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[examples,cscore] Don't use assertTimeoutPreemptively in tests (#8951)

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Particularly with short timeouts, this results in spurious failures
under high CPU load.
This commit is contained in:
Peter Johnson
2026-06-05 07:28:51 -07:00
committed by GitHub
parent 98c03baf54
commit e085c3e8b3
2 changed files with 12 additions and 12 deletions
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9
cscore/src/test/java/org/wpilib/vision/camera/UsbCameraTest.java
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@@ -5,10 +5,8 @@
package org.wpilib.vision.camera; package org.wpilib.vision.camera;
import static org.junit.jupiter.api.Assertions.assertThrows; import static org.junit.jupiter.api.Assertions.assertThrows;
import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
import static org.junit.jupiter.api.Assertions.assertTrue; import static org.junit.jupiter.api.Assertions.assertTrue;
import java.time.Duration;
import java.util.Arrays; import java.util.Arrays;
import java.util.concurrent.CompletableFuture; import java.util.concurrent.CompletableFuture;
import java.util.concurrent.TimeUnit; import java.util.concurrent.TimeUnit;
@@ -23,16 +21,15 @@ class UsbCameraTest {
@EnabledOnOs(OS.LINUX) @EnabledOnOs(OS.LINUX)
static class ConnectVerbose { static class ConnectVerbose {
@Test @Test
void setConnectVerboseEnabledTest() { void setConnectVerboseEnabledTest() throws Exception {
try (UsbCamera camera = new UsbCamera("Nonexistent Camera", getNonexistentCameraDev())) { try (UsbCamera camera = new UsbCamera("Nonexistent Camera", getNonexistentCameraDev())) {
camera.setConnectVerbose(1); camera.setConnectVerbose(1);
CompletableFuture<String> result = new CompletableFuture<>(); CompletableFuture<String> result = new CompletableFuture<>();
CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20); CameraServerJNI.setLogger((level, file, line, message) -> result.complete(message), 20);
assertTimeoutPreemptively( assertTrue(
Duration.ofSeconds(5), result.get(5, TimeUnit.SECONDS).contains("Attempting to connect to USB camera on "));
() -> assertTrue(result.get().contains("Attempting to connect to USB camera on ")));
} }
} }

15
wpilibjExamples/src/test/java/org/wpilib/snippets/i2ccommunication/I2CCommunicationTest.java
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@@ -5,11 +5,9 @@
package org.wpilib.snippets.i2ccommunication; package org.wpilib.snippets.i2ccommunication;
import static org.junit.jupiter.api.Assertions.assertEquals; import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTimeoutPreemptively;
import static org.junit.jupiter.api.Assertions.assertTrue; import static org.junit.jupiter.api.Assertions.assertTrue;
import java.nio.charset.StandardCharsets; import java.nio.charset.StandardCharsets;
import java.time.Duration;
import java.util.concurrent.CompletableFuture; import java.util.concurrent.CompletableFuture;
import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.BeforeEach;
@@ -65,6 +63,11 @@ class I2CCommunicationTest {
i2c.resetData(); i2c.resetData();
} }
private String getWriteString() {
assertTrue(future.isDone(), "I2C write callback did not run during timing step");
return future.join();
}
@EnumSource(AllianceStationID.class) @EnumSource(AllianceStationID.class)
@ParameterizedTest(name = "alliance[{index}]: {0}") @ParameterizedTest(name = "alliance[{index}]: {0}")
void allianceTest(AllianceStationID alliance) { void allianceTest(AllianceStationID alliance) {
@@ -75,7 +78,7 @@ class I2CCommunicationTest {
SimHooks.stepTiming(0.02); SimHooks.stepTiming(0.02);
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> future.get()); String str = getWriteString();
char expected = alliance.name().startsWith("RED") ? 'R' : 'B'; char expected = alliance.name().startsWith("RED") ? 'R' : 'B';
if (alliance.name().startsWith("UNKNOWN")) { if (alliance.name().startsWith("UNKNOWN")) {
expected = 'U'; expected = 'U';
@@ -94,7 +97,7 @@ class I2CCommunicationTest {
SimHooks.stepTiming(0.02); SimHooks.stepTiming(0.02);
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> future.get()); String str = getWriteString();
char expected = enabled ? 'E' : 'D'; char expected = enabled ? 'E' : 'D';
assertEquals(expected, str.charAt(1)); assertEquals(expected, str.charAt(1));
@@ -110,7 +113,7 @@ class I2CCommunicationTest {
SimHooks.stepTiming(0.02); SimHooks.stepTiming(0.02);
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> future.get()); String str = getWriteString();
char expected = autonomous ? 'A' : 'T'; char expected = autonomous ? 'A' : 'T';
assertEquals(expected, str.charAt(2)); assertEquals(expected, str.charAt(2));
@@ -125,7 +128,7 @@ class I2CCommunicationTest {
SimHooks.stepTiming(0.02); SimHooks.stepTiming(0.02);
String str = assertTimeoutPreemptively(Duration.ofMillis(20L), () -> future.get()); String str = getWriteString();
String expected = String.format("%03d", (int) MatchState.getMatchTime()); String expected = String.format("%03d", (int) MatchState.getMatchTime());
assertEquals(expected, str.substring(3)); assertEquals(expected, str.substring(3));