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kevinzwangkevinzwang
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add Autonomous tests
5 tests for the Autonomous command
1 parent 3bff2b9 commit 3b86061

5 files changed

Lines changed: 144 additions & 7 deletions

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‎Robot2018/.classpath‎

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<?xml version="1.0" encoding="UTF-8"?>
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<classpath>
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<classpathentry kind="src" path="src"/>
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<classpathentry kind="src" path="tests"/>
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<classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
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<classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
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<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.8"/>
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<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
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<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
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<classpathentry kind="var" path="wpiutil" sourcepath="wpiutil.sources"/>
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<classpathentry kind="con" path="org.eclipse.jdt.junit.JUNIT_CONTAINER/5"/>
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<classpathentry kind="lib" path="libs/jars/mockito-all-1.10.19.jar"/>
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<classpathentry kind="output" path="bin"/>
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</classpath>

‎Robot2018/libs/jars/mockito-all-1.10.19.jar‎

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‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/Autonomous.java‎

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package org.usfirst.frc.team199.Robot2018.commands;
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import java.util.ArrayList;
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import java.util.Map;
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import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -68,6 +69,9 @@ public String getSDName () {
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}
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}
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double delay;
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String scriptName = "";
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/**
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* Based on the input given, generates a unique script name and executes RunScript with it
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*
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* and other side switch, respectively
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*/
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public Autonomous(Position startPos, Map<String, Strategy> strategies, double delay, String fmsInput) {
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String scriptName = "";
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scriptName += startPos.getShortName();
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Strategy chosenStrat = strategies.get(fmsInput.substring(0, 2));
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// skip the next steps if robot is chosen to do nothing
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// skip the whole thing if robot is chosen to do nothing
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if (chosenStrat == Strategy.NOTHING)
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return;
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this.delay = delay;
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scriptName += startPos.getShortName();
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// add switch, switch, and exchange location if going for them, "x" if not
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if (chosenStrat == Strategy.SWITCH || chosenStrat == Strategy.SWITCH_EXCHANGE || chosenStrat == Strategy.SWITCH_SCALE)
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scriptName += fmsInput.substring(0, 1);
@@ -108,4 +111,20 @@ public Autonomous(Position startPos, Map<String, Strategy> strategies, double de
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addSequential(new WaitCommand(delay));
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addSequential(new RunScript(scriptName));
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}
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/**
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* Used for testing purposes only
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* @return the delay passed into the WaitCommand()
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*/
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public double getDelay() {
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return delay;
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}
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/**
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* Used for testing purposes only
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* @return the scriptName passed into RunScriot()
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*/
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public String getScriptName() {
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return scriptName;
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}
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}

‎Robot2018/src/org/usfirst/frc/team199/Robot2018/commands/RunScript.java‎

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import edu.wpi.first.wpilibj.command.WaitCommand;
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/**
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* Gets the script name and runs the script.
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* Gets the script name and interprets the script into individual commands.
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*/
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public class RunScript extends CommandGroup implements RunScriptInterface {
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public RunScript(String scriptName) {
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// make sure to uncomment this when autoScripts is written
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ArrayList<String> script = null; // Robot.autoScripts.getOrDefault(scriptName, new ArrayList<String>());
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ArrayList<String> script = new ArrayList<String>(); // Robot.autoScripts.getOrDefault(scriptName, new ArrayList<String>());
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outerloop:
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for(String cmd : script) {

‎Robot2018/tests/org/usfirst/frc/team199/Robot2018/TestAutonomous.java‎

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package org.usfirst.frc.team199.Robot2018;
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import static org.junit.jupiter.api.Assertions.*;
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import org.junit.jupiter.api.Test;
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import org.usfirst.frc.team199.Robot2018.commands.Autonomous;
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import org.usfirst.frc.team199.Robot2018.commands.Autonomous.Position;
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import org.usfirst.frc.team199.Robot2018.commands.Autonomous.Strategy;
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import java.util.HashMap;
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import java.util.Map;
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class TestAutonomous {
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@Test
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void mansNotHot() {
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assertEquals(4, 2+2);
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assertEquals(3, 4-1);
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}
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@Test
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void test0() {
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Map<String, Autonomous.Strategy> strats = new HashMap<String, Autonomous.Strategy>();
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strats.put("LL", Strategy.NOTHING);
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strats.put("LR", Strategy.NOTHING);
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strats.put("RL", Strategy.NOTHING);
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strats.put("RR", Strategy.NOTHING);
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Position pos = Position.LEFT;
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String fmsInput = "LLL";
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double delay = 0;
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Autonomous testAuto = new Autonomous(pos, strats, delay, fmsInput);
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assertEquals("", testAuto.getScriptName());
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assertEquals(delay, testAuto.getDelay());
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}
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@Test
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void test1() {
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Map<String, Autonomous.Strategy> strats = new HashMap<String, Autonomous.Strategy>();
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strats.put("LL", Strategy.NOTHING);
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strats.put("LR", Strategy.AUTO_LINE);
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strats.put("RL", Strategy.NOTHING);
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strats.put("RR", Strategy.NOTHING);
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Position pos = Position.RIGHT;
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String fmsInput = "LRL";
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double delay = 0;
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Autonomous testAuto = new Autonomous(pos, strats, delay, fmsInput);
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assertEquals("Rxxx", testAuto.getScriptName());
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assertEquals(delay, testAuto.getDelay());
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}
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@Test
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void test2() {
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Map<String, Autonomous.Strategy> strats = new HashMap<String, Autonomous.Strategy>();
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strats.put("LL", Strategy.AUTO_LINE);
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strats.put("LR", Strategy.SCALE);
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strats.put("RL", Strategy.SWITCH_EXCHANGE);
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strats.put("RR", Strategy.SWITCH_SCALE);
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Position pos = Position.CENTER;
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String fmsInput = "RRL";
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double delay = 0;
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Autonomous testAuto = new Autonomous(pos, strats, delay, fmsInput);
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assertEquals("CRRx", testAuto.getScriptName());
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assertEquals(delay, testAuto.getDelay());
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}
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@Test
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void test3() {
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Map<String, Autonomous.Strategy> strats = new HashMap<String, Autonomous.Strategy>();
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strats.put("LL", Strategy.SWITCH);
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strats.put("LR", Strategy.SWITCH_EXCHANGE);
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strats.put("RL", Strategy.NOTHING);
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strats.put("RR", Strategy.SWITCH_SCALE);
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Position pos = Position.LEFT;
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String fmsInput = "LLR";
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double delay = 0;
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Autonomous testAuto = new Autonomous(pos, strats, delay, fmsInput);
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assertEquals("LLxx", testAuto.getScriptName());
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assertEquals(delay, testAuto.getDelay());
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}
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@Test
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void test4() {
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Map<String, Autonomous.Strategy> strats = new HashMap<String, Autonomous.Strategy>();
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strats.put("LL", Strategy.SWITCH);
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strats.put("LR", Strategy.SWITCH_EXCHANGE);
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strats.put("RL", Strategy.SWITCH_SCALE);
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strats.put("RR", Strategy.NOTHING);
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Position pos = Position.RIGHT;
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String fmsInput = "LRR";
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double delay = 0;
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Autonomous testAuto = new Autonomous(pos, strats, delay, fmsInput);
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assertEquals("RLxE", testAuto.getScriptName());
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assertEquals(delay, testAuto.getDelay());
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}
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}

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