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Improves the general stability of the CANJaguarDefault tests

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Adds a poling wait to all of the tests to accommodate the CANJaguar

Change-Id: I15a64a5fe901cb775bf03ef0b08c2f83429ef9b5
This commit is contained in:
Jonathan Leitschuh
2014-10-23 13:03:49 -04:00
parent 93925bc025
commit bc84c7ac7c
1 changed files with 54 additions and 14 deletions
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68
wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANDefaultTest.java
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@@ -17,7 +17,6 @@ import java.util.concurrent.TimeUnit;
import java.util.logging.Logger;
import org.junit.Before;
import org.junit.Ignore;
import org.junit.Test;
import com.googlecode.junittoolbox.PollingWait;
@@ -32,6 +31,7 @@ import edu.wpi.first.wpilibj.Timer;
*/
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).pollEvery(10, TimeUnit.MILLISECONDS);
private static final double kSpikeTime = .5;
@@ -48,51 +48,92 @@ public class CANDefaultTest extends AbstractCANTest{
getME().getMotor().enableControl();
getME().getMotor().set(0.0f);
/* The motor might still have momentum from the previous test. */
Timer.delay(kStartupTime);
Timer.delay(kStartupTime/2);
}
@Test
public void testDefaultGet(){
assertEquals("CAN Jaguar did not initilize stopped", 0.0, getME().getMotor().get(), .01f);
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);
}
});
}
@Test
public void testDefaultBusVoltage(){
assertEquals("CAN Jaguar did not start at 14 volts", 14.0f, getME().getMotor().getBusVoltage(), 2.0f);
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().getBusVoltage(), 2.0f);
}
});
}
@Test
public void testDefaultOutputVoltage(){
assertEquals("CAN Jaguar did not start with an output voltage of 0", 0.0f, getME().getMotor().getOutputVoltage(), 0.3f);
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().getMotor().getOutputVoltage(), 0.3f);
}
});
}
@Test
public void testDefaultOutputCurrent(){
assertEquals("CAN Jaguar did not start with an output current of 0", 0.0f, getME().getMotor().getOutputCurrent(), 0.3f);
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().getMotor().getOutputCurrent(), 0.3f);
}
});
}
@Test
public void testDefaultTemperature(){
double room_temp = 18.0f;
assertThat("CAN Jaguar did not start with an initial temperature greater than " + room_temp, getME().getMotor().getTemperature(), is(greaterThan(room_temp)));
final double room_temp = 18.0f;
wait.until(new RunnableAssert("Waiting for temperature to be correct") {
@Override
public void run() {
assertThat("CAN Jaguar did not start with an initial temperature greater than " + room_temp, getME().getMotor().getTemperature(), is(greaterThan(room_temp)));
}
});
}
@Test
public void testDefaultForwardLimit(){
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
assertTrue("CAN Jaguar did not start with the Forward Limit Switch Off", getME().getMotor().getForwardLimitOK());
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().getForwardLimitOK());
}
});
}
@Test
public void testDefaultReverseLimit(){
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
assertTrue("CAN Jaguar did not start with the Reverse Limit Switch Off", getME().getMotor().getReverseLimitOK());
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().getReverseLimitOK());
}
});
}
@Test
public void testDefaultNoFaults(){
assertEquals("CAN Jaguar initialized with Faults", 0, getME().getMotor().getFaults());
wait.until(new RunnableAssert("Waiting for no faults") {
@Override
public void run() {
assertEquals("CAN Jaguar initialized with Faults", 0, getME().getMotor().getFaults());
}
});
}
@@ -102,7 +143,6 @@ public class CANDefaultTest extends AbstractCANTest{
//Given
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
getME().getMotor().enableControl();
assertTrue("[TEST SETUP] CANJaguar did not start with the Forward Limit Switch low", getME().getMotor().getForwardLimitOK());
//When
getME().getForwardLimit().set(true);
@@ -124,7 +164,7 @@ public class CANDefaultTest extends AbstractCANTest{
//Given
getME().getMotor().configLimitMode(CANJaguar.LimitMode.SwitchInputsOnly);
getME().getMotor().enableControl();
assertTrue("[TEST SETUP] CANJaguar did not start with the Reverse Limit Switch low", getME().getMotor().getReverseLimitOK());
//When
getME().getReverseLimit().set(true);