Adds RelayCrossConnect tests as well as AnalogCrossConnect tests for java

Also splits up the tests into multiple TestSuites so that the they are explicitly associated with the tests in the package that they are running

Change-Id: I746f1125fcdc9a180c2eedd2505d6ae9003fbadc

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.junit.Assert.*;
+
+import java.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.fixtures.AnalogCrossConnectFixture;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public class AnalogCrossConnectTest extends AbstractComsSetup {
+	private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
+	
+	private static AnalogCrossConnectFixture analogIO;
+	
+	static final double kDelayTime = 0.05;
+	
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+
+
+	/**
+	 * @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();
+	}
+
+	/**
+	 * @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() {
+		for(int i = 0; i < 50; i++) {
+			analogIO.getOutput().setVoltage(i / 10.0f);
+	        Timer.delay(kDelayTime);
+	        assertEquals(analogIO.getOutput().getVoltage(), analogIO.getInput().getVoltage(), 0.01);
+		}
+	}
+	
+	@Test(expected=RuntimeException.class)
+	public void testRuntimeExceptionOnInvalidAccumulatorPort(){
+		analogIO.getInput().getAccumulatorCount();
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -76,7 +76,7 @@ public class PIDTest extends AbstractComsSetup {
 		double kp = 0.003;
 		double ki = 0.0015;
 		double kd = 0.0;
-		for(int i = 0; i < 5; i++){
+		for(int i = 0; i < 1; i++){
 			data.addAll(Arrays.asList(new Object[][]{
 				 {kp, ki, kd, TestBench.getInstance().getTalonPair()},
 				 {kp, ki, kd, TestBench.getInstance().getVictorPair()},

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/RelayCrossConnectTest.java

@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+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 edu.wpi.first.wpilibj.Relay.Direction;
+import edu.wpi.first.wpilibj.Relay.InvalidValueException;
+import edu.wpi.first.wpilibj.Relay.Value;
+import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFxiture;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+import edu.wpi.first.wpilibj.test.TestBench;
+
+/**
+ * @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 RelayCrossConnectFxiture relayFixture;
+	
+	
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@Before
+	public void setUp() throws Exception {
+		relayFixture = TestBench.getRelayCrossConnectFixture();
+		relayFixture.setup();
+		relayFixture.getRelay().initTable(table);
+	}
+
+	/**
+	 * @throws java.lang.Exception
+	 */
+	@After
+	public void tearDown() throws Exception {
+		relayFixture.reset();
+		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());
+		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().get());
+		assertTrue("Input two was not high when relay set Value.kForward", 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().get());
+		assertFalse("Input two was not low when relay set Value.kReverse", 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);
+	}
+	
+	@Test(expected=InvalidValueException.class)
+	public void testSetValueReverseWithDirectionForwardThrowingException(){
+		relayFixture.getRelay().setDirection(Direction.kReverse);
+		relayFixture.getRelay().set(Value.kForward);
+	}
+	
+	@Test
+	public void testInitialSettings(){
+		assertEquals(Value.kOff, relayFixture.getRelay().get());
+		//Initially both outputs should be off
+		assertFalse(relayFixture.getInputOne().get());
+		assertFalse(relayFixture.getInputTwo().get());
+		assertEquals("Off", table.getString("Value"));
+	}
+
+	@Override
+	protected Logger getClassLogger() {
+		return logger;
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import org.junit.runner.RunWith;
+import org.junit.runners.Suite;
+import org.junit.runners.Suite.SuiteClasses;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+@RunWith(Suite.class)
+@SuiteClasses({
+				AnalogCrossConnectTest.class,
+				CounterTest.class,
+				DIOCrossConnectTest.class,
+				EncoderTest.class,
+				MotorEncoderTest.class,
+				PIDTest.class,
+				PrefrencesTest.class,
+				RelayCrossConnectTest.class,
+				SampleTest.class,
+				TiltPanCameraTest.class,
+				TimerTest.class
+				})
+public class WpiLibJTestSuite {
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/command/CommandTestSuite.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.command;
+
+import org.junit.runner.RunWith;
+import org.junit.runners.Suite;
+import org.junit.runners.Suite.SuiteClasses;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+@RunWith(Suite.class)
+@SuiteClasses({	
+				ButtonTest.class,
+				CommandParallelGroupTest.class,
+				CommandScheduleTest.class,
+				CommandSequentialGroupTest.class,
+				CommandSupersedeTest.class,
+				CommandTimeoutTest.class,
+				DefaultCommandTest.class
+			})
+public class CommandTestSuite {
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java

@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.fixtures;
+
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogOutput;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public abstract class AnalogCrossConnectFixture implements ITestFixture{
+	private boolean initialized = false;
+	
+	private AnalogInput input;
+	private AnalogOutput output;
+	
+	abstract protected AnalogInput  giveAnalogInput();
+	abstract protected AnalogOutput giveAnalogOutput();
+	
+	
+	private void initialize(){
+		synchronized(this){
+			if(!initialized){
+				input = giveAnalogInput();
+				output = giveAnalogOutput();
+				initialized = true;
+			}
+		}
+	}
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
+	 */
+	@Override
+	public boolean setup() {
+		initialize();
+		output.setVoltage(0);
+		return true;
+	}
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
+	 */
+	@Override
+	public boolean reset() {
+		initialize();
+		return true;
+	}
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
+	 */
+	@Override
+	public boolean teardown() {
+		input.free();
+		output.free();
+		return true;
+	}
+	
+	/**
+	 * @return
+	 */
+	final public AnalogOutput getOutput() {
+		initialize();
+		return output;
+	}
+	
+	final public AnalogInput getInput() {
+		initialize();
+		return input;
+	}
+	
+	
+}

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

@@ -62,19 +62,21 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	abstract protected DigitalInput giveDigitalInputB();
 
 	final private void initialize(){
-		if(!initialized){
-			aSource = giveDigitalInputA();
-			bSource = giveDigitalInputB();
-
-			motor = giveSpeedController();
-
-			encoder = new Encoder(aSource, bSource);
-			counters[0] = new Counter(aSource);
-			counters[1] = new Counter(bSource);
-			for(Counter c: counters){
-				c.start();
+		synchronized(this){
+			if(!initialized){
+				aSource = giveDigitalInputA();
+				bSource = giveDigitalInputB();
+				
+				motor = giveSpeedController();
+				
+				encoder = new Encoder(aSource, bSource);
+				counters[0] = new Counter(aSource);
+				counters[1] = new Counter(bSource);
+				for(Counter c: counters){
+					c.start();
+				}
+				initialized = true;
 			}
-			initialized = true;
 		}
 	}
 
@@ -122,8 +124,7 @@ public abstract class MotorEncoderFixture implements ITestFixture {
 	 * This is used instead of equals() because doubles can have inaccuracies.
 	 * @param value The value to compare against
 	 * @param acuracy The accuracy range to check against to see if the
-	 * @return true if the range of values between motors speed accuracy contains the 'value'<br>
-	 * {@code Math.abs((Math.abs(motor.get()) - Math.abs(value))) < Math.abs(accuracy)}
+	 * @return true if the range of values between motors speed accuracy contains the 'value'.
 	 */
 	public boolean isMotorSpeedWithinRange(double value, double accuracy){
 		initialize();

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFxiture.java

@@ -0,0 +1,94 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.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;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+public abstract class RelayCrossConnectFxiture implements ITestFixture {
+	
+	private DigitalInput inputOne;
+	private DigitalInput inputTwo;
+	private Relay relay;
+	
+	private boolean initialized = false;
+	private boolean freed = false;
+	
+	
+	
+	protected abstract Relay giveRelay();
+	
+	protected abstract DigitalInput giveInputOne();
+	
+	protected abstract DigitalInput giveInputTwo();
+	
+	private void initialize(){
+		synchronized(this){
+			if(!initialized){
+				relay = giveRelay();
+				inputOne = giveInputOne();
+				inputTwo = giveInputTwo();
+				initialized = true;
+			}
+		}
+	}
+	
+	public Relay getRelay(){
+		initialize();
+		return relay;
+	}
+	
+	public DigitalInput getInputOne(){
+		initialize();
+		return inputOne;
+	}
+	
+	public DigitalInput getInputTwo(){
+		initialize();
+		return inputTwo;
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
+	 */
+	@Override
+	public boolean setup() {
+		initialize();
+		return true;
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
+	 */
+	@Override
+	public boolean reset() {
+		initialize();
+		return true;
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
+	 */
+	@Override
+	public boolean teardown() {
+		if(!freed){
+			relay.free();
+			inputOne.free();
+			inputTwo.free();
+			freed = true;
+		} else {
+			throw new RuntimeException("You attempted to free the " + RelayCrossConnectFxiture.class.getSimpleName() + " multiple times");
+		}
+		return true;
+	}
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboardTestSuite.java

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.smartdashboard;
+
+import org.junit.runner.RunWith;
+import org.junit.runners.Suite;
+import org.junit.runners.Suite.SuiteClasses;
+
+import junit.framework.Test;
+import junit.framework.TestCase;
+import junit.framework.TestSuite;
+
+/**
+ * @author jonathanleitschuh
+ *
+ */
+@RunWith(Suite.class)
+@SuiteClasses({	
+				SmartDashboardTest.class
+})
+public class SmartDashboardTestSuite {
+}

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

@@ -12,18 +12,23 @@ import java.util.Collection;
 import java.util.Iterator;
 import java.util.List;
 
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogOutput;
 import edu.wpi.first.wpilibj.CANJaguar;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DigitalOutput;
 import edu.wpi.first.wpilibj.Gyro;
 import edu.wpi.first.wpilibj.Jaguar;
+import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.can.CANTimeoutException;
+import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
+import edu.wpi.first.wpilibj.fixtures.RelayCrossConnectFxiture;
 import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture;
 
 /**
@@ -221,6 +226,42 @@ public final class TestBench {
 		//NOTE: IF MORE DIOCROSSCONNECT PAIRS ARE ADDED ADD THEM HERE
 		return pairs;
 	}
+	
+	public static AnalogCrossConnectFixture getAnalogCrossConnectFixture(){
+		AnalogCrossConnectFixture analogIO = new AnalogCrossConnectFixture() {
+			@Override
+			protected AnalogOutput giveAnalogOutput() {
+				return new AnalogOutput(0);
+			}
+			
+			@Override
+			protected AnalogInput giveAnalogInput() {
+				return new AnalogInput(2);
+			}
+		};
+		return analogIO;
+	}
+	
+	public static RelayCrossConnectFxiture getRelayCrossConnectFixture(){
+		RelayCrossConnectFxiture relay = new RelayCrossConnectFxiture() {
+			
+			@Override
+			protected Relay giveRelay() {
+				return new Relay(0);
+			}
+			
+			@Override
+			protected DigitalInput giveInputTwo() {
+				return new DigitalInput(14);
+			}
+			
+			@Override
+			protected DigitalInput giveInputOne() {
+				return new DigitalInput(15);
+			}
+		};
+		return relay;
+	}
 
 	/**
 	 * Return a single Collection containing all of the DIOCrossConnectFixtures in all two pair combinations

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

@@ -16,23 +16,28 @@ import org.junit.runner.RunWith;
 import org.junit.runners.Suite;
 import org.junit.runners.Suite.SuiteClasses;
 
+import edu.wpi.first.wpilibj.AnalogCrossConnectTest;
 import edu.wpi.first.wpilibj.CounterTest;
 import edu.wpi.first.wpilibj.DIOCrossConnectTest;
 import edu.wpi.first.wpilibj.EncoderTest;
 import edu.wpi.first.wpilibj.MotorEncoderTest;
 import edu.wpi.first.wpilibj.PIDTest;
 import edu.wpi.first.wpilibj.PrefrencesTest;
+import edu.wpi.first.wpilibj.RelayCrossConnectTest;
 import edu.wpi.first.wpilibj.SampleTest;
 import edu.wpi.first.wpilibj.TiltPanCameraTest;
 import edu.wpi.first.wpilibj.TimerTest;
+import edu.wpi.first.wpilibj.WpiLibJTestSuite;
 import edu.wpi.first.wpilibj.command.ButtonTest;
 import edu.wpi.first.wpilibj.command.CommandParallelGroupTest;
 import edu.wpi.first.wpilibj.command.CommandScheduleTest;
 import edu.wpi.first.wpilibj.command.CommandSequentialGroupTest;
 import edu.wpi.first.wpilibj.command.CommandSupersedeTest;
+import edu.wpi.first.wpilibj.command.CommandTestSuite;
 import edu.wpi.first.wpilibj.command.CommandTimeoutTest;
 import edu.wpi.first.wpilibj.command.DefaultCommandTest;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTest;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTestSuite;
 
 /**
  * The WPILibJ Integeration Test Suite collects all of the tests to be run by
@@ -41,25 +46,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboardTest;
  * suite classes annotation.
  */
 @RunWith(Suite.class)
-@SuiteClasses({ SampleTest.class,
-				SmartDashboardTest.class,
-				DIOCrossConnectTest.class,
-				CounterTest.class,
-				EncoderTest.class,
-				PIDTest.class,
-				TiltPanCameraTest.class,
-				MotorEncoderTest.class,
-				PrefrencesTest.class,
-				ButtonTest.class,
-				CommandParallelGroupTest.class,
-				CommandScheduleTest.class,
-				CommandSequentialGroupTest.class,
-				CommandSupersedeTest.class,
-				CommandTimeoutTest.class,
-				DefaultCommandTest.class,
-				TimerTest.class
+@SuiteClasses({ 
+				WpiLibJTestSuite.class,
+				CommandTestSuite.class,
+				SmartDashboardTestSuite.class
 				})
 //NOTE: THESE ARE EACH LISTED ON SEPERATE LINES TO PREVENT GIT MERGE CONFLICTS!
+@SuppressWarnings("unused")
 public class TestSuite {
 	static{
 		final InputStream inputStream = TestSuite.class.getResourceAsStream("/logging.properties");