Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Applies Google Styleguide to Java parts of the library (#23)

Browse Source 
This was partially applied to simulation but
simulation is a bit of a mess and has a lot of duplicated code.
This commit is contained in:
Jonathan Leitschuh
2016-05-20 12:07:40 -04:00
committed by Peter Johnson
parent 64ab6e51fe
commit a834fff7b2
266 changed files with 15574 additions and 14718 deletions
Download Patch File Download Diff File Expand all files Collapse all files

165
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java
View File

@@ -7,6 +7,15 @@
package edu.wpi.first.wpilibj;
import org.junit.After;
import org.junit.Test;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.AtomicLong;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.hamcrest.Matchers.both;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.lessThan;
@@ -14,51 +23,39 @@ import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertSame;
import static org.junit.Assert.assertThat;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.concurrent.atomic.AtomicLong;
import org.junit.After;
import org.junit.Test;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
/**
* This class should not be run as a test explicitly. Instead it should be
* extended by tests that use the InterruptableSensorBase
* This class should not be run as a test explicitly. Instead it should be extended by tests that
* use the InterruptableSensorBase.
*
* @author jonathanleitschuh
*
*/
public abstract class AbstractInterruptTest extends AbstractComsSetup {
private InterruptableSensorBase interruptable = null;
private InterruptableSensorBase m_interruptable = null;
private InterruptableSensorBase getInterruptable() {
if (interruptable == null) {
interruptable = giveInterruptableSensorBase();
if (m_interruptable == null) {
m_interruptable = giveInterruptableSensorBase();
}
return interruptable;
return m_interruptable;
}
@After
public void interruptTeardown() {
if (interruptable != null) {
if (m_interruptable != null) {
freeInterruptableSensorBase();
interruptable = null;
m_interruptable = null;
}
}
/**
* Give the interruptible sensor base that interrupts can be attached to.
*$
* @return
* Give the interruptable sensor base that interrupts can be attached to.
*/
abstract InterruptableSensorBase giveInterruptableSensorBase();
/**
* Cleans up the interruptible sensor base. This is only called if
* {@link #giveInterruptableSensorBase()} is called.
* Cleans up the interruptable sensor base. This is only called if {@link
* #giveInterruptableSensorBase()} is called.
*/
abstract void freeInterruptableSensorBase();
@@ -74,50 +71,54 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
private class InterruptCounter {
private final AtomicInteger count = new AtomicInteger();
private final AtomicInteger m_count = new AtomicInteger();
void increment() {
count.addAndGet(1);
m_count.addAndGet(1);
}
int getCount() {
return count.get();
return m_count.get();
}
};
}
private class TestInterruptHandlerFunction extends InterruptHandlerFunction<InterruptCounter> {
protected final AtomicBoolean exceptionThrown = new AtomicBoolean(false);
/** Stores the time that the interrupt fires */
final AtomicLong interruptFireTime = new AtomicLong();
/** Stores if the interrupt has completed at least once */
final AtomicBoolean interruptComplete = new AtomicBoolean(false);
protected Exception ex;
final InterruptCounter counter;
protected final AtomicBoolean m_exceptionThrown = new AtomicBoolean(false);
/**
* Stores the time that the interrupt fires.
*/
final AtomicLong m_interruptFireTime = new AtomicLong();
/**
* Stores if the interrupt has completed at least once.
*/
final AtomicBoolean m_interruptComplete = new AtomicBoolean(false);
protected Exception m_ex;
final InterruptCounter m_counter;
TestInterruptHandlerFunction(InterruptCounter counter) {
this.counter = counter;
m_counter = counter;
}
@Override
public void interruptFired(int interruptAssertedMask, InterruptCounter param) {
interruptFireTime.set(Utility.getFPGATime());
counter.increment();
m_interruptFireTime.set(Utility.getFPGATime());
m_counter.increment();
try {
// This won't cause the test to fail
assertSame(counter, param);
assertSame(m_counter, param);
} catch (Exception ex) {
// So we must throw the exception within the test
exceptionThrown.set(true);
this.ex = ex;
m_exceptionThrown.set(true);
m_ex = ex;
}
interruptComplete.set(true);
};
m_interruptComplete.set(true);
}
@Override
public InterruptCounter overridableParameter() {
return counter;
return m_counter;
}
};
}
@Test(timeout = 1000)
public void testSingleInterruptsTriggering() throws Exception {
@@ -137,7 +138,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
setInterruptHigh();
// Delay until the interrupt is complete
while (!function.interruptComplete.get()) {
while (!function.m_interruptComplete.get()) {
Timer.delay(.005);
}
@@ -145,14 +146,15 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
// Then
assertEquals("The interrupt did not fire the expected number of times", 1, counter.getCount());
// If the test within the interrupt failed
if (function.exceptionThrown.get()) {
throw function.ex;
if (function.m_exceptionThrown.get()) {
throw function.m_ex;
}
final long range = 10000; // in microseconds
assertThat(
"The interrupt did not fire within the expected time period (values in milliseconds)",
function.interruptFireTime.get(),
both(greaterThan(interruptTriggerTime - range)).and(lessThan(interruptTriggerTime + range)));
function.m_interruptFireTime.get(),
both(greaterThan(interruptTriggerTime - range)).and(lessThan(interruptTriggerTime
+ range)));
assertThat(
"The readRisingTimestamp() did not return the correct value (values in seconds)",
getInterruptable().readRisingTimestamp(),
@@ -175,7 +177,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
setInterruptLow();
setInterruptHigh();
// Wait for the interrupt to complete before moving on
while (!function.interruptComplete.getAndSet(false)) {
while (!function.m_interruptComplete.getAndSet(false)) {
Timer.delay(.005);
}
}
@@ -184,7 +186,9 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
counter.getCount());
}
/** The timeout length for this test in seconds */
/**
* The timeout length for this test in seconds.
*/
private static final int synchronousTimeout = 5;
@Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -193,13 +197,10 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
getInterruptable().requestInterrupts();
final double synchronousDelay = synchronousTimeout / 2.;
Runnable r = new Runnable() {
@Override
public void run() {
Timer.delay(synchronousDelay);
setInterruptLow();
setInterruptHigh();
}
final Runnable runnable = () -> {
Timer.delay(synchronousDelay);
setInterruptLow();
setInterruptHigh();
};
// When
@@ -207,7 +208,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
// Note: the long time value is used because doubles can flip if the robot
// is left running for long enough
final long startTimeStamp = Utility.getFPGATime();
new Thread(r).start();
new Thread(runnable).start();
// Delay for twice as long as the timeout so the test should fail first
getInterruptable().waitForInterrupt(synchronousTimeout * 2);
final long stopTimeStamp = Utility.getFPGATime();
@@ -225,9 +226,11 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
getInterruptable().requestInterrupts();
//Don't fire interrupt. Expect it to timeout.
InterruptableSensorBase.WaitResult result = getInterruptable().waitForInterrupt(synchronousTimeout / 2);
InterruptableSensorBase.WaitResult result = getInterruptable()
.waitForInterrupt(synchronousTimeout / 2);
assertEquals("The interrupt did not time out correctly.", result, InterruptableSensorBase.WaitResult.kTimeout);
assertEquals("The interrupt did not time out correctly.", result, InterruptableSensorBase
.WaitResult.kTimeout);
}
@Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -236,20 +239,19 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
getInterruptable().requestInterrupts();
final double synchronousDelay = synchronousTimeout / 2.;
Runnable r = new Runnable() {
@Override
public void run() {
Timer.delay(synchronousDelay);
setInterruptLow();
setInterruptHigh();
}
final Runnable runnable = () -> {
Timer.delay(synchronousDelay);
setInterruptLow();
setInterruptHigh();
};
new Thread(r).start();
new Thread(runnable).start();
// Delay for twice as long as the timeout so the test should fail first
InterruptableSensorBase.WaitResult result = getInterruptable().waitForInterrupt(synchronousTimeout * 2);
InterruptableSensorBase.WaitResult result = getInterruptable()
.waitForInterrupt(synchronousTimeout * 2);
assertEquals("The interrupt did not fire on the rising edge.", result, InterruptableSensorBase.WaitResult.kRisingEdge);
assertEquals("The interrupt did not fire on the rising edge.", result,
InterruptableSensorBase.WaitResult.kRisingEdge);
}
@Test(timeout = (long) (synchronousTimeout * 1e3))
@@ -259,20 +261,19 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
getInterruptable().setUpSourceEdge(false, true);
final double synchronousDelay = synchronousTimeout / 2.;
Runnable r = new Runnable() {
@Override
public void run() {
Timer.delay(synchronousDelay);
setInterruptHigh();
setInterruptLow();
}
final Runnable runnable = () -> {
Timer.delay(synchronousDelay);
setInterruptHigh();
setInterruptLow();
};
new Thread(r).start();
new Thread(runnable).start();
// Delay for twice as long as the timeout so the test should fail first
InterruptableSensorBase.WaitResult result = getInterruptable().waitForInterrupt(synchronousTimeout * 2);
InterruptableSensorBase.WaitResult result = getInterruptable()
.waitForInterrupt(synchronousTimeout * 2);
assertEquals("The interrupt did not fire on the falling edge.", result, InterruptableSensorBase.WaitResult.kFallingEdge);
assertEquals("The interrupt did not fire on the falling edge.", result,
InterruptableSensorBase.WaitResult.kFallingEdge);
}
@@ -290,7 +291,7 @@ public abstract class AbstractInterruptTest extends AbstractComsSetup {
setInterruptLow();
setInterruptHigh();
// Wait for the interrupt to complete before moving on
while (!function.interruptComplete.getAndSet(false)) {
while (!function.m_interruptComplete.getAndSet(false)) {
Timer.delay(.005);
}
}

61
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java
View File

@@ -7,25 +7,25 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* @author jonathanleitschuh
* Test that covers the {@link AnalogCrossConnectFixture}.
*
* @author jonathanleitschuh
*/
public class AnalogCrossConnectTest extends AbstractInterruptTest {
private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
@@ -40,36 +40,22 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
}
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {
analogIO = TestBench.getAnalogCrossConnectFixture();
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
analogIO.teardown();
analogIO = null;
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
analogIO.setup();
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {}
@Test
public void testAnalogOuput() {
@@ -155,43 +141,44 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
analogIO.getInput().getAccumulatorCount();
}
private AnalogTrigger interruptTrigger;
private AnalogTriggerOutput interruptTriggerOutput;
private AnalogTrigger m_interruptTrigger;
private AnalogTriggerOutput m_interruptTriggerOutput;
/*
* (non-Javadoc)
*$
*
* @see
* edu.wpi.first.wpilibj.AbstractInterruptTest#giveInterruptableSensorBase()
*/
@Override
InterruptableSensorBase giveInterruptableSensorBase() {
interruptTrigger = new AnalogTrigger(analogIO.getInput());
interruptTrigger.setLimitsVoltage(2.0f, 3.0f);
interruptTriggerOutput = new AnalogTriggerOutput(interruptTrigger, AnalogTriggerType.kState);
return interruptTriggerOutput;
m_interruptTrigger = new AnalogTrigger(analogIO.getInput());
m_interruptTrigger.setLimitsVoltage(2.0f, 3.0f);
m_interruptTriggerOutput = new AnalogTriggerOutput(m_interruptTrigger,
AnalogTriggerType.kState);
return m_interruptTriggerOutput;
}
/*
* (non-Javadoc)
*$
*
* @see
* edu.wpi.first.wpilibj.AbstractInterruptTest#freeInterruptableSensorBase()
*/
@Override
void freeInterruptableSensorBase() {
interruptTriggerOutput.cancelInterrupts();
interruptTriggerOutput.free();
interruptTriggerOutput = null;
interruptTrigger.free();
interruptTrigger = null;
m_interruptTriggerOutput.cancelInterrupts();
m_interruptTriggerOutput.free();
m_interruptTriggerOutput = null;
m_interruptTrigger.free();
m_interruptTrigger = null;
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptHigh()
*/
@Override
@@ -202,7 +189,7 @@ public class AnalogCrossConnectTest extends AbstractInterruptTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptLow()
*/
@Override

43
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java
View File

@@ -7,50 +7,45 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Tests the {@link AnalogPotentiometer}.
*
* @author jonathanleitschuh
*/
public class AnalogPotentiometerTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(AnalogPotentiometerTest.class.getName());
private AnalogCrossConnectFixture analogIO;
private FakePotentiometerSource potSource;
private AnalogPotentiometer pot;
private AnalogCrossConnectFixture m_analogIO;
private FakePotentiometerSource m_potSource;
private AnalogPotentiometer m_pot;
private static final double DOUBLE_COMPARISON_DELTA = 2.0;
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
analogIO = TestBench.getAnalogCrossConnectFixture();
potSource = new FakePotentiometerSource(analogIO.getOutput(), 360);
pot = new AnalogPotentiometer(analogIO.getInput(), 360.0, 0);
m_analogIO = TestBench.getAnalogCrossConnectFixture();
m_potSource = new FakePotentiometerSource(m_analogIO.getOutput(), 360);
m_pot = new AnalogPotentiometer(m_analogIO.getInput(), 360.0, 0);
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
potSource.reset();
pot.free();
analogIO.teardown();
m_potSource.reset();
m_pot.free();
m_analogIO.teardown();
}
@Override
@@ -60,16 +55,16 @@ public class AnalogPotentiometerTest extends AbstractComsSetup {
@Test
public void testInitialSettings() {
assertEquals(0, pot.get(), DOUBLE_COMPARISON_DELTA);
assertEquals(0, m_pot.get(), DOUBLE_COMPARISON_DELTA);
}
@Test
public void testRangeValues() {
for (double i = 0.0; i < 360.0; i = i + 1.0) {
potSource.setAngle(i);
potSource.setMaxVoltage(ControllerPower.getVoltage5V());
m_potSource.setAngle(i);
m_potSource.setMaxVoltage(ControllerPower.getVoltage5V());
Timer.delay(.02);
assertEquals(i, pot.get(), DOUBLE_COMPARISON_DELTA);
assertEquals(i, m_pot.get(), DOUBLE_COMPARISON_DELTA);
}
}

18
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java
View File

@@ -7,21 +7,21 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
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 java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
@RunWith(Parameterized.class)
public class BuiltInAccelerometerTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(BuiltInAccelerometerTest.class.getName());
@@ -46,7 +46,7 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
*/
@Parameters
public static Collection<Accelerometer.Range[]> generateData() {
return Arrays.asList(new Accelerometer.Range[][] { {Accelerometer.Range.k2G},
return Arrays.asList(new Accelerometer.Range[][]{{Accelerometer.Range.k2G},
{Accelerometer.Range.k4G}, {Accelerometer.Range.k8G},});
}
@@ -56,8 +56,8 @@ public class BuiltInAccelerometerTest extends AbstractComsSetup {
}
/**
* There's not much we can automatically test with the on-board accelerometer,
* but checking for gravity is probably good enough to tell that it's working.
* There's not much we can automatically test with the on-board accelerometer, but checking for
* gravity is probably good enough to tell that it's working.
*/
@Test
public void testAccelerometer() {

46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CANTalonTest.java
View File

@@ -7,19 +7,17 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.SampleFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.hal.CanTalonJNI;
import static org.junit.Assert.assertTrue;
/**
* Basic test (borrowed straight from SampleTest) for running the CAN TalonSRX.
@@ -27,7 +25,7 @@ import edu.wpi.first.wpilibj.hal.CanTalonJNI;
public class CANTalonTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(SampleTest.class.getName());
static SampleFixture fixture = new SampleFixture();
static SampleFixture m_fixture = new SampleFixture();
protected Logger getClassLogger() {
return logger;
@@ -36,19 +34,19 @@ public class CANTalonTest extends AbstractComsSetup {
@BeforeClass
public static void classSetup() {
// Set up the fixture before the test is created
fixture.setup();
m_fixture.setup();
}
@Before
public void setUp() {
// Reset the fixture elements before every test
fixture.reset();
m_fixture.reset();
}
@AfterClass
public static void tearDown() {
// Clean up the fixture after the test
fixture.teardown();
m_fixture.teardown();
}
private String errorMessage(double actual, double expected) {
@@ -84,9 +82,10 @@ public class CANTalonTest extends AbstractComsSetup {
}
@Test
public void SetGetPID() {
public void setGetPID() {
CANTalon talon = new CANTalon(0);
talon.changeControlMode(CANTalon.TalonControlMode.Position);
@SuppressWarnings({"LocalVariableName", "MultipleVariableDeclarations"})
double p = 0.05, i = 0.098, d = 1.23;
talon.setPID(p, i, d);
assertTrue(errorMessage(talon.getP(), p), Math.abs(p - talon.getP()) < 1e-5);
@@ -109,6 +108,7 @@ public class CANTalonTest extends AbstractComsSetup {
talon.changeControlMode(CANTalon.TalonControlMode.Position);
talon.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
Timer.delay(0.2);
@SuppressWarnings({"LocalVariableName", "MultipleVariableDeclarations"})
double p = 1.0, i = 0.0, d = 0.00;
talon.setPID(p, i, d);
talon.set(100);
@@ -137,20 +137,20 @@ public class CANTalonTest extends AbstractComsSetup {
CANTalon talon = new CANTalon(0);
talon.clearStickyFaults();
assertTrue(talon.getFaultOverTemp()==0);
assertTrue(talon.getFaultUnderVoltage()==0);
assertTrue(talon.getFaultForLim()==0);
assertTrue(talon.getFaultRevLim()==0);
assertTrue(talon.getFaultHardwareFailure()==0);
assertTrue(talon.getFaultForSoftLim()==0);
assertTrue(talon.getFaultRevSoftLim()==0);
assertTrue(talon.getFaultOverTemp() == 0);
assertTrue(talon.getFaultUnderVoltage() == 0);
assertTrue(talon.getFaultForLim() == 0);
assertTrue(talon.getFaultRevLim() == 0);
assertTrue(talon.getFaultHardwareFailure() == 0);
assertTrue(talon.getFaultForSoftLim() == 0);
assertTrue(talon.getFaultRevSoftLim() == 0);
assertTrue(talon.getStickyFaultOverTemp()==0);
// assertTrue(talon.getStickyFaultUnderVoltage()==0);
assertTrue(talon.getStickyFaultForLim()==0);
assertTrue(talon.getStickyFaultRevLim()==0);
assertTrue(talon.getStickyFaultForSoftLim()==0);
assertTrue(talon.getStickyFaultRevSoftLim()==0);
assertTrue(talon.getStickyFaultOverTemp() == 0);
// assertTrue(talon.getStickyFaultUnderVoltage()==0);
assertTrue(talon.getStickyFaultForLim() == 0);
assertTrue(talon.getStickyFaultRevLim() == 0);
assertTrue(talon.getStickyFaultForSoftLim() == 0);
assertTrue(talon.getStickyFaultRevSoftLim() == 0);
}
}

31
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CircularBufferTest.java
View File

@@ -7,34 +7,33 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Test;
import edu.wpi.first.wpilibj.CircularBuffer;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
public class CircularBufferTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(CircularBufferTest.class.getName());
private double[] values = {751.848, 766.366, 342.657, 234.252, 716.126,
132.344, 445.697, 22.727, 421.125, 799.913};
private double[] pushFrontOut = {799.913, 421.125, 22.727, 445.697, 132.344,
716.126, 234.252, 342.657};
private double[] pushBackOut = {342.657, 234.252, 716.126, 132.344, 445.697,
22.727, 421.125, 799.913};
private 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_pushFrontOut = {799.913, 421.125, 22.727, 445.697, 132.344,
716.126, 234.252, 342.657};
private double[] m_pushBackOut = {342.657, 234.252, 716.126, 132.344, 445.697,
22.727, 421.125, 799.913};
@Test
public void pushFrontTest() {
CircularBuffer queue = new CircularBuffer(8);
for (double value : values) {
for (double value : m_values) {
queue.pushFront(value);
}
for (int i = 0; i < pushFrontOut.length; i++) {
assertEquals(pushFrontOut[i], queue.get(i), 0.00005);
for (int i = 0; i < m_pushFrontOut.length; i++) {
assertEquals(m_pushFrontOut[i], queue.get(i), 0.00005);
}
}
@@ -42,12 +41,12 @@ public class CircularBufferTest extends AbstractComsSetup {
public void pushBackTest() {
CircularBuffer queue = new CircularBuffer(8);
for (double value : values) {
for (double value : m_values) {
queue.pushBack(value);
}
for (int i = 0; i < pushBackOut.length; i++) {
assertEquals(pushBackOut[i], queue.get(i), 0.00005);
for (int i = 0; i < m_pushBackOut.length; i++) {
assertEquals(m_pushBackOut[i], queue.get(i), 0.00005);
}
}

65
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java
View File

@@ -7,11 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertTrue;
import java.util.Collection;
import java.util.logging.Logger;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
@@ -20,23 +15,28 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.FakeCounterFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
/**
* Tests to see if the Counter is working properly
*$
* @author Jonathan Leitschuh
* Tests to see if the Counter is working properly.
*
* @author Jonathan Leitschuh
*/
@RunWith(Parameterized.class)
public class CounterTest extends AbstractComsSetup {
private static FakeCounterFixture counter = null;
private static final Logger logger = Logger.getLogger(CounterTest.class.getName());
Integer input;
Integer output;
Integer m_input;
Integer m_output;
@Override
protected Logger getClassLogger() {
@@ -44,29 +44,29 @@ public class CounterTest extends AbstractComsSetup {
}
/**
* Constructs a Counter Test with the given inputs
*$
* @param input The input Port
* Constructs a Counter Test with the given inputs.
*
* @param input The input Port
* @param output The output Port
*/
public CounterTest(Integer input, Integer output) {
assert input != null;
assert output != null;
this.input = input;
this.output = output;
m_input = input;
m_output = output;
// System.out.println("Counter Test: Input: " + input + " Output: " +
// output);
if (counter != null)
if (counter != null) {
counter.teardown();
}
counter = new FakeCounterFixture(input, output);
}
/**
* Test data generator. This method is called the the JUnit parameterized test
* runner and returns a Collection of Arrays. For each Array in the
* Collection, each array element corresponds to a parameter in the
* constructor.
* Test data generator. This method is called the the JUnit parameterized test runner and returns
* a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
* parameter in the constructor.
*/
@Parameters
public static Collection<Integer[]> generateData() {
@@ -79,48 +79,39 @@ public class CounterTest extends AbstractComsSetup {
}
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {}
public static void setUpBeforeClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
counter.teardown();
counter = null;
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
counter.setup();
}
/**
* Tests the default state of the counter immediately after reset
* Tests the default state of the counter immediately after reset.
*/
@Test
public void testDefault() {
assertTrue("Counter did not reset to 0", counter.getCounter().get() == 0);
assertEquals("Counter did not reset to 0", 0, counter.getCounter().get());
}
@Test(timeout = 5000)
public void testCount() {
int goal = 100;
final int goal = 100;
counter.getFakeCounterSource().setCount(goal);
counter.getFakeCounterSource().execute();
int count = counter.getCounter().get();
final int count = counter.getCounter().get();
assertTrue("Fake Counter, Input: " + input + ", Output: " + output + ", did not return " + goal
+ " instead got: " + count, count == goal);
assertTrue("Fake Counter, Input: " + m_input + ", Output: " + m_output + ", did not return "
+ goal + " instead got: " + count, count == goal);
}
}

70
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java
View File

@@ -7,12 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.Collection;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Test;
@@ -20,12 +14,18 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* Tests to see if the Digital ports are working properly
*$
* Tests to see if the Digital ports are working properly.
*
* @author jonathanleitschuh
*/
@RunWith(Parameterized.class)
@@ -40,14 +40,12 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
}
/**
* Default constructor for the DIOCrossConnectTest This test is parameterized
* in order to allow it to be tested using a variety of different input/output
* pairs without duplicate code.<br>
* This class takes Integer port values instead of DigitalClasses because it
* would force them to be instantiated at the same time which could (untested)
* cause port binding errors.
*$
* @param input The port for the input wire
* Default constructor for the DIOCrossConnectTest This test is parameterized in order to allow it
* to be tested using a variety of different input/output pairs without duplicate code.<br> This
* class takes Integer port values instead of DigitalClasses because it would force them to be
* instantiated at the same time which could (untested) cause port binding errors.
*
* @param input The port for the input wire
* @param output The port for the output wire
*/
public DIOCrossConnectTest(Integer input, Integer output) {
@@ -58,12 +56,10 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
}
/**
* Test data generator. This method is called the the JUnit parameterized test
* runner and returns a Collection of Arrays. For each Array in the
* Collection, each array element corresponds to a parameter in the
* constructor.
* Test data generator. This method is called the the JUnit parameterized test runner and returns
* a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
* parameter in the constructor.
*/
@Parameters(name = "{index}: Input Port: {0} Output Port: {1}")
public static Collection<Integer[]> generateData() {
@@ -87,7 +83,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
}
/**
* Tests to see if the DIO can create and recognize a high value
* Tests to see if the DIO can create and recognize a high value.
*/
@Test
public void testSetHigh() {
@@ -98,7 +94,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
}
/**
* Tests to see if the DIO can create and recognize a low value
* Tests to see if the DIO can create and recognize a low value.
*/
@Test
public void testSetLow() {
@@ -112,7 +108,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
* Tests to see if the DIO PWM functionality works.
*/
@Test
public void testDIOPWM() {
public void testDIOpulseWidthModulation() {
dio.getOutput().set(false);
assertFalse("DIO Not Low after no delay", dio.getInput().get());
//Set frequency to 2.0 Hz
@@ -126,24 +122,24 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
//TODO: Add return value from WaitForInterrupt
dio.getInput().waitForInterrupt(3.0, true);
Timer.delay(0.5);
boolean firstCycle = dio.getInput().get();
final boolean firstCycle = dio.getInput().get();
Timer.delay(0.5);
boolean secondCycle = dio.getInput().get();
final boolean secondCycle = dio.getInput().get();
Timer.delay(0.5);
boolean thirdCycle = dio.getInput().get();
final boolean thirdCycle = dio.getInput().get();
Timer.delay(0.5);
boolean forthCycle = dio.getInput().get();
final boolean forthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean fifthCycle = dio.getInput().get();
final boolean fifthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean sixthCycle = dio.getInput().get();
final boolean sixthCycle = dio.getInput().get();
Timer.delay(0.5);
boolean seventhCycle = dio.getInput().get();
final boolean seventhCycle = dio.getInput().get();
dio.getOutput().disablePWM();
Timer.delay(0.5);
boolean firstAfterStop = dio.getInput().get();
final boolean firstAfterStop = dio.getInput().get();
Timer.delay(0.5);
boolean secondAfterStop = dio.getInput().get();
final boolean secondAfterStop = dio.getInput().get();
assertFalse("DIO Not Low after first delay", firstCycle);
assertTrue("DIO Not High after second delay", secondCycle);
@@ -158,7 +154,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
/*
* (non-Javadoc)
*$
*
* @see
* edu.wpi.first.wpilibj.AbstractInterruptTest#giveInterruptableSensorBase()
*/
@@ -169,7 +165,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
/*
* (non-Javadoc)
*$
*
* @see
* edu.wpi.first.wpilibj.AbstractInterruptTest#freeInterruptableSensorBase()
*/
@@ -180,7 +176,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptHigh()
*/
@Override
@@ -190,7 +186,7 @@ public class DIOCrossConnectTest extends AbstractInterruptTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptLow()
*/
@Override

38
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilterTest.java
View File

@@ -7,18 +7,13 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Test;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.DigitalGlitchFilter;
import static org.junit.Assert.assertEquals;
/**
* Test for the DigitalGlitchFilter class.
@@ -27,38 +22,37 @@ import edu.wpi.first.wpilibj.DigitalGlitchFilter;
*/
public class DigitalGlitchFilterTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(
DigitalGlitchFilterTest.class.getName());
DigitalGlitchFilterTest.class.getName());
protected Logger getClassLogger() {
return logger;
}
/**
* This is a test to make sure that filters can be created and are consistent.
* This assumes that the FPGA implementation to actually implement the filter
* has been tested. It does validate that we are successfully able to set and
* get the active filters for ports and makes sure that the FPGA filter is
* changed correctly, and does the same for the period.
* This is a test to make sure that filters can be created and are consistent. This assumes that
* the FPGA implementation to actually implement the filter has been tested. It does validate
* that we are successfully able to set and get the active filters for ports and makes sure that
* the FPGA filter is changed correctly, and does the same for the period.
*/
@Test
public void testDigitalGlitchFilterBasic() {
DigitalInput input1 = new DigitalInput(1);
DigitalInput input2 = new DigitalInput(2);
DigitalInput input3 = new DigitalInput(3);
DigitalInput input4 = new DigitalInput(4);
Encoder encoder5 = new Encoder(5, 6);
Counter counter7 = new Counter(7);
final DigitalInput input1 = new DigitalInput(1);
final DigitalInput input2 = new DigitalInput(2);
final DigitalInput input3 = new DigitalInput(3);
final DigitalInput input4 = new DigitalInput(4);
final Encoder encoder5 = new Encoder(5, 6);
final Counter counter7 = new Counter(7);
DigitalGlitchFilter filter1 = new DigitalGlitchFilter();
final DigitalGlitchFilter filter1 = new DigitalGlitchFilter();
filter1.add(input1);
filter1.setPeriodNanoSeconds(4200);
DigitalGlitchFilter filter2 = new DigitalGlitchFilter();
final DigitalGlitchFilter filter2 = new DigitalGlitchFilter();
filter2.add(input2);
filter2.add(input3);
filter2.setPeriodNanoSeconds(97100);
DigitalGlitchFilter filter3 = new DigitalGlitchFilter();
final DigitalGlitchFilter filter3 = new DigitalGlitchFilter();
filter3.add(input4);
filter3.add(encoder5);
filter3.add(counter7);

90
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java
View File

@@ -7,11 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertTrue;
import java.util.Collection;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.Before;
@@ -20,27 +15,31 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.FakeEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertTrue;
/**
* Test to see if the FPGA properly recognizes a mock Encoder input
*$
* @author Jonathan Leitschuh
* Test to see if the FPGA properly recognizes a mock Encoder input.
*
* @author Jonathan Leitschuh
*/
@RunWith(Parameterized.class)
public class EncoderTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(EncoderTest.class.getName());
private static FakeEncoderFixture encoder = null;
private final boolean flip; // Does this test need to flip the inputs
private final int inputA;
private final int inputB;
private final int outputA;
private final int outputB;
private final boolean m_flip; // Does this test need to flip the inputs
private final int m_inputA;
private final int m_inputB;
private final int m_outputA;
private final int m_outputB;
@Override
protected Logger getClassLogger() {
@@ -48,10 +47,9 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Test data generator. This method is called the the JUnit parameterized test
* runner and returns a Collection of Arrays. For each Array in the
* Collection, each array element corresponds to a parameter in the
* constructor.
* Test data generator. This method is called the the JUnit parametrized test runner and returns
* a Collection of Arrays. For each Array in the Collection, each array element corresponds to a
* parameter in the constructor.
*/
@Parameters
public static Collection<Integer[]> generateData() {
@@ -59,32 +57,29 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Constructs a parameterized Encoder Test
*$
* @param inputA The port number for inputA
* Constructs a parametrized Encoder Test.
*
* @param inputA The port number for inputA
* @param outputA The port number for outputA
* @param inputB The port number for inputB
* @param inputB The port number for inputB
* @param outputB The port number for outputB
* @param flip whether or not these set of values require the encoder to be
* reversed (0 or 1)
* @param flip whether or not these set of values require the encoder to be reversed (0 or 1)
*/
public EncoderTest(int inputA, int outputA, int inputB, int outputB, int flip) {
this.inputA = inputA;
this.inputB = inputB;
this.outputA = outputA;
this.outputB = outputB;
m_inputA = inputA;
m_inputB = inputB;
m_outputA = outputA;
m_outputB = outputB;
// If the encoder from a previous test is allocated then we must free its
// members
if (encoder != null)
if (encoder != null) {
encoder.teardown();
this.flip = flip == 0;
}
m_flip = flip == 0;
encoder = new FakeEncoderFixture(inputA, outputA, inputB, outputB);
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
encoder.teardown();
@@ -92,9 +87,7 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Sets up the test and verifies that the test was reset to the default state
*$
* @throws java.lang.Exception
* Sets up the test and verifies that the test was reset to the default state.
*/
@Before
public void setUp() throws Exception {
@@ -102,16 +95,13 @@ public class EncoderTest extends AbstractComsSetup {
testDefaultState();
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
encoder.reset();
}
/**
* Tests to see if Encoders initialize to zero
* Tests to see if Encoders initialize to zero.
*/
@Test
public void testDefaultState() {
@@ -120,13 +110,13 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Tests to see if Encoders can count up sucsessfully
* Tests to see if Encoders can count up successfully.
*/
@Test
public void testCountUp() {
int goal = 100;
encoder.getFakeEncoderSource().setCount(goal);
encoder.getFakeEncoderSource().setForward(flip);
encoder.getFakeEncoderSource().setForward(m_flip);
encoder.getFakeEncoderSource().execute();
int value = encoder.getEncoder().get();
assertTrue(errorMessage(goal, value), value == goal);
@@ -134,13 +124,13 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Tests to see if Encoders can count down sucsessfully
* Tests to see if Encoders can count down successfully.
*/
@Test
public void testCountDown() {
int goal = -100;
encoder.getFakeEncoderSource().setCount(goal); // Goal has to be positive
encoder.getFakeEncoderSource().setForward(!flip);
encoder.getFakeEncoderSource().setForward(!m_flip);
encoder.getFakeEncoderSource().execute();
int value = encoder.getEncoder().get();
assertTrue(errorMessage(goal, value), value == goal);
@@ -148,16 +138,14 @@ public class EncoderTest extends AbstractComsSetup {
}
/**
* Creates a simple message with the error that was encounterd for the
* Encoders
*$
* @param goal The goal that was trying to be reached
* Creates a simple message with the error that was encountered for the Encoders.
*
* @param goal The goal that was trying to be reached
* @param trueValue The actual value that was reached by the test
* @return A fully constructed message with data about where and why the the
* test failed
* @return A fully constructed message with data about where and why the the test failed.
*/
private String errorMessage(int goal, int trueValue) {
return "Encoder ({In,Out}): {" + inputA + ", " + outputA + "},{" + inputB + ", " + outputB
+ "} Returned: " + trueValue + ", Wanted: " + goal;
return "Encoder ({In,Out}): {" + m_inputA + ", " + m_outputA + "},{" + m_inputB + ", "
+ m_outputB + "} Returned: " + trueValue + ", Wanted: " + goal;
}
}

34
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterNoiseTest.java
View File

@@ -7,12 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertTrue;
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;
@@ -21,10 +15,16 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.FilterNoiseFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertTrue;
@RunWith(Parameterized.class)
public class FilterNoiseTest extends AbstractComsSetup {
@@ -37,18 +37,24 @@ public class FilterNoiseTest extends AbstractComsSetup {
return logger;
}
/**
* Constructs the FilterNoiseTest.
*
* @param mef The fixture under test.
*/
public FilterNoiseTest(FilterNoiseFixture<?> mef) {
logger.fine("Constructor with: " + mef.getType());
if (me != null && !me.equals(mef))
if (me != null && !me.equals(mef)) {
me.teardown();
}
me = mef;
}
@Parameters(name = "{index}: {0}")
public static Collection<FilterNoiseFixture<?>[]> generateData() {
return Arrays.asList(new FilterNoiseFixture<?>[][] {
{TestBench.getInstance().getSinglePoleIIRNoiseFixture()},
{TestBench.getInstance().getMovAvgNoiseFixture()}});
return Arrays.asList(new FilterNoiseFixture<?>[][]{
{TestBench.getInstance().getSinglePoleIIRNoiseFixture()},
{TestBench.getInstance().getMovAvgNoiseFixture()}});
}
@Before
@@ -69,11 +75,10 @@ public class FilterNoiseTest extends AbstractComsSetup {
}
/**
* Test if the filter reduces the noise produced by a signal generator
* Test if the filter reduces the noise produced by a signal generator.
*/
@Test
public void testNoiseReduce() {
double theoryData = 0.0;
double noiseGenError = 0.0;
double filterError = 0.0;
@@ -81,11 +86,12 @@ public class FilterNoiseTest extends AbstractComsSetup {
noise.reset();
for (double t = 0; t < TestBench.kFilterTime; t += TestBench.kFilterStep) {
theoryData = noise.getData(t);
final double theoryData = noise.getData(t);
filterError += Math.abs(me.getFilter().pidGet() - theoryData);
noiseGenError += Math.abs(noise.get() - theoryData);
}
assertTrue(me.getType() + " should have reduced noise accumulation from " + noiseGenError + " but failed. The filter error was " + filterError, noiseGenError > filterError);
assertTrue(me.getType() + " should have reduced noise accumulation from " + noiseGenError
+ " but failed. The filter error was " + filterError, noiseGenError > filterError);
}
}

36
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/FilterOutputTest.java
View File

@@ -7,12 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
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;
@@ -21,16 +15,22 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.FilterOutputFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
@RunWith(Parameterized.class)
public class FilterOutputTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(FilterOutputTest.class.getName());
private double expectedOutput;
private double m_expectedOutput;
private static FilterOutputFixture<?> me = null;
@@ -39,20 +39,26 @@ public class FilterOutputTest extends AbstractComsSetup {
return logger;
}
/**
* Constructs a filter output test.
*
* @param mef The fixture under test.
*/
public FilterOutputTest(FilterOutputFixture<?> mef) {
logger.fine("Constructor with: " + mef.getType());
if (me != null && !me.equals(mef))
if (me != null && !me.equals(mef)) {
me.teardown();
}
me = mef;
expectedOutput = me.getExpectedOutput();
m_expectedOutput = me.getExpectedOutput();
}
@Parameters(name = "{index}: {0}")
public static Collection<FilterOutputFixture<?>[]> generateData() {
return Arrays.asList(new FilterOutputFixture<?>[][] {
{TestBench.getInstance().getSinglePoleIIROutputFixture()},
{TestBench.getInstance().getHighPassOutputFixture()},
{TestBench.getInstance().getMovAvgOutputFixture()}});
return Arrays.asList(new FilterOutputFixture<?>[][]{
{TestBench.getInstance().getSinglePoleIIROutputFixture()},
{TestBench.getInstance().getHighPassOutputFixture()},
{TestBench.getInstance().getMovAvgOutputFixture()}});
}
@Before
@@ -73,7 +79,7 @@ public class FilterOutputTest extends AbstractComsSetup {
}
/**
* Test if the filter produces consistent output for a given data set
* Test if the filter produces consistent output for a given data set.
*/
@Test
public void testOutput() {
@@ -84,6 +90,6 @@ public class FilterOutputTest extends AbstractComsSetup {
filterOutput = me.getFilter().pidGet();
}
assertEquals(me.getType() + " output was incorrect.", expectedOutput, filterOutput, 0.00005);
assertEquals(me.getType() + " output was incorrect.", m_expectedOutput, filterOutput, 0.00005);
}
}

57
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/GyroTest.java
View File

@@ -7,25 +7,28 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
/**
* Tests that the {@link TiltPanCameraFixture}.
*/
public class GyroTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(GyroTest.class.getName());
public static final double TEST_ANGLE = 90.0;
private TiltPanCameraFixture tpcam;
private TiltPanCameraFixture m_tpcam;
@Override
protected Logger getClassLogger() {
@@ -35,20 +38,20 @@ public class GyroTest extends AbstractComsSetup {
@Before
public void setUp() throws Exception {
logger.fine("Setup: TiltPan camera");
tpcam = TestBench.getInstance().getTiltPanCam();
tpcam.setup();
m_tpcam = TestBench.getInstance().getTiltPanCam();
m_tpcam.setup();
}
@After
public void tearDown() throws Exception {
tpcam.teardown();
m_tpcam.teardown();
}
@Test
public void testAllGyroTests() {
testInitial(tpcam.getGyro());
testDeviationOverTime(tpcam.getGyro());
testGyroAngle(tpcam.getGyro());
testInitial(m_tpcam.getGyro());
testDeviationOverTime(m_tpcam.getGyro());
testGyroAngle(m_tpcam.getGyro());
testGyroAngleCalibratedParameters();
}
@@ -58,15 +61,14 @@ public class GyroTest extends AbstractComsSetup {
}
/**
* Test to see if the Servo and the gyroscope is turning 90 degrees Note servo
* on TestBench is not the same type of servo that servo class was designed
* for so setAngle is significantly off. This has been calibrated for the
* servo on the rig.
* Test to see if the Servo and the gyroscope is turning 90 degrees Note servo on TestBench is not
* the same type of servo that servo class was designed for so setAngle is significantly off. This
* has been calibrated for the servo on the rig.
*/
public void testGyroAngle(AnalogGyro gyro) {
// Set angle
for (int i = 0; i < 5; i++) {
tpcam.getPan().set(0);
m_tpcam.getPan().set(0);
Timer.delay(.1);
}
@@ -77,7 +79,7 @@ public class GyroTest extends AbstractComsSetup {
// Perform test
for (int i = 0; i < 53; i++) {
tpcam.getPan().set(i / 100.0);
m_tpcam.getPan().set(i / 100.0);
Timer.delay(0.05);
}
Timer.delay(1.2);
@@ -91,7 +93,8 @@ public class GyroTest extends AbstractComsSetup {
assertEquals(errorMessage(diff, TEST_ANGLE), TEST_ANGLE, angle, 10);
}
public void testDeviationOverTime(AnalogGyro gyro) {
protected void testDeviationOverTime(AnalogGyro gyro) {
// Make sure that the test isn't influenced by any previous motions.
Timer.delay(0.5);
gyro.reset();
@@ -104,20 +107,20 @@ public class GyroTest extends AbstractComsSetup {
}
/**
* Gets calibrated parameters from already calibrated gyro, allocates a
* new gyro with the center and offset parameters, and re-runs the test.
* Gets calibrated parameters from already calibrated gyro, allocates a new gyro with the center
* and offset parameters, and re-runs the test.
*/
public void testGyroAngleCalibratedParameters() {
// Get calibrated parameters to make new Gyro with parameters
double cOffset = tpcam.getGyro().getOffset();
int cCenter = tpcam.getGyro().getCenter();
tpcam.freeGyro();
tpcam.setupGyroParam(cCenter, cOffset);
final double calibratedOffset = m_tpcam.getGyro().getOffset();
final int calibratedCenter = m_tpcam.getGyro().getCenter();
m_tpcam.freeGyro();
m_tpcam.setupGyroParam(calibratedCenter, calibratedOffset);
Timer.delay(TiltPanCameraFixture.RESET_TIME);
// Repeat tests
testInitial(tpcam.getGyroParam());
testDeviationOverTime(tpcam.getGyroParam());
testGyroAngle(tpcam.getGyroParam());
testInitial(m_tpcam.getGyroParam());
testDeviationOverTime(m_tpcam.getGyroParam());
testGyroAngle(m_tpcam.getGyroParam());
}
private String errorMessage(double difference, double target) {

64
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java
View File

@@ -7,14 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
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;
@@ -23,10 +15,18 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
@RunWith(Parameterized.class)
public class MotorEncoderTest extends AbstractComsSetup {
@@ -43,17 +43,23 @@ public class MotorEncoderTest extends AbstractComsSetup {
return logger;
}
/**
* Constructs the test
*
* @param mef The fixture under test.
*/
public MotorEncoderTest(MotorEncoderFixture<?> mef) {
logger.fine("Constructor with: " + mef.getType());
if (me != null && !me.equals(mef))
if (me != null && !me.equals(mef)) {
me.teardown();
}
me = mef;
}
@Parameters(name = "{index}: {0}")
public static Collection<MotorEncoderFixture<?>[]> generateData() {
// logger.fine("Loading the MotorList");
return Arrays.asList(new MotorEncoderFixture<?>[][] { {TestBench.getInstance().getTalonPair()},
return Arrays.asList(new MotorEncoderFixture<?>[][]{{TestBench.getInstance().getTalonPair()},
{TestBench.getInstance().getVictorPair()}, {TestBench.getInstance().getJaguarPair()}});
}
@@ -80,9 +86,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* Test to ensure that the isMotorWithinRange method is functioning properly.
* Really only needs to run on one MotorEncoderFixture to ensure that it is
* working correctly.
* Test to ensure that the isMotorWithinRange method is functioning properly. Really only needs to
* run on one MotorEncoderFixture to ensure that it is working correctly.
*/
@Test
public void testIsMotorWithinRange() {
@@ -94,8 +99,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* This test is designed to see if the values of different motors will
* increment when spun forward
* This test is designed to see if the values of different motors will increment when spun
* forward.
*/
@Test
public void testIncrement() {
@@ -110,8 +115,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* This test is designed to see if the values of different motors will
* decrement when spun in reverse
* This test is designed to see if the values of different motors will decrement when spun in
* reverse.
*/
@Test
public void testDecrement() {
@@ -125,12 +130,12 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* This method test if the counters count when the motors rotate
* This method test if the counters count when the motors rotate.
*/
@Test
public void testCounter() {
int counter1Start = me.getCounters()[0].get();
int counter2Start = me.getCounters()[1].get();
final int counter1Start = me.getCounters()[0].get();
final int counter2Start = me.getCounters()[1].get();
me.getMotor().set(.75);
Timer.delay(MOTOR_RUNTIME);
@@ -145,8 +150,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* Tests to see if you set the speed to something not {@literal <=} 1.0 if the code
* appropriately throttles the value
* Tests to see if you set the speed to something not {@literal <=} 1.0 if the code appropriately
* throttles the value.
*/
@Test
public void testSetHighForwardSpeed() {
@@ -156,8 +161,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* Tests to see if you set the speed to something not {@literal >=} -1.0 if the code
* appropriately throttles the value
* Tests to see if you set the speed to something not {@literal >=} -1.0 if the code appropriately
* throttles the value.
*/
@Test
public void testSetHighReverseSpeed() {
@@ -180,8 +185,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
pid.disable();
assertTrue(
"PID loop did not reach setpoint within 10 seconds. The average error was: " + pid.getAvgError() +
"The current error was" + pid.getError(), pid.onTarget());
"PID loop did not reach setpoint within 10 seconds. The average error was: " + pid
.getAvgError() + "The current error was" + pid.getError(), pid.onTarget());
pid.free();
}
@@ -208,9 +213,8 @@ public class MotorEncoderTest extends AbstractComsSetup {
}
/**
* Checks to see if the encoders and counters are appropriately reset to zero
* when reset
*$
* Checks to see if the encoders and counters are appropriately reset to zero when reset.
*
* @param me The MotorEncoderFixture under test
*/
private void encodersResetCheck(MotorEncoderFixture<?> me) {
@@ -223,7 +227,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
assertEquals(me.getType() + " Counter2 value was incorrect after reset.",
me.getCounters()[1].get(), 0);
Timer.delay(0.5); // so this doesn't fail with the 0.5 second default
// timeout on the encoders
// timeout on the encoders
assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.", me
.getEncoder().getStopped());
}

37
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorInvertingTest.java
View File

@@ -7,25 +7,26 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.runners.Parameterized.Parameters;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* Tests Inversion of motors using the SpeedController setInverted
* Tests Inversion of motors using the SpeedController setInverted.
*/
@RunWith(Parameterized.class)
public class MotorInvertingTest extends AbstractComsSetup {
@@ -34,18 +35,24 @@ public class MotorInvertingTest extends AbstractComsSetup {
private static final double delaytime = 0.3;
/**
* Constructs the test.
*
* @param afixture The fixture under test.
*/
public MotorInvertingTest(MotorEncoderFixture<?> afixture) {
logger.fine("Constructor with: " + afixture.getType());
if (fixture != null && !fixture.equals(afixture))
if (fixture != null && !fixture.equals(afixture)) {
fixture.teardown();
}
fixture = afixture;
fixture.setup();
}
@Parameterized.Parameters(name = "{index}: {0}")
@Parameters(name = "{index}: {0}")
public static Collection<MotorEncoderFixture<?>[]> generateData() {
// logger.fine("Loading the MotorList");
return Arrays.asList(new MotorEncoderFixture<?>[][] { {TestBench.getInstance().getTalonPair()},
return Arrays.asList(new MotorEncoderFixture<?>[][]{{TestBench.getInstance().getTalonPair()},
{TestBench.getInstance().getVictorPair()}, {TestBench.getInstance().getJaguarPair()}});
}
@@ -74,7 +81,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
fixture.getMotor().setInverted(false);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
final boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
@@ -88,7 +95,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
fixture.getMotor().setInverted(false);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
final boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
@@ -102,7 +109,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
fixture.getMotor().setInverted(false);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
final boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
@@ -116,7 +123,7 @@ public class MotorInvertingTest extends AbstractComsSetup {
fixture.getMotor().setInverted(false);
fixture.getMotor().set(-motorspeed);
Timer.delay(delaytime);
boolean initDirection = fixture.getEncoder().getDirection();
final boolean initDirection = fixture.getEncoder().getDirection();
fixture.getMotor().setInverted(true);
fixture.getMotor().set(motorspeed);
Timer.delay(delaytime);

40
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java
View File

@@ -7,22 +7,23 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.*;
import java.util.concurrent.Delayed;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* @author Kacper Puczydlowski
* Test that covers the {@link Compressor}.
*
* @author Kacper Puczydlowski
*/
public class PCMTest extends AbstractComsSetup {
@@ -48,7 +49,8 @@ public class PCMTest extends AbstractComsSetup {
private static DigitalOutput fakePressureSwitch;
private static AnalogInput fakeCompressor;
private static DigitalInput fakeSolenoid1, fakeSolenoid2;
private static DigitalInput fakeSolenoid1;
private static DigitalInput fakeSolenoid2;
@BeforeClass
public static void setUpBeforeClass() throws Exception {
@@ -72,24 +74,18 @@ public class PCMTest extends AbstractComsSetup {
fakeSolenoid2.free();
}
@Before
public void setUp() throws Exception {}
@Before
public void reset() throws Exception {
compressor.stop();
fakePressureSwitch.set(false);
}
@After
public void tearDown() throws Exception {}
/**
* Test if the compressor turns on and off when the pressure switch is toggled
* Test if the compressor turns on and off when the pressure switch is toggled.
*/
@Test
public void testPressureSwitch() throws Exception {
double range = 0.5;
final double range = 0.1;
reset();
compressor.setClosedLoopControl(true);
@@ -107,7 +103,7 @@ public class PCMTest extends AbstractComsSetup {
}
/**
* Test if the correct solenoids turn on and off when they should
* Test if the correct solenoids turn on and off when they should.
*/
@Test
public void testSolenoid() throws Exception {
@@ -156,8 +152,8 @@ public class PCMTest extends AbstractComsSetup {
}
/**
* Test if the correct solenoids turn on and off when they should when used
* with the DoubleSolenoid class.
* Test if the correct solenoids turn on and off when they should when used with the
* DoubleSolenoid class.
*/
@Test
public void doubleSolenoid() {
@@ -173,13 +169,15 @@ public class PCMTest extends AbstractComsSetup {
Timer.delay(kSolenoidDelayTime);
assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
assertTrue("DoubleSolenoid did not report Forward", (solenoid.get() == DoubleSolenoid.Value.kForward));
assertTrue("DoubleSolenoid did not report Forward", (solenoid.get() == DoubleSolenoid.Value
.kForward));
solenoid.set(DoubleSolenoid.Value.kReverse);
Timer.delay(kSolenoidDelayTime);
assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
assertTrue("DoubleSolenoid did not report Reverse", (solenoid.get() == DoubleSolenoid.Value.kReverse));
assertTrue("DoubleSolenoid did not report Reverse", (solenoid.get() == DoubleSolenoid.Value
.kReverse));
solenoid.free();
}

44
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java
View File

@@ -7,15 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.AfterClass;
import org.junit.BeforeClass;
@@ -24,18 +15,30 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.can.CANMessageNotFoundException;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
/**
* Test that covers the {@link PowerDistributionPanel}.
*/
@RunWith(Parameterized.class)
public class PDPTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
private static PowerDistributionPanel pdp;
private static MotorEncoderFixture<?> me;
private final double expectedStoppedCurrentDraw;
private final double m_expectedStoppedCurrentDraw;
@BeforeClass
public static void setUpBeforeClass() throws Exception {
@@ -51,20 +54,22 @@ public class PDPTest extends AbstractComsSetup {
}
@SuppressWarnings("JavadocMethod")
public PDPTest(MotorEncoderFixture<?> mef, Double expectedCurrentDraw) {
logger.fine("Constructor with: " + mef.getType());
if (me != null && !me.equals(mef))
if (me != null && !me.equals(mef)) {
me.teardown();
}
me = mef;
me.setup();
this.expectedStoppedCurrentDraw = expectedCurrentDraw;
m_expectedStoppedCurrentDraw = expectedCurrentDraw;
}
@Parameters(name = "{index}: {0}, Expected Stopped Current Draw: {1}")
public static Collection<Object[]> generateData() {
// logger.fine("Loading the MotorList");
return Arrays.asList(new Object[][] {
return Arrays.asList(new Object[][]{
{TestBench.getInstance().getTalonPair(), new Double(0.0)}});
}
@@ -74,24 +79,23 @@ public class PDPTest extends AbstractComsSetup {
}
/**
* Test if the current changes when the motor is driven using a talon
* Test if the current changes when the motor is driven using a talon.
*/
@Test
public void CheckStoppedCurrentForSpeedController() throws CANMessageNotFoundException {
public void checkStoppedCurrentForSpeedController() throws CANMessageNotFoundException {
Timer.delay(0.25);
/* The Current should be 0 */
assertEquals("The low current was not within the expected range.", expectedStoppedCurrentDraw,
assertEquals("The low current was not within the expected range.", m_expectedStoppedCurrentDraw,
pdp.getCurrent(me.getPDPChannel()), 0.001);
}
/**
* Test if the current changes when the motor is driven using a talon
* Test if the current changes when the motor is driven using a talon.
*/
@Test
public void CheckRunningCurrentForSpeedController() throws CANMessageNotFoundException {
public void checkRunningCurrentForSpeedController() throws CANMessageNotFoundException {
/* Set the motor to full forward */
me.getMotor().set(1.0);
@@ -99,7 +103,7 @@ public class PDPTest extends AbstractComsSetup {
/* The current should now be greater than the low current */
assertThat("The driven current is not greater than the resting current.",
pdp.getCurrent(me.getPDPChannel()), is(greaterThan(expectedStoppedCurrentDraw)));
pdp.getCurrent(me.getPDPChannel()), is(greaterThan(m_expectedStoppedCurrentDraw)));
}
@Override

129
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java
View File

@@ -7,18 +7,6 @@
package edu.wpi.first.wpilibj;
import static org.hamcrest.CoreMatchers.is;
import static org.hamcrest.CoreMatchers.not;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
import java.util.ArrayList;
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;
@@ -28,29 +16,43 @@ import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import org.junit.runners.Parameterized.Parameters;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collection;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.hamcrest.CoreMatchers.is;
import static org.hamcrest.CoreMatchers.not;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
/**
* Test that covers the {@link PIDController}.
*
* @author Kacper Puczydlowski
* @author Jonathan Leitschuh
*
*/
@RunWith(Parameterized.class)
public class PIDTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
private NetworkTable table;
private NetworkTable m_table;
private static final double absoluteTolerance = 50;
private static final double outputRange = 0.25;
private PIDController controller = null;
private PIDController m_controller = null;
private static MotorEncoderFixture me = null;
@SuppressWarnings({"MemberName", "EmptyLineSeparator", "MultipleVariableDeclarations"})
private final Double k_p, k_i, k_d;
@Override
@@ -59,10 +61,12 @@ public class PIDTest extends AbstractComsSetup {
}
@SuppressWarnings({"ParameterName", "JavadocMethod"})
public PIDTest(Double p, Double i, Double d, MotorEncoderFixture mef) {
logger.fine("Constructor with: " + mef.getType());
if (PIDTest.me != null && !PIDTest.me.equals(mef))
if (PIDTest.me != null && !PIDTest.me.equals(mef)) {
PIDTest.me.teardown();
}
PIDTest.me = mef;
this.k_p = p;
this.k_i = i;
@@ -78,7 +82,7 @@ public class PIDTest extends AbstractComsSetup {
double ki = 0.0005;
double kd = 0.0;
for (int i = 0; i < 1; i++) {
data.addAll(Arrays.asList(new Object[][] {
data.addAll(Arrays.asList(new Object[][]{
{kp, ki, kd, TestBench.getInstance().getTalonPair()},
{kp, ki, kd, TestBench.getInstance().getVictorPair()},
{kp, ki, kd, TestBench.getInstance().getJaguarPair()}}));
@@ -86,15 +90,10 @@ public class PIDTest extends AbstractComsSetup {
return data;
}
/**
* @throws java.lang.Exception
*/
@BeforeClass
public static void setUpBeforeClass() throws Exception {}
public static void setUpBeforeClass() throws Exception {
}
/**
* @throws java.lang.Exception
*/
@AfterClass
public static void tearDownAfterClass() throws Exception {
logger.fine("TearDownAfterClass: " + me.getType());
@@ -102,36 +101,30 @@ public class PIDTest extends AbstractComsSetup {
me = null;
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
logger.fine("Setup: " + me.getType());
me.setup();
table = NetworkTable.getTable("TEST_PID");
controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
controller.initTable(table);
m_table = NetworkTable.getTable("TEST_PID");
m_controller = new PIDController(k_p, k_i, k_d, me.getEncoder(), me.getMotor());
m_controller.initTable(m_table);
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
logger.fine("Teardown: " + me.getType());
controller.disable();
controller.free();
controller = null;
m_controller.disable();
m_controller.free();
m_controller = null;
me.reset();
}
private void setupAbsoluteTolerance() {
controller.setAbsoluteTolerance(absoluteTolerance);
m_controller.setAbsoluteTolerance(absoluteTolerance);
}
private void setupOutputRange() {
controller.setOutputRange(-outputRange, outputRange);
m_controller.setOutputRange(-outputRange, outputRange);
}
@Test
@@ -139,14 +132,15 @@ public class PIDTest extends AbstractComsSetup {
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 2500.0;
controller.setSetpoint(setpoint);
assertFalse("PID did not begin disabled", controller.isEnable());
assertEquals("PID.getError() did not start at " + setpoint, setpoint, controller.getError(), 0);
assertEquals(k_p, table.getNumber("p"), 0);
assertEquals(k_i, table.getNumber("i"), 0);
assertEquals(k_d, table.getNumber("d"), 0);
assertEquals(setpoint, table.getNumber("setpoint"), 0);
assertFalse(table.getBoolean("enabled"));
m_controller.setSetpoint(setpoint);
assertFalse("PID did not begin disabled", m_controller.isEnable());
assertEquals("PID.getError() did not start at " + setpoint, setpoint,
m_controller.getError(), 0);
assertEquals(k_p, m_table.getNumber("p"), 0);
assertEquals(k_i, m_table.getNumber("i"), 0);
assertEquals(k_d, m_table.getNumber("d"), 0);
assertEquals(setpoint, m_table.getNumber("setpoint"), 0);
assertFalse(m_table.getBoolean("enabled"));
}
@Test
@@ -154,15 +148,15 @@ public class PIDTest extends AbstractComsSetup {
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 2500.0;
controller.setSetpoint(setpoint);
controller.enable();
m_controller.setSetpoint(setpoint);
m_controller.enable();
Timer.delay(.5);
assertTrue(table.getBoolean("enabled"));
assertTrue(controller.isEnable());
assertTrue(m_table.getBoolean("enabled"));
assertTrue(m_controller.isEnable());
assertThat(0.0, is(not(me.getMotor().get())));
controller.reset();
assertFalse(table.getBoolean("enabled"));
assertFalse(controller.isEnable());
m_controller.reset();
assertFalse(m_table.getBoolean("enabled"));
assertFalse(m_controller.isEnable());
assertEquals(0, me.getMotor().get(), 0);
}
@@ -171,10 +165,11 @@ public class PIDTest extends AbstractComsSetup {
setupAbsoluteTolerance();
setupOutputRange();
Double setpoint = 2500.0;
controller.disable();
controller.setSetpoint(setpoint);
controller.enable();
assertEquals("Did not correctly set set-point", setpoint, new Double(controller.getSetpoint()));
m_controller.disable();
m_controller.setSetpoint(setpoint);
m_controller.enable();
assertEquals("Did not correctly set set-point", setpoint, new Double(m_controller
.getSetpoint()));
}
@Test(timeout = 10000)
@@ -182,26 +177,26 @@ public class PIDTest extends AbstractComsSetup {
setupAbsoluteTolerance();
setupOutputRange();
double setpoint = 1000.0;
assertEquals(pidData() + "did not start at 0", 0, controller.get(), 0);
controller.setSetpoint(setpoint);
assertEquals(pidData() + "did not start at 0", 0, m_controller.get(), 0);
m_controller.setSetpoint(setpoint);
assertEquals(pidData() + "did not have an error of " + setpoint, setpoint,
controller.getError(), 0);
controller.enable();
m_controller.getError(), 0);
m_controller.enable();
Timer.delay(5);
controller.disable();
assertTrue(pidData() + "Was not on Target. Controller Error: " + controller.getError(),
controller.onTarget());
m_controller.disable();
assertTrue(pidData() + "Was not on Target. Controller Error: " + m_controller.getError(),
m_controller.onTarget());
}
private String pidData() {
return me.getType() + " PID {P:" + controller.getP() + " I:" + controller.getI() + " D:"
+ controller.getD() + "} ";
return me.getType() + " PID {P:" + m_controller.getP() + " I:" + m_controller.getI() + " D:"
+ m_controller.getD() + "} ";
}
@Test(expected = RuntimeException.class)
public void testOnTargetNoToleranceSet() {
setupOutputRange();
controller.onTarget();
m_controller.onTarget();
}
}

169
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDToleranceTest.java
View File

@@ -1,88 +1,105 @@
package edu.wpi.first.wpilibj;
import java.util.logging.Logger;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
public class PIDToleranceTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PIDToleranceTest.class.getName());
private PIDController pid;
private final double setPoint = 50.0;
private final double tolerance = 10.0;
private final double range = 200;
private class fakeInput implements PIDSource{
public double val;
public fakeInput(){
val = 0;
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
private static final Logger logger = Logger.getLogger(PIDToleranceTest.class.getName());
private PIDController m_pid;
private final double m_setPoint = 50.0;
private final double m_tolerance = 10.0;
private final double m_range = 200;
@Override
public double pidGet() {
return val;
}
private class FakeInput implements PIDSource {
public double m_val;
@Override
public void setPIDSourceType(PIDSourceType arg0) {}
};
private fakeInput inp;
private PIDOutput out = new PIDOutput(){
@Override
public void pidWrite(double out) {
}
};
@Override
protected Logger getClassLogger() {
return logger;
}
@Before
public void setUp() throws Exception{
inp = new fakeInput();
pid = new PIDController(0.05,0.0,0.0,inp,out);
pid.setInputRange(-range/2, range/2);
}
@After
public void tearDown() throws Exception{
pid.free();
pid = null;
}
@Test
public void testAbsoluteTolerance(){
pid.setAbsoluteTolerance(tolerance);
pid.setSetpoint(setPoint);
pid.enable();
Timer.delay(1);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint+tolerance/2;
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint + 10*tolerance;
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
}
@Test
public void testPercentTolerance(){
pid.setPercentTolerance(tolerance);
pid.setSetpoint(setPoint);
pid.enable();
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint+(tolerance)/200*range;//half of percent tolerance away from setPoint
Timer.delay(1.0);
assertTrue("Error was not in tolerance when it should have been. Error was "+pid.getAvgError(),pid.onTarget());
inp.val = setPoint + (tolerance)/50*range;//double percent tolerance away from setPoint
Timer.delay(1.0);
assertFalse("Error was in tolerance when it should not have been. Error was "+pid.getAvgError(),pid.onTarget());
}
public FakeInput() {
m_val = 0;
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
@Override
public double pidGet() {
return m_val;
}
@Override
public void setPIDSourceType(PIDSourceType arg0) {
}
}
private FakeInput m_inp;
private PIDOutput m_out = new PIDOutput() {
@Override
public void pidWrite(double out) {
}
};
@Override
protected Logger getClassLogger() {
return logger;
}
@Before
public void setUp() throws Exception {
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 {
m_pid.free();
m_pid = null;
}
@Test
public void testAbsoluteTolerance() {
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.getAvgError(), m_pid.onTarget());
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.getAvgError(), m_pid.onTarget());
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.getAvgError(), m_pid.onTarget());
}
@Test
public void testPercentTolerance() {
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.getAvgError(), m_pid.onTarget());
//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.getAvgError(), m_pid.onTarget());
//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.getAvgError(), m_pid.onTarget());
}
}

113
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PreferencesTest.java
View File

@@ -7,9 +7,8 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Before;
import org.junit.Test;
import java.io.File;
import java.io.FileOutputStream;
@@ -17,22 +16,24 @@ import java.io.IOException;
import java.io.OutputStream;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* @author jonathanleitschuh
* Tests the {@link Preferences}.
*
* @author jonathanleitschuh
*/
public class PreferencesTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(PreferencesTest.class.getName());
private NetworkTable prefTable;
private Preferences pref;
private long check;
private NetworkTable m_prefTable;
private Preferences m_pref;
private long m_check;
@Override
protected Logger getClassLogger() {
@@ -40,9 +41,6 @@ public class PreferencesTest extends AbstractComsSetup {
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
NetworkTable.shutdown();
@@ -55,70 +53,75 @@ public class PreferencesTest extends AbstractComsSetup {
file.createNewFile();
OutputStream output = new FileOutputStream(file);
output
.write("[NetworkTables Storage 3.0]\ndouble \"/Preferences/checkedValueInt\"=2\ndouble \"/Preferences/checkedValueDouble\"=.2\ndouble \"/Preferences/checkedValueFloat\"=3.14\ndouble \"/Preferences/checkedValueLong\"=172\nstring \"/Preferences/checkedValueString\"=\"hello \\nHow are you ?\"\nboolean \"/Preferences/checkedValueBoolean\"=false\n"
.write(("[NetworkTables Storage 3.0]\ndouble \"/Preferences/checkedValueInt\"=2\ndouble "
+ "\"/Preferences/checkedValueDouble\"=.2\ndouble "
+ "\"/Preferences/checkedValueFloat\"=3.14\ndouble "
+ "\"/Preferences/checkedValueLong\"=172\nstring "
+ "\"/Preferences/checkedValueString\"=\"hello \\nHow are you ?\"\nboolean "
+ "\"/Preferences/checkedValueBoolean\"=false\n")
.getBytes());
} catch (IOException e) {
e.printStackTrace();
} catch (IOException ex) {
ex.printStackTrace();
}
NetworkTable.initialize();
pref = Preferences.getInstance();
prefTable = NetworkTable.getTable("Preferences");
check = System.currentTimeMillis();
m_pref = Preferences.getInstance();
m_prefTable = NetworkTable.getTable("Preferences");
m_check = System.currentTimeMillis();
}
public void remove() {
pref.remove("checkedValueLong");
pref.remove("checkedValueDouble");
pref.remove("checkedValueString");
pref.remove("checkedValueInt");
pref.remove("checkedValueFloat");
pref.remove("checkedValueBoolean");
protected void remove() {
m_pref.remove("checkedValueLong");
m_pref.remove("checkedValueDouble");
m_pref.remove("checkedValueString");
m_pref.remove("checkedValueInt");
m_pref.remove("checkedValueFloat");
m_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);
protected void addCheckedValue() {
m_pref.putLong("checkedValueLong", m_check);
m_pref.putDouble("checkedValueDouble", 1);
m_pref.putString("checkedValueString", "checked");
m_pref.putInt("checkedValueInt", 1);
m_pref.putFloat("checkedValueFloat", 1);
m_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));
assertEquals(m_pref.getLong("checkedValueLong", 0), 172L);
assertEquals(m_pref.getDouble("checkedValueDouble", 0), .2, 0);
assertEquals(m_pref.getString("checkedValueString", ""), "hello \nHow are you ?");
assertEquals(m_pref.getInt("checkedValueInt", 0), 2);
assertEquals(m_pref.getFloat("checkedValueFloat", 0), 3.14, .001);
assertFalse(m_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));
assertEquals(m_pref.getLong("checkedValueLong", 0), 0);
assertEquals(m_pref.getDouble("checkedValueDouble", 0), 0, 0);
assertEquals(m_pref.getString("checkedValueString", ""), "");
assertEquals(m_pref.getInt("checkedValueInt", 0), 0);
assertEquals(m_pref.getFloat("checkedValueFloat", 0), 0, 0);
assertFalse(m_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));
m_pref.save();
assertEquals(m_check, m_pref.getLong("checkedValueLong", 0));
assertEquals(m_pref.getDouble("checkedValueDouble", 0), 1, 0);
assertEquals(m_pref.getString("checkedValueString", ""), "checked");
assertEquals(m_pref.getInt("checkedValueInt", 0), 1);
assertEquals(m_pref.getFloat("checkedValueFloat", 0), 1, 0);
assertTrue(m_pref.getBoolean("checkedValueBoolean", false));
}
@Test
public void testPreferencesToNetworkTables() {
String networkedNumber = "networkCheckedValue";
int networkNumberValue = 100;
pref.putInt(networkedNumber, networkNumberValue);
assertEquals(networkNumberValue, (int)(prefTable.getNumber(networkedNumber)));
pref.remove(networkedNumber);
m_pref.putInt(networkedNumber, networkNumberValue);
assertEquals(networkNumberValue, (int) (m_prefTable.getNumber(networkedNumber)));
m_pref.remove(networkedNumber);
}
}

85
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java
View File

@@ -7,18 +7,12 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.After;
import org.junit.Before;
import org.junit.Test;
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 edu.wpi.first.wpilibj.Relay.Direction;
import edu.wpi.first.wpilibj.Relay.InvalidValueException;
import edu.wpi.first.wpilibj.Relay.Value;
@@ -27,87 +21,90 @@ import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
/**
* @author jonathanleitschuh
* Tests the {@link RelayCrossConnectFixture}.
*
* @author jonathanleitschuh
*/
public class RelayCrossConnectTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(RelayCrossConnectTest.class.getName());
private static final NetworkTable table = NetworkTable.getTable("_RELAY_CROSS_CONNECT_TEST_");
private RelayCrossConnectFixture relayFixture;
private RelayCrossConnectFixture m_relayFixture;
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
relayFixture = TestBench.getRelayCrossConnectFixture();
relayFixture.setup();
relayFixture.getRelay().initTable(table);
m_relayFixture = TestBench.getRelayCrossConnectFixture();
m_relayFixture.setup();
m_relayFixture.getRelay().initTable(table);
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {
relayFixture.reset();
relayFixture.teardown();
m_relayFixture.reset();
m_relayFixture.teardown();
}
@Test
public void testBothHigh() {
relayFixture.getRelay().setDirection(Direction.kBoth);
relayFixture.getRelay().set(Value.kOn);
relayFixture.getRelay().updateTable();
assertTrue("Input one was not high when relay set both high", relayFixture.getInputOne().get());
assertTrue("Input two was not high when relay set both high", relayFixture.getInputTwo().get());
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kOn);
m_relayFixture.getRelay().updateTable();
assertTrue("Input one was not high when relay set both high", m_relayFixture.getInputOne()
.get());
assertTrue("Input two was not high when relay set both high", m_relayFixture.getInputTwo()
.get());
assertEquals("On", table.getString("Value"));
}
@Test
public void testFirstHigh() {
relayFixture.getRelay().setDirection(Direction.kBoth);
relayFixture.getRelay().set(Value.kForward);
relayFixture.getRelay().updateTable();
assertFalse("Input one was not low when relay set Value.kForward", relayFixture.getInputOne()
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kForward);
m_relayFixture.getRelay().updateTable();
assertFalse("Input one was not low when relay set Value.kForward", m_relayFixture.getInputOne()
.get());
assertTrue("Input two was not high when relay set Value.kForward", relayFixture.getInputTwo()
assertTrue("Input two was not high when relay set Value.kForward", m_relayFixture
.getInputTwo()
.get());
assertEquals("Forward", table.getString("Value"));
}
@Test
public void testSecondHigh() {
relayFixture.getRelay().setDirection(Direction.kBoth);
relayFixture.getRelay().set(Value.kReverse);
relayFixture.getRelay().updateTable();
assertTrue("Input one was not high when relay set Value.kReverse", relayFixture.getInputOne()
m_relayFixture.getRelay().setDirection(Direction.kBoth);
m_relayFixture.getRelay().set(Value.kReverse);
m_relayFixture.getRelay().updateTable();
assertTrue("Input one was not high when relay set Value.kReverse", m_relayFixture.getInputOne()
.get());
assertFalse("Input two was not low when relay set Value.kReverse", relayFixture.getInputTwo()
assertFalse("Input two was not low when relay set Value.kReverse", m_relayFixture
.getInputTwo()
.get());
assertEquals("Reverse", table.getString("Value"));
}
@Test(expected = InvalidValueException.class)
public void testSetValueForwardWithDirectionReverseThrowingException() {
relayFixture.getRelay().setDirection(Direction.kForward);
relayFixture.getRelay().set(Value.kReverse);
m_relayFixture.getRelay().setDirection(Direction.kForward);
m_relayFixture.getRelay().set(Value.kReverse);
}
@Test(expected = InvalidValueException.class)
public void testSetValueReverseWithDirectionForwardThrowingException() {
relayFixture.getRelay().setDirection(Direction.kReverse);
relayFixture.getRelay().set(Value.kForward);
m_relayFixture.getRelay().setDirection(Direction.kReverse);
m_relayFixture.getRelay().set(Value.kForward);
}
@Test
public void testInitialSettings() {
assertEquals(Value.kOff, relayFixture.getRelay().get());
assertEquals(Value.kOff, m_relayFixture.getRelay().get());
// Initially both outputs should be off
assertFalse(relayFixture.getInputOne().get());
assertFalse(relayFixture.getInputTwo().get());
assertFalse(m_relayFixture.getInputOne().get());
assertFalse(m_relayFixture.getInputTwo().get());
assertEquals("Off", table.getString("Value"));
}

23
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/SampleTest.java
View File

@@ -7,27 +7,24 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
import org.junit.AfterClass;
import org.junit.Before;
import org.junit.BeforeClass;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.fixtures.SampleFixture;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.CANTalon;
import static org.junit.Assert.assertTrue;
/**
* Sample test for a sample PID controller. This demonstrates the general
* pattern of how to create a test and use testing fixtures and categories.
*$
* All tests must extend from {@link AbstractComsSetup} in order to ensure that
* Network Communications are set up before the tests are run.
*$
* Sample test for a sample PID controller. This demonstrates the general pattern of how to create a
* test and use testing fixtures and categories. All tests must extend from {@link
* AbstractComsSetup} in order to ensure that Network Communications are set up before the tests are
* run.
*
* @author Fredric Silberberg
*/
public class SampleTest extends AbstractComsSetup {
@@ -58,8 +55,8 @@ public class SampleTest extends AbstractComsSetup {
}
/**
* This is just a sample test that asserts true. Any traditional junit code
* can be used, these are ordinary junit tests!
* This is just a sample test that asserts true. Any traditional junit code can be used, these are
* ordinary junit tests!
*/
@Test
public void test() {

6
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/TimerTest.java
View File

@@ -7,14 +7,14 @@
package edu.wpi.first.wpilibj;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Test;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
public class TimerTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(TimerTest.class.getName());

9
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java
View File

@@ -14,9 +14,10 @@ import org.junit.runners.Suite.SuiteClasses;
import edu.wpi.first.wpilibj.test.AbstractTestSuite;
/**
* @author Jonathan Leitschuh Holds all of the tests in the root wpilibj
* directory Please list alphabetically so that it is easy to determine
* if a test is missing from the list
* Holds all of the tests in the root wpilibj directory. Please list alphabetically so that it is
* easy to determine if a test is missing from the list.
*
* @author Jonathan Leitschuh
*/
@RunWith(Suite.class)
@SuiteClasses({AnalogCrossConnectTest.class, AnalogPotentiometerTest.class,
@@ -25,7 +26,7 @@ import edu.wpi.first.wpilibj.test.AbstractTestSuite;
DIOCrossConnectTest.class, EncoderTest.class, FilterNoiseTest.class,
FilterOutputTest.class, GyroTest.class, MotorEncoderTest.class,
MotorInvertingTest.class, PCMTest.class, PDPTest.class, PIDTest.class,
PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
PIDToleranceTest.class, PreferencesTest.class, RelayCrossConnectTest.class,
SampleTest.class, TimerTest.class})
public class WpiLibJTestSuite extends AbstractTestSuite {
}

55
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/AbstractCANTest.java
View File

@@ -18,12 +18,10 @@ import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Provides a base implementation for CAN Tests that forces a test of a
* particular mode to provide tests of a certain type. This also allows for a
* standardized base setup for each test.
*$
* @author jonathanleitschuh
* Provides a base implementation for CAN Tests that forces a test of a particular mode to provide
* tests of a certain type. This also allows for a standardized base setup for each test.
*
* @author jonathanleitschuh
*/
public abstract class AbstractCANTest extends AbstractComsSetup {
public static final double kMotorStopTime = 2;
@@ -36,27 +34,26 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
public static final double kStartupTime = 0.50;
public static final double kEncoderPositionTolerance = .75;
public static final double kPotentiometerPositionTolerance = 10.0 / 360.0; // +/-10
// degrees
// degrees
public static final double kCurrentTolerance = 0.1;
/**
* Stores the status value for the previous test. This is set immediately
* after a failure or success and before the me is torn down.
* Stores the status value for the previous test. This is set immediately after a failure or
* success and before the me is torn down.
*/
private String status = "";
private String m_status = "";
/**
* Extends the default test watcher in order to provide more information about
* a tests failure at runtime.
*$
* @author jonathanleitschuh
* Extends the default test watcher in order to provide more information about a tests failure at
* runtime.
*
* @author jonathanleitschuh
*/
public class CANTestWatcher extends DefaultTestWatcher {
@Override
protected void failed(Throwable e, Description description) {
super.failed(e, description, status);
protected void failed(Throwable exception, Description description) {
super.failed(exception, description, m_status);
}
}
@@ -65,27 +62,29 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
return new CANTestWatcher();
}
/** The Fixture under test */
private CANMotorEncoderFixture me;
/**
* The Fixture under test.
*/
private CANMotorEncoderFixture m_me;
/**
* Retrieves the CANMotorEncoderFixture
*$
* Retrieves the CANMotorEncoderFixture.
*
* @return the CANMotorEncoderFixture for this test.
*/
public CANMotorEncoderFixture getME() {
return me;
return m_me;
}
/**
* This runs BEFORE the setup of the inherited class
* This runs BEFORE the setup of the inherited class.
*/
@Before
public final void preSetup() {
status = "";
me = TestBench.getInstance().getCanJaguarPair();
me.setup();
me.getMotor().setSafetyEnabled(false);
m_status = "";
m_me = TestBench.getInstance().getCanJaguarPair();
m_me.setup();
m_me.getMotor().setSafetyEnabled(false);
}
@After
@@ -93,11 +92,11 @@ public abstract class AbstractCANTest extends AbstractComsSetup {
try {
// Stores the status data before tearing it down.
// If the test fails unexpectedly then this could cause an exception.
status = me.printStatus();
m_status = m_me.printStatus();
} finally {
me.teardown();
m_me.teardown();
}
me = null;
m_me = null;
}
protected void setCANJaguar(double seconds, double value) {

22
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANCurrentQuadEncoderModeTest.java
View File

@@ -7,20 +7,21 @@
package edu.wpi.first.wpilibj.can;
import static org.junit.Assert.assertEquals;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import org.junit.Ignore;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Tests the CAN Motor Controller in Current Quad Encoder mode.
*
* @author jonathanleitschuh
*/
public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
private static Logger logger = Logger.getLogger(CANCurrentQuadEncoderModeTest.class.getName());
@@ -29,7 +30,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -38,7 +39,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -47,7 +48,7 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -96,7 +97,8 @@ public class CANCurrentQuadEncoderModeTest extends AbstractCANTest {
for (int i = 0; i < 10; i++) {
setCANJaguar(1.0, setpoint);
if (Math.abs(getME().getMotor().getOutputCurrent() - Math.abs(setpoint)) <= kCurrentTolerance) {
if (Math.abs(getME().getMotor().getOutputCurrent() - Math.abs(setpoint))
<= kCurrentTolerance) {
break;
}
}

64
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANDefaultTest.java
View File

@@ -7,6 +7,18 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
@@ -14,25 +26,14 @@ import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* The default test set to run against the CAN Motor Controllers.
*
* @author jonathanleitschuh
*/
public class CANDefaultTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANDefaultTest.class.getName());
private final PollingWait wait = new PollingWait().timeoutAfter(65, TimeUnit.MILLISECONDS)
private final PollingWait m_wait = new PollingWait().timeoutAfter(65, TimeUnit.MILLISECONDS)
.pollEvery(10, TimeUnit.MILLISECONDS);
private static final double kSpikeTime = .5;
@@ -42,9 +43,6 @@ public class CANDefaultTest extends AbstractCANTest {
return logger;
}
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
getME().getMotor().enableControl();
@@ -55,17 +53,18 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultGet() {
wait.until(new RunnableAssert("Waiting for CAN Jaguar get to return 0") {
m_wait.until(new RunnableAssert("Waiting for CAN Jaguar get to return 0") {
@Override
public void run() {
assertEquals("CAN Jaguar did not initialize stopped", 0.0, getME().getMotor().get(), .01f);
assertEquals("CAN Jaguar did not initialize stopped", 0.0, getME().getMotor().get(),
.01f);
}
});
}
@Test
public void testDefaultBusVoltage() {
wait.until(new RunnableAssert("Waiting for default bus voltage to be correct") {
m_wait.until(new RunnableAssert("Waiting for default bus voltage to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start at 14 volts", 14.0f, getME().getMotor()
@@ -76,7 +75,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultOutputVoltage() {
wait.until(new RunnableAssert("Waiting for output voltage to be correct") {
m_wait.until(new RunnableAssert("Waiting for output voltage to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start with an output voltage of 0", 0.0f, getME()
@@ -87,7 +86,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultOutputCurrent() {
wait.until(new RunnableAssert("Waiting for output current to be correct") {
m_wait.until(new RunnableAssert("Waiting for output current to be correct") {
@Override
public void run() {
assertEquals("CAN Jaguar did not start with an output current of 0", 0.0f, getME()
@@ -99,7 +98,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultTemperature() {
final double room_temp = 18.0f;
wait.until(new RunnableAssert("Waiting for temperature to be correct") {
m_wait.until(new RunnableAssert("Waiting for temperature to be correct") {
@Override
public void run() {
assertThat(
@@ -112,11 +111,12 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultForwardLimit() {
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
wait.until(new RunnableAssert("Waiting for forward limit to not be set") {
m_wait.until(new RunnableAssert("Waiting for forward limit to not be set") {
@Override
public void run() {
getME().getMotor().set(0);
assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME().getMotor()
assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME()
.getMotor()
.getForwardLimitOK());
}
});
@@ -125,11 +125,12 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultReverseLimit() {
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
wait.until(new RunnableAssert("Waiting for reverse limit to not be set") {
m_wait.until(new RunnableAssert("Waiting for reverse limit to not be set") {
@Override
public void run() {
getME().getMotor().set(0);
assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME().getMotor()
assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME()
.getMotor()
.getReverseLimitOK());
}
});
@@ -137,7 +138,7 @@ public class CANDefaultTest extends AbstractCANTest {
@Test
public void testDefaultNoFaults() {
wait.until(new RunnableAssert("Waiting for no faults") {
m_wait.until(new RunnableAssert("Waiting for no faults") {
@Override
public void run() {
assertEquals("CAN Jaguar initialized with Faults", 0, getME().getMotor().getFaults());
@@ -146,7 +147,6 @@ public class CANDefaultTest extends AbstractCANTest {
}
@Test
public void testFakeLimitSwitchForwards() {
// Given
@@ -165,7 +165,8 @@ public class CANDefaultTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertFalse(
"Setting the forward limit switch high did not cause the forward limit switch to trigger",
"Setting the forward limit switch high did not cause the forward limit switch to "
+ "trigger",
getME().getMotor().getForwardLimitOK());
}
});
@@ -190,7 +191,8 @@ public class CANDefaultTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertFalse(
"Setting the reverse limit switch high did not cause the forward limit switch to trigger",
"Setting the reverse limit switch high did not cause the forward limit switch to "
+ "trigger",
getME().getMotor().getReverseLimitOK());
}
});

61
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANJaguarInversionTest.java
View File

@@ -7,22 +7,27 @@
package edu.wpi.first.wpilibj.can;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import org.junit.Test;
import static org.junit.Assert.assertTrue;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertTrue;
/**
* Created by Patrick Murphy on 3/30/15.
* Tests the CAN Jaguar inverted.
*
* <p>Created by Patrick Murphy on 3/30/15.
*/
public class CANJaguarInversionTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANJaguarInversionTest.class.getName());
private static final double motorVoltage = 2.0;
private static final double motorPercent = 0.1;
private static final double motorSpeed = 10;
private static final double delayTime = 0.75;
private static final double speedModeDelayTime = 2.0;
private static final double m_motorVoltage = 2.0;
private static final double m_motorPercent = 0.1;
private static final double m_motorSpeed = 10;
private static final double m_delayTime = 0.75;
private static final double m_speedModeDelayTime = 2.0;
@Override
protected Logger getClassLogger() {
@@ -32,54 +37,52 @@ public class CANJaguarInversionTest extends AbstractCANTest {
@Test
public void testInvertingVoltageMode() {
getME().getMotor().setVoltageMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorVoltage, delayTime);
inversionTest(m_motorVoltage, m_delayTime);
}
@Test
public void testInvertingPercentMode() {
getME().getMotor().setPercentMode(CANJaguar.kQuadEncoder, 360);
InversionTest(motorPercent, delayTime);
inversionTest(m_motorPercent, m_delayTime);
}
@Test
public void testInvertingSpeedMode() {
getME().getMotor().setSpeedMode(CANJaguar.kQuadEncoder, 360, 0.1, 0.003, 0.01);
InversionTest(motorSpeed, speedModeDelayTime);
inversionTest(m_motorSpeed, m_speedModeDelayTime);
}
/**
* Runs an inversion test To use set the jaguar to the proper
* mode(PercentVbus, voltage, speed)
*$
* @param setpoint the speed/voltage/percent to set the motor to
* @param delayTime the amount of time to delay between starting a motor and
* checking the encoder
* Runs an inversion test To use set the jaguar to the proper mode(PercentVbus, voltage, speed).
*
* @param setPoint the speed/voltage/percent to set the motor to
* @param delayTime the amount of time to delay between starting a motor and checking the encoder
*/
private void InversionTest(double setpoint, double delayTime) {
CANJaguar jag = this.getME().getMotor();
private void inversionTest(double setPoint, double delayTime) {
final CANJaguar jag = getME().getMotor();
jag.enableControl();
jag.setInverted(false);
jag.set(setpoint);
jag.set(setPoint);
Timer.delay(delayTime);
double initialSpeed = jag.getSpeed();
final double initialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(true);
jag.set(setpoint);
jag.set(setPoint);
Timer.delay(delayTime);
jag.set(0.0);
double finalSpeed = jag.getSpeed();
final double finalSpeed = jag.getSpeed();
assertTrue("Inverting with Positive value does not invert direction",
Math.signum(initialSpeed) != Math.signum(finalSpeed));
jag.set(-setpoint);
jag.set(-setPoint);
Timer.delay(delayTime);
initialSpeed = jag.getSpeed();
final double newInitialSpeed = jag.getSpeed();
jag.set(0.0);
jag.setInverted(false);
jag.set(-setpoint);
jag.set(-setPoint);
Timer.delay(delayTime);
finalSpeed = jag.getSpeed();
final double newFinalSpeed = jag.getSpeed();
jag.set(0.0);
assertTrue("Inverting with Negative value does not invert direction",
Math.signum(initialSpeed) != Math.signum(finalSpeed));
Math.signum(newInitialSpeed) != Math.signum(newFinalSpeed));
}
}

55
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPercentQuadEncoderModeTest.java
View File

@@ -7,6 +7,20 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
@@ -15,24 +29,12 @@ import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertThat;
import static org.junit.Assert.assertTrue;
import java.util.concurrent.TimeUnit;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN motor in PercentQuadEncoderMode.
*
* @author jonathanleitschuh
*/
@SuppressWarnings("AbbreviationAsWordInName")
public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPercentQuadEncoderModeTest.class
.getName());
@@ -41,7 +43,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -50,7 +52,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -59,7 +61,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -148,8 +150,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can limit the Jaguar to not rotate forwards when the fake limit
* switch is tripped
* Test if we can limit the Jaguar to not rotate forwards when the fake limit switch is tripped.
*/
@Test
public void shouldNotRotateForwards_WhenFakeLimitSwitchForwardsIsTripped() {
@@ -196,7 +197,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
/**
* Test if we can rotate in reverse when the limit switch
* Test if we can rotate in reverse when the limit switch.
*/
@Test
public void shouldRotateReverse_WhenFakeLimitSwitchForwardsIsTripped() {
@@ -251,8 +252,7 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can limit the Jaguar to only moving forwards with a fake limit
* switch.
* Test if we can limit the Jaguar to only moving forwards with a fake limit switch.
*/
@Test
public void shouldNotRotateReverse_WhenFakeLimitSwitchReversesIsTripped() {
@@ -301,9 +301,6 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
* Test if we can limit the Jaguar to only moving forwards with a fake limit
* switch.
*/
/**
*$
*/
@Test
public void shouldRotateForward_WhenFakeLimitSwitchReversesIsTripped() {
// Given
@@ -368,7 +365,8 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
@Override
public boolean getAsBoolean() {
return Math.abs((getME().getMotor().getPosition() - jagInitialPosition)
- (getME().getEncoder().get() - encoderInitialPosition)) < kEncoderPositionTolerance;
- (getME().getEncoder().get() - encoderInitialPosition))
< kEncoderPositionTolerance;
}
});
@@ -391,7 +389,8 @@ public class CANPercentQuadEncoderModeTest extends AbstractCANTest {
@Override
public boolean getAsBoolean() {
return Math.abs((getME().getMotor().getPosition() - jagInitialPosition)
- (getME().getEncoder().get() - encoderInitialPosition)) < kEncoderPositionTolerance;
- (getME().getEncoder().get() - encoderInitialPosition))
< kEncoderPositionTolerance;
}
});
assertEquals(getME().getMotor().getPosition() - jagInitialPosition, getME().getEncoder().get()

46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionPotentiometerModeTest.java
View File

@@ -7,28 +7,29 @@
package edu.wpi.first.wpilibj.can;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
/**
* @author jonathanleitschuh
* Tests the CAN Motor controller in Potentiometer Mode.
*
* @author jonathanleitschuh
*/
public class CANPositionPotentiometerModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPositionPotentiometerModeTest.class
@@ -41,7 +42,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -50,7 +51,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -59,7 +60,7 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -85,13 +86,13 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
/**
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead
* of the one built into the CAN Jaguar
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead of the one built
* into the CAN Jaguar.
*/
@Ignore("Encoder is not yet wired to the FPGA")
@Test
public void testRotateForward() {
int initialPosition = getME().getEncoder().get();
final int initialPosition = getME().getEncoder().get();
/* Drive the speed controller briefly to move the encoder */
getME().getMotor().set(kStoppedValue);
Timer.delay(kMotorTimeSettling);
@@ -104,13 +105,13 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
}
/**
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead
* of the one built into the CAN Jaguar
* NOTICE: This is using the {@link MotorEncoderFixture#getEncoder()} instead of the one built
* into the CAN Jaguar.
*/
@Ignore("Encoder is not yet wired to the FPGA")
@Test
public void testRotateReverse() {
int initialPosition = getME().getEncoder().get();
final int initialPosition = getME().getEncoder().get();
/* Drive the speed controller briefly to move the encoder */
getME().getMotor().set(kStoppedValue);
Timer.delay(kMotorTimeSettling);
@@ -123,8 +124,8 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
}
/**
* Test if we can get a position in potentiometer mode, using an analog output
* as a fake potentiometer.
* Test if we can get a position in potentiometer mode, using an analog output as a fake
* potentiometer.
*/
@Test
public void testFakePotentiometerPosition() {
@@ -141,7 +142,8 @@ public class CANPositionPotentiometerModeTest extends AbstractCANTest {
public void run() throws Exception {
getME().getMotor().set(0);
assertEquals(
"CAN Jaguar should have returned the potentiometer position set by the analog output",
"CAN Jaguar should have returned the potentiometer position set by the analog "
+ "output",
getME().getFakePot().getVoltage(), getME().getMotor().getPosition() * 3,
kPotentiometerPositionTolerance * 3);
}

23
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANPositionQuadEncoderModeTest.java
View File

@@ -7,21 +7,22 @@
package edu.wpi.first.wpilibj.can;
import static org.junit.Assert.assertEquals;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Tests the CAN Motor Encoders in QuadEncoder mode.
*
* @author jonathanleitschuh
*/
public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPositionQuadEncoderModeTest.class
@@ -35,7 +36,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -46,7 +47,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -84,8 +85,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
* Test if we can set a position and reach that position with PID control on the Jaguar.
*/
@Test
public void testEncoderPositionPIDForward() {
@@ -101,8 +101,7 @@ public class CANPositionQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can set a position and reach that position with PID control on
* the Jaguar.
* Test if we can set a position and reach that position with PID control on the Jaguar.
*/
@Test
public void testEncoderPositionPIDReverse() {

39
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANSpeedQuadEncoderModeTest.java
View File

@@ -7,30 +7,35 @@
package edu.wpi.first.wpilibj.can;
import org.junit.Before;
import org.junit.Test;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN Speed controllers in quad mode.
*
* @author jonathanleitschuh
*/
public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANPercentQuadEncoderModeTest.class
.getName());
/** The stopped value in rev/min */
/**
* The stopped value in rev/min.
*/
private static final double kStoppedValue = 0;
/** The running value in rev/min */
/**
* The running value in rev/min.
*/
private static final double kRunningValue = 50;
@Override
@@ -49,14 +54,14 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
@Test
public void testDefaultSpeed() {
assertEquals("CAN Jaguar did not start with an initial speed of zero", 0.0f, getME().getMotor()
assertEquals("CAN Jaguar did not start with an initial speed of zero", 0.0f, getME()
.getMotor()
.getSpeed(), 0.3f);
}
/**
* Test if we can drive the motor forward in Speed mode and get a position
* back
* Test if we can drive the motor forward in Speed mode and get a position back.
*/
@Test
public void testRotateForwardSpeed() {
@@ -70,8 +75,7 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
}
/**
* Test if we can drive the motor backwards in Speed mode and get a position
* back
* Test if we can drive the motor backwards in Speed mode and get a position back.
*/
@Test
public void testRotateReverseSpeed() {
@@ -80,7 +84,8 @@ public class CANSpeedQuadEncoderModeTest extends AbstractCANTest {
setCANJaguar(2 * kMotorTime, speed);
assertEquals("The motor did not reach the required speed in speed mode", speed, getME()
.getMotor().getSpeed(), kEncoderSpeedTolerance);
assertThat("The motor did not move in reverse in speed mode", getME().getMotor().getPosition(),
assertThat("The motor did not move in reverse in speed mode", getME().getMotor()
.getPosition(),
is(lessThan(initialPosition)));
}

3
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANTestSuite.java
View File

@@ -14,8 +14,9 @@ import org.junit.runners.Suite.SuiteClasses;
import edu.wpi.first.wpilibj.test.AbstractTestSuite;
/**
* @author jonathanleitschuh
* All of the tests to cover the CAN Motor Controllers.
*
* @author jonathanleitschuh
*/
@RunWith(Suite.class)
@SuiteClasses({CANCurrentQuadEncoderModeTest.class, CANDefaultTest.class,

53
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANVoltageQuadEncoderModeTest.java
View File

@@ -7,34 +7,39 @@
package edu.wpi.first.wpilibj.can;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import org.junit.Before;
import org.junit.Test;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
import static org.hamcrest.Matchers.greaterThan;
import static org.hamcrest.Matchers.is;
import static org.hamcrest.Matchers.lessThan;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertThat;
import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
import com.googlecode.junittoolbox.RunnableAssert;
import edu.wpi.first.wpilibj.CANJaguar;
import edu.wpi.first.wpilibj.Timer;
/**
* @author jonathanleitschuh
* Tests the CAN motor controllers in voltage mode work correctly.
*
* @author Jonathan Leitschuh
*/
public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
private static final Logger logger = Logger.getLogger(CANVoltageQuadEncoderModeTest.class
.getName());
/** The stopped value in volts */
/**
* The stopped value in volts.
*/
private static final double kStoppedValue = 0;
/** The running value in volts */
/**
* The running value in volts.
*/
private static final double kRunningValue = 4;
private static final double kVoltageTolerance = .25;
@@ -44,7 +49,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#stopMotor()
*/
protected void stopMotor() {
@@ -53,7 +58,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorForward()
*/
protected void runMotorForward() {
@@ -62,7 +67,7 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.can.AbstractCANTest#runMotorReverse()
*/
protected void runMotorReverse() {
@@ -74,8 +79,11 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
return logger;
}
/**
* Sets up the test.
*/
@Before
public void setUp() throws Exception {
public void setUp() {
getME().getMotor().setVoltageMode(CANJaguar.kQuadEncoder, 360);
getME().getMotor().set(kStoppedValue);
getME().getMotor().enableControl();
@@ -100,11 +108,10 @@ public class CANVoltageQuadEncoderModeTest extends AbstractCANTest {
/**
* Sets up the test to have the CANJaguar running at the target voltage
*$
* Sets up the test to have the CANJaguar running at the target voltage.
*
* @param targetValue the target voltage
* @param wait the PollingWait to to use to wait for the setup to complete
* with
* @param wait the PollingWait to to use to wait for the setup to complete with
*/
private void setupMotorVoltageForTest(final double targetValue, PollingWait wait) {
getME().getMotor().enableControl();

12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/package-info.java
View File

@@ -1,9 +1,7 @@
/**
* Provides a suite of tests to cover CANJaguar fully in all different control
* modes and with each supported positional input. Different setup parameters
* are provided in each Test class. All test classes that want to take advantage
* of the default test setup frameworks in place should extend
* {@link edu.wpi.first.wpilibj.can.AbstractCANTest AbstractCANTest}
*$
* Provides a suite of tests to cover CANJaguar fully in all different control modes and with each
* supported positional input. Different setup parameters are provided in each Test class. All test
* classes that want to take advantage of the default test setup frameworks in place should extend
* {@link edu.wpi.first.wpilibj.can.AbstractCANTest AbstractCANTest}.
*/
package edu.wpi.first.wpilibj.can;
package edu.wpi.first.wpilibj.can;

24
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
View File

@@ -7,17 +7,18 @@
package edu.wpi.first.wpilibj.command;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.fail;
import org.junit.Before;
import edu.wpi.first.wpilibj.mocks.MockCommand;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.fail;
/**
* @author jonathanleitschuh
* The basic test for all {@link Command} tests.
*
* @author jonathanleitschuh
*/
public abstract class AbstractCommandTest extends AbstractComsSetup {
@@ -28,21 +29,22 @@ public abstract class AbstractCommandTest extends AbstractComsSetup {
}
public class ASubsystem extends Subsystem {
Command command;
Command m_command;
protected void initDefaultCommand() {
if (command != null) {
setDefaultCommand(command);
if (m_command != null) {
setDefaultCommand(m_command);
}
}
public void init(Command command) {
this.command = command;
m_command = command;
}
}
public void assertCommandState(MockCommand command, int initialize, int execute, int isFinished,
int end, int interrupted) {
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());
@@ -50,7 +52,7 @@ public abstract class AbstractCommandTest extends AbstractComsSetup {
assertEquals(interrupted, command.getInterruptedCount());
}
public void sleep(int time) {
protected void sleep(int time) {
try {
Thread.sleep(time);
} catch (InterruptedException ex) {

66
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/ButtonTest.java
View File

@@ -7,80 +7,58 @@
package edu.wpi.first.wpilibj.command;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.buttons.InternalButton;
import edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* Test that covers the {@link edu.wpi.first.wpilibj.buttons.Button} with the {@link Command}
* library.
*
* @author Mitchell
* @author jonathanleitschuh
*
*/
public class ButtonTest extends AbstractCommandTest {
private static final Logger logger = Logger.getLogger(ButtonTest.class.getName());
private InternalButton button1;
private InternalButton button2;
private InternalButton m_button1;
private InternalButton m_button2;
protected Logger getClassLogger() {
return logger;
}
/**
* @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();
m_button1 = new InternalButton();
m_button2 = new InternalButton();
}
/**
* @throws java.lang.Exception
*/
@After
public void tearDown() throws Exception {}
/**
* Simple Button Test
* Simple Button Test.
*/
@Test
public void test() {
MockCommand command1 = new MockCommand();
MockCommand command2 = new MockCommand();
MockCommand command3 = new MockCommand();
MockCommand command4 = new MockCommand();
final MockCommand command1 = new MockCommand();
final MockCommand command2 = new MockCommand();
final MockCommand command3 = new MockCommand();
final MockCommand command4 = new MockCommand();
button1.whenPressed(command1);
button1.whenReleased(command2);
button1.whileHeld(command3);
button2.whileHeld(command4);
m_button1.whenPressed(command1);
m_button1.whenReleased(command2);
m_button1.whileHeld(command3);
m_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);
m_button1.setPressed(true);
assertCommandState(command1, 0, 0, 0, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 0, 0, 0, 0, 0);
@@ -100,7 +78,7 @@ public class ButtonTest extends AbstractCommandTest {
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 2, 2, 0, 0);
assertCommandState(command4, 0, 0, 0, 0, 0);
button2.setPressed(true);
m_button2.setPressed(true);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 3, 3, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
@@ -111,7 +89,7 @@ public class ButtonTest extends AbstractCommandTest {
assertCommandState(command2, 0, 0, 0, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 0);
assertCommandState(command4, 1, 1, 1, 0, 0);
button1.setPressed(false);
m_button1.setPressed(false);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 5, 5, 0, 0);
assertCommandState(command2, 0, 0, 0, 0, 0);
@@ -122,7 +100,7 @@ public class ButtonTest extends AbstractCommandTest {
assertCommandState(command2, 1, 1, 1, 0, 0);
assertCommandState(command3, 1, 4, 4, 0, 1);
assertCommandState(command4, 1, 3, 3, 0, 0);
button2.setPressed(false);
m_button2.setPressed(false);
Scheduler.getInstance().run();
assertCommandState(command1, 1, 7, 7, 0, 0);
assertCommandState(command2, 1, 2, 2, 0, 0);

52
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandParallelGroupTest.java
View File

@@ -7,22 +7,15 @@
package edu.wpi.first.wpilibj.command;
import static org.junit.Assert.*;
import org.junit.Test;
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 edu.wpi.first.wpilibj.mocks.MockCommand;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
/**
* Ported from the old CrioTest Classes
*$
* Ported from the old CrioTest Classes.
*
* @author Mitchell
* @author Jonathan Leitschuh
*/
@@ -34,38 +27,14 @@ public class CommandParallelGroupTest extends AbstractCommandTest {
}
/**
* @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 {}
/**
* Simple Parallel Command Group With 2 commands one command terminates first
* Simple Parallel Command Group With 2 commands one command terminates first.
*/
@Test
public void testParallelCommandGroupWithTwoCommands() {
MockCommand command1 = new MockCommand();
MockCommand command2 = new MockCommand();
final MockCommand command1 = new MockCommand();
final MockCommand command2 = new MockCommand();
CommandGroup commandGroup = new CommandGroup();
final CommandGroup commandGroup = new CommandGroup();
commandGroup.addParallel(command1);
commandGroup.addParallel(command2);
@@ -97,11 +66,4 @@ public class CommandParallelGroupTest extends AbstractCommandTest {
}
public void sleep(long time) {
try {
Thread.sleep(time);
} catch (InterruptedException ex) {
fail("Sleep Interrupted!?!?!?!?");
}
}
}

46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandScheduleTest.java
View File

@@ -7,21 +7,15 @@
package edu.wpi.first.wpilibj.command;
import static org.junit.Assert.*;
import org.junit.Test;
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 edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* Ported from the old CrioTest Classes
*$
* Ported from the old CrioTest Classes.
*
* @author Mitchell
* @author Jonathan Leitschuh
*/
@@ -33,36 +27,11 @@ public class CommandScheduleTest extends AbstractCommandTest {
}
/**
* @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 {}
/**
* Simple scheduling of a command and making sure the command is run and
* successfully terminates
* Simple scheduling of a command and making sure the command is run and successfully terminates.
*/
@Test
public void testRunAndTerminate() {
MockCommand command = new MockCommand();
final MockCommand command = new MockCommand();
command.start();
assertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();
@@ -80,12 +49,11 @@ public class CommandScheduleTest extends AbstractCommandTest {
}
/**
* Simple scheduling of a command and making sure the command is run and
* cancels correctly
* Simple scheduling of a command and making sure the command is run and cancels correctly.
*/
@Test
public void testRunAndCancel() {
MockCommand command = new MockCommand();
final MockCommand command = new MockCommand();
command.start();
assertCommandState(command, 0, 0, 0, 0, 0);
Scheduler.getInstance().run();

49
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
View File

@@ -7,20 +7,15 @@
package edu.wpi.first.wpilibj.command;
import java.util.logging.Logger;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* Ported from the old CrioTest Classes
*$
* Ported from the old CrioTest Classes.
*
* @author Mitchell
* @author Jonathan Leitschuh
*/
@@ -32,32 +27,8 @@ public class CommandSequentialGroupTest extends AbstractCommandTest {
}
/**
* @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 {}
/**
* Simple Command Group With 3 commands that all depend on a subsystem. Some
* commands have a timeout
* Simple Command Group With 3 commands that all depend on a subsystem. Some commands have a
* timeout.
*/
@Test(timeout = 20000)
public void testThreeCommandOnSubSystem() {
@@ -65,26 +36,26 @@ public class CommandSequentialGroupTest extends AbstractCommandTest {
final ASubsystem subsystem = new ASubsystem();
logger.finest("Creating Mock Command1");
MockCommand command1 = new MockCommand() {
final MockCommand command1 = new MockCommand() {
{
requires(subsystem);
}
};
logger.finest("Creating Mock Command2");
MockCommand command2 = new MockCommand() {
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}
};
logger.finest("Creating Mock Command3");
MockCommand command3 = new MockCommand() {
final MockCommand command3 = new MockCommand() {
{
requires(subsystem);
}
};
logger.finest("Creating Command Group");
CommandGroup commandGroup = new CommandGroup();
final CommandGroup commandGroup = new CommandGroup();
commandGroup.addSequential(command1, 1.0);
commandGroup.addSequential(command2, 2.0);
commandGroup.addSequential(command3);

50
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
View File

@@ -7,19 +7,15 @@
package edu.wpi.first.wpilibj.command;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* Ported from the old CrioTest Classes
*$
* Ported from the old CrioTest Classes.
*
* @author Mitchell
* @author Jonathan Leitschuh
*/
@@ -31,43 +27,19 @@ public class CommandSupersedeTest extends AbstractCommandTest {
}
/**
* @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 {}
/**
* Testing one command superseding another because of dependencies
* Testing one command superseding another because of dependencies.
*/
@Test
public void testOneCommandSupersedingAnotherBecauseOfDependencies() {
final ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand() {
final MockCommand command1 = new MockCommand() {
{
requires(subsystem);
}
};
MockCommand command2 = new MockCommand() {
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}
@@ -108,21 +80,21 @@ public class CommandSupersedeTest extends AbstractCommandTest {
}
/**
* Testing one command failing superseding another because of dependencies
* because the first command cannot be interrupted"
* Testing one command failing superseding another because of dependencies because the first
* command cannot be interrupted.
*/
@Test
public void testCommandFailingSupersedingBecauseFirstCanNotBeInterrupted() {
final ASubsystem subsystem = new ASubsystem();
MockCommand command1 = new MockCommand() {
final MockCommand command1 = new MockCommand() {
{
requires(subsystem);
setInterruptible(false);
}
};
MockCommand command2 = new MockCommand() {
final MockCommand command2 = new MockCommand() {
{
requires(subsystem);
}

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandTestSuite.java
View File

@@ -14,8 +14,8 @@ import org.junit.runners.Suite.SuiteClasses;
import edu.wpi.first.wpilibj.test.AbstractTestSuite;
/**
* Contains a listing of all of the {@link Command} tests.
* @author jonathanleitschuh
*
*/
@RunWith(Suite.class)
@SuiteClasses({ButtonTest.class, CommandParallelGroupTest.class, CommandScheduleTest.class,

39
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandTimeoutTest.java
View File

@@ -7,21 +7,16 @@
package edu.wpi.first.wpilibj.command;
import static org.junit.Assert.*;
import org.junit.Test;
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 edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* @author jonathanleitschuh
* Test a {@link Command} that times out.
*
* @author jonathanleitschuh
*/
public class CommandTimeoutTest extends AbstractCommandTest {
private static final Logger logger = Logger.getLogger(CommandTimeoutTest.class.getName());
@@ -31,38 +26,14 @@ public class CommandTimeoutTest extends AbstractCommandTest {
}
/**
* @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 {}
/**
* Command 2 second Timeout Test
* Command 2 second Timeout Test.
*/
@Test
public void testTwoSecondTimeout() {
final ASubsystem subsystem = new ASubsystem();
MockCommand command = new MockCommand() {
final MockCommand command = new MockCommand() {
{
requires(subsystem);
setTimeout(2);

46
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
View File

@@ -7,21 +7,16 @@
package edu.wpi.first.wpilibj.command;
import static org.junit.Assert.*;
import org.junit.Test;
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 edu.wpi.first.wpilibj.mocks.MockCommand;
/**
* @author jonathanleitschuh
* Tests the {@link Command} library.
*
* @author jonathanleitschuh
*/
public class DefaultCommandTest extends AbstractCommandTest {
private static final Logger logger = Logger.getLogger(DefaultCommandTest.class.getName());
@@ -30,45 +25,22 @@ public class DefaultCommandTest extends AbstractCommandTest {
return logger;
}
/**
* @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 {}
/**
* Testing of default commands where the interrupting command ends itself
* Testing of default commands where the interrupting command ends itself.
*/
@Test
public void testDefaultCommandWhereTheInteruptingCommandEndsItself() {
final ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand() {
final MockCommand defaultCommand = new MockCommand() {
{
requires(subsystem);
}
};
MockCommand anotherCommand = new MockCommand() {
final MockCommand anotherCommand = new MockCommand() {
{
requires(subsystem);
}
@@ -112,20 +84,20 @@ public class DefaultCommandTest extends AbstractCommandTest {
/**
* Testing of default commands where the interrupting command is canceled
* Testing of default commands where the interrupting command is canceled.
*/
@Test
public void testDefaultCommandsInterruptingCommandCanceled() {
final ASubsystem subsystem = new ASubsystem();
MockCommand defaultCommand = new MockCommand() {
final MockCommand defaultCommand = new MockCommand() {
{
requires(subsystem);
}
};
MockCommand anotherCommand = new MockCommand() {
final MockCommand anotherCommand = new MockCommand() {
{
requires(subsystem);
}

43
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java
View File

@@ -11,45 +11,46 @@ import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.AnalogOutput;
/**
* @author jonathanleitschuh
* A fixture that connects an {@link AnalogInput} and an {@link AnalogOutput}.
*
* @author jonathanleitschuh
*/
public abstract class AnalogCrossConnectFixture implements ITestFixture {
private boolean initialized = false;
private boolean m_initialized = false;
private AnalogInput input;
private AnalogOutput output;
private AnalogInput m_input;
private AnalogOutput m_output;
abstract protected AnalogInput giveAnalogInput();
protected abstract AnalogInput giveAnalogInput();
abstract protected AnalogOutput giveAnalogOutput();
protected abstract AnalogOutput giveAnalogOutput();
private void initialize() {
synchronized (this) {
if (!initialized) {
input = giveAnalogInput();
output = giveAnalogOutput();
initialized = true;
if (!m_initialized) {
m_input = giveAnalogInput();
m_output = giveAnalogOutput();
m_initialized = true;
}
}
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
public boolean setup() {
initialize();
output.setVoltage(0);
m_output.setVoltage(0);
return true;
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
@@ -60,27 +61,27 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
input.free();
output.free();
m_input.free();
m_output.free();
return true;
}
/**
* @return Analog Output
* Analog Output.
*/
final public AnalogOutput getOutput() {
public final AnalogOutput getOutput() {
initialize();
return output;
return m_output;
}
final public AnalogInput getInput() {
public final AnalogInput getInput() {
initialize();
return input;
return m_input;
}

115
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/CANMotorEncoderFixture.java
View File

@@ -18,18 +18,19 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
/**
* @author jonathanleitschuh
* A fixture that wraps a {@link CANJaguar}.
*
* @author jonathanleitschuh
*/
public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJaguar> implements
ITestFixture {
private static final Logger logger = Logger.getLogger(CANMotorEncoderFixture.class.getName());
public static final double RELAY_POWER_UP_TIME = .75;
private FakePotentiometerSource potSource;
private DigitalOutput forwardLimit;
private DigitalOutput reverseLimit;
private Relay powerCycler;
private boolean initialized = false;
private FakePotentiometerSource m_potSource;
private DigitalOutput m_forwardLimit;
private DigitalOutput m_reverseLimit;
private Relay m_powerCycler;
private boolean m_initialized = false;
protected abstract FakePotentiometerSource giveFakePotentiometerSource();
@@ -39,24 +40,25 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
protected abstract Relay givePowerCycleRelay();
public CANMotorEncoderFixture() {}
public CANMotorEncoderFixture() {
}
private void initialize() {
synchronized (this) {
if (!initialized) {
initialized = true;// This ensures it is only initialized once
if (!m_initialized) {
m_initialized = true;// This ensures it is only initialized once
powerCycler = givePowerCycleRelay();
powerCycler.setDirection(Direction.kForward);
m_powerCycler = givePowerCycleRelay();
m_powerCycler.setDirection(Direction.kForward);
logger.fine("Turning on the power!");
powerCycler.set(Value.kForward);
forwardLimit = giveFakeForwardLimit();
reverseLimit = giveFakeReverseLimit();
forwardLimit.set(false);
reverseLimit.set(false);
potSource = giveFakePotentiometerSource();
m_powerCycler.set(Value.kForward);
m_forwardLimit = giveFakeForwardLimit();
m_reverseLimit = giveFakeReverseLimit();
m_forwardLimit.set(false);
m_reverseLimit.set(false);
m_potSource = giveFakePotentiometerSource();
Timer.delay(RELAY_POWER_UP_TIME); // Delay so the relay has time to boot
// up
// up
}
}
}
@@ -71,34 +73,37 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
@Override
public boolean reset() {
initialize();
potSource.reset();
forwardLimit.set(false);
reverseLimit.set(false);
m_potSource.reset();
m_forwardLimit.set(false);
m_reverseLimit.set(false);
getMotor().setPercentMode(); // Get the Jaguar into a mode where setting the
// speed means stop
// speed means stop
return super.reset();
}
@Override
public boolean teardown() {
boolean wasNull = false;
if (potSource != null) {
potSource.free();
potSource = null;
} else
if (m_potSource != null) {
m_potSource.free();
m_potSource = null;
} else {
wasNull = true;
if (forwardLimit != null) {
forwardLimit.set(false);
forwardLimit.free();
forwardLimit = null;
} else
}
if (m_forwardLimit != null) {
m_forwardLimit.set(false);
m_forwardLimit.free();
m_forwardLimit = null;
} else {
wasNull = true;
if (reverseLimit != null) {
reverseLimit.set(false);
reverseLimit.free();
reverseLimit = null;
} else
}
if (m_reverseLimit != null) {
m_reverseLimit.set(false);
m_reverseLimit.free();
m_reverseLimit = null;
} else {
wasNull = true;
}
boolean superTornDown = false;
try {
superTornDown = super.teardown();
@@ -107,14 +112,16 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
if (getMotor() != null) {
getMotor().disableControl();
getMotor().free();
} else
} else {
wasNull = true;
}
} finally {
if (powerCycler != null) {
powerCycler.free();
powerCycler = null;
} else
if (m_powerCycler != null) {
m_powerCycler.free();
m_powerCycler = null;
} else {
wasNull = true;
}
}
}
if (wasNull) {
@@ -126,19 +133,22 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
public FakePotentiometerSource getFakePot() {
initialize();
return potSource;
return m_potSource;
}
public DigitalOutput getForwardLimit() {
initialize();
return forwardLimit;
return m_forwardLimit;
}
public DigitalOutput getReverseLimit() {
initialize();
return reverseLimit;
return m_reverseLimit;
}
/**
* Prints the current status of the fixture.
*/
public String printStatus() {
StringBuilder status = new StringBuilder("CAN Motor Encoder Status: ");
if (getMotor() != null) {
@@ -152,13 +162,13 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
} else {
status.append("\t" + "CANJaguar Motor = null" + "\n");
}
if (forwardLimit != null) {
status.append("\tForward Limit Output = " + forwardLimit + "\n");
if (m_forwardLimit != null) {
status.append("\tForward Limit Output = " + m_forwardLimit + "\n");
} else {
status.append("\tForward Limit Output = null" + "\n");
}
if (reverseLimit != null) {
status.append("\tReverse Limit Output = " + reverseLimit + "\n");
if (m_reverseLimit != null) {
status.append("\tReverse Limit Output = " + m_reverseLimit + "\n");
} else {
status.append("\tReverse Limit Output = null" + "\n");
}
@@ -166,6 +176,11 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
return status.toString();
}
/**
* Browns out the fixture for a specific ammount of time.
*
* @param seconds The number of seconds to brown out for.
*/
public void brownOut(double seconds) {
initialize();
powerOff();
@@ -175,12 +190,12 @@ public abstract class CANMotorEncoderFixture extends MotorEncoderFixture<CANJagu
public void powerOff() {
initialize();
powerCycler.set(Value.kOff);
m_powerCycler.set(Value.kOff);
}
public void powerOn() {
initialize();
powerCycler.set(Value.kForward);
m_powerCycler.set(Value.kForward);
}
}

43
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
View File

@@ -13,37 +13,54 @@ import java.util.logging.Logger;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
/**
* Connects a digital input to a digital output.
*
* @author Jonathan Leitschuh
*/
public class DIOCrossConnectFixture implements ITestFixture {
private static final Logger logger = Logger.getLogger(DIOCrossConnectFixture.class.getName());
private final DigitalInput input;
private final DigitalOutput output;
private final DigitalInput m_input;
private final DigitalOutput m_output;
private boolean m_allocated;
/**
* Constructs using two pre-allocated digital objects.
*
* @param input The input
* @param output The output.
*/
public DIOCrossConnectFixture(DigitalInput input, DigitalOutput output) {
assert input != null;
assert output != null;
this.input = input;
this.output = output;
m_input = input;
m_output = output;
m_allocated = false;
}
/**
* Constructs a {@link DIOCrossConnectFixture} using the ports of the digital objects.
*
* @param input The port of the {@link DigitalInput}
* @param output The port of the {@link DigitalOutput}
*/
public DIOCrossConnectFixture(Integer input, Integer output) {
assert input != null;
assert output != null;
assert !input.equals(output);
this.input = new DigitalInput(input);
this.output = new DigitalOutput(output);
m_input = new DigitalInput(input);
m_output = new DigitalOutput(output);
m_allocated = true;
}
public DigitalInput getInput() {
return input;
return m_input;
}
public DigitalOutput getOutput() {
return output;
return m_output;
}
@Override
@@ -54,11 +71,11 @@ public class DIOCrossConnectFixture implements ITestFixture {
@Override
public boolean reset() {
try {
input.cancelInterrupts();
} catch (IllegalStateException e) {
m_input.cancelInterrupts();
} catch (IllegalStateException ex) {
// This will happen if the interrupt has not been allocated for this test.
}
output.set(false);
m_output.set(false);
return true;
}
@@ -66,8 +83,8 @@ public class DIOCrossConnectFixture implements ITestFixture {
public boolean teardown() {
logger.log(Level.FINE, "Begining teardown");
if (m_allocated) {
input.free();
output.free();
m_input.free();
m_output.free();
m_allocated = false;
}
return true;

59
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java
View File

@@ -14,66 +14,66 @@ import edu.wpi.first.wpilibj.Counter;
import edu.wpi.first.wpilibj.mockhardware.FakeCounterSource;
/**
* @author jonathanleitschuh
* A fixture that can test the {@link Counter} using a {@link DIOCrossConnectFixture}.
*
* @author jonathanleitschuh
*/
public class FakeCounterFixture implements ITestFixture {
private static final Logger logger = Logger.getLogger(FakeEncoderFixture.class.getName());
private final DIOCrossConnectFixture dio;
private final DIOCrossConnectFixture m_dio;
private boolean m_allocated;
private final FakeCounterSource source;
private final Counter counter;
private final FakeCounterSource m_source;
private final Counter m_counter;
/**
* Constructs a FakeCounterFixture.
*$
* @param dio A previously allocated DIOCrossConnectFixture (must be freed
* outside this class)
*
* @param dio A previously allocated DIOCrossConnectFixture (must be freed outside this class)
*/
public FakeCounterFixture(DIOCrossConnectFixture dio) {
this.dio = dio;
m_dio = dio;
m_allocated = false;
source = new FakeCounterSource(dio.getOutput());
counter = new Counter(dio.getInput());
m_source = new FakeCounterSource(dio.getOutput());
m_counter = new Counter(dio.getInput());
}
/**
* Constructs a FakeCounterFixture using two port numbers
*$
* @param input the input port
* Constructs a FakeCounterFixture using two port numbers.
*
* @param input the input port
* @param output the output port
*/
public FakeCounterFixture(int input, int output) {
this.dio = new DIOCrossConnectFixture(input, output);
m_dio = new DIOCrossConnectFixture(input, output);
m_allocated = true;
source = new FakeCounterSource(dio.getOutput());
counter = new Counter(dio.getInput());
m_source = new FakeCounterSource(m_dio.getOutput());
m_counter = new Counter(m_dio.getInput());
}
/**
* Retrieves the FakeCouterSource for use
*$
* Retrieves the FakeCouterSource for use.
*
* @return the FakeCounterSource
*/
public FakeCounterSource getFakeCounterSource() {
return source;
return m_source;
}
/**
* Gets the Counter for use
*$
* Gets the Counter for use.
*
* @return the Counter
*/
public Counter getCounter() {
return counter;
return m_counter;
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
@@ -84,32 +84,31 @@ public class FakeCounterFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
public boolean reset() {
counter.reset();
m_counter.reset();
return true;
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
logger.log(Level.FINE, "Begining teardown");
counter.free();
source.free();
m_counter.free();
m_source.free();
if (m_allocated) { // Only tear down the dio if this class allocated it
dio.teardown();
m_dio.teardown();
m_allocated = false;
}
return true;
}
}

35
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java
View File

@@ -7,15 +7,16 @@
package edu.wpi.first.wpilibj.fixtures;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.mockhardware.FakeEncoderSource;
/**
* @author jonathanleitschuh
* An encoder that uses two {@link DIOCrossConnectFixture DIOCrossConnectFixtures} to test the
* {@link Encoder}.
*
* @author jonathanleitschuh
*/
public class FakeEncoderFixture implements ITestFixture {
private static final Logger logger = Logger.getLogger(FakeEncoderFixture.class.getName());
@@ -25,33 +26,25 @@ public class FakeEncoderFixture implements ITestFixture {
private boolean m_allocated;
private final FakeEncoderSource m_source;
private int m_sourcePort[] = new int[2];
private int[] m_sourcePort = new int[2];
private final Encoder m_encoder;
private int m_encoderPort[] = new int[2];
private int[] m_encoderPort = new int[2];
/**
* Constructs a FakeEncoderFixture from two DIOCrossConnectFixture
*$
* @param dio1
* @param dio2
* Constructs a FakeEncoderFixture from two DIOCrossConnectFixture.
*/
public FakeEncoderFixture(DIOCrossConnectFixture dio1, DIOCrossConnectFixture dio2) {
assert dio1 != null;
assert dio2 != null;
this.m_dio1 = dio1;
this.m_dio2 = dio2;
m_dio1 = dio1;
m_dio2 = dio2;
m_allocated = false;
m_source = new FakeEncoderSource(dio1.getOutput(), dio2.getOutput());
m_encoder = new Encoder(dio1.getInput(), dio2.getInput());
}
/**
* Construcst a FakeEncoderFixture from a set of Digital I/O ports
*$
* @param inputA
* @param outputA
* @param inputB
* @param outputB
* Construcst a FakeEncoderFixture from a set of Digital I/O ports.
*/
public FakeEncoderFixture(int inputA, int outputA, int inputB, int outputB) {
assert outputA != outputB;
@@ -60,8 +53,8 @@ public class FakeEncoderFixture implements ITestFixture {
assert outputB != inputA;
assert outputB != inputB;
assert inputA != inputB;
this.m_dio1 = new DIOCrossConnectFixture(inputA, outputA);
this.m_dio2 = new DIOCrossConnectFixture(inputB, outputB);
m_dio1 = new DIOCrossConnectFixture(inputA, outputA);
m_dio2 = new DIOCrossConnectFixture(inputB, outputB);
m_allocated = true;
m_sourcePort[0] = outputA;
m_sourcePort[1] = outputB;
@@ -81,7 +74,7 @@ public class FakeEncoderFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
@@ -91,7 +84,7 @@ public class FakeEncoderFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
@@ -104,7 +97,7 @@ public class FakeEncoderFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override

99
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterNoiseFixture.java
View File

@@ -8,48 +8,45 @@
package edu.wpi.first.wpilibj.fixtures;
import java.lang.reflect.ParameterizedType;
import java.util.logging.Logger;
import java.util.Random;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Represents a physically connected Motor and Encoder to allow for unit tests
* on these different pairs<br>
* Designed to allow the user to easily setup and tear down the fixture to allow
* for reuse. This class should be explicitly instantiated in the TestBed class
* to allow any test to access this fixture. This allows tests to be mailable so
* that you can easily reconfigure the physical testbed without breaking the
* tests.
* Represents a physically connected Motor and Encoder to allow for unit tests on these different
* pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow for
* reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
* access this fixture. This allows tests to be mailable so that you can easily reconfigure the
* physical testbed without breaking the tests.
*/
public abstract class FilterNoiseFixture<T extends PIDSource> implements ITestFixture {
private static final Logger logger = Logger.getLogger(FilterNoiseFixture.class.getName());
private boolean initialized = false;
private boolean tornDown = false;
protected T filter;
private NoiseGenerator data;
private boolean m_initialized = false;
private boolean m_tornDown = false;
protected T m_filter;
private NoiseGenerator m_data;
/**
* Where the implementer of this class should pass the filter constructor
*$
* @return
* Where the implementer of this class should pass the filter constructor.
*/
abstract protected T giveFilter(PIDSource source);
protected abstract T giveFilter(PIDSource source);
final private void initialize() {
private void initialize() {
synchronized (this) {
if (!initialized) {
initialized = true; // This ensures it is only initialized once
if (!m_initialized) {
m_initialized = true; // This ensures it is only initialized once
data = new NoiseGenerator(TestBench.kStdDev) {
m_data = new NoiseGenerator(TestBench.kStdDev) {
@Override
@SuppressWarnings("ParameterName")
public double getData(double t) {
return 100.0 * Math.sin(2.0 * Math.PI * t);
}
};
filter = giveFilter(data);
m_filter = giveFilter(m_data);
}
}
}
@@ -61,33 +58,33 @@ public abstract class FilterNoiseFixture<T extends PIDSource> implements ITestFi
}
/**
* Gets the filter for this Object
*$
* Gets the filter for this Object.
*
* @return the filter this object refers too
*/
public T getFilter() {
initialize();
return filter;
return m_filter;
}
/**
* Gets the noise generator for this object
*$
* Gets the noise generator for this object.
*
* @return the noise generator that this object refers too
*/
public NoiseGenerator getNoiseGenerator() {
initialize();
return data;
return m_data;
}
/**
* Retrieves the name of the filter that this object refers to
*$
* Retrieves the name of the filter that this object refers to.
*
* @return The simple name of the filter {@link Class#getSimpleName()}
*/
public String getType() {
initialize();
return filter.getClass().getSimpleName();
return m_filter.getClass().getSimpleName();
}
// test here?
@@ -108,61 +105,55 @@ public abstract class FilterNoiseFixture<T extends PIDSource> implements ITestFi
// Get the generic type as a class
@SuppressWarnings("unchecked")
Class<T> class1 =
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass()).getActualTypeArguments()[0];
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
.getActualTypeArguments()[0];
string.append(class1.getSimpleName());
string.append(">");
return string.toString();
}
/**
* Adds Gaussian white noise to a function returning data. The noise will have
* the standard deviation provided in the constructor.
* Adds Gaussian white noise to a function returning data. The noise will have the standard
* deviation provided in the constructor.
*/
public abstract class NoiseGenerator implements PIDSource {
private double noise = 0.0;
private double m_noise = 0.0;
// Make sure first call to pidGet() uses count == 0
private double count = -TestBench.kFilterStep;
private double m_count = -TestBench.kFilterStep;
private double stdDev;
private Random gen = new Random();
private double m_stdDev;
private Random m_gen = new Random();
NoiseGenerator(double stdDev) {
this.stdDev = stdDev;
m_stdDev = stdDev;
}
abstract public double getData(double t);
@SuppressWarnings("ParameterName")
public abstract double getData(double t);
/**
* {@inheritDoc}
*/
@Override
public void setPIDSourceType(PIDSourceType pidSource) {}
public void setPIDSourceType(PIDSourceType pidSource) {
}
/**
* {@inheritDoc}
*/
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
public double get() {
return getData(count) + noise;
return getData(m_count) + m_noise;
}
/**
* {@inheritDoc}
*/
@Override
public double pidGet() {
noise = gen.nextGaussian() * stdDev;
count += TestBench.kFilterStep;
return getData(count) + noise;
m_noise = m_gen.nextGaussian() * m_stdDev;
m_count += TestBench.kFilterStep;
return getData(m_count) + m_noise;
}
public void reset() {
count = -TestBench.kFilterStep;
m_count = -TestBench.kFilterStep;
}
}
}

94
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FilterOutputFixture.java
View File

@@ -15,52 +15,49 @@ import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Represents a filterphysically connected Motor and Encoder to allow for unit tests
* on these different pairs<br>
* Designed to allow the user to easily setup and tear down the fixture to allow
* for reuse. This class should be explicitly instantiated in the TestBed class
* to allow any test to access this fixture. This allows tests to be mailable so
* that you can easily reconfigure the physical testbed without breaking the
* tests.
* Represents a filterphysically connected Motor and Encoder to allow for unit tests on these
* different pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow
* for reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
* access this fixture. This allows tests to be mailable so that you can easily reconfigure the
* physical testbed without breaking the tests.
*/
public abstract class FilterOutputFixture<T extends PIDSource> implements ITestFixture {
private static final Logger logger = Logger.getLogger(FilterOutputFixture.class.getName());
private boolean initialized = false;
private boolean tornDown = false;
protected T filter;
private DataWrapper data;
private double expectedOutput;
private boolean m_initialized = false;
private boolean m_tornDown = false;
protected T m_filter;
private DataWrapper m_data;
private double m_expectedOutput;
public FilterOutputFixture(double expectedOutput) {
this.expectedOutput = expectedOutput;
m_expectedOutput = expectedOutput;
}
/**
* Get expected output of fixture
* Get expected output of fixture.
*/
public double getExpectedOutput() {
return expectedOutput;
return m_expectedOutput;
}
/**
* Where the implementer of this class should pass the filter constructor
*$
* @return
* Where the implementer of this class should pass the filter constructor.
*/
abstract protected T giveFilter(PIDSource source);
protected abstract T giveFilter(PIDSource source);
final private void initialize() {
private void initialize() {
synchronized (this) {
if (!initialized) {
initialized = true; // This ensures it is only initialized once
if (!m_initialized) {
m_initialized = true; // This ensures it is only initialized once
data = new DataWrapper() {
m_data = new DataWrapper() {
@Override
@SuppressWarnings("ParameterName")
public double getData(double t) {
return 100.0 * Math.sin(2.0 * Math.PI * t) + 20.0 * Math.cos(50.0 * Math.PI * t);
}
};
filter = giveFilter(data);
m_filter = giveFilter(m_data);
}
}
}
@@ -72,38 +69,38 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
}
/**
* Gets the filter for this Object
*$
* Gets the filter for this Object.
*
* @return the filter this object refers too
*/
public T getFilter() {
initialize();
return filter;
return m_filter;
}
/**
* Gets the data wrapper for this object
*$
* Gets the data wrapper for this object.
*
* @return the data wrapper that this object refers too
*/
public DataWrapper getDataWrapper() {
initialize();
return data;
return m_data;
}
/**
* Retrieves the name of the filter that this object refers to
*$
* Retrieves the name of the filter that this object refers to.
*
* @return The simple name of the filter {@link Class#getSimpleName()}
*/
public String getType() {
initialize();
return filter.getClass().getSimpleName();
return m_filter.getClass().getSimpleName();
}
@Override
public boolean reset() {
data.reset();
m_data.reset();
return true;
}
@@ -118,7 +115,8 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
// Get the generic type as a class
@SuppressWarnings("unchecked")
Class<T> class1 =
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass()).getActualTypeArguments()[0];
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
.getActualTypeArguments()[0];
string.append(class1.getSimpleName());
string.append(">");
return string.toString();
@@ -126,35 +124,31 @@ public abstract class FilterOutputFixture<T extends PIDSource> implements ITestF
public abstract class DataWrapper implements PIDSource {
// Make sure first call to pidGet() uses count == 0
private double count = -TestBench.kFilterStep;
private double m_count = -TestBench.kFilterStep;
abstract public double getData(double t);
@SuppressWarnings("ParameterName")
public abstract double getData(double t);
/**
* {@inheritDoc}
*/
@Override
public void setPIDSourceType(PIDSourceType pidSource) {}
public void setPIDSourceType(PIDSourceType pidSource) {
}
/**
* {@inheritDoc}
*/
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
/**
* {@inheritDoc}
*/
@Override
public double pidGet() {
count += TestBench.kFilterStep;
return getData(count);
m_count += TestBench.kFilterStep;
return getData(m_count);
}
public void reset() {
count = -TestBench.kFilterStep;
m_count = -TestBench.kFilterStep;
}
}
}

42
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java
View File

@@ -10,44 +10,40 @@ package edu.wpi.first.wpilibj.fixtures;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Master interface for all test fixtures. This ensures that all test fixtures
* have setup and teardown methods, to ensure that the tests run properly.
*$
* Test fixtures should be modeled around the content of a test, rather than the
* actual physical layout of the testing board. They should obtain references to
* hardware from the {@link TestBench} class, which is a singleton. Testing
* Fixtures are responsible for ensuring that the hardware is in an appropriate
* state for the start of a test, and ensuring that future tests will not be
* affected by the results of a test.
*$
* Master interface for all test fixtures. This ensures that all test fixtures have setup and
* teardown methods, to ensure that the tests run properly. Test fixtures should be modeled around
* the content of a test, rather than the actual physical layout of the testing board. They should
* obtain references to hardware from the {@link TestBench} class, which is a singleton. Testing
* Fixtures are responsible for ensuring that the hardware is in an appropriate state for the start
* of a test, and ensuring that future tests will not be affected by the results of a test.
*
* @author Fredric Silberberg
*/
public interface ITestFixture {
/**
* Performs any required setup for this fixture, ensuring that all fixture
* elements are ready for testing.
*$
* Performs any required setup for this fixture, ensuring that all fixture elements are ready for
* testing.
*
* @return True if the fixture is ready for testing
*/
boolean setup();
/**
* Resets the fixture back to test start state. This should be called by the
* test class in the test setup method to ensure that the hardware is in the
* default state. This differs from {@link ITestFixture#setup()} as that is
* called once, before the class is constructed, so it may need to start
* sensors. This method should not have to start anything, just reset sensors
* and ensure that motors are stopped.
*$
* Resets the fixture back to test start state. This should be called by the test class in the
* test setup method to ensure that the hardware is in the default state. This differs from {@link
* ITestFixture#setup()} as that is called once, before the class is constructed, so it may need
* to start sensors. This method should not have to start anything, just reset sensors and ensure
* that motors are stopped.
*
* @return True if the fixture is ready for testing
*/
boolean reset();
/**
* Performs any required teardown after use of the fixture, ensuring that
* future tests will not run into conflicts.
*$
* Performs any required teardown after use of the fixture, ensuring that future tests will not
* run into conflicts.
*
* @return True if the teardown succeeded
*/
boolean teardown();

202
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -19,74 +19,74 @@ import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.test.TestBench;
/**
* Represents a physically connected Motor and Encoder to allow for unit tests
* on these different pairs<br>
* Designed to allow the user to easily setup and tear down the fixture to allow
* for reuse. This class should be explicitly instantiated in the TestBed class
* to allow any test to access this fixture. This allows tests to be mailable so
* that you can easily reconfigure the physical testbed without breaking the
* tests.
* Represents a physically connected Motor and Encoder to allow for unit tests on these different
* pairs<br> Designed to allow the user to easily setup and tear down the fixture to allow for
* reuse. This class should be explicitly instantiated in the TestBed class to allow any test to
* access this fixture. This allows tests to be mailable so that you can easily reconfigure the
* physical testbed without breaking the tests.
*
* @author Jonathan Leitschuh
*
*/
public abstract class MotorEncoderFixture<T extends SpeedController> implements ITestFixture {
private static final Logger logger = Logger.getLogger(MotorEncoderFixture.class.getName());
private boolean initialized = false;
private boolean tornDown = false;
protected T motor;
private Encoder encoder;
private final Counter counters[] = new Counter[2];
protected DigitalInput aSource; // Stored so it can be freed at tear down
protected DigitalInput bSource;
private boolean m_initialized = false;
private boolean m_tornDown = false;
protected T m_motor;
private Encoder m_encoder;
private final Counter[] m_counters = new Counter[2];
protected DigitalInput m_alphaSource; // Stored so it can be freed at tear down
protected DigitalInput m_betaSource;
/**
* Default constructor for a MotorEncoderFixture
* Default constructor for a MotorEncoderFixture.
*/
public MotorEncoderFixture() {}
public MotorEncoderFixture() {
}
abstract public int getPDPChannel();
public abstract int getPDPChannel();
/**
* Where the implementer of this class should pass the speed controller
* Constructor should only be called from outside this class if the Speed
* controller is not also an implementation of PWM interface
*$
* Where the implementer of this class should pass the speed controller Constructor should only be
* called from outside this class if the Speed controller is not also an implementation of PWM
* interface.
*
* @return SpeedController
*/
abstract protected T giveSpeedController();
protected abstract T giveSpeedController();
/**
* Where the implementer of this class should pass one of the digital inputs<br>
* CONSTRUCTOR SHOULD NOT BE CALLED FROM OUTSIDE THIS CLASS!
*$
* Where the implementer of this class should pass one of the digital inputs.
*
* <p>CONSTRUCTOR SHOULD NOT BE CALLED FROM OUTSIDE THIS CLASS!
*
* @return DigitalInput
*/
abstract protected DigitalInput giveDigitalInputA();
protected abstract DigitalInput giveDigitalInputA();
/**
* Where the implementer fo this class should pass the other digital input<br>
* CONSTRUCTOR SHOULD NOT BE CALLED FROM OUTSIDE THIS CLASS!
*$
* Where the implementer fo this class should pass the other digital input.
*
* <p>CONSTRUCTOR SHOULD NOT BE CALLED FROM OUTSIDE THIS CLASS!
*
* @return Input B to be used when this class is instantiated
*/
abstract protected DigitalInput giveDigitalInputB();
protected abstract DigitalInput giveDigitalInputB();
final private void initialize() {
private final void initialize() {
synchronized (this) {
if (!initialized) {
initialized = true; // This ensures it is only initialized once
if (!m_initialized) {
m_initialized = true; // This ensures it is only initialized once
aSource = giveDigitalInputA();
bSource = giveDigitalInputB();
m_alphaSource = giveDigitalInputA();
m_betaSource = giveDigitalInputB();
encoder = new Encoder(aSource, bSource);
counters[0] = new Counter(aSource);
counters[1] = new Counter(bSource);
m_encoder = new Encoder(m_alphaSource, m_betaSource);
m_counters[0] = new Counter(m_alphaSource);
m_counters[1] = new Counter(m_betaSource);
logger.fine("Creating the speed controller!");
motor = giveSpeedController(); // CANJaguar throws an exception if it
// doesn't get the message
m_motor = giveSpeedController(); // CANJaguar throws an exception if it
// doesn't get the message
}
}
}
@@ -98,70 +98,68 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
}
/**
* Gets the motor for this Object
*$
* Gets the motor for this Object.
*
* @return the motor this object refers too
*/
public T getMotor() {
initialize();
return motor;
return m_motor;
}
/**
* Gets the encoder for this object
*$
* Gets the encoder for this object.
*
* @return the encoder that this object refers too
*/
public Encoder getEncoder() {
initialize();
return encoder;
return m_encoder;
}
public Counter[] getCounters() {
initialize();
return counters;
return m_counters;
}
/**
* Retrieves the name of the motor that this object refers to
*$
* Retrieves the name of the motor that this object refers to.
*
* @return The simple name of the motor {@link Class#getSimpleName()}
*/
public String getType() {
initialize();
return motor.getClass().getSimpleName();
return m_motor.getClass().getSimpleName();
}
/**
* Checks to see if the speed of the motor is within some range of a given
* value. This is used instead of equals() because doubles can have
* inaccuracies.
*$
* @param value The value to compare against
* Checks to see if the speed of the motor is within some range of a given value. This is used
* instead of equals() because doubles can have inaccuracies.
*
* @param value The value to compare against
* @param accuracy The accuracy range to check against to see if the
* @return true if the range of values between motors speed accuracy contains
* the 'value'.
* @return true if the range of values between motors speed accuracy contains the 'value'.
*/
public boolean isMotorSpeedWithinRange(double value, double accuracy) {
initialize();
return Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy);
return Math.abs((Math.abs(m_motor.get()) - Math.abs(value))) < Math.abs(accuracy);
}
@Override
public boolean reset() {
initialize();
boolean wasReset = true;
motor.setInverted(false);
motor.set(0);
m_motor.setInverted(false);
m_motor.set(0);
Timer.delay(TestBench.MOTOR_STOP_TIME); // DEFINED IN THE TestBench
encoder.reset();
for (Counter c : counters) {
m_encoder.reset();
for (Counter c : m_counters) {
c.reset();
}
wasReset = wasReset && motor.get() == 0;
wasReset = wasReset && encoder.get() == 0;
for (Counter c : counters) {
boolean wasReset = true;
wasReset = wasReset && m_motor.get() == 0;
wasReset = wasReset && m_encoder.get() == 0;
for (Counter c : m_counters) {
wasReset = wasReset && c.get() == 0;
}
@@ -169,54 +167,59 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
}
/**
* Safely tears down the MotorEncoder Fixture in a way that makes sure that
* even if an object fails to initialize the rest of the fixture can still be
* torn down and the resources deallocated
* Safely tears down the MotorEncoder Fixture in a way that makes sure that even if an object
* fails to initialize the rest of the fixture can still be torn down and the resources
* deallocated.
*/
@Override
public boolean teardown() {
String type;
if (motor != null) {
if (m_motor != null) {
type = getType();
} else {
type = "null";
}
if (!tornDown) {
if (!m_tornDown) {
boolean wasNull = false;
if (motor instanceof PWM && motor != null) {
((PWM) motor).free();
motor = null;
} else if (motor == null)
if (m_motor instanceof PWM && m_motor != null) {
((PWM) m_motor).free();
m_motor = null;
} else if (m_motor == null) {
wasNull = true;
if (encoder != null) {
encoder.free();
encoder = null;
} else
}
if (m_encoder != null) {
m_encoder.free();
m_encoder = null;
} else {
wasNull = true;
if (counters[0] != null) {
counters[0].free();
counters[0] = null;
} else
}
if (m_counters[0] != null) {
m_counters[0].free();
m_counters[0] = null;
} else {
wasNull = true;
if (counters[1] != null) {
counters[1].free();
counters[1] = null;
} else
}
if (m_counters[1] != null) {
m_counters[1].free();
m_counters[1] = null;
} else {
wasNull = true;
if (aSource != null) {
aSource.free();
aSource = null;
} else
}
if (m_alphaSource != null) {
m_alphaSource.free();
m_alphaSource = null;
} else {
wasNull = true;
if (bSource != null) {
bSource.free();
bSource = null;
} else
}
if (m_betaSource != null) {
m_betaSource.free();
m_betaSource = null;
} else {
wasNull = true;
}
tornDown = true;
m_tornDown = true;
if (wasNull) {
throw new NullPointerException("MotorEncoderFixture had null params at teardown");
@@ -234,7 +237,8 @@ public abstract class MotorEncoderFixture<T extends SpeedController> implements
// Get the generic type as a class
@SuppressWarnings("unchecked")
Class<T> class1 =
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass()).getActualTypeArguments()[0];
(Class<T>) ((ParameterizedType) getClass().getGenericSuperclass())
.getActualTypeArguments()[0];
string.append(class1.getSimpleName());
string.append(">");
return string.toString();

47
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java
View File

@@ -9,22 +9,19 @@ package edu.wpi.first.wpilibj.fixtures;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Relay;
import edu.wpi.first.wpilibj.Relay.Direction;
import edu.wpi.first.wpilibj.Relay.Value;
/**
* A connection between a {@link Relay} and two {@link DigitalInput DigitalInputs}.
* @author jonathanleitschuh
*
*/
public abstract class RelayCrossConnectFixture implements ITestFixture {
private DigitalInput inputOne;
private DigitalInput inputTwo;
private Relay relay;
private boolean initialized = false;
private boolean freed = false;
private DigitalInput m_inputOne;
private DigitalInput m_inputTwo;
private Relay m_relay;
private boolean m_initialized = false;
private boolean m_freed = false;
protected abstract Relay giveRelay();
@@ -35,33 +32,33 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
private void initialize() {
synchronized (this) {
if (!initialized) {
relay = giveRelay();
inputOne = giveInputOne();
inputTwo = giveInputTwo();
initialized = true;
if (!m_initialized) {
m_relay = giveRelay();
m_inputOne = giveInputOne();
m_inputTwo = giveInputTwo();
m_initialized = true;
}
}
}
public Relay getRelay() {
initialize();
return relay;
return m_relay;
}
public DigitalInput getInputOne() {
initialize();
return inputOne;
return m_inputOne;
}
public DigitalInput getInputTwo() {
initialize();
return inputTwo;
return m_inputTwo;
}
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
@@ -72,7 +69,7 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
@@ -83,16 +80,16 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
if (!freed) {
relay.free();
inputOne.free();
inputTwo.free();
freed = true;
if (!m_freed) {
m_relay.free();
m_inputOne.free();
m_inputTwo.free();
m_freed = true;
} else {
throw new RuntimeException("You attempted to free the "
+ RelayCrossConnectFixture.class.getSimpleName() + " multiple times");

13
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java
View File

@@ -9,17 +9,13 @@ package edu.wpi.first.wpilibj.fixtures;
/**
* This is an example of how to use the {@link ITestFixture} interface to create
* test fixtures for a test.
*$
* This is an example of how to use the {@link ITestFixture} interface to create test fixtures for a
* test.
*
* @author Fredric Silberberg
*$
*/
public class SampleFixture implements ITestFixture {
/**
* {@inheritDoc}
*/
@Override
public boolean setup() {
/*
@@ -42,9 +38,6 @@ public class SampleFixture implements ITestFixture {
return false;
}
/**
* {@inheritDoc}
*/
@Override
public boolean teardown() {
/*

78
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
View File

@@ -14,21 +14,20 @@ import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Timer;
/**
* A class to represent the a physical Camera with two servos (tilt and pan)
* designed to test to see if the gyroscope is operating normally.
* A class to represent the a physical Camera with two servos (tilt and pan) designed to test to see
* if the gyroscope is operating normally.
*
* @author Jonathan Leitschuh
*
*/
public abstract class TiltPanCameraFixture implements ITestFixture {
public static final Logger logger = Logger.getLogger(TiltPanCameraFixture.class.getName());
public static final double RESET_TIME = 2.0;
private AnalogGyro gyro;
private AnalogGyro gyroParam;
private Servo tilt;
private Servo pan;
private boolean initialized = false;
private AnalogGyro m_gyro;
private AnalogGyro m_gyroParam;
private Servo m_tilt;
private Servo m_pan;
private boolean m_initialized = false;
protected abstract AnalogGyro giveGyro();
@@ -40,24 +39,25 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
protected abstract Servo givePan();
/**
* Constructs the TiltPanCamera
* Constructs the TiltPanCamera.
*/
public TiltPanCameraFixture() {}
public TiltPanCameraFixture() {
}
@Override
public boolean setup() {
boolean wasSetup = false;
if (!initialized) {
initialized = true;
tilt = giveTilt();
tilt.set(0);
pan = givePan();
pan.set(0);
if (!m_initialized) {
m_initialized = true;
m_tilt = giveTilt();
m_tilt.set(0);
m_pan = givePan();
m_pan.set(0);
Timer.delay(RESET_TIME);
logger.fine("Initializing the gyro");
gyro = giveGyro();
gyro.reset();
m_gyro = giveGyro();
m_gyro.reset();
wasSetup = true;
}
return wasSetup;
@@ -65,50 +65,52 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
@Override
public boolean reset() {
if(gyro != null)
gyro.reset();
if (m_gyro != null) {
m_gyro.reset();
}
return true;
}
public Servo getTilt() {
return tilt;
return m_tilt;
}
public Servo getPan() {
return pan;
return m_pan;
}
public AnalogGyro getGyro() {
return gyro;
return m_gyro;
}
public AnalogGyro getGyroParam() {
return gyroParam;
return m_gyroParam;
}
// Do not call unless all other instances of Gyro have been deallocated
public void setupGyroParam(int center, double offset) {
gyroParam = giveGyroParam(center, offset);
gyroParam.reset();
m_gyroParam = giveGyroParam(center, offset);
m_gyroParam.reset();
}
public void freeGyro() {
gyro.free();
gyro = null;
m_gyro.free();
m_gyro = null;
}
@Override
public boolean teardown() {
tilt.free();
tilt = null;
pan.free();
pan = null;
if(gyro !=null){//in case not freed during gyro tests
gyro.free();
gyro = null;
m_tilt.free();
m_tilt = null;
m_pan.free();
m_pan = null;
if (m_gyro != null) { //in case not freed during gyro tests
m_gyro.free();
m_gyro = null;
}
if(gyroParam != null){//in case gyro tests failed before getting to this point
gyroParam.free();
gyroParam = null;
if (m_gyroParam != null) { //in case gyro tests failed before getting to this point
m_gyroParam.free();
m_gyroParam = null;
}
return true;
}

52
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
View File

@@ -11,19 +11,20 @@ import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.Timer;
/**
* Simulates an encoder for testing purposes
* Simulates an encoder for testing purposes.
*
* @author Ryan O'Meara
*/
public class FakeCounterSource {
private Thread m_task;
private int m_count;
private int m_mSec;
private int m_milliSec;
private DigitalOutput m_output;
private boolean m_allocated;
/**
* Thread object that allows emulation of an encoder
* Thread object that allows emulation of an encoder.
*/
private class EncoderThread extends Thread {
@@ -37,19 +38,20 @@ public class FakeCounterSource {
m_encoder.m_output.set(false);
try {
for (int i = 0; i < m_encoder.m_count; i++) {
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
m_encoder.m_output.set(true);
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
m_encoder.m_output.set(false);
}
} catch (InterruptedException e) {
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
}
}
/**
* Create a fake encoder on a given port
*$
* Create a fake encoder on a given port.
*
* @param output the port to output the given signal to
*/
public FakeCounterSource(DigitalOutput output) {
@@ -59,8 +61,8 @@ public class FakeCounterSource {
}
/**
* Create a fake encoder on a given port
*$
* Create a fake encoder on a given port.
*
* @param port The port the encoder is supposed to be on
*/
public FakeCounterSource(int port) {
@@ -70,7 +72,7 @@ public class FakeCounterSource {
}
/**
* Destroy Object with minimum memory leak
* Destroy Object with minimum memory leak.
*/
public void free() {
m_task = null;
@@ -82,36 +84,36 @@ public class FakeCounterSource {
}
/**
* Common initailization code
* Common initailization code.
*/
private void initEncoder() {
m_mSec = 1;
m_milliSec = 1;
m_task = new EncoderThread(this);
m_output.set(false);
}
/**
* Starts the thread execution task
* Starts the thread execution task.
*/
public void start() {
m_task.start();
}
/**
* Waits for the thread to complete
* Waits for the thread to complete.
*/
public void complete() {
try {
m_task.join();
} catch (InterruptedException e) {
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
m_task = new EncoderThread(this);
Timer.delay(.01);
}
/**
* Starts and completes a task set - does not return until thred has finished
* its operations
* Starts and completes a task set - does not return until thred has finished its operations.
*/
public void execute() {
start();
@@ -119,8 +121,8 @@ public class FakeCounterSource {
}
/**
* Sets the count to run encoder
*$
* Sets the count to run encoder.
*
* @param count The count to emulate to the controller
*/
public void setCount(int count) {
@@ -128,11 +130,11 @@ public class FakeCounterSource {
}
/**
* Specify the rate to send pulses
*$
* @param mSec The rate to send out pulses at
* Specify the rate to send pulses.
*
* @param milliSec The rate to send out pulses at
*/
public void setRate(int mSec) {
m_mSec = mSec;
public void setRate(int milliSec) {
m_milliSec = milliSec;
}
}

88
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
View File

@@ -11,20 +11,22 @@ import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj.Timer;
/**
* Emulates a quadrature encoder
* Emulates a quadrature encoder.
*
* @author Ryan O'Meara
*/
public class FakeEncoderSource {
private Thread m_task;
private int m_count;
private int m_mSec;
private int m_milliSec;
private boolean m_forward;
private DigitalOutput m_outputA, m_outputB;
private final boolean allocatedOutputs;
private final DigitalOutput m_outputA;
private final DigitalOutput m_outputB;
private final boolean m_allocatedOutputs;
/**
* Thread object that allows emulation of a quadrature encoder
* Thread object that allows emulation of a quadrature encoder.
*/
private class QuadEncoderThread extends Thread {
@@ -36,7 +38,8 @@ public class FakeEncoderSource {
public void run() {
DigitalOutput lead, lag;
final DigitalOutput lead;
final DigitalOutput lag;
m_encoder.m_outputA.set(false);
m_encoder.m_outputB.set(false);
@@ -52,46 +55,62 @@ public class FakeEncoderSource {
try {
for (int i = 0; i < m_encoder.m_count; i++) {
lead.set(true);
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
lag.set(true);
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
lead.set(false);
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
lag.set(false);
Thread.sleep(m_encoder.m_mSec);
Thread.sleep(m_encoder.m_milliSec);
}
} catch (InterruptedException e) {
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
}
}
/**
* Creates an encoder source using two ports.
*
* @param portA The A port
* @param portB The B port
*/
public FakeEncoderSource(int portA, int portB) {
m_outputA = new DigitalOutput(portA);
m_outputB = new DigitalOutput(portB);
allocatedOutputs = true;
m_allocatedOutputs = true;
initQuadEncoder();
}
public FakeEncoderSource(DigitalOutput iA, DigitalOutput iB) {
m_outputA = iA;
m_outputB = iB;
allocatedOutputs = false;
/**
* Creates the fake encoder using two digital outputs.
*
* @param outputA The A digital output
* @param outputB The B digital output
*/
public FakeEncoderSource(DigitalOutput outputA, DigitalOutput outputB) {
m_outputA = outputA;
m_outputB = outputB;
m_allocatedOutputs = false;
initQuadEncoder();
}
/**
* Frees the resource.
*/
public void free() {
m_task = null;
if (allocatedOutputs) {
if (m_allocatedOutputs) {
m_outputA.free();
m_outputB.free();
}
}
/**
* Common initialization code
* Common initialization code.
*/
private final void initQuadEncoder() {
m_mSec = 1;
m_milliSec = 1;
m_forward = true;
m_task = new QuadEncoderThread(this);
m_outputA.set(false);
@@ -99,26 +118,27 @@ public class FakeEncoderSource {
}
/**
* Starts the thread
* Starts the thread.
*/
public void start() {
m_task.start();
}
/**
* Waits for thread to end
* Waits for thread to end.
*/
public void complete() {
try {
m_task.join();
} catch (InterruptedException e) {
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
}
m_task = new QuadEncoderThread(this);
Timer.delay(.01);
}
/**
* Runs and waits for thread to end before returning
* Runs and waits for thread to end before returning.
*/
public void execute() {
start();
@@ -126,17 +146,17 @@ public class FakeEncoderSource {
}
/**
* Rate of pulses to send
*$
* @param mSec Pulse Rate
* Rate of pulses to send.
*
* @param milliSec Pulse Rate
*/
public void setRate(int mSec) {
m_mSec = mSec;
public void setRate(int milliSec) {
m_milliSec = milliSec;
}
/**
* Set the number of pulses to simulate
*$
* Set the number of pulses to simulate.
*
* @param count Pulse count
*/
public void setCount(int count) {
@@ -144,8 +164,8 @@ public class FakeEncoderSource {
}
/**
* Set which direction the encoder simulates motion in
*$
* Set which direction the encoder simulates motion in.
*
* @param isForward Whether to simulate forward motion
*/
public void setForward(boolean isForward) {
@@ -153,8 +173,8 @@ public class FakeEncoderSource {
}
/**
* Accesses whether the encoder is simulating forward motion
*$
* Accesses whether the encoder is simulating forward motion.
*
* @return Whether the simulated motion is in the forward direction
*/
public boolean isForward() {

66
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakePotentiometerSource.java
View File

@@ -10,76 +10,86 @@ package edu.wpi.first.wpilibj.mockhardware;
import edu.wpi.first.wpilibj.AnalogOutput;
/**
* @author jonathanleitschuh
* A fake source to provide output to a {@link edu.wpi.first.wpilibj.interfaces.Potentiometer}.
*
* @author jonathanleitschuh
*/
public class FakePotentiometerSource {
private AnalogOutput output;
private boolean m_init_output;
private double potMaxAngle;
private double potMaxVoltage = 5.0;
private final double defaultPotMaxAngle;
private AnalogOutput m_output;
private boolean m_initOutput;
private double m_potMaxAngle;
private double m_potMaxVoltage = 5.0;
private final double m_defaultPotMaxAngle;
/**
* Constructs the fake source.
*
* @param output The analog port to output the signal on
* @param defaultPotMaxAngle The default maximum angle the pot supports.
*/
public FakePotentiometerSource(AnalogOutput output, double defaultPotMaxAngle) {
this.defaultPotMaxAngle = defaultPotMaxAngle;
potMaxAngle = defaultPotMaxAngle;
this.output = output;
m_init_output = false;
m_defaultPotMaxAngle = defaultPotMaxAngle;
m_potMaxAngle = defaultPotMaxAngle;
m_output = output;
m_initOutput = false;
}
public FakePotentiometerSource(int port, double defaultPotMaxAngle) {
this(new AnalogOutput(port), defaultPotMaxAngle);
m_init_output = true;
m_initOutput = true;
}
/**
* Sets the maximum voltage output. If not the default is 5.0V
*$
* Sets the maximum voltage output. If not the default is 5.0V.
*
* @param voltage The voltage that indicates that the pot is at the max value.
*/
public void setMaxVoltage(double voltage) {
potMaxVoltage = voltage;
m_potMaxVoltage = voltage;
}
public void setRange(double range) {
potMaxAngle = range;
m_potMaxAngle = range;
}
public void reset() {
potMaxAngle = defaultPotMaxAngle;
output.setVoltage(0.0);
m_potMaxAngle = m_defaultPotMaxAngle;
m_output.setVoltage(0.0);
}
public void setAngle(double angle) {
output.setVoltage((potMaxVoltage / potMaxAngle) * angle);
m_output.setVoltage((m_potMaxVoltage / m_potMaxAngle) * angle);
}
public void setVoltage(double voltage) {
output.setVoltage(voltage);
m_output.setVoltage(voltage);
}
public double getVoltage() {
return output.getVoltage();
return m_output.getVoltage();
}
/**
* Returns the currently set angle
*$
* Returns the currently set angle.
*
* @return the current angle
*/
public double getAngle() {
double voltage = output.getVoltage();
double voltage = m_output.getVoltage();
if (voltage == 0) { // Removes divide by zero error
return 0;
}
return voltage * (potMaxAngle / potMaxVoltage);
return voltage * (m_potMaxAngle / m_potMaxVoltage);
}
/**
* Frees the resouce.
*/
public void free() {
if (m_init_output) {
output.free();
output = null;
m_init_output = false;
if (m_initOutput) {
m_output.free();
m_output = null;
m_initOutput = false;
}
}
}

61
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mocks/MockCommand.java
View File

@@ -10,107 +10,106 @@ package edu.wpi.first.wpilibj.mocks;
import edu.wpi.first.wpilibj.command.Command;
/**
* A class to simulate a simple command The command keeps track of how many
* times each method was called
* A class to simulate a simple command The command keeps track of how many times each method was
* called.
*
* @author mwills
*/
public class MockCommand extends Command {
private int initializeCount = 0;
private int executeCount = 0;
private int isFinishedCount = 0;
private boolean hasFinished = false;
private int endCount = 0;
private int interruptedCount = 0;
private int m_initializeCount = 0;
private int m_executeCount = 0;
private int m_isFinishedCount = 0;
private boolean m_hasFinished = false;
private int m_endCount = 0;
private int m_interruptedCount = 0;
protected void initialize() {
++initializeCount;
++m_initializeCount;
}
protected void execute() {
++executeCount;
++m_executeCount;
}
protected boolean isFinished() {
++isFinishedCount;
++m_isFinishedCount;
return isHasFinished();
}
protected void end() {
++endCount;
++m_endCount;
}
protected void interrupted() {
++interruptedCount;
++m_interruptedCount;
}
/**
* @return how many times the initialize method has been called
* How many times the initialize method has been called.
*/
public int getInitializeCount() {
return initializeCount;
return m_initializeCount;
}
/**
* @return if the initialize method has been called at least once
* If the initialize method has been called at least once.
*/
public boolean hasInitialized() {
return getInitializeCount() > 0;
}
/**
* @return how many time the execute method has been called
* How many time the execute method has been called.
*/
public int getExecuteCount() {
return executeCount;
return m_executeCount;
}
/**
* @return how many times the isFinished method has been called
* How many times the isFinished method has been called.
*/
public int getIsFinishedCount() {
return isFinishedCount;
return m_isFinishedCount;
}
/**
* @return what value the isFinished method will return
* @return what value the isFinished method will return.
*/
public boolean isHasFinished() {
return hasFinished;
return m_hasFinished;
}
/**
* @param hasFinished set what value the isFinished method will return
* @param hasFinished set what value the isFinished method will return.
*/
public void setHasFinished(boolean hasFinished) {
this.hasFinished = hasFinished;
m_hasFinished = hasFinished;
}
/**
* @return how many times the end method has been called
* How many times the end method has been called.
*/
public int getEndCount() {
return endCount;
return m_endCount;
}
/**
* @return if the end method has been called at least once
* If the end method has been called at least once.
*/
public boolean hasEnd() {
return getEndCount() > 0;
}
/**
* @return how many times the interrupted method has been called
* How many times the interrupted method has been called.
*/
public int getInterruptedCount() {
return interruptedCount;
return m_interruptedCount;
}
/**
* @return if the interrupted method has been called at least once
* If the interrupted method has been called at least once.
*/
public boolean hasInterrupted() {
return getInterruptedCount() > 0;

41
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTest.java
View File

@@ -7,24 +7,21 @@
package edu.wpi.first.wpilibj.smartdashboard;
import static org.junit.Assert.assertEquals;
import java.util.logging.Logger;
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 java.util.logging.Logger;
import edu.wpi.first.wpilibj.networktables.NetworkTable;
import edu.wpi.first.wpilibj.networktables.NetworkTableKeyNotDefined;
import edu.wpi.first.wpilibj.test.AbstractComsSetup;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Test that covers {@link SmartDashboard}.
*
* @author jonathanleitschuh
*/
public class SmartDashboardTest extends AbstractComsSetup {
private static final Logger logger = Logger.getLogger(SmartDashboardTest.class.getName());
@@ -34,30 +31,6 @@ public class SmartDashboardTest extends AbstractComsSetup {
return logger;
}
/**
* @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_");
@@ -94,11 +67,11 @@ public class SmartDashboardTest extends AbstractComsSetup {
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));
String valueNew = "newValue";
SmartDashboard.putString(key, valueNew);
assertEquals(valueNew, SmartDashboard.getString(key));
assertEquals(valueNew, table.getString(key));

3
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTestSuite.java
View File

@@ -14,8 +14,9 @@ import org.junit.runners.Suite.SuiteClasses;
import edu.wpi.first.wpilibj.test.AbstractTestSuite;
/**
* @author jonathanleitschuh
* All tests pertaining to {@link SmartDashboard}.
*
* @author jonathanleitschuh
*/
@RunWith(Suite.class)
@SuiteClasses({SmartDashboardTest.class})

129
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
View File

@@ -7,15 +7,15 @@
package edu.wpi.first.wpilibj.test;
import java.util.logging.Level;
import java.util.logging.Logger;
import org.junit.BeforeClass;
import org.junit.Rule;
import org.junit.rules.TestWatcher;
import org.junit.runner.Description;
import org.junit.runners.model.MultipleFailureException;
import java.util.logging.Level;
import java.util.logging.Logger;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.Timer;
@@ -23,16 +23,18 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* This class serves as a superclass for all tests that involve the hardware on
* the roboRIO. It uses an {@link BeforeClass} statement to initialize network
* communications. Any test that needs to use the hardware <b>MUST</b> extend
* from this class, to ensure that all of the hardware will be able to run.
*$
* This class serves as a superclass for all tests that involve the hardware on the roboRIO. It uses
* an {@link BeforeClass} statement to initialize network communications. Any test that needs to use
* the hardware <b>MUST</b> extend from this class, to ensure that all of the hardware will be able
* to run.
*
* @author Fredric Silberberg
* @author Jonathan Leitschuh
*/
public abstract class AbstractComsSetup {
/** Stores whether network coms have been initialized */
/**
* Stores whether network coms have been initialized.
*/
private static boolean initialized = false;
/**
@@ -40,7 +42,6 @@ public abstract class AbstractComsSetup {
* 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.
*$
*/
static {
if (!initialized) {
@@ -52,15 +53,15 @@ public abstract class AbstractComsSetup {
TestBench.out().println("Started coms");
// Wait until the robot is enabled before starting the tests
int i = 0;
int enableCounter = 0;
while (!DriverStation.getInstance().isEnabled()) {
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
} catch (InterruptedException ex) {
ex.printStackTrace();
}
// Prints the message on one line overwriting itself each time
TestBench.out().print("\rWaiting for enable: " + i++);
TestBench.out().print("\rWaiting for enable: " + enableCounter++);
}
TestBench.out().println();
@@ -74,8 +75,7 @@ public abstract class AbstractComsSetup {
protected abstract Logger getClassLogger();
/**
* This causes a stack trace to be printed as the test is running as well as
* at the end
* This causes a stack trace to be printed as the test is running as well as at the end.
*/
@Rule
public final TestWatcher getTestWatcher() {
@@ -83,8 +83,8 @@ public abstract class AbstractComsSetup {
}
/**
* Given as a way to provide a custom test watcher for a test or set of tests
*$
* Given as a way to provide a custom test watcher for a test or set of tests.
*
* @return the test watcher to use
*/
protected TestWatcher getOverridenTestWatcher() {
@@ -93,68 +93,69 @@ public abstract class AbstractComsSetup {
protected class DefaultTestWatcher extends TestWatcher {
/**
* Allows a failure to supply a custom status message to be displayed along
* with the stack trace.
* Allows a failure to supply a custom status message to be displayed along with the stack
* trace.
*/
protected void failed(Throwable e, Description description, String status) {
protected void failed(Throwable throwable, Description description, String status) {
TestBench.out().println();
// Instance of is the best way I know to retrieve this data.
if (e instanceof MultipleFailureException) {
if (throwable instanceof MultipleFailureException) {
/*
* MultipleFailureExceptions hold multiple exceptions in one exception.
* In order to properly display these stack traces we have to cast the
* throwable and work with the list of thrown exceptions stored within
* it.
*/
int i = 1; // Running exception count
int failureCount = ((MultipleFailureException) e).getFailures().size();
for (Throwable singleThrown : ((MultipleFailureException) e).getFailures()) {
int exceptionCount = 1; // Running exception count
int failureCount = ((MultipleFailureException) throwable).getFailures().size();
for (Throwable singleThrown : ((MultipleFailureException) throwable).getFailures()) {
getClassLogger().logp(
Level.SEVERE,
description.getClassName(),
description.getMethodName(),
(i++) + "/" + failureCount + " " + description.getDisplayName() + " failed "
+ singleThrown.getMessage() + "\n" + status, singleThrown);
(exceptionCount++) + "/" + failureCount + " " + description.getDisplayName() + " "
+ "failed " + singleThrown.getMessage() + "\n" + status, singleThrown);
}
} else {
getClassLogger().logp(Level.SEVERE, description.getClassName(),
description.getMethodName(),
description.getDisplayName() + " failed " + e.getMessage() + "\n" + status, e);
description.getDisplayName() + " failed " + throwable.getMessage() + "\n" + status,
throwable);
}
super.failed(e, description);
super.failed(throwable, description);
}
/*
* (non-Javadoc)
*$
*
* @see org.junit.rules.TestWatcher#failed(java.lang.Throwable,
* org.junit.runner.Description)
*/
@Override
protected void failed(Throwable e, Description description) {
failed(e, description, "");
protected void failed(Throwable exception, Description description) {
failed(exception, description, "");
}
/*
* (non-Javadoc)
*$
*
* @see org.junit.rules.TestWatcher#starting(org.junit.runner.Description)
*/
@Override
protected void starting(Description description) {
TestBench.out().println();
// Wait until the robot is enabled before starting the next tests
int i = 0;
int enableCounter = 0;
while (!DriverStation.getInstance().isEnabled()) {
try {
Thread.sleep(100);
} catch (InterruptedException e) {
e.printStackTrace();
} catch (InterruptedException ex) {
ex.printStackTrace();
}
// Prints the message on one line overwriting itself each time
TestBench.out().print("\rWaiting for enable: " + i++);
TestBench.out().print("\rWaiting for enable: " + enableCounter++);
}
getClassLogger().logp(Level.INFO, description.getClassName(), description.getMethodName(),
"Starting");
@@ -167,12 +168,12 @@ public abstract class AbstractComsSetup {
super.succeeded(description);
}
};
}
/**
* Logs a simple message without the logger formatting associated with it.
*$
* @param level The level to log the message at
*
* @param level The level to log the message at
* @param message The message to log
*/
protected void simpleLog(Level level, String message) {
@@ -182,50 +183,50 @@ public abstract class AbstractComsSetup {
}
/**
* Provided as a replacement to lambda functions to allow for repeatable
* checks to see if a correct state is reached
*$
* @author Jonathan Leitschuh
* Provided as a replacement to lambda functions to allow for repeatable checks to see if a
* correct state is reached.
*
* @author Jonathan Leitschuh
*/
public abstract class BooleanCheck {
public BooleanCheck() {}
public BooleanCheck() {
}
/**
* Runs the enclosed code and evaluates it to determine what state it should
* return.
*$
* Runs the enclosed code and evaluates it to determine what state it should return.
*
* @return true if the code provided within the method returns true
*/
abstract public boolean getAsBoolean();
};
public abstract boolean getAsBoolean();
}
/**
* Delays until either the correct state is reached or we reach the timeout.
*$
* @param level The level to log the message at.
* @param timeout How long the delay should run before it should timeout and
* allow the test to continue
* @param message The message to accompany the delay. The message will display
* 'message' took 'timeout' seconds if it passed.
* @param correctState A method to determine if the test has reached a state
* where it is valid to continue
*
* @param level The level to log the message at.
* @param timeout How long the delay should run before it should timeout and allow the test
* to continue
* @param message The message to accompany the delay. The message will display 'message' took
* 'timeout' seconds if it passed.
* @param correctState A method to determine if the test has reached a state where it is valid to
* continue
* @return a double representing how long the delay took to run in seconds.
*/
public double delayTillInCorrectStateWithMessage(Level level, double timeout, String message,
BooleanCheck correctState) {
int i = 0;
BooleanCheck correctState) {
int timeoutIndex;
// As long as we are not in the correct state and the timeout has not been
// reached then continue to run this loop
for (i = 0; i < (timeout * 100) && !correctState.getAsBoolean(); i++) {
for (timeoutIndex = 0; timeoutIndex < (timeout * 100) && !correctState.getAsBoolean();
timeoutIndex++) {
Timer.delay(.01);
}
if (correctState.getAsBoolean()) {
simpleLog(level, message + " took " + (i * .01) + " seconds");
simpleLog(level, message + " took " + (timeoutIndex * .01) + " seconds");
} else {
simpleLog(level, message + " timed out after " + (i * .01) + " seconds");
simpleLog(level, message + " timed out after " + (timeoutIndex * .01) + " seconds");
}
return i * .01;
return timeoutIndex * .01;
}
}

139
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
View File

@@ -7,6 +7,11 @@
package edu.wpi.first.wpilibj.test;
import org.junit.Ignore;
import org.junit.Test;
import org.junit.runner.Request;
import org.junit.runners.Suite.SuiteClasses;
import java.lang.reflect.Method;
import java.util.List;
import java.util.Vector;
@@ -14,33 +19,23 @@ import java.util.logging.Level;
import java.util.logging.Logger;
import java.util.regex.Pattern;
import org.junit.Ignore;
import org.junit.Test;
import org.junit.runner.Request;
import org.junit.runners.Suite.SuiteClasses;
import org.junit.runners.model.InitializationError;
/**
* Allows tests suites and tests to be run selectively from the command line
* using a regex text pattern.
*$
* @author jonathanleitschuh
* Allows tests suites and tests to be run selectively from the command line using a regex text
* pattern.
*
* @author jonathanleitschuh
*/
public abstract class AbstractTestSuite {
private static final Logger logger = Logger.getLogger(AbstractTestSuite.class.getName());
/**
* Gets all of the classes listed within the SuiteClasses annotation. To use
* it, annotate a class with <code>@RunWith(Suite.class)</code> and
* <code>@SuiteClasses({TestClass1.class, ...})</code>. When you run this
* class, it will run all the tests in all the suite classes. When loading the
* tests using regex the test list will be generated from this annotation.
*$
* @return the list of classes listed in the
* <code>@SuiteClasses({TestClass1.class, ...})</code> annotation.
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is
* missing.
* Gets all of the classes listed within the SuiteClasses annotation. To use it, annotate a class
* with <code>@RunWith(Suite.class)</code> and <code>@SuiteClasses({TestClass1.class,
* ...})</code>. When you run this class, it will run all the tests in all the suite classes. When
* loading the tests using regex the test list will be generated from this annotation.
*
* @return the list of classes listed in the <code>@SuiteClasses({TestClass1.class, ...})</code>.
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is missing.
*/
protected List<Class<?>> getAnnotatedTestClasses() {
SuiteClasses annotation = getClass().getAnnotation(SuiteClasses.class);
@@ -66,23 +61,22 @@ public abstract class AbstractTestSuite {
}
/**
* Stores a method name and method class pair. Used when searching for methods
* matching a given regex text.
*$
* @author jonathanleitschuh
* Stores a method name and method class pair. Used when searching for methods matching a given
* regex text.
*
* @author jonathanleitschuh
*/
protected class ClassMethodPair {
public final Class<?> methodClass;
public final String methodName;
public final Class<?> m_methodClass;
public final String m_methodName;
public ClassMethodPair(Class<?> klass, Method m) {
this.methodClass = klass;
this.methodName = m.getName();
public ClassMethodPair(Class<?> klass, Method method) {
m_methodClass = klass;
m_methodName = method.getName();
}
public Request getMethodRunRequest() {
return Request.method(methodClass, methodName);
return Request.method(m_methodClass, m_methodName);
}
}
@@ -105,9 +99,9 @@ public abstract class AbstractTestSuite {
/**
* Gets all of the test classes listed in this suite. Does not include any of
* the test suites. All of these classes contain tests.
*$
* Gets all of the test classes listed in this suite. Does not include any of the test suites. All
* of these classes contain tests.
*
* @param runningList the running list of classes to prevent recursion.
* @return The list of base test classes.
*/
@@ -117,21 +111,20 @@ public abstract class AbstractTestSuite {
if (areAnySuperClassesOfTypeAbstractTestSuite(c)) {
// Create a new instance of this class so that we can retrieve its data
try {
AbstractTestSuite suite = null;
Object o = c.newInstance();
suite = (AbstractTestSuite) c.newInstance();
AbstractTestSuite suite = (AbstractTestSuite) c.newInstance();
// Add the tests from this suite that match the regex to the list of
// tests to run
runningList = suite.getAllContainedBaseTests(runningList);
} catch (InstantiationException | IllegalAccessException e) {
} catch (InstantiationException | IllegalAccessException ex) {
// This shouldn't happen unless the constructor is changed in some
// way.
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.", e);
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.",
ex);
}
} else if (c.getAnnotation(SuiteClasses.class) != null) {
logger.log(Level.SEVERE,
String.format("class '%s' must extend %s to be searchable using regex.", c.getName()),
AbstractTestSuite.class.getName());
String.format("class '%s' must extend %s to be searchable using regex.",
c.getName(), AbstractTestSuite.class.getName()));
} else { // This is a class containing tests
// so add it to the list
runningList.add(c);
@@ -141,9 +134,9 @@ public abstract class AbstractTestSuite {
}
/**
* Gets all of the test classes listed in this suite. Does not include any of
* the test suites. All of these classes contain tests.
*$
* Gets all of the test classes listed in this suite. Does not include any of the test suites. All
* of these classes contain tests.
*
* @return The list of base test classes.
*/
public List<Class<?>> getAllContainedBaseTests() {
@@ -153,10 +146,10 @@ public abstract class AbstractTestSuite {
/**
* Retrieves all of the classes listed in the
* <code>@SuiteClasses</code> annotation that match the given regex text.
*$
* @param regex the text pattern to retrieve.
* Retrieves all of the classes listed in the <code>@SuiteClasses</code> annotation that match the
* given regex text.
*
* @param regex the text pattern to retrieve.
* @param runningList the running list of classes to prevent recursion
* @return The list of classes matching the regex pattern
*/
@@ -171,9 +164,9 @@ public abstract class AbstractTestSuite {
}
/**
* Retrieves all of the classes listed in the
* <code>@SuiteClasses</code> annotation that match the given regex text.
*$
* Retrieves all of the classes listed in the <code>@SuiteClasses</code> annotation that match the
* given regex text.
*
* @param regex the text pattern to retrieve.
* @return The list of classes matching the regex pattern
*/
@@ -183,15 +176,15 @@ public abstract class AbstractTestSuite {
}
/**
* Searches through all of the suites and tests and loads only the test or
* test suites matching the regex text. This method also prevents a single
* test from being loaded multiple times by loading the suite first then
* loading tests from all non loaded suites.
*$
* Searches through all of the suites and tests and loads only the test or test suites matching
* the regex text. This method also prevents a single test from being loaded multiple times by
* loading the suite first then loading tests from all non loaded suites.
*
* @param regex the regex text to search for
* @return the list of suite and/or test classes matching the regex.
*/
private List<Class<?>> getSuiteOrTestMatchingRegex(final String regex, List<Class<?>> runningList) {
private List<Class<?>> getSuiteOrTestMatchingRegex(final String regex, List<Class<?>>
runningList) {
// Get any test suites matching the regex using the superclass methods
runningList = getAllClassMatching(regex, runningList);
@@ -206,22 +199,22 @@ public abstract class AbstractTestSuite {
// Prevents recursively adding tests/suites that have already been added
if (!runningList.contains(c)) {
try {
AbstractTestSuite suite = null;
final AbstractTestSuite suite;
// Check the class to make sure that it is not a test class
if (areAnySuperClassesOfTypeAbstractTestSuite(c)) {
// Create a new instance of this class so that we can retrieve its
// data.
Object o = c.newInstance();
suite = (AbstractTestSuite) c.newInstance();
// Add the tests from this suite that match the regex to the list of
// tests to run
runningList = suite.getSuiteOrTestMatchingRegex(regex, runningList);
}
} catch (InstantiationException | IllegalAccessException e) {
} catch (InstantiationException | IllegalAccessException ex) {
// This shouldn't happen unless the constructor is changed in some
// way.
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.", e);
logger.log(Level.SEVERE, "Test suites can not take paramaters in their constructors.",
ex);
}
}
}
@@ -229,11 +222,10 @@ public abstract class AbstractTestSuite {
}
/**
* Searches through all of the suites and tests and loads only the test or
* test suites matching the regex text. This method also prevents a single
* test from being loaded multiple times by loading the suite first then
* loading tests from all non loaded suites.
*$
* Searches through all of the suites and tests and loads only the test or test suites matching
* the regex text. This method also prevents a single test from being loaded multiple times by
* loading the suite first then loading tests from all non loaded suites.
*
* @param regex the regex text to search for
* @return the list of suite and/or test classes matching the regex.
*/
@@ -243,26 +235,21 @@ public abstract class AbstractTestSuite {
}
/**
* Retrieves all of the classes listed in the
* <code>@SuiteClasses</code> annotation.
*$
* Retrieves all of the classes listed in the <code>@SuiteClasses</code> annotation.
*
* @return List of SuiteClasses
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is
* missing.
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is missing.
*/
public List<Class<?>> getAllClasses() {
return getAnnotatedTestClasses();
}
/**
* Gets the name of all of the classes listed within the
* <code>@SuiteClasses</code> annotation.
*$
* Gets the name of all of the classes listed within the <code>@SuiteClasses</code> annotation.
*
* @return the list of classes.
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is
* missing.
* @throws RuntimeException If the <code>@SuiteClasses</code> annotation is missing.
*/
public List<String> getAllClassName() {
List<String> classNames = new Vector<String>();

66
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractTestSuiteTest.java → wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
View File

@@ -7,13 +7,6 @@
package edu.wpi.first.wpilibj.test;
import static org.hamcrest.MatcherAssert.assertThat;
import static org.hamcrest.Matchers.hasItems;
import static org.hamcrest.Matchers.not;
import static org.junit.Assert.assertEquals;
import java.util.List;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
@@ -22,11 +15,20 @@ import org.junit.runners.Suite;
import org.junit.runners.Suite.SuiteClasses;
import org.junit.runners.model.InitializationError;
import java.util.List;
import edu.wpi.first.wpilibj.test.AbstractTestSuite.ClassMethodPair;
import static org.hamcrest.MatcherAssert.assertThat;
import static org.hamcrest.Matchers.hasItems;
import static org.hamcrest.Matchers.not;
import static org.junit.Assert.assertEquals;
/**
* @author jonathanleitschuh
* Yes, this is the test system testing itself. Functionally, this is making sure that all tests get
* run correctly when you use parametrized arguments.
*
* @author jonathanleitschuh
*/
public class AbstractTestSuiteTest {
@@ -37,20 +39,17 @@ public class AbstractTestSuiteTest {
class TestForAbstractTestSuite extends AbstractTestSuite {
}
TestForAbstractTestSuite testSuite;
TestForAbstractTestSuite m_testSuite;
/**
* @throws java.lang.Exception
*/
@Before
public void setUp() throws Exception {
testSuite = new TestForAbstractTestSuite();
m_testSuite = new TestForAbstractTestSuite();
}
@Test
public void testGetTestsMatchingAll() throws InitializationError {
// when
List<Class<?>> collectedTests = testSuite.getAllClassMatching(".*");
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*");
// then
assertEquals(7, collectedTests.size());
}
@@ -58,7 +57,7 @@ public class AbstractTestSuiteTest {
@Test
public void testGetTestsMatchingSample() throws InitializationError {
// when
List<Class<?>> collectedTests = testSuite.getAllClassMatching(".*Sample.*");
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*Sample.*");
// then
assertEquals(4, collectedTests.size());
}
@@ -66,7 +65,7 @@ public class AbstractTestSuiteTest {
@Test
public void testGetTestsMatchingUnusual() throws InitializationError {
// when
List<Class<?>> collectedTests = testSuite.getAllClassMatching(".*Unusual.*");
List<Class<?>> collectedTests = m_testSuite.getAllClassMatching(".*Unusual.*");
// then
assertEquals(1, collectedTests.size());
assertEquals(UnusualTest.class, collectedTests.get(0));
@@ -75,7 +74,7 @@ public class AbstractTestSuiteTest {
@Test
public void testGetTestsFromSuiteMatchingAll() throws InitializationError {
// when
List<Class<?>> collectedTests = testSuite.getSuiteOrTestMatchingRegex(".*");
List<Class<?>> collectedTests = m_testSuite.getSuiteOrTestMatchingRegex(".*");
// then
assertEquals(7, collectedTests.size());
}
@@ -83,58 +82,61 @@ public class AbstractTestSuiteTest {
@Test
public void testGetTestsFromSuiteMatchingTest() throws InitializationError {
// when
List<Class<?>> collectedTests = testSuite.getSuiteOrTestMatchingRegex(".*Test.*");
List<Class<?>> collectedTests = m_testSuite.getSuiteOrTestMatchingRegex(".*Test.*");
// then
assertEquals(7, collectedTests.size());
assertThat(collectedTests, hasItems(new Class<?>[] {FirstSubSuiteTest.class,
SecondSubSuiteTest.class, UnusualTest.class}));
assertThat(collectedTests, hasItems(FirstSubSuiteTest.class,
SecondSubSuiteTest.class, UnusualTest.class));
assertThat(collectedTests,
not(hasItems(new Class<?>[] {ExampleSubSuite.class, EmptySuite.class})));
not(hasItems(new Class<?>[]{ExampleSubSuite.class, EmptySuite.class})));
}
@Test
public void testGetMethodFromTest() {
// when
List<ClassMethodPair> pairs = testSuite.getMethodMatching(".*Method.*");
List<ClassMethodPair> pairs = m_testSuite.getMethodMatching(".*Method.*");
// then
assertEquals(1, pairs.size());
assertEquals(FirstSubSuiteTest.class, pairs.get(0).methodClass);
assertEquals(FirstSubSuiteTest.METHODNAME, pairs.get(0).methodName);
assertEquals(FirstSubSuiteTest.class, pairs.get(0).m_methodClass);
assertEquals(FirstSubSuiteTest.METHODNAME, pairs.get(0).m_methodName);
}
}
@SuppressWarnings("OneTopLevelClass")
class FirstSampleTest {
}
@SuppressWarnings("OneTopLevelClass")
class SecondSampleTest {
}
@SuppressWarnings("OneTopLevelClass")
class ThirdSampleTest {
}
@SuppressWarnings("OneTopLevelClass")
class FourthSampleTest {
}
@SuppressWarnings("OneTopLevelClass")
class UnusualTest {
} // This is a member of both suites
@Ignore("Prevents ANT from trying to run these as tests")
@SuppressWarnings("OneTopLevelClass")
class FirstSubSuiteTest {
public static final String METHODNAME = "aTestMethod";
@Test
public void aTestMethod() {}
@SuppressWarnings("MethodName")
public void aTestMethod() {
}
}
@SuppressWarnings("OneTopLevelClass")
class SecondSubSuiteTest {
}
@@ -142,6 +144,7 @@ class SecondSubSuiteTest {
@RunWith(Suite.class)
@SuiteClasses({FirstSubSuiteTest.class, SecondSubSuiteTest.class, UnusualTest.class})
@Ignore("Prevents ANT from trying to run these as tests")
@SuppressWarnings("OneTopLevelClass")
class ExampleSubSuite extends AbstractTestSuite {
}
@@ -149,5 +152,6 @@ class ExampleSubSuite extends AbstractTestSuite {
@Ignore("Prevents ANT from trying to run these as tests")
@RunWith(Suite.class)
@SuiteClasses({})
@SuppressWarnings("OneTopLevelClass")
class EmptySuite extends AbstractTestSuite {
}

23
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java
View File

@@ -7,8 +7,6 @@
package edu.wpi.first.wpilibj.test;
import java.io.File;
import org.apache.tools.ant.BuildLogger;
import org.apache.tools.ant.DefaultLogger;
import org.apache.tools.ant.Project;
@@ -16,15 +14,21 @@ import org.apache.tools.ant.taskdefs.optional.junit.FormatterElement;
import org.apache.tools.ant.taskdefs.optional.junit.JUnitTask;
import org.apache.tools.ant.taskdefs.optional.junit.JUnitTest;
import java.io.File;
/**
* Provides an entry point for tests to run with ANT. This allows ant to output
* JUnit XML test results for Jenkins.
*$
* @author jonathanleitschuh
* Provides an entry point for tests to run with ANT. This allows ant to output JUnit XML test
* results for Jenkins.
*
* @author jonathanleitschuh
*/
public class AntJunitLanucher {
/**
* Main entry point for jenkins
*
* @param args Arguments passed to java.
*/
public static void main(String... args) {
if (args.length == 0) {
String path =
@@ -35,7 +39,6 @@ public class AntJunitLanucher {
try {
// Create the file to store the test output
new File(pathToReports).mkdirs();
JUnitTask task = new JUnitTask();
project.setProperty("java.io.tmpdir", pathToReports);
@@ -46,6 +49,8 @@ public class AntJunitLanucher {
formatToScreen.setType(typeScreen);
formatToScreen.setUseFile(false);
formatToScreen.setOutput(System.out);
JUnitTask task = new JUnitTask();
task.addFormatter(formatToScreen);
// add a build listener to the project
@@ -73,8 +78,8 @@ public class AntJunitLanucher {
TestBench.out().println("Beginning Test Execution With ANT");
task.execute();
} catch (Exception e) {
e.printStackTrace();
} catch (Exception ex) {
ex.printStackTrace();
}
} else {
TestBench.out().println(

19
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/QuickTest.java
View File

@@ -7,19 +7,16 @@
package edu.wpi.first.wpilibj.test;
import java.util.logging.Logger;
import org.junit.Test;
import java.util.logging.Logger;
/**
* This class is designated to allow for simple testing of the library without
* the overlying testing framework. This test is NOT run as a normal part of the
* testing process and must be explicitly selected at runtime by using the
* 'quick' argument.
*$
* This test should never be committed with changes to it but can be used during
* development to aid in feature testing.
*$
* This class is designated to allow for simple testing of the library without the overlying testing
* framework. This test is NOT run as a normal part of the testing process and must be explicitly
* selected at runtime by using the 'quick' argument. This test should never be committed with
* changes to it but can be used during development to aid in feature testing.
*
* @author Jonathan Leitschuh
*/
public class QuickTest extends AbstractComsSetup {
@@ -27,7 +24,7 @@ public class QuickTest extends AbstractComsSetup {
/*
* (non-Javadoc)
*$
*
* @see edu.wpi.first.wpilibj.test.AbstractComsSetup#getClassLogger()
*/
@Override

35
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/RepeatRule.java
View File

@@ -7,20 +7,22 @@
package edu.wpi.first.wpilibj.test;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
import org.junit.rules.TestRule;
import org.junit.runner.Description;
import org.junit.runners.model.Statement;
import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
/**
* This JUnit Rule allows you to apply this rule to any test to allow it to run
* multiple times. This is important if you have a test that fails only
* "sometimes" and needs to be rerun to find the issue.
* This JUnit Rule allows you to apply this rule to any test to allow it to run multiple times. This
* is important if you have a test that fails only "sometimes" and needs to be rerun to find the
* issue.
*
* This code was originally found here: <a href="http://www.codeaffine.com/2013/04/10/running-junit-tests-repeatedly-without-loops/">Running JUnit Tests Repeatedly Without Loops</a>
* <p>This code was originally found here:
* <a href="http://www.codeaffine.com/2013/04/10/running-junit-tests-repeatedly-without-loops/">
* Running JUnit Tests Repeatedly Without Loops</a>
*
* @author Frank Appel
*/
@@ -28,24 +30,27 @@ public class RepeatRule implements TestRule {
@Retention(RetentionPolicy.RUNTIME)
@Target({java.lang.annotation.ElementType.METHOD})
public @interface Repeat {
public abstract int times();
/**
* The number of times to repeat the test.
*/
int times();
}
private static class RepeatStatement extends Statement {
private final int times;
private final Statement statement;
private final int m_times;
private final Statement m_statement;
private RepeatStatement(int times, Statement statement) {
this.times = times;
this.statement = statement;
m_times = times;
m_statement = statement;
}
@Override
public void evaluate() throws Throwable {
for (int i = 0; i < times; i++) {
statement.evaluate();
for (int i = 0; i < m_times; i++) {
m_statement.evaluate();
}
}
}

125
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java
View File

@@ -34,23 +34,21 @@ import edu.wpi.first.wpilibj.fixtures.FilterOutputFixture;
import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFixture;
import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
import edu.wpi.first.wpilibj.interfaces.Gyro;
import edu.wpi.first.wpilibj.mockhardware.FakePotentiometerSource;
/**
* This class provides access to all of the elements on the test bench, for use
* in fixtures. This class is a singleton, you should use {@link #getInstance()}
* to obtain a reference to the {@code TestBench}.
* This class provides access to all of the elements on the test bench, for use in fixtures. This
* class is a singleton, you should use {@link #getInstance()} to obtain a reference to the {@code
* TestBench}.
*
* TODO: This needs to be updated to the most recent test bench setup.
* <p>TODO: This needs to be updated to the most recent test bench setup.
*
* @author Fredric Silberberg
*/
public final class TestBench {
/**
* The time that it takes to have a motor go from rotating at full speed to
* completely stopped
* The time that it takes to have a motor go from rotating at full speed to completely stopped.
*/
public static final double MOTOR_STOP_TIME = 0.25;
@@ -95,18 +93,21 @@ public final class TestBench {
public static final int kMovAvgTaps = 6;
public static final double kMovAvgExpectedOutput = -10.191644;
/** The Singleton instance of the Test Bench */
/**
* The Singleton instance of the Test Bench.
*/
private static TestBench instance = null;
/**
* The single constructor for the TestBench. This method is private in order
* to prevent multiple TestBench objects from being allocated
* The single constructor for the TestBench. This method is private in order to prevent multiple
* TestBench objects from being allocated.
*/
protected TestBench() {}
protected TestBench() {
}
/**
* Constructs a new set of objects representing a connected set of Talon
* controlled Motors and an encoder
* Constructs a new set of objects representing a connected set of Talon controlled Motors and an
* encoder.
*
* @return a freshly allocated Talon, Encoder pair
*/
@@ -137,8 +138,8 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a connected set of Victor
* controlled Motors and an encoder
* Constructs a new set of objects representing a connected set of Victor controlled Motors and an
* encoder.
*
* @return a freshly allocated Victor, Encoder pair
*/
@@ -169,8 +170,8 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a connected set of Jaguar
* controlled Motors and an encoder
* Constructs a new set of objects representing a connected set of Jaguar controlled Motors and an
* encoder.
*
* @return a freshly allocated Jaguar, Encoder pair
*/
@@ -232,7 +233,7 @@ public final class TestBench {
/*
* (non-Javadoc)
*$
*
* @see
* edu.wpi.first.wpilibj.fixtures.CANMotorEncoderFixture#givePowerCycleRelay
* ()
@@ -249,10 +250,9 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a connected set of CANJaguar
* controlled Motors and an encoder<br>
* Note: The CANJaguar is not freshly allocated because the CANJaguar lacks a
* free() method
* Constructs a new set of objects representing a connected set of CANJaguar controlled Motors and
* an encoder<br> Note: The CANJaguar is not freshly allocated because the CANJaguar lacks a
* free() method.
*
* @return an existing CANJaguar and a freshly allocated Encoder
*/
@@ -302,20 +302,18 @@ public final class TestBench {
}
/**
* Gets two lists of possible DIO pairs for the two pairs
*$
* @return
* Gets two lists of possible DIO pairs for the two pairs.
*/
private List<List<Integer[]>> getDIOCrossConnect() {
List<List<Integer[]>> pairs = new ArrayList<List<Integer[]>>();
List<Integer[]> setA =
Arrays.asList(new Integer[][] {
Arrays.asList(new Integer[][]{
{new Integer(DIOCrossConnectA1), new Integer(DIOCrossConnectA2)},
{new Integer(DIOCrossConnectA2), new Integer(DIOCrossConnectA1)}});
pairs.add(setA);
List<Integer[]> setB =
Arrays.asList(new Integer[][] {
Arrays.asList(new Integer[][]{
{new Integer(DIOCrossConnectB1), new Integer(DIOCrossConnectB2)},
{new Integer(DIOCrossConnectB2), new Integer(DIOCrossConnectB1)}});
pairs.add(setB);
@@ -323,6 +321,7 @@ public final class TestBench {
return pairs;
}
@SuppressWarnings("JavadocMethod")
public static AnalogCrossConnectFixture getAnalogCrossConnectFixture() {
AnalogCrossConnectFixture analogIO = new AnalogCrossConnectFixture() {
@Override
@@ -338,6 +337,7 @@ public final class TestBench {
return analogIO;
}
@SuppressWarnings("JavadocMethod")
public static RelayCrossConnectFixture getRelayCrossConnectFixture() {
RelayCrossConnectFixture relay = new RelayCrossConnectFixture() {
@@ -360,9 +360,9 @@ public final class TestBench {
}
/**
* Return a single Collection containing all of the DIOCrossConnectFixtures in
* all two pair combinations
*$
* Return a single Collection containing all of the DIOCrossConnectFixtures in all two pair
* combinations.
*
* @return pairs of DIOCrossConnectFixtures
*/
public Collection<Integer[]> getDIOCrossConnectCollection() {
@@ -374,19 +374,16 @@ public final class TestBench {
}
/**
* Gets an array of pairs for the encoder to use using two different lists
*$
* @param listA
* @param listB
* Gets an array of pairs for the encoder to use using two different lists.
*
* @param flip whether this encoder needs to be flipped
* @return A list of different inputs to use for the tests
*/
private Collection<Integer[]> getPairArray(List<Integer[]> listA, List<Integer[]> listB,
boolean flip) {
boolean flip) {
Collection<Integer[]> encoderPortPairs = new ArrayList<Integer[]>();
for (Integer[] portPairsA : listA) {
ArrayList<Integer[]> construtorInput = new ArrayList<Integer[]>();
Integer inputs[] = new Integer[5];
Integer[] inputs = new Integer[5];
inputs[0] = portPairsA[0]; // InputA
inputs[1] = portPairsA[1]; // InputB
@@ -396,6 +393,7 @@ public final class TestBench {
inputs[4] = flip ? 0 : 1; // The flip bit
}
ArrayList<Integer[]> construtorInput = new ArrayList<Integer[]>();
construtorInput.add(inputs);
inputs = inputs.clone();
@@ -411,8 +409,8 @@ public final class TestBench {
}
/**
* Constructs the list of inputs to be used for the encoder test
*$
* Constructs the list of inputs to be used for the encoder test.
*
* @return A collection of different input pairs to use for the encoder
*/
public Collection<Integer[]> getEncoderDIOCrossConnectCollection() {
@@ -427,8 +425,7 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a single-pole IIR filter with
* a noisy data source
* Constructs a new set of objects representing a single-pole IIR filter with a noisy data source.
*
* @return a single-pole IIR filter with a noisy data source
*/
@@ -437,15 +434,15 @@ public final class TestBench {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.singlePoleIIR(source,
kSinglePoleIIRTimeConstant,
kFilterStep);
kSinglePoleIIRTimeConstant,
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a
* noisy data source using a linear digital filter
* Constructs a new set of objects representing a moving average filter with a noisy data source
* using a linear digital filter.
*
* @return a moving average filter with a noisy data source
*/
@@ -459,8 +456,8 @@ public final class TestBench {
}
/**
* Constructs a new set of objects representing a single-pole IIR filter with
* a repeatable data source
* Constructs a new set of objects representing a single-pole IIR filter with a repeatable data
* source.
*
* @return a single-pole IIR filter with a repeatable data source
*/
@@ -469,15 +466,14 @@ public final class TestBench {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.singlePoleIIR(source,
kSinglePoleIIRTimeConstant,
kFilterStep);
kSinglePoleIIRTimeConstant,
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a high-pass filter with a
* repeatable data source
* Constructs a new set of objects representing a high-pass filter with a repeatable data source.
*
* @return a high-pass filter with a repeatable data source
*/
@@ -486,14 +482,14 @@ public final class TestBench {
@Override
protected LinearDigitalFilter giveFilter(PIDSource source) {
return LinearDigitalFilter.highPass(source, kHighPassTimeConstant,
kFilterStep);
kFilterStep);
}
};
}
/**
* Constructs a new set of objects representing a moving average filter with a
* repeatable data source using a linear digital filter
* Constructs a new set of objects representing a moving average filter with a repeatable data
* source using a linear digital filter.
*
* @return a moving average filter with a repeatable data source
*/
@@ -507,9 +503,8 @@ public final class TestBench {
}
/**
* Gets the singleton of the TestBench. If the TestBench is not already
* allocated in constructs an new instance of it. Otherwise it returns the
* existing instance.
* Gets the singleton of the TestBench. If the TestBench is not already allocated in constructs an
* new instance of it. Otherwise it returns the existing instance.
*
* @return The Singleton instance of the TestBench
*/
@@ -521,10 +516,10 @@ public final class TestBench {
}
/**
* Provides access to the output stream for the test system. This should be
* used instead of System.out This is gives us a way to implement changes to
* where the output text of this test system is sent.
*$
* Provides access to the output stream for the test system. This should be used instead of
* System.out This is gives us a way to implement changes to where the output text of this test
* system is sent.
*
* @return The test bench global print stream.
*/
public static PrintStream out() {
@@ -532,10 +527,10 @@ public final class TestBench {
}
/**
* Provides access to the error stream for the test system. This should be
* used instead of System.err This is gives us a way to implement changes to
* where the output text of this test system is sent.
*$
* Provides access to the error stream for the test system. This should be used instead of
* System.err This is gives us a way to implement changes to where the output text of this test
* system is sent.
*
* @return The test bench global print stream.
*/
public static PrintStream err() {

133
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
View File

@@ -7,16 +7,6 @@
package edu.wpi.first.wpilibj.test;
import java.io.IOException;
import java.io.InputStream;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Vector;
import java.util.logging.LogManager;
import java.util.logging.Logger;
import java.util.regex.Pattern;
import junit.framework.JUnit4TestAdapter;
import junit.runner.Version;
@@ -27,16 +17,24 @@ import org.junit.runner.notification.Failure;
import org.junit.runners.Suite;
import org.junit.runners.Suite.SuiteClasses;
import java.io.IOException;
import java.io.InputStream;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.logging.LogManager;
import java.util.logging.Logger;
import java.util.regex.Pattern;
import edu.wpi.first.wpilibj.WpiLibJTestSuite;
import edu.wpi.first.wpilibj.can.CANTestSuite;
import edu.wpi.first.wpilibj.command.CommandTestSuite;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTestSuite;
/**
* The WPILibJ Integeration Test Suite collects all of the tests to be run by
* junit. In order for a test to be run, it must be added the list of suite
* classes below. The tests will be run in the order they are listed in the
* suite classes annotation.
* The WPILibJ Integeration Test Suite collects all of the tests to be run by junit. In order for a
* test to be run, it must be added the list of suite classes below. The tests will be run in the
* order they are listed in the suite classes annotation.
*/
@RunWith(Suite.class)
// These are listed on separate lines to prevent merge conflicts
@@ -47,17 +45,19 @@ public class TestSuite extends AbstractTestSuite {
// Sets up the logging output
final InputStream inputStream = TestSuite.class.getResourceAsStream("/logging.properties");
try {
if (inputStream == null)
if (inputStream == null) {
throw new NullPointerException("./logging.properties was not loaded");
}
LogManager.getLogManager().readConfiguration(inputStream);
Logger.getAnonymousLogger().info("Loaded");
} catch (final IOException | NullPointerException e) {
} catch (final IOException | NullPointerException ex) {
Logger.getAnonymousLogger().severe("Could not load default logging.properties file");
Logger.getAnonymousLogger().severe(e.getMessage());
Logger.getAnonymousLogger().severe(ex.getMessage());
}
TestBench.out().println("Starting Tests");
}
private static final Logger WPILIBJ_ROOT_LOGGER = Logger.getLogger("edu.wpi.first.wpilibj");
private static final Logger WPILIBJ_COMMAND_ROOT_LOGGER = Logger
.getLogger("edu.wpi.first.wpilibj.command");
@@ -72,6 +72,9 @@ public class TestSuite extends AbstractTestSuite {
private static TestSuite instance = null;
/**
* Get the singleton instance of the test suite.
*/
public static TestSuite getInstance() {
if (instance == null) {
instance = new TestSuite();
@@ -80,13 +83,13 @@ public class TestSuite extends AbstractTestSuite {
}
/**
* This has to be public so that the JUnit4
* This has to be public so that the JUnit4.
*/
public TestSuite() {}
public TestSuite() {
}
/**
* Displays a help message for the user when they use the --help flag at
* runtime.
* Displays a help message for the user when they use the --help flag at runtime.
*/
protected static void displayHelp() {
StringBuilder helpMessage = new StringBuilder("Test Parameters help: \n");
@@ -104,7 +107,8 @@ public class TestSuite extends AbstractTestSuite {
+ QUICK_TEST_FLAG + " or " + CLASS_NAME_FILTER
+ " and run them the given number of times.\n");
helpMessage
.append("[NOTE] All regex uses the syntax defined by java.util.regex.Pattern. This documentation can be found at "
.append("[NOTE] All regex uses the syntax defined by java.util.regex.Pattern. This "
+ "documentation can be found at "
+ "http://docs.oracle.com/javase/7/docs/api/java/util/regex/Pattern.html\n");
helpMessage.append("\n");
helpMessage.append("\n");
@@ -113,8 +117,8 @@ public class TestSuite extends AbstractTestSuite {
}
/**
* Lets the user know that they used the TestSuite improperly and gives
* details about how to use it correctly in the future.
* Lets the user know that they used the TestSuite improperly and gives details about how to use
* it correctly in the future.
*/
protected static void displayInvalidUsage(String message, String... args) {
StringBuilder invalidMessage = new StringBuilder("Invalid Usage: " + message + "\n");
@@ -133,16 +137,16 @@ public class TestSuite extends AbstractTestSuite {
/**
* Prints the loaded tests before they are run.
*$
*
* @param classes the classes that were loaded.
*/
protected static void printLoadedTests(final Class<?>... classes) {
StringBuilder loadedTestsMessage = new StringBuilder("The following tests were loaded:\n");
Package p = null;
Package packagE = null;
for (Class<?> c : classes) {
if (c.getPackage().equals(p)) {
p = c.getPackage();
loadedTestsMessage.append(p.getName() + "\n");
if (c.getPackage().equals(packagE)) {
packagE = c.getPackage();
loadedTestsMessage.append(packagE.getName() + "\n");
}
loadedTestsMessage.append("\t" + c.getSimpleName() + "\n");
}
@@ -151,16 +155,15 @@ public class TestSuite extends AbstractTestSuite {
/**
* Parses the arguments passed at runtime and runs the appropriate tests based
* upon these arguments
*$
* Parses the arguments passed at runtime and runs the appropriate tests based upon these
* arguments
*
* @param args the args passed into the program at runtime
* @return the restults of the tests that have run. If no tests were run then
* null is returned.
* @return the restults of the tests that have run. If no tests were run then null is returned.
*/
protected static Result parseArgsRunAndGetResult(final String[] args) {
if (args.length == 0) { // If there are no args passed at runtime then just
// run all of the tests.
// run all of the tests.
printLoadedTests(TestSuite.class);
return JUnitCore.runClasses(TestSuite.class);
}
@@ -171,7 +174,6 @@ public class TestSuite extends AbstractTestSuite {
// The class filter was passed
boolean classFilter = false;
String classRegex = "";
boolean repeatFilter = false;
int repeatCount = 1;
for (String s : args) {
@@ -180,22 +182,20 @@ public class TestSuite extends AbstractTestSuite {
methodRegex = new String(s).replace(METHOD_NAME_FILTER, "");
}
if (Pattern.matches(METHOD_REPEAT_FILTER + ".*", s)) {
repeatFilter = true;
try {
repeatCount = Integer.parseInt(new String(s).replace(METHOD_REPEAT_FILTER, ""));
} catch (NumberFormatException e) {
} catch (NumberFormatException ex) {
displayInvalidUsage("The argument passed to the repeat rule was not a valid integer.",
args);
}
}
if (Pattern.matches(CLASS_NAME_FILTER + ".*", s)) {
classFilter = true;
classRegex = new String(s).replace(CLASS_NAME_FILTER, "");
classRegex = s.replace(CLASS_NAME_FILTER, "");
}
}
ArrayList<String> argsParsed = new ArrayList<String>(Arrays.asList(args));
if (argsParsed.contains(HELP_FLAG)) {
// If the user inputs the help flag then return the help message and exit
@@ -214,46 +214,46 @@ public class TestSuite extends AbstractTestSuite {
*/
class MultipleResult extends Result {
private static final long serialVersionUID = 1L;
private final List<Failure> failures = new Vector<Failure>();
private int runCount = 0;
private int ignoreCount = 0;
private long runTime = 0;
private final List<Failure> m_failures = new ArrayList<>();
private int m_runCount = 0;
private int m_ignoreCount = 0;
private long m_runTime = 0;
@Override
public int getRunCount() {
return runCount;
return m_runCount;
}
@Override
public int getFailureCount() {
return failures.size();
return m_failures.size();
}
@Override
public long getRunTime() {
return runTime;
return m_runTime;
}
@Override
public List<Failure> getFailures() {
return failures;
return m_failures;
}
@Override
public int getIgnoreCount() {
return ignoreCount;
return m_ignoreCount;
}
/**
* Adds the given result's data to this result
*$
* @param r the result to add to this result
* Adds the given result's data to this result.
*
* @param result the result to add to this result
*/
void addResult(Result r) {
failures.addAll(r.getFailures());
runCount += r.getRunCount();
ignoreCount += r.getIgnoreCount();
runTime += r.getRunTime();
void addResult(Result result) {
m_failures.addAll(result.getFailures());
m_runCount += result.getRunCount();
m_ignoreCount += result.getIgnoreCount();
m_runTime += result.getRunTime();
}
}
@@ -261,19 +261,20 @@ public class TestSuite extends AbstractTestSuite {
if (methodFilter) {
List<ClassMethodPair> pairs = (new TestSuite()).getMethodMatching(methodRegex);
if (pairs.size() == 0) {
displayInvalidUsage("None of the arguments passed to the method name filter matched.", args);
displayInvalidUsage("None of the arguments passed to the method name filter matched.",
args);
return null;
}
// Print out the list of tests before we run them
TestBench.out().println("Running the following tests:");
Class<?> classListing = null;
for (ClassMethodPair p : pairs) {
if (!p.methodClass.equals(classListing)) {
if (!p.m_methodClass.equals(classListing)) {
// Only display the class name every time it changes
classListing = p.methodClass;
classListing = p.m_methodClass;
TestBench.out().println(classListing);
}
TestBench.out().println("\t" + p.methodName);
TestBench.out().println("\t" + p.m_methodName);
}
@@ -353,9 +354,9 @@ public class TestSuite extends AbstractTestSuite {
}
/**
* This is used by ant to get the Junit tests. This is required because the
* tests try to load using a JUnit 3 framework. JUnit4 uses annotations to
* load tests. This method allows JUnit3 to load JUnit4 tests.
* This is used by ant to get the Junit tests. This is required because the tests try to load
* using a JUnit 3 framework. JUnit4 uses annotations to load tests. This method allows JUnit3 to
* load JUnit4 tests.
*/
public static junit.framework.Test suite() {
return new JUnit4TestAdapter(TestSuite.class);
@@ -363,8 +364,8 @@ public class TestSuite extends AbstractTestSuite {
/**
* The method called at runtime
*$
* The method called at runtime.
*
* @param args The test suites to run
*/
public static void main(String[] args) {

20
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/package-info.java
View File

@@ -1,13 +1,11 @@
/**
* This is the starting point for the integration testing framework. This
* package should contain classes that are not explicitly for testing the
* library but instead provide the framework that the tests can extend from.
* Every test should extend from
* {@link edu.wpi.first.wpilibj.test.AbstractComsSetup} to ensure that Network
* Communications is properly instantiated before the test is run.
*$
* The {@link edu.wpi.first.wpilibj.test.TestBench} should contain the port
* numbers for all of the hardware and these values should not be explicitly
* defined anywhere else in the testing framework.
* This is the starting point for the integration testing framework. This package should contain
* classes that are not explicitly for testing the library but instead provide the framework that
* the tests can extend from. Every test should extend from
* {@link edu.wpi.first.wpilibj.test.AbstractComsSetup}
* to ensure that Network Communications is properly instantiated before the test is run. The
* {@link edu.wpi.first.wpilibj.test.TestBench} should contain the port numbers for all of the
* hardware and these values should not be explicitly defined anywhere else in the testing
* framework.
*/
package edu.wpi.first.wpilibj.test;
package edu.wpi.first.wpilibj.test;