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New Tester utility to run system check at competitions
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,169 @@ | ||
| package common.utility.tester; | ||
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| import static edu.wpi.first.wpilibj2.command.Commands.*; | ||
| import java.util.function.BooleanSupplier; | ||
| import java.util.HashMap; | ||
| import java.util.ArrayList; | ||
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|
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| import common.utility.Log; | ||
| import common.utility.narwhaldashboard.NarwhalDashboard; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
|
|
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| /** | ||
| * Team 3128's Tester utility class used to run system checks at competitions. | ||
| */ | ||
| public class Tester { | ||
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| /**System test */ | ||
| public static class UnitTest { | ||
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| protected String testName; | ||
| protected CommandBase command; | ||
| protected BooleanSupplier condition; | ||
| protected TestState testState; | ||
| protected double timeOut; | ||
|
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| /** | ||
| * Creates a unit test. | ||
| * @param testName Name of the test. | ||
| * @param command Command to run for the test. | ||
| * @param condition Condition to see if the test passed. | ||
| * @param timeOut Time the test has to run before failing. | ||
| */ | ||
| public UnitTest(String testName, CommandBase command, BooleanSupplier condition, double timeOut) { | ||
| this.testName = testName; | ||
| this.command = command; | ||
| this.condition = condition; | ||
| this.timeOut = timeOut; | ||
| testState = TestState.FAILED; | ||
| } | ||
|
|
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| /** | ||
| * Returns a command that runs the test. | ||
| */ | ||
| public CommandBase runTest() { | ||
| return sequence( | ||
| runOnce(()-> testState = TestState.RUNNING), | ||
| deadline( | ||
| waitUntil(condition).withTimeout(timeOut), | ||
| command | ||
| ), | ||
| runOnce(()-> { | ||
| testState = condition.getAsBoolean() ? TestState.PASSED : TestState.FAILED; | ||
| if (testState == TestState.PASSED) Log.info(testName, testName + "TEST PASSED"); | ||
| else Log.info(testName, "TEST FAILED"); | ||
| }) | ||
| ); | ||
| } | ||
| } | ||
|
|
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| /**Collection of tests to be run for a system */ | ||
| private class Test extends CommandBase { | ||
| private final ArrayList<UnitTest> unitTests; | ||
| private final String name; | ||
| private TestState state; | ||
| private int curIndex; | ||
|
|
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| /** | ||
| * Creates a test for a specific system. | ||
| * @param name Name of the test or system. | ||
| */ | ||
| private Test(String name) { | ||
| unitTests = new ArrayList<UnitTest>(); | ||
| this.name = name; | ||
| state = TestState.FAILED; | ||
| curIndex = 0; | ||
| NarwhalDashboard.getInstance().addUpdate(name, ()-> state); | ||
| NarwhalDashboard.getInstance().addButton(name, (boolean pressed) -> { | ||
| if (pressed) this.schedule(); | ||
| }); | ||
| } | ||
|
|
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| /** | ||
| * Adds a unit test to be run. | ||
| * @param test A unit test for the system. | ||
| */ | ||
| public void addTest(UnitTest test) { | ||
| unitTests.add(test); | ||
| } | ||
|
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||
| @Override | ||
| public void initialize() { | ||
| curIndex = 0; | ||
| state = TestState.RUNNING; | ||
| Log.info(name, "TEST RUNNING"); | ||
| if (unitTests.size() == 0) state = TestState.FAILED; | ||
| else unitTests.get(0).runTest().schedule(); | ||
| } | ||
|
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| @Override | ||
| public void execute() { | ||
| if (unitTests.size() == 0) return; | ||
|
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| final UnitTest test = unitTests.get(curIndex); | ||
| switch(test.testState) { | ||
| case FAILED: | ||
| state = TestState.FAILED; | ||
| return; | ||
| case PASSED: | ||
| curIndex ++; | ||
| if (curIndex == unitTests.size()) { | ||
| state = TestState.PASSED; | ||
| return; | ||
| } | ||
| unitTests.get(curIndex).runTest().schedule(); | ||
| default: | ||
| } | ||
| } | ||
|
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| @Override | ||
| public void end(boolean interrupted) { | ||
| Log.info(name, "TEST " + state); | ||
| } | ||
|
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| @Override | ||
| public boolean isFinished() { | ||
| return state != TestState.RUNNING; | ||
| } | ||
| } | ||
|
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| /**Enum representing test states */ | ||
| public enum TestState { | ||
| FAILED, | ||
| RUNNING, | ||
| PASSED | ||
| } | ||
|
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| private static Tester instance; | ||
|
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| public static synchronized Tester getInstance() { | ||
| if (instance == null) { | ||
| instance = new Tester(); | ||
| } | ||
| return instance; | ||
| } | ||
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| private Tester() {} | ||
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| public HashMap<String, Test> systemTests = new HashMap<String, Test>(); | ||
|
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| /** | ||
| * Adds a unit test to be run for a system. | ||
| * @param name Name of the test or system. | ||
| * @param test Unit test to be added. | ||
| */ | ||
| public void addTest(String name, UnitTest test) { | ||
| if (!systemTests.containsKey(name)) { | ||
| systemTests.put(name, new Test(name)); | ||
| } | ||
| systemTests.get(name).addTest(test); | ||
| } | ||
|
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| /** | ||
| * Runs the unit tests for a system. | ||
| * @param name Name of the test or system. | ||
| */ | ||
| public void runTest(String name) { | ||
| systemTests.get(name).schedule(); | ||
| } | ||
| } |