m_setPoint = 50.0;
private static final double m_tolerance = 10.0;
private static final double m_range = 200;
@BeforeClass
public static void setupClass() {
@BeforeAll
static void setupClass() {
UnitTestUtility.setupMockBase();
}
@@ -49,7 +49,7 @@ public class PIDToleranceTest {
}
private FakeInput m_inp;
private PIDOutput m_out = new PIDOutput() {
private final PIDOutput m_out = new PIDOutput() {
@Override
public void pidWrite(double out) {
}
@@ -57,53 +57,53 @@ public class PIDToleranceTest {
};
@Before
public void setUp() throws Exception {
@BeforeEach
void setUp() {
m_inp = new FakeInput();
m_pid = new PIDController(0.05, 0.0, 0.0, m_inp, m_out);
m_pid.setInputRange(-m_range / 2, m_range / 2);
}
@After
public void tearDown() throws Exception {
@AfterEach
void tearDown() {
m_pid.close();
m_pid = null;
}
@Test
public void testAbsoluteTolerance() {
void absoluteToleranceTest() {
m_pid.setAbsoluteTolerance(m_tolerance);
m_pid.setSetpoint(m_setPoint);
m_pid.enable();
Timer.delay(1);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
+ m_pid.getError());
m_inp.m_val = m_setPoint + m_tolerance / 2;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertTrue(m_pid.onTarget(), "Error was not in tolerance when it should have been. Error was "
+ m_pid.getError());
m_inp.m_val = m_setPoint + 10 * m_tolerance;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
+ m_pid.getError());
}
@Test
public void testPercentTolerance() {
void percentToleranceTest() {
m_pid.setPercentTolerance(m_tolerance);
m_pid.setSetpoint(m_setPoint);
m_pid.enable();
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
+ m_pid.getError());
//half of percent tolerance away from setPoint
m_inp.m_val = m_setPoint + m_tolerance / 200 * m_range;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertTrue(m_pid.onTarget(), "Error was not in tolerance when it should have been. Error was "
+ m_pid.getError());
//double percent tolerance away from setPoint
m_inp.m_val = m_setPoint + m_tolerance / 50 * m_range;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "
+ m_pid.getError(), m_pid.onTarget());
assertFalse(m_pid.onTarget(), "Error was in tolerance when it should not have been. Error was "
+ m_pid.getError());
}
}

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/RobotControllerTest.java
View File

@@ -7,8 +7,8 @@
package edu.wpi.first.wpilibj;
public class RobotControllerTest extends UtilityClassTest {
public RobotControllerTest() {
class RobotControllerTest extends UtilityClassTest {
RobotControllerTest() {
super(RobotController.class);
}
}

151
wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
View File

@@ -8,107 +8,102 @@
package edu.wpi.first.wpilibj;
import java.util.Arrays;
import java.util.Collection;
import java.util.stream.DoubleStream;
import java.util.stream.IntStream;
import java.util.stream.Stream;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import static org.junit.Assert.assertArrayEquals;
import static org.junit.Assert.assertTrue;
import static org.junit.jupiter.api.Assertions.assertArrayEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
@RunWith(Parameterized.class)
public class SpeedControllerGroupTest {
private final SpeedController[] m_speedControllers;
private final SpeedControllerGroup m_group;
/**
* Returns a Collection of ArrayLists with various MockSpeedController configurations.
*/
@Parameterized.Parameters
public static Collection<Object[][]> data() {
return Arrays.asList((Object[][][]) new SpeedController[][][] {
{{new MockSpeedController()}},
{{new MockSpeedController(),
new MockSpeedController()}},
{{new MockSpeedController(),
new MockSpeedController(),
new MockSpeedController()}}
class SpeedControllerGroupTest {
private static Stream<Arguments> speedControllerArguments() {
return IntStream.of(1, 2, 3).mapToObj(number -> {
SpeedController[] speedControllers = Stream.generate(MockSpeedController::new)
.limit(number)
.toArray(SpeedController[]::new);
SpeedControllerGroup group = new SpeedControllerGroup(speedControllers[0],
Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
return Arguments.of(group, speedControllers);
});
}
/**
* Construct SpeedControllerGroupTest.
*/
public SpeedControllerGroupTest(SpeedController[] speedControllers) {
m_group = new SpeedControllerGroup(speedControllers[0],
Arrays.copyOfRange(speedControllers, 1, speedControllers.length));
m_speedControllers = speedControllers;
@ParameterizedTest
@MethodSource("speedControllerArguments")
void setTest(final SpeedControllerGroup group, final SpeedController[] speedControllers) {
group.set(1.0);
assertArrayEquals(DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
0.00005);
}
@Test
public void testSet() {
m_group.set(1.0);
@ParameterizedTest
@MethodSource("speedControllerArguments")
void getInvertedTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.setInverted(true);
assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 1.0).toArray(),
Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
0.0);
assertTrue(group.getInverted());
}
@Test
public void testGetInverted() {
m_group.setInverted(true);
@ParameterizedTest
@MethodSource("speedControllerArguments")
void setInvertedDoesNotModifySpeedControllersTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.setInverted(true);
assertTrue(m_group.getInverted());
assertArrayEquals(Stream.generate(() -> false).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).map(SpeedController::getInverted).toArray());
}
@Test
public void testSetInvertedDoesNotModifySpeedControllers() {
for (SpeedController speedController : m_speedControllers) {
speedController.setInverted(false);
}
m_group.setInverted(true);
@ParameterizedTest
@MethodSource("speedControllerArguments")
void setInvertedDoesInvertTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.setInverted(true);
group.set(1.0);
assertArrayEquals(Arrays.stream(m_speedControllers).map(__ -> false).toArray(),
Arrays.stream(m_speedControllers).map(SpeedController::getInverted).toArray());
assertArrayEquals(DoubleStream.generate(() -> -1.0).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
0.00005);
}
@Test
public void testSetInvertedDoesInvert() {
m_group.setInverted(true);
m_group.set(1.0);
@ParameterizedTest
@MethodSource("speedControllerArguments")
void disableTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.set(1.0);
group.disable();
assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> -1.0).toArray(),
Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
0.0);
assertArrayEquals(DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
0.00005);
}
@Test
public void testDisable() {
m_group.set(1.0);
m_group.disable();
@ParameterizedTest
@MethodSource("speedControllerArguments")
void stopMotorTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.set(1.0);
group.stopMotor();
assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 0.0).toArray(),
Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
0.0);
assertArrayEquals(DoubleStream.generate(() -> 0.0).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
0.00005);
}
@Test
public void testStopMotor() {
m_group.set(1.0);
m_group.stopMotor();
@ParameterizedTest
@MethodSource("speedControllerArguments")
void pidWriteTest(final SpeedControllerGroup group,
final SpeedController[] speedControllers) {
group.pidWrite(1.0);
assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 0.0).toArray(),
Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
0.0);
}
@Test
public void testPidWrite() {
m_group.pidWrite(1.0);
assertArrayEquals(Arrays.stream(m_speedControllers).mapToDouble(__ -> 1.0).toArray(),
Arrays.stream(m_speedControllers).mapToDouble(SpeedController::get).toArray(),
0.0);
assertArrayEquals(DoubleStream.generate(() -> 1.0).limit(speedControllers.length).toArray(),
Arrays.stream(speedControllers).mapToDouble(SpeedController::get).toArray(),
0.00005);
}
}

1
wpilibj/src/test/java/edu/wpi/first/wpilibj/UnitTestUtility.java
View File

@@ -52,7 +52,6 @@ public final class UnitTestUtility {
Thread.sleep((long) (seconds * 1e3));
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
throw new RuntimeException("Thread was interrupted", ex);
}
}

58
wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
View File

@@ -9,23 +9,25 @@ package edu.wpi.first.wpilibj;
import java.lang.reflect.Constructor;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.lang.reflect.Modifier;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.stream.Stream;
import org.junit.Before;
import org.junit.Test;
import org.junit.jupiter.api.BeforeAll;
import org.junit.jupiter.api.DynamicTest;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestFactory;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.fail;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.api.DynamicTest.dynamicTest;
@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
public abstract class UtilityClassTest {
@Before
public void setup() {
@BeforeAll
static void setup() {
UnitTestUtility.setupMockBase();
}
@@ -36,38 +38,30 @@ public abstract class UtilityClassTest {
}
@Test
public void testSingleConstructor() {
assertEquals("More than one constructor defined", 1,
m_clazz.getDeclaredConstructors().length);
public void singleConstructorTest() {
assertEquals(1, m_clazz.getDeclaredConstructors().length,
"More than one constructor defined");
}
@Test
public void testConstructorPrivate() {
public void constructorPrivateTest() {
Constructor constructor = m_clazz.getDeclaredConstructors()[0];
assertFalse("Constructor is not private", constructor.isAccessible());
assertFalse(constructor.isAccessible(), "Constructor is not private");
}
@Test(expected = InvocationTargetException.class)
public void testConstructorReflection() throws Throwable {
@Test
public void constructorReflectionTest() {
Constructor constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
constructor.newInstance();
assertThrows(InvocationTargetException.class, () -> constructor.newInstance());
}
@Test
public void testPublicMethodsStatic() {
List<String> failures = new ArrayList<>();
for (Method method : m_clazz.getDeclaredMethods()) {
int modifiers = method.getModifiers();
if (Modifier.isPublic(modifiers) && !Modifier.isStatic(modifiers)) {
failures.add(method.toString());
}
}
if (!failures.isEmpty()) {
fail("Found public methods that are not static: "
+ Arrays.toString(failures.toArray()));
}
@TestFactory
Stream<DynamicTest> publicMethodsStaticTestFactory() {
return Arrays.stream(m_clazz.getDeclaredMethods())
.filter(method -> Modifier.isPublic(method.getModifiers()))
.map(method -> dynamicTest(method.getName(),
() -> assertTrue(Modifier.isStatic(method.getModifiers()))));
}
}

11
wpilibj/src/test/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
View File

@@ -7,16 +7,17 @@
package edu.wpi.first.wpilibj.can;
import org.junit.Test;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.hal.HAL;
public class CANStatusTest {
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
class CANStatusTest {
@Test
public void canStatusGetDoesntThrow() {
void canStatusGetDoesntThrow() {
HAL.initialize(500, 0);
CANStatus status = new CANStatus();
CANJNI.GetCANStatus(status);
// Nothing we can assert, so just make sure it didn't throw.
assertDoesNotThrow(() -> CANJNI.GetCANStatus(status));
}
}

29
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
View File

@@ -7,19 +7,20 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Before;
import org.junit.jupiter.api.BeforeEach;
import edu.wpi.first.wpilibj.UnitTestUtility;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.fail;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
import static org.junit.jupiter.api.Assertions.assertEquals;
/**
* The basic test for all {@link Command} tests.
*/
public abstract class AbstractCommandTest {
@Before
public void commandSetup() {
@BeforeEach
void commandSetup() {
UnitTestUtility.setupMockBase();
Scheduler.getInstance().removeAll();
Scheduler.getInstance().enable();
@@ -43,18 +44,16 @@ public abstract class AbstractCommandTest {
protected void assertCommandState(MockCommand command, int initialize, int execute,
int isFinished, int end, int interrupted) {
assertEquals(initialize, command.getInitializeCount());
assertEquals(execute, command.getExecuteCount());
assertEquals(isFinished, command.getIsFinishedCount());
assertEquals(end, command.getEndCount());
assertEquals(interrupted, command.getInterruptedCount());
assertAll(
() -> assertEquals(initialize, command.getInitializeCount()),
() -> assertEquals(execute, command.getExecuteCount()),
() -> assertEquals(isFinished, command.getIsFinishedCount()),
() -> assertEquals(end, command.getEndCount()),
() -> assertEquals(interrupted, command.getInterruptedCount())
);
}
protected void sleep(int time) {
try {
Thread.sleep(time);
} catch (InterruptedException ex) {
fail("Sleep Interrupted!?!?!?!?");
}
assertDoesNotThrow(() -> Thread.sleep(time));
}
}

12
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/ButtonTest.java
View File

@@ -7,8 +7,8 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Before;
import org.junit.Test;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.buttons.InternalButton;
@@ -17,12 +17,12 @@ import edu.wpi.first.wpilibj.buttons.InternalButton;
* Test that covers the {@link edu.wpi.first.wpilibj.buttons.Button} with the {@link Command}
* library.
*/
public class ButtonTest extends AbstractCommandTest {
class ButtonTest extends AbstractCommandTest {
private InternalButton m_button1;
private InternalButton m_button2;
@Before
public void setUp() throws Exception {
@BeforeEach
void setUp() {
m_button1 = new InternalButton();
m_button2 = new InternalButton();
}
@@ -31,7 +31,7 @@ public class ButtonTest extends AbstractCommandTest {
* Simple Button Test.
*/
@Test
public void test() {
void buttonTest() {
final MockCommand command1 = new MockCommand();
final MockCommand command2 = new MockCommand();
final MockCommand command3 = new MockCommand();

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
View File

@@ -7,17 +7,17 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Ported from the old CrioTest Classes.
*/
public class CommandParallelGroupTest extends AbstractCommandTest {
class CommandParallelGroupTest extends AbstractCommandTest {
/**
* Simple Parallel Command Group With 2 commands one command terminates first.
*/
@Test
public void testParallelCommandGroupWithTwoCommands() {
void parallelCommandGroupWithTwoCommandsTest() {
final MockCommand command1 = new MockCommand();
final MockCommand command2 = new MockCommand();

8
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java
View File

@@ -7,17 +7,17 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Ported from the old CrioTest Classes.
*/
public class CommandScheduleTest extends AbstractCommandTest {
class CommandScheduleTest extends AbstractCommandTest {
/**
* Simple scheduling of a command and making sure the command is run and successfully terminates.
*/
@Test
public void testRunAndTerminate() {
void runAndTerminateTest() {
final MockCommand command = new MockCommand();
command.start();
assertCommandState(command, 0, 0, 0, 0, 0);
@@ -39,7 +39,7 @@ public class CommandScheduleTest extends AbstractCommandTest {
* Simple scheduling of a command and making sure the command is run and cancels correctly.
*/
@Test
public void testRunAndCancel() {
void runAndCancelTest() {
final MockCommand command = new MockCommand();
command.start();
assertCommandState(command, 0, 0, 0, 0, 0);

26
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
View File

@@ -9,41 +9,29 @@ package edu.wpi.first.wpilibj.command;
import java.util.logging.Logger;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Ported from the old CrioTest Classes.
*/
public class CommandSequentialGroupTest extends AbstractCommandTest {
private static Logger logger = Logger.getLogger(CommandSequentialGroupTest.class.getName());
class CommandSequentialGroupTest extends AbstractCommandTest {
private static final Logger logger = Logger.getLogger(CommandSequentialGroupTest.class.getName());
/**
* Simple Command Group With 3 commands that all depend on a subsystem. Some commands have a
* timeout.
*/
@Test(timeout = 20000)
@Test
public void testThreeCommandOnSubSystem() {
logger.fine("Begining Test");
final ASubsystem subsystem = new ASubsystem();
logger.finest("Creating Mock Command1");
final MockCommand command1 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command1 = new MockCommand(subsystem);
logger.finest("Creating Mock Command2");
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command2 = new MockCommand(subsystem);
logger.finest("Creating Mock Command3");
final MockCommand command3 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command3 = new MockCommand(subsystem);
logger.finest("Creating Command Group");
final CommandGroup commandGroup = new CommandGroup();

36
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
View File

@@ -7,35 +7,22 @@
package edu.wpi.first.wpilibj.command;
import java.util.logging.Logger;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Ported from the old CrioTest Classes.
*/
public class CommandSupersedeTest extends AbstractCommandTest {
private static final Logger logger = Logger.getLogger(CommandSupersedeTest.class.getName());
class CommandSupersedeTest extends AbstractCommandTest {
/**
* Testing one command superseding another because of dependencies.
*/
@Test
public void testOneCommandSupersedingAnotherBecauseOfDependencies() {
void oneCommandSupersedingAnotherBecauseOfDependenciesTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand command1 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command1 = new MockCommand(subsystem);
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command2 = new MockCommand(subsystem);
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
@@ -76,21 +63,17 @@ public class CommandSupersedeTest extends AbstractCommandTest {
* command cannot be interrupted.
*/
@Test
public void testCommandFailingSupersedingBecauseFirstCanNotBeInterrupted() {
@SuppressWarnings("PMD.NonStaticInitializer")
void commandFailingSupersedingBecauseFirstCanNotBeInterruptedTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand command1 = new MockCommand() {
final MockCommand command1 = new MockCommand(subsystem) {
{
requires(subsystem);
setInterruptible(false);
}
};
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand command2 = new MockCommand(subsystem);
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
@@ -116,5 +99,4 @@ public class CommandSupersedeTest extends AbstractCommandTest {
assertCommandState(command1, 1, 4, 4, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
}
}

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java
View File

@@ -7,26 +7,21 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Test a {@link Command} that times out.
*/
public class CommandTimeoutTest extends AbstractCommandTest {
class CommandTimeoutTest extends AbstractCommandTest {
/**
* Command 2 second Timeout Test.
*/
@Test
public void testTwoSecondTimeout() {
void twoSecondTimeoutTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand command = new MockCommand() {
{
requires(subsystem);
setTimeout(2);
}
final MockCommand command = new MockCommand(subsystem, 2) {
@Override
public boolean isFinished() {
return super.isFinished() || isTimedOut();
@@ -49,5 +44,4 @@ public class CommandTimeoutTest extends AbstractCommandTest {
Scheduler.getInstance().run();
assertCommandState(command, 1, 4, 4, 1, 0);
}
}

40
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
View File

@@ -7,15 +7,13 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Before;
import org.junit.Test;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
//import org.junit.Ignore;
public class ConditionalCommandTest extends AbstractCommandTest {
class ConditionalCommandTest extends AbstractCommandTest {
MockConditionalCommand m_command;
MockConditionalCommand m_commandNull;
MockCommand m_onTrue;
@@ -23,8 +21,8 @@ public class ConditionalCommandTest extends AbstractCommandTest {
MockSubsystem m_subsys;
Boolean m_condition;
@Before
public void initCommands() {
@BeforeEach
void initCommands() {
m_subsys = new MockSubsystem();
m_onTrue = new MockCommand(m_subsys);
m_onFalse = new MockCommand(m_subsys);
@@ -43,7 +41,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testOnTrue() {
void onTrueTest() {
m_command.setCondition(true);
Scheduler.getInstance().add(m_command);
@@ -76,12 +74,12 @@ public class ConditionalCommandTest extends AbstractCommandTest {
assertCommandState(m_onFalse, 0, 0, 0, 0, 0);
assertConditionalCommandState(m_command, 1, 5, 5, 1, 0);
assertTrue("Did not initialize the true command", m_onTrue.getInitializeCount() > 0);
assertTrue("Initialized the false command", m_onFalse.getInitializeCount() == 0);
assertTrue(m_onTrue.getInitializeCount() > 0, "Did not initialize the true command");
assertTrue(m_onFalse.getInitializeCount() == 0, "Initialized the false command");
}
@Test
public void testOnFalse() {
void onFalseTest() {
m_command.setCondition(false);
Scheduler.getInstance().add(m_command);
@@ -114,12 +112,12 @@ public class ConditionalCommandTest extends AbstractCommandTest {
assertCommandState(m_onTrue, 0, 0, 0, 0, 0);
assertConditionalCommandState(m_command, 1, 5, 5, 1, 0);
assertTrue("Did not initialize the false command", m_onFalse.getInitializeCount() > 0);
assertTrue("Initialized the true command", m_onTrue.getInitializeCount() == 0);
assertTrue(m_onFalse.getInitializeCount() > 0, "Did not initialize the false command");
assertTrue(m_onTrue.getInitializeCount() == 0, "Initialized the true command");
}
@Test
public void testCancelSubCommand() {
void cancelSubCommandTest() {
m_command.setCondition(true);
Scheduler.getInstance().add(m_command);
@@ -158,7 +156,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testCancelRequires() {
void cancelRequiresTest() {
m_command.setCondition(true);
Scheduler.getInstance().add(m_command);
@@ -193,7 +191,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testCancelCondCommand() {
void cancelCondCommandTest() {
m_command.setCondition(true);
Scheduler.getInstance().add(m_command);
@@ -228,7 +226,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testOnTrueTwice() {
void onTrueTwiceTest() {
m_command.setCondition(true);
Scheduler.getInstance().add(m_command);
@@ -296,7 +294,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testOnTrueInstant() {
void onTrueInstantTest() {
m_command.setCondition(true);
m_onTrue.setHasFinished(true);
@@ -327,7 +325,7 @@ public class ConditionalCommandTest extends AbstractCommandTest {
}
@Test
public void testOnFalseNull() {
void onFalseNullTest() {
m_commandNull.setCondition(false);
Scheduler.getInstance().add(m_commandNull);

32
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
View File

@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import org.junit.jupiter.api.Test;
/**
* Tests the {@link Command} library.
@@ -17,21 +17,13 @@ public class DefaultCommandTest extends AbstractCommandTest {
* Testing of default commands where the interrupting command ends itself.
*/
@Test
public void testDefaultCommandWhereTheInteruptingCommandEndsItself() {
void defaultCommandWhereTheInteruptingCommandEndsItselfTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand defaultCommand = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand defaultCommand = new MockCommand(subsystem);
final MockCommand anotherCommand = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand anotherCommand = new MockCommand(subsystem);
assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.init(defaultCommand);
@@ -74,21 +66,11 @@ public class DefaultCommandTest extends AbstractCommandTest {
* Testing of default commands where the interrupting command is canceled.
*/
@Test
public void testDefaultCommandsInterruptingCommandCanceled() {
void defaultCommandsInterruptingCommandCanceledTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand defaultCommand = new MockCommand(subsystem);
final MockCommand anotherCommand = new MockCommand(subsystem);
final MockCommand defaultCommand = new MockCommand() {
{
requires(subsystem);
}
};
final MockCommand anotherCommand = new MockCommand() {
{
requires(subsystem);
}
};
assertCommandState(defaultCommand, 0, 0, 0, 0, 0);
subsystem.init(defaultCommand);
subsystem.initDefaultCommand();

5
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/MockCommand.java
View File

@@ -24,6 +24,11 @@ public class MockCommand extends Command {
requires(subsys);
}
public MockCommand(Subsystem subsys, double timeout) {
this(subsys);
setTimeout(timeout);
}
public MockCommand() {
super();
}

8
wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java
View File

@@ -7,19 +7,19 @@
package edu.wpi.first.wpilibj.hal;
import org.junit.Test;
import org.junit.jupiter.api.Test;
import edu.wpi.first.networktables.NetworkTablesJNI;
public class JNITest {
class JNITest {
@Test
public void jniNtcoreLinkTest() {
void jniNtcoreLinkTest() {
// Test to verify that the JNI test link works correctly.
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}
@Test
public void jniHalLinkTest() {
void jniHalLinkTest() {
HAL.initialize(500, 0);
// Test to verify that the JNI test link works correctly.
HALUtil.getHALRuntimeType();

7
wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/MatchInfoDataTest.java
View File

@@ -7,11 +7,12 @@
package edu.wpi.first.wpilibj.hal;
import org.junit.Test;
import org.junit.jupiter.api.Test;
public class MatchInfoDataTest {
class MatchInfoDataTest {
@Test
public void matchInfoDataDoesNotThrow() {
@SuppressWarnings("PMD.JUnitTestsShouldIncludeAssert")
void matchInfoDataDoesNotThrow() {
HAL.initialize(500, 0);
MatchInfoData data = new MatchInfoData();
HAL.getMatchInfo(data);

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/livewindow/LiveWindowTest.java
View File

@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.wpilibj.UtilityClassTest;
public class LiveWindowTest extends UtilityClassTest {
public LiveWindowTest() {
class LiveWindowTest extends UtilityClassTest {
LiveWindowTest() {
super(LiveWindow.class);
}
}

16
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java
View File

@@ -7,27 +7,25 @@
package edu.wpi.first.wpilibj.sim;
import org.junit.Test;
import org.junit.jupiter.api.Test;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.hal.HAL;
import static org.junit.Assert.assertEquals;
import static org.junit.jupiter.api.Assertions.assertEquals;
public class AnalogInputSimTest {
class AnalogInputSimTest {
static class DoubleStore {
public boolean m_wasTriggered = false;
public boolean m_wasCorrectType = false;
public double m_setValue = 0;
public boolean m_wasTriggered;
public boolean m_wasCorrectType;
public double m_setValue0;
}
@Test
public void testSetCallback() {
void setCallbackTest() {
HAL.initialize(500, 0);
AnalogInput input = new AnalogInput(5);
AnalogInSim inputSim = input.getSimObject();
for (double i = 0; i < 5.0; i += 0.1) {

18
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java
View File

@@ -7,19 +7,19 @@
package edu.wpi.first.wpilibj.sim;
import org.junit.Test;
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.wpilibj.hal.HAL;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertFalse;
import static org.junit.jupiter.api.Assertions.assertTrue;
public class AnalogOutputSimTest {
import org.junit.jupiter.api.Test;
class AnalogOutputSimTest {
static class DoubleStore {
public boolean m_wasTriggered = false;
public boolean m_wasCorrectType = false;
public boolean m_wasTriggered;
public boolean m_wasCorrectType;
public double m_setValue = -1;
public void reset() {
@@ -30,7 +30,7 @@ public class AnalogOutputSimTest {
}
@Test
public void testSetCallback() {
void setCallbackTest() {
HAL.initialize(500, 0);

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
View File

@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj.smartdashboard;
import edu.wpi.first.wpilibj.UtilityClassTest;
public class SmartDashboardTest extends UtilityClassTest {
public SmartDashboardTest() {
class SmartDashboardTest extends UtilityClassTest {
SmartDashboardTest() {
super(SmartDashboard.class);
}
}

1
wpilibjIntegrationTests/build.gradle
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@@ -29,6 +29,7 @@ dependencies {
compile project(':cscore')
compile project(':cameraserver')
compile 'junit:junit:4.11'
testCompile 'org.hamcrest:hamcrest-all:1.3'
compile 'com.googlecode.junit-toolbox:junit-toolbox:2.0'
compile 'org.apache.ant:ant:1.9.4'
compile 'org.apache.ant:ant-junit:1.9.4'