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RumblerTest.java
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RumblerTest.java
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package ca.team2706.frc.robot.operatorfeedback.rumbler;
import ca.team2706.frc.robot.OI;
import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.Joystick;
import mockit.*;
import org.junit.Before;
import org.junit.Test;
import java.time.Clock;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
public class RumblerTest {
@Injectable
private Joystick driverStick;
@Injectable
private Joystick operatorStick;
@Mocked
private OI oi;
@SuppressWarnings("ResultOfMethodCallIgnored")
@Before
public void setUp() {
new Expectations() {{
oi.getDriverStick();
result = driverStick;
minTimes = 0;
oi.getControlStick();
result = operatorStick;
minTimes = 0;
}};
}
/**
* Tests to ensure that the rumbler rumbles when the pattern it has wants it to.
*/
@Test
public void testRumbles() {
RumblePattern pattern = new RumblePattern() {
@Override
boolean shouldRumble(long millisecondsOn) {
return true;
}
@Override
boolean isOver(long millisecondsOn) {
return false;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.BOTH_JOYSTICKS;
}
};
Rumbler rumbler = new Rumbler(pattern);
rumbler.initialize();
rumbler.execute();
assertTrue(rumbler.isRumbling());
new Verifications() {{
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, withNotEqual(0));
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, withNotEqual(0));
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, withNotEqual(0));
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, withNotEqual(0));
}};
}
/**
* Tests to ensure that the rumbler turns off when asked to do so by the pattern.
*/
@Test
public void testStopsRumble() {
RumblePattern pattern = new RumblePattern() {
int times = 0;
@Override
boolean shouldRumble(long millisecondsOn) {
times++;
return times <= 1; // First time it should rumble, second time it should stop.
}
@Override
boolean isOver(long millisecondsOn) {
return false;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.BOTH_JOYSTICKS;
}
};
Rumbler rumbler = new Rumbler(pattern);
rumbler.initialize();
runRumbler(rumbler, 2);
assertFalse(rumbler.isRumbling());
new Verifications() {{
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
}};
}
/**
* Ensures that when the rumbler is ended the controller is told to stop rumbling.
*/
@Test
public void testRumbleStopsOnEnd() {
RumblePattern pattern = new RumblePattern() {
@Override
boolean shouldRumble(long millisecondsOn) {
return true;
}
@Override
boolean isOver(long millisecondsOn) {
return false;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.BOTH_JOYSTICKS;
}
};
Rumbler rumbler = new Rumbler(pattern);
rumbler.initialize();
rumbler.execute();
assertTrue(rumbler.isRumbling());
rumbler.end();
assertFalse(rumbler.isRumbling());
new Verifications() {{
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
}};
}
@Test
public void testPatternEnd() {
RumblePattern pattern = new RumblePattern() {
int times = 0;
@Override
boolean shouldRumble(long millisecondsOn) {
times++;
return true;
}
@Override
boolean isOver(long millisecondsOn) {
return times >= 2; // Will say the pattern is over after 4 seconds.
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.BOTH_JOYSTICKS;
}
};
Rumbler rumbler = new Rumbler(pattern);
rumbler.initialize();
rumbler.execute();
assertTrue(rumbler.isRumbling());
rumbler.execute();
assertTrue(rumbler.isRumbling());
assertTrue(rumbler.isFinished());
rumbler.end();
new Verifications() {{
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0);
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, 0);
}};
}
@Test
public void testRightControllerIsRumbled() {
RumblePattern pattern1 = new RumblePattern() {
int times = 0;
@Override
boolean shouldRumble(long millisecondsOn) {
return true;
}
@Override
boolean isOver(long millisecondsOn) {
return false;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.DRIVER_JOYSTICK;
}
};
RumblePattern pattern2 = new RumblePattern() {
@Override
boolean shouldRumble(long millisecondsOn) {
return true;
}
@Override
boolean isOver(long millisecondsOn) {
return false;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.OPERATOR_JOYSTICK;
}
};
Rumbler rumbler1 = new Rumbler(pattern1);
rumbler1.initialize();
rumbler1.execute();
assertTrue(rumbler1.isRumbling());
Rumbler rumbler2 = new Rumbler(pattern2);
rumbler2.initialize();
rumbler2.execute();
assertTrue(rumbler2.isRumbling());
new VerificationsInOrder() {{
driverStick.setRumble((GenericHID.RumbleType) any, withNotEqual(0));
times = 2;
operatorStick.setRumble((GenericHID.RumbleType) any, withNotEqual(0));
times = 2;
}};
}
/**
* Tests going through an entire rumbler pattern realistically, with changing conditions
* and time passing.
*/
@Test
public void testRealisticPattern(@Mocked final Clock clock) {
new Expectations() {{
clock.millis();
returns(0L, 50L, 50L, 100L, 100L, 150L, 150L, 200L, 200L, 300L, 300L,
500L, 500L, 550L, 550L, 590L, 590L, 700L, 700L, 800L, 800L, 2000L, 2000L);
}};
RumblePattern pattern = new RumblePattern() {
@Override
boolean shouldRumble(long millisecondsOn) {
return millisecondsOn % 200 < 150;
}
@Override
boolean isOver(long millisecondsOn) {
return millisecondsOn >= 2000;
}
@Override
public Rumbler.JoystickSelection getJoystick() {
return Rumbler.JoystickSelection.BOTH_JOYSTICKS;
}
@Override
public double getRumbleIntensity() {
return 1.0;
}
};
Rumbler rumbler = new Rumbler(pattern);
rumbler.initialize();
runRumbler(rumbler, 2);
assertTrue(rumbler.isRumbling());
runRumbler(rumbler, 1);
assertFalse(rumbler.isRumbling());
runRumbler(rumbler, 3);
assertTrue(rumbler.isRumbling());
runRumbler(rumbler, 2);
assertFalse(rumbler.isRumbling());
runRumbler(rumbler, 3);
assertTrue(rumbler.isRumbling());
assertTrue(rumbler.isFinished());
rumbler.end();
new Verifications() {{
// Verifications for turning on.
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, withNotEqual(0D));
times = 3;
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, withNotEqual(0D));
times = 3;
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, withNotEqual(0D));
times = 3;
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, withNotEqual(0D));
times = 3;
// Verifications for turning off.
driverStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0D);
times = 3;
driverStick.setRumble(GenericHID.RumbleType.kRightRumble, 0D);
times = 3;
operatorStick.setRumble(GenericHID.RumbleType.kLeftRumble, 0D);
times = 3;
operatorStick.setRumble(GenericHID.RumbleType.kRightRumble, 0D);
times = 3;
}};
}
/**
* Runs the {@link Rumbler#execute()} and {@link Rumbler#isFinished()} methods <code>numTimes</code> number of times,
* simulating actual usage.
*
* @param rumbler The rumbler class to be run.
* @param numTimes The number of times to call the execute method.
*/
private static void runRumbler(Rumbler rumbler, int numTimes) {
for (int i = 0; i < numTimes; i++) {
rumbler.execute();
rumbler.isFinished();
}
}
}