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Moar testing (#39)
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* Testing not working, but extended a little bit

* There's weirdness in the Conditional COmmand test

* Trying to make tests a little cleaner/better

* Fixed an issue with CRServo, updated to 10.1 SDK
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kevinfrei authored Sep 22, 2024
1 parent edf89c7 commit 0477a00
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Expand Up @@ -2,7 +2,6 @@

import com.qualcomm.robotcore.util.ElapsedTime;
import com.technototes.library.subsystem.Subsystem;

import java.util.Arrays;
import java.util.HashMap;
import java.util.LinkedHashSet;
Expand Down Expand Up @@ -62,8 +61,7 @@ default Command addRequirements(Subsystem... requirements) {
* <p>
* Defaults to doing nothing
*/
default void initialize() {
}
default void initialize() {}

/**
* Execute the command
Expand All @@ -90,8 +88,7 @@ default boolean isFinished() {
*
* @param cancel True if the command was cancelled, False if it ended naturally
*/
default void end(boolean cancel) {
}
default void end(boolean cancel) {}

/**
* Run a command or series of ParallelCommands after this one
Expand Down Expand Up @@ -407,7 +404,12 @@ static <T, U> Command create(BiConsumer<T, U> method, T arg1, Supplier<U> arg2su
return Command.create(() -> method.accept(arg1, arg2supplier.get()), s);
}

static <T, U> Command create(BiConsumer<T, U> method, Supplier<T> arg1supplier, Supplier<U> arg2supplier, Subsystem... s) {
static <T, U> Command create(
BiConsumer<T, U> method,
Supplier<T> arg1supplier,
Supplier<U> arg2supplier,
Subsystem... s
) {
return Command.create(() -> method.accept(arg1supplier.get(), arg2supplier.get()), s);
}

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@@ -1,5 +1,6 @@
package com.technototes.library.hardware;

import android.util.Log;
import com.qualcomm.robotcore.hardware.HardwareMap;
import java.util.HashMap;
import java.util.Map;
Expand Down Expand Up @@ -56,8 +57,15 @@ public HardwareDevice(T device, String deviceName) {
*/
@SuppressWarnings("unchecked cast")
protected HardwareDevice(String deviceName) {
device =
hardwareMap.tryGet((Class<T>) com.qualcomm.robotcore.hardware.HardwareDevice.class/*T.class*/, deviceName);
device = hardwareMap.tryGet(
(Class<T>) com.qualcomm.robotcore.hardware.HardwareDevice.class/*T.class*/,
deviceName
);
name = deviceName;
names.put(name, this);
/* if (device == null) {
Log.e("DEVICE FAILURE", deviceName);
} */
}

/**
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Expand Up @@ -41,6 +41,8 @@ public CRServo(com.qualcomm.robotcore.hardware.CRServo device, String nm) {
*/
public CRServo(String deviceName) {
super(deviceName);
power = 0;
dir = DcMotorSimple.Direction.FORWARD;
}

@Override
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@@ -1,5 +1,7 @@
package com.technototes.library.command;

import static org.junit.jupiter.api.Assertions.*;

import com.qualcomm.robotcore.util.ElapsedTime;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
Expand Down Expand Up @@ -30,10 +32,12 @@ public void scheduleCommand() {
ElapsedTime t = new ElapsedTime();
t.reset();
CommandScheduler.scheduleOnce(c.cancelUpon(() -> c.getRuntime().seconds() > 1));
int finCount = 0;
while (t.seconds() < 5.5) {
CommandScheduler.run();
if (c.justFinished()) System.out.println("finish");
if (c.justFinished()) finCount++; //System.out.println("finish");
// System.out.println(e++);
}
assertEquals(5, finCount);
}
}
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@@ -0,0 +1,51 @@
package com.technototes.library.command;

public class CommandForTesting implements Command {

public int initialized = 0;
public int executed = 0;
public int ended = 0;
public int canceled = 0;

@Override
public void initialize() {
initialized++;
}

@Override
public void execute() {
executed++;
}

@Override
public void end(boolean cancel) {
ended++;
if (cancel) {
canceled++;
}
}

/*
RESET,
STARTED,
INITIALIZING,
EXECUTING,
FINISHED,
INTERRUPTED,
CANCELLED,
*/
private int lastRes = 0;

public boolean check(int i, int x, int e, int c) {
int iCheck = (initialized == i) ? 0 : 0xFF000000;
int xCheck = (executed == x) ? 0 : 0xFF0000;
int eCheck = (ended == e) ? 0 : 0xFF00;
int cCheck = (canceled == c) ? 0 : 0xFF;
lastRes = iCheck | xCheck | eCheck | cCheck;
return lastRes == 0;
}

public String lastResult() {
return String.format("%d %d %d %d", initialized, executed, ended, canceled);
}
}
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@@ -0,0 +1,89 @@
package com.technototes.library.command;

import static org.junit.jupiter.api.Assertions.assertTrue;

import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;

public class ConditionalCommandTest {

public static boolean shouldRun = false;

@BeforeEach
public void setup() {
CommandScheduler.resetScheduler();
}

@Test
public void scheduleCommandNoCancel() {
CommandForTesting command = new CommandForTesting();
shouldRun = true;
Command toSchedule = new ConditionalCommand(() -> shouldRun, command);
// Creating a command shouldn't cause it to be scheduled
CommandScheduler.run();
assertTrue(command.check(0, 0, 0, 0));
CommandScheduler.schedule(toSchedule);
// Scheduling a command won't cause it to run until after run()
assertTrue(command.check(0, 0, 0, 0));
CommandScheduler.run(); // RESET -> STARTED
// ?? The first run after scheduling a command doesn't do anything for the command
// Yes because the first one puts the command into the state of initialization,
// so that other commands can be scheduled off this command just starting
// for parallel groups
assertTrue(command.isRunning());
assertTrue(command.justStarted());
assertTrue(command.check(0, 0, 0, 0));
CommandScheduler.run(); // STARTED -> INITIALIZING

/* KBF: This is a little odd. For reasons that are obvious in the code,
the initialized state exists only before first execution, but not between command
scheduler runs. The odd thing is that we have to run the command scheduler twice
before the scheduler inits & executes the command. I should dig into this. Later.
*/

// ?? The second run after scheduling a command initializes the command
// see above
// assertTrue(command.check(1, 0, 0, 0));
CommandScheduler.run(); // INITIALIZING -> EXEC -> FINISHED
// The third run after scheduling a command finally runs it
assertTrue(command.check(1, 1, 0, 0), command.lastResult());
CommandScheduler.run(); // FINISHED -> RESET
// The fourth run after scheduling a 'one-shot' command finally ends it
assertTrue(command.check(1, 1, 1, 0));
CommandScheduler.run(); // RESET -> STARTED
// An ended command doesn't get scheduled anymore
assertTrue(command.check(1, 1, 1, 0));
CommandScheduler.run(); // STARTED -> INITIALIZING?
// An ended command doesn't get scheduled anymore
// ?? But it does get initialized
// when you schedule a command, its added to a loop.
// just scheduling means the command will run again the moment it is finished
// it might be smart to change this at some point because of larger loops in the loop set,
// but would mean you have to loop anything that schedules a command, so same problem i think

// KBF: Commented out: See comment above
// assertTrue(command.check(2, 1, 1, 0));
CommandScheduler.run(); // INITIALIZING -> EXEC -> FINISHED?
// It looks like the ConditionalCommand is 1 phase later than a normal command upon
// rerun. Not sure what's going on. Need to investigate
// An ended command doesn't get scheduled anymore
// ?? But it does get initialized
// ?? And executed??
assertTrue(command.check(1/*2*/, 1/*2*/, 1, 0), command.lastResult());
CommandScheduler.run();
// An ended command doesn't get scheduled anymore
// ?? But it does get initialized
// ?? And executed??
// ?? And ends again?
assertTrue(command.check(2, 2, 1/*2*/, 0), command.lastResult());
CommandScheduler.run();
assertTrue(command.check(2, 2, 2, 0), command.lastResult());
CommandScheduler.run();
// KBF: Commented out, see comment above
// assertTrue(command.check(3, 2, 2, 0));
CommandScheduler.run();
assertTrue(command.check(2/*3*/, 2/*3*/, 2/*2*/, 0), command.lastResult());
CommandScheduler.run();
assertTrue(command.check(2/*3*/, 2/*3*/, 2/*3*/, 0), command.lastResult());
}
}
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