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https://github.com/wpilibsuite/allwpilib
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[wpilibj] Allow passing DS Instance to Robot and OpModes (#8626)
Some discussion with the tech team showed that there were some real advantages to being able to pass a 2nd type. It allows separating the DS and Robot. Additionally, we can make the DriverStationBase class actually usable instead of the existing DriverStation class which is impossible to handle in intellisense because it has too much. This won't fully be doable in C++, but we will need to implement something similar in python.
This commit is contained in:
Thad House
278
wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java
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278
wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package org.wpilib.util;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertThrows;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import java.util.Optional;
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import org.junit.jupiter.api.Test;
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@SuppressWarnings({
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"PMD.TestClassWithoutTestCases",
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"PMD.UnusedFormalParameter",
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"RedundantModifier"
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})
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class ConstructorMatchTest {
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public static class TestClass {
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public TestClass() {}
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public TestClass(String s) {}
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public TestClass(Optional<?> o) {}
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public TestClass(String s, Optional<?> o) {}
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}
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public static class TestInvalidParameterClass {
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public TestInvalidParameterClass(String s, Object o) {}
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}
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@Test
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void testTooManyParameters() {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Object.class);
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assertTrue(ctor.isEmpty());
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}
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@Test
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void testUnassignableParameters() {
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var ctor =
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ConstructorMatch.findBestConstructor(
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TestInvalidParameterClass.class, String.class, Object.class);
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assertTrue(ctor.isEmpty());
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}
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@Test
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void testValidConstructorNoArgs() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance();
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance("test");
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ctor.get().newInstance(Optional.empty());
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}
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@Test
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void testValidConstructorString() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance("test");
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}
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@Test
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void testInvalidConstructorString() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(Optional.empty()));
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}
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@Test
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void testValidConstructorOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, Optional.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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ctor.get().newInstance(Optional.empty());
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}
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@Test
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void testInvalidConstructorOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, Optional.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance("test"));
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}
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@Test
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void testValidConstructorStringOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Optional.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance("test", Optional.empty());
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ctor.get().newInstance(Optional.empty(), "test");
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}
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@Test
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void testInvalidConstructorStringOptional() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(TestClass.class, String.class, Optional.class);
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assertTrue(ctor.isPresent());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance());
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance("test"));
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assertThrows(IllegalArgumentException.class, () -> ctor.get().newInstance(Optional.empty()));
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}
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// Since this is built for opmodes, we're going to write tests that assume that
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// scenario.
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public interface UserControls {}
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public static class DefaultUserControls implements UserControls {}
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public static class CustomUserControls implements UserControls {}
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public static class RobotBase {}
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public static class RobotWithNoUserControls extends RobotBase {}
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public static class RobotWithDefaultUserControls extends RobotBase {
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public RobotWithDefaultUserControls(DefaultUserControls controls) {}
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}
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@Test
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void testRobotWithDefaultUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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RobotWithDefaultUserControls.class, DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new DefaultUserControls());
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assertThrows(
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IllegalArgumentException.class, () -> ctor.get().newInstance(new CustomUserControls()));
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}
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public static class RobotWithCustomUserControls extends RobotBase {
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public RobotWithCustomUserControls(CustomUserControls controls) {}
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}
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@Test
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void testRobotWithCustomUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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RobotWithCustomUserControls.class, CustomUserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new CustomUserControls());
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assertThrows(
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IllegalArgumentException.class, () -> ctor.get().newInstance(new DefaultUserControls()));
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}
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public static class RobotWithUserControls extends RobotBase {
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public RobotWithUserControls(UserControls controls) {}
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}
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@Test
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void testRobotWithUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(RobotWithUserControls.class, UserControls.class);
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assertTrue(ctor.isPresent());
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ctor.get().newInstance(new DefaultUserControls());
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ctor.get().newInstance(new CustomUserControls());
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}
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public static class OpModeWithRobotBase {
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public OpModeWithRobotBase(RobotBase robot) {}
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}
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@Test
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void testOpModeWithRobotBase() throws ReflectiveOperationException {
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var ctor = ConstructorMatch.findBestConstructor(OpModeWithRobotBase.class, RobotBase.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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var customUserControls = new CustomUserControls();
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ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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ctor.get().newInstance(new RobotWithCustomUserControls(customUserControls), customUserControls);
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ctor.get().newInstance(new RobotWithUserControls(defaultUserControls), defaultUserControls);
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}
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public static class OpModeWithRobotWithNoUserControls {
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public OpModeWithRobotWithNoUserControls(RobotWithNoUserControls robot) {}
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}
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@Test
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void testOpModeWithRobotWithNoUserControls() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithNoUserControls.class, RobotWithNoUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get().newInstance(new RobotWithNoUserControls(), defaultUserControls);
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}
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public static class OpModeWithRobotWithDefaultUserControls {
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public OpModeWithRobotWithDefaultUserControls(RobotWithDefaultUserControls robot) {}
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public OpModeWithRobotWithDefaultUserControls(
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RobotWithDefaultUserControls robot, DefaultUserControls controls) {}
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public OpModeWithRobotWithDefaultUserControls(DefaultUserControls controls) {}
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsRobotArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class, RobotWithDefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsControlsArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class, DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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@Test
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void testOpModeWithRobotWithDefaultUserControlsNoArgs() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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OpModeWithRobotWithDefaultUserControls.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var defaultUserControls = new DefaultUserControls();
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ctor.get()
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.newInstance(new RobotWithDefaultUserControls(defaultUserControls), defaultUserControls);
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}
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public static class MostSpecificFirstArg {
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public MostSpecificFirstArg(RobotBase robot, DefaultUserControls controls) {}
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public MostSpecificFirstArg(RobotWithDefaultUserControls robot, UserControls controls) {}
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}
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@Test
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void testMostSpecificFirstArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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MostSpecificFirstArg.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var parameterTypes = ctor.get().getParameterTypes();
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assertEquals(RobotWithDefaultUserControls.class, parameterTypes.get(0));
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assertEquals(UserControls.class, parameterTypes.get(1));
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}
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public static class MostSpecificSecondArg {
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public MostSpecificSecondArg(RobotBase robot, DefaultUserControls controls) {}
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public MostSpecificSecondArg(RobotBase robot, UserControls controls) {}
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}
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@Test
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void testMostSpecificSecondArg() throws ReflectiveOperationException {
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var ctor =
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ConstructorMatch.findBestConstructor(
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MostSpecificSecondArg.class,
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RobotWithDefaultUserControls.class,
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DefaultUserControls.class);
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assertTrue(ctor.isPresent());
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var parameterTypes = ctor.get().getParameterTypes();
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assertEquals(RobotBase.class, parameterTypes.get(0));
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assertEquals(DefaultUserControls.class, parameterTypes.get(1));
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}
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}
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