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Merged
brettle merged 2 commits into from
Apr 16, 2024
Merged

Make safeMode tests pass even when run alone. #74

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6d0140d
Make safeMode tests pass even when run alone.
brettle Apr 16, 2024
b565744
fix SafeJoystickTest
CoolSpy3 Apr 16, 2024
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2 changes: 1 addition & 1 deletion src/main/java/org/carlmontrobotics/lib199/safeMode/SafeJoystick.java
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Expand Up @@ -108,7 +108,7 @@ public double getRawAxis(int axis) {
* @param pov The POV to read
* @return The value of the POV
*/
public double getPOV(int pov) {
public int getPOV(int pov) {
if (SafeMode.isEnabled() && safeDisabledPOV.containsKey(pov) && safeDisabledPOV.get(pov).contains(unsafeJoystick.getPOV(pov))) {
return -1;
} else {
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6 changes: 3 additions & 3 deletions src/test/java/org/carlmontrobotics/lib199/MotorControllerFactoryTest.java
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Expand Up @@ -3,17 +3,17 @@
import static org.junit.Assert.assertEquals;

import org.carlmontrobotics.lib199.testUtils.ErrStreamTest;
import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Rule;
import org.junit.Test;

public class MotorControllerFactoryTest extends ErrStreamTest {

@ClassRule
public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class();
public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL();
@Rule
public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test();
public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData();

@Test
// AutoClosable.close() throws Exception
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10 changes: 9 additions & 1 deletion src/test/java/org/carlmontrobotics/lib199/safeMode/SafeJoystickTest.java
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Expand Up @@ -2,10 +2,18 @@

import static org.junit.Assert.*;

import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Test;

import edu.wpi.first.wpilibj.GenericHID;

public class SafeJoystickTest {

@ClassRule
public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL();

@Test
public void testSafeJoystick() {
GenericHID normalJoystick = createDummyJoystick(0);
GenericHID unsafeJoystick1 = createDummyJoystick(1);
Expand Down Expand Up @@ -85,7 +93,7 @@ public void testSafeJoystick() {
assertTrue(safeJoystick1.getRawButton(1));
assertTrue(safeJoystick1.getRawButtonPressed(1));
assertTrue(safeJoystick1.getRawButtonReleased(1));
assertEquals(0.5, safeJoystick1.getRawAxis(0), 0.01);
assertEquals(0.0, safeJoystick1.getRawAxis(0), 0.01);
assertEquals(0.5, safeJoystick1.getRawAxis(1), 0.01);
assertEquals(1.0, safeJoystick1.getRawAxis(2), 0.01);
assertEquals(-1, safeJoystick1.getPOV(0));
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5 changes: 5 additions & 0 deletions src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeCommandsTest.java
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Expand Up @@ -4,13 +4,18 @@

import java.util.function.Function;

import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Test;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

public class SafeModeCommandsTest {

@ClassRule
public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL();

@Test
public void testSafeCommand() {
testCommand(SafeCommand::new, true, false);
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4 changes: 4 additions & 0 deletions src/test/java/org/carlmontrobotics/lib199/safeMode/SafeModeTest.java
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Expand Up @@ -9,13 +9,17 @@
import java.util.function.LongSupplier;
import java.util.function.Supplier;

import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Test;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;

public class SafeModeTest {

@ClassRule
public static TestRules.InitializeHAL classRule = new TestRules.InitializeHAL();
// Test SafeMode.java using JUnit

@Test
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6 changes: 3 additions & 3 deletions src/test/java/org/carlmontrobotics/lib199/sim/MockPheonixControllerTest.java
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Expand Up @@ -8,7 +8,7 @@

import org.carlmontrobotics.lib199.Mocks;
import org.carlmontrobotics.lib199.testUtils.SafelyClosable;
import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Rule;
import org.junit.Test;
Expand All @@ -20,9 +20,9 @@
public abstract class MockPheonixControllerTest {

@ClassRule
public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class();
public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL();
@Rule
public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test();
public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData();

protected abstract BaseMotorController createController(int portPWM);

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6 changes: 3 additions & 3 deletions src/test/java/org/carlmontrobotics/lib199/sim/MockedSparkEncoderTest.java
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Expand Up @@ -13,7 +13,7 @@
import org.carlmontrobotics.lib199.Mocks;
import org.carlmontrobotics.lib199.REVLibErrorAnswer;
import org.carlmontrobotics.lib199.testUtils.SafelyClosable;
import org.carlmontrobotics.lib199.testUtils.SimDeviceTestRule;
import org.carlmontrobotics.lib199.testUtils.TestRules;
import org.junit.ClassRule;
import org.junit.Rule;
import org.junit.Test;
Expand All @@ -24,9 +24,9 @@
public class MockedSparkEncoderTest {

@ClassRule
public static SimDeviceTestRule.Class simClassRule = new SimDeviceTestRule.Class();
public static TestRules.InitializeHAL simClassRule = new TestRules.InitializeHAL();
@Rule
public SimDeviceTestRule.Test simTestRule = new SimDeviceTestRule.Test();
public TestRules.ResetSimDeviceSimData simTestRule = new TestRules.ResetSimDeviceSimData();

@Test
public void testDeviceCreation() {
Expand Down
8 changes: 4 additions & 4 deletions ...s/lib199/testUtils/SimDeviceTestRule.java → ...trobotics/lib199/testUtils/TestRules.java
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Expand Up @@ -7,15 +7,15 @@
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.SimDeviceSim;

public class SimDeviceTestRule {
public class TestRules {

public static class Class implements TestRule {
public static class InitializeHAL implements TestRule {
@Override
public Statement apply(Statement base, Description description) {
return new Statement(){
@Override
public void evaluate() throws Throwable {
// HAL must be initialized or SimDeviceSim.resetData() will crash
// HAL must be initialized or SimDeviceSim.resetData() will crash and SmartDashboard might not work.
HAL.initialize(500, 0);
base.evaluate();
HAL.shutdown();
Expand All @@ -24,7 +24,7 @@ public void evaluate() throws Throwable {
}
}

public static class Test implements TestRule {
public static class ResetSimDeviceSimData implements TestRule {
@Override
public Statement apply(Statement base, Description description) {
return new Statement(){
Expand Down