SCRIPT Move java files

wpilibj/src/test/java/org/wpilib/driverstation/DriverStationTest.java

@@ -0,0 +1,55 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.params.provider.Arguments.arguments;
+
+import edu.wpi.first.wpilibj.simulation.DriverStationSim;
+import java.util.stream.Stream;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.MethodSource;
+
+class DriverStationTest {
+  @ParameterizedTest
+  @MethodSource("isConnectedProvider")
+  void testIsConnected(int axisCount, int buttonCount, int povCount, boolean expected) {
+    DriverStationSim.setJoystickAxesMaximumIndex(1, axisCount);
+    DriverStationSim.setJoystickButtonsMaximumIndex(1, buttonCount);
+    DriverStationSim.setJoystickPOVsMaximumIndex(1, povCount);
+
+    DriverStationSim.notifyNewData();
+
+    assertEquals(expected, DriverStation.isJoystickConnected(1));
+  }
+
+  static Stream<Arguments> isConnectedProvider() {
+    return Stream.of(
+        arguments(0, 0, 0, false),
+        arguments(1, 0, 0, true),
+        arguments(0, 1, 0, true),
+        arguments(0, 0, 1, true),
+        arguments(1, 1, 1, true),
+        arguments(4, 10, 1, true));
+  }
+
+  @MethodSource("connectionWarningProvider")
+  void testConnectionWarnings(boolean fms, boolean silence, boolean expected) {
+    DriverStationSim.setFmsAttached(fms);
+    DriverStationSim.notifyNewData();
+
+    DriverStation.silenceJoystickConnectionWarning(silence);
+    assertEquals(expected, DriverStation.isJoystickConnectionWarningSilenced());
+  }
+
+  static Stream<Arguments> connectionWarningProvider() {
+    return Stream.of(
+        arguments(false, true, true),
+        arguments(false, false, false),
+        arguments(true, true, false),
+        arguments(true, false, false));
+  }
+}

wpilibj/src/test/java/org/wpilib/driverstation/GenericHIDTest.java

@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
+import edu.wpi.first.wpilibj.simulation.GenericHIDSim;
+import org.junit.jupiter.api.Test;
+
+class GenericHIDTest {
+  private static final double kEpsilon = 0.0001;
+
+  @Test
+  void testRumbleRange() {
+    GenericHID hid = new GenericHID(0);
+    GenericHIDSim sim = new GenericHIDSim(0);
+
+    for (int i = 0; i <= 100; i++) {
+      double rumbleValue = i / 100.0;
+      hid.setRumble(RumbleType.kBothRumble, rumbleValue);
+      assertEquals(rumbleValue, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
+      assertEquals(rumbleValue, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
+    }
+  }
+
+  @Test
+  void testRumbleTypes() {
+    GenericHID hid = new GenericHID(0);
+    GenericHIDSim sim = new GenericHIDSim(0);
+
+    // Make sure both are off
+    hid.setRumble(RumbleType.kBothRumble, 0);
+    assertEquals(0, sim.getRumble(RumbleType.kBothRumble), kEpsilon);
+
+    // test both
+    hid.setRumble(RumbleType.kBothRumble, 1);
+    assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
+    assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
+    hid.setRumble(RumbleType.kBothRumble, 0);
+
+    // test left only
+    hid.setRumble(RumbleType.kLeftRumble, 1);
+    assertEquals(1, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
+    assertEquals(0, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
+    hid.setRumble(RumbleType.kLeftRumble, 0);
+
+    // test right only
+    hid.setRumble(RumbleType.kRightRumble, 1);
+    assertEquals(0, sim.getRumble(RumbleType.kLeftRumble), kEpsilon);
+    assertEquals(1, sim.getRumble(RumbleType.kRightRumble), kEpsilon);
+    hid.setRumble(RumbleType.kRightRumble, 0);
+  }
+}

wpilibj/src/test/java/org/wpilib/driverstation/JoystickTest.java

@@ -0,0 +1,173 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.JoystickSim;
+import org.junit.jupiter.api.Test;
+
+class JoystickTest {
+  @Test
+  void testGetX() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setX(0.25);
+    joysim.notifyNewData();
+    assertEquals(0.25, joy.getX(), 0.001);
+
+    joysim.setX(0);
+    joysim.notifyNewData();
+    assertEquals(0.0, joy.getX(), 0.001);
+  }
+
+  @Test
+  void testGetY() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setY(0.25);
+    joysim.notifyNewData();
+    assertEquals(0.25, joy.getY(), 0.001);
+
+    joysim.setY(0);
+    joysim.notifyNewData();
+    assertEquals(0.0, joy.getY(), 0.001);
+  }
+
+  @Test
+  void testGetZ() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setZ(0.25);
+    joysim.notifyNewData();
+    assertEquals(0.25, joy.getZ(), 0.001);
+
+    joysim.setZ(0);
+    joysim.notifyNewData();
+    assertEquals(0.0, joy.getZ(), 0.001);
+  }
+
+  @Test
+  void testGetTwist() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setTwist(0.25);
+    joysim.notifyNewData();
+    assertEquals(0.25, joy.getTwist(), 0.001);
+
+    joysim.setTwist(0);
+    joysim.notifyNewData();
+    assertEquals(0.0, joy.getTwist(), 0.001);
+  }
+
+  @Test
+  void testGetThrottle() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setThrottle(0.25);
+    joysim.notifyNewData();
+    assertEquals(0.25, joy.getThrottle(), 0.001);
+
+    joysim.setThrottle(0);
+    joysim.notifyNewData();
+    assertEquals(0.0, joy.getThrottle(), 0.001);
+  }
+
+  @Test
+  void testGetTrigger() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setTrigger(true);
+    joysim.notifyNewData();
+    assertTrue(joy.getTrigger());
+
+    joysim.setTrigger(false);
+    joysim.notifyNewData();
+    assertFalse(joy.getTrigger());
+  }
+
+  @Test
+  void testGetTop() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    joysim.setTop(true);
+    joysim.notifyNewData();
+    assertTrue(joy.getTop());
+
+    joysim.setTop(false);
+    joysim.notifyNewData();
+    assertFalse(joy.getTop());
+  }
+
+  @Test
+  void testGetMagnitude() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    // X Only
+    joysim.setX(0.5);
+    joysim.setY(0.0);
+    joysim.notifyNewData();
+    assertEquals(0.5, joy.getMagnitude(), 0.001);
+
+    // Y Only
+    joysim.setX(0.0);
+    joysim.setY(-0.5);
+    joysim.notifyNewData();
+    assertEquals(0.5, joy.getMagnitude(), 0.001);
+
+    // Both
+    joysim.setX(0.5);
+    joysim.setY(-0.5);
+    joysim.notifyNewData();
+    assertEquals(0.70710678118, joy.getMagnitude(), 0.001);
+  }
+
+  @Test
+  void testGetDirection() {
+    HAL.initialize(500, 0);
+    Joystick joy = new Joystick(1);
+    JoystickSim joysim = new JoystickSim(joy);
+
+    // X Only
+    joysim.setX(0.5);
+    joysim.setY(0.0);
+    joysim.notifyNewData();
+    assertEquals(90, joy.getDirectionDegrees(), 0.001);
+    assertEquals(Math.toRadians(90), joy.getDirectionRadians(), 0.001);
+
+    // Y Only
+    joysim.setX(0.0);
+    joysim.setY(-0.5);
+    joysim.notifyNewData();
+    assertEquals(0, joy.getDirectionDegrees(), 0.001);
+    assertEquals(Math.toRadians(0), joy.getDirectionRadians(), 0.001);
+
+    // Both
+    joysim.setX(0.5);
+    joysim.setY(-0.5);
+    joysim.notifyNewData();
+    assertEquals(45, joy.getDirectionDegrees(), 0.001);
+    assertEquals(Math.toRadians(45), joy.getDirectionRadians(), 0.001);
+  }
+}

wpilibj/src/test/java/org/wpilib/driverstation/PS4ControllerTest.java

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.PS4ControllerSim;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class PS4ControllerTest {
+  @ParameterizedTest
+  @EnumSource(value = PS4Controller.Button.class)
+  void testButtons(PS4Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS4Controller joy = new PS4Controller(2);
+    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    // need to call pressed and released to clear flags
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = PS4Controller.Axis.class)
+  void testAxes(PS4Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS4Controller joy = new PS4Controller(2);
+    PS4ControllerSim joysim = new PS4ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}

wpilibj/src/test/java/org/wpilib/driverstation/PS5ControllerTest.java

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.PS5ControllerSim;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class PS5ControllerTest {
+  @ParameterizedTest
+  @EnumSource(value = PS5Controller.Button.class)
+  void testButtons(PS5Controller.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS5Controller joy = new PS5Controller(2);
+    PS5ControllerSim joysim = new PS5ControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    // need to call pressed and released to clear flags
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = PS5Controller.Axis.class)
+  void testAxes(PS5Controller.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    PS5Controller joy = new PS5Controller(2);
+    PS5ControllerSim joysim = new PS5ControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}

wpilibj/src/test/java/org/wpilib/driverstation/XboxControllerTest.java

@@ -0,0 +1,79 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.XboxControllerSim;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class XboxControllerTest {
+  @ParameterizedTest
+  @EnumSource(value = XboxController.Button.class)
+  void testButtons(XboxController.Button button)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    XboxController joy = new XboxController(2);
+    XboxControllerSim joysim = new XboxControllerSim(joy);
+
+    var buttonName = button.toString();
+
+    String simSetMethodName = "set" + buttonName;
+    String joyGetMethodName = "get" + buttonName;
+    String joyPressedMethodName = "get" + buttonName + "Pressed";
+    String joyReleasedMethodName = "get" + buttonName + "Released";
+
+    final Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, boolean.class);
+    final Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+    final Method joyPressedMethod = joy.getClass().getMethod(joyPressedMethodName);
+    final Method joyReleasedMethod = joy.getClass().getMethod(joyReleasedMethodName);
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    // need to call pressed and released to clear flags
+    joyPressedMethod.invoke(joy);
+    joyReleasedMethod.invoke(joy);
+
+    simSetMethod.invoke(joysim, true);
+    joysim.notifyNewData();
+    assertTrue((Boolean) joyGetMethod.invoke(joy));
+    assertTrue((Boolean) joyPressedMethod.invoke(joy));
+    assertFalse((Boolean) joyReleasedMethod.invoke(joy));
+
+    simSetMethod.invoke(joysim, false);
+    joysim.notifyNewData();
+    assertFalse((Boolean) joyGetMethod.invoke(joy));
+    assertFalse((Boolean) joyPressedMethod.invoke(joy));
+    assertTrue((Boolean) joyReleasedMethod.invoke(joy));
+  }
+
+  @ParameterizedTest
+  @EnumSource(value = XboxController.Axis.class)
+  void testAxes(XboxController.Axis axis)
+      throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+    HAL.initialize(500, 0);
+    XboxController joy = new XboxController(2);
+    XboxControllerSim joysim = new XboxControllerSim(joy);
+
+    var axisName = axis.toString();
+
+    String simSetMethodName = "set" + axisName;
+    String joyGetMethodName = "get" + axisName;
+
+    Method simSetMethod = joysim.getClass().getMethod(simSetMethodName, double.class);
+    Method joyGetMethod = joy.getClass().getMethod(joyGetMethodName);
+
+    simSetMethod.invoke(joysim, 0.35);
+    joysim.notifyNewData();
+    assertEquals(0.35, (Double) joyGetMethod.invoke(joy), 0.001);
+  }
+}