Merge pull request #19 from Team4388/templates

Add Custom Templates for Easy Class Creation

.templates/CommandTest.java

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.*;
+import frc4388.robot.subsystems.*;
+import org.junit.*;
+
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.verify;
+
+public class CommandTest {
+    private CommandScheduler scheduler = null;
+
+    @Before
+    public void setup() {
+        scheduler = CommandScheduler.getInstance();
+    }
+
+    // TODO: Update this to use an actual command. Won't work with inline commands for some reason
+
+    @Test
+    public void testExample() {
+        // Arrange
+        Drive drive = mock(Drive.class);
+        RunCommand command = new RunCommand(() -> drive.driveWithInput(0, 0), drive);
+
+        // Act
+        scheduler.schedule(command);
+        scheduler.run();
+
+        // Assert
+        verify(drive).driveWithInput(0, 0);
+    }
+}

.templates/SubsystemTest.java

@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import static org.junit.Assert.*;
+import static org.mockito.Mockito.*;
+
+import org.junit.*;
+
+import edu.wpi.first.wpilibj.Spark;
+import frc4388.robot.Constants.LEDConstants;
+import frc4388.utility.LEDPatterns;
+
+/**
+ * Based off the LEDSubsystemTest class
+ */
+public class SubsystemTest {
+    @Test
+    public void testConstructor() {
+        // Arrange
+        Spark ledController = mock(Spark.class);
+
+        // Act
+        LED led = new LED(ledController);
+
+        // Assert
+        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
+    }
+
+    @Test
+    public void testPatterns() {
+        // Arrange
+        Spark ledController = mock(Spark.class);
+        LED led = new LED(ledController);
+
+        // Act
+        led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
+
+        // Assert
+        assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
+
+        // Act
+        led.setPattern(LEDPatterns.BLUE_BREATH);
+
+        // Assert
+        assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
+
+        // Act
+        led.setPattern(LEDPatterns.SOLID_BLACK);
+
+        // Assert
+        assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
+    }
+}

.templates/UtilityTest.java

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.utility;
+
+import static org.junit.Assert.*;
+import static org.mockito.Mockito.*;
+
+import com.kauailabs.navx.frc.AHRS;
+
+import org.junit.*;
+
+import frc4388.mocks.MockPigeonIMU;
+import frc4388.robot.Constants.DriveConstants;
+
+/**
+ * Based on the RobotGyroUtilityTest class
+ */
+public class UtilityTest {
+    private RobotGyro gyroPigeon;
+    private RobotGyro gyroNavX;
+
+    @Test
+    public void testConstructor() {
+        // Arrange
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        AHRS navX = mock(AHRS.class);
+        gyroPigeon = new RobotGyro(pigeon);
+        gyroNavX = new RobotGyro(navX);
+
+        // Assert
+        assertEquals(true, gyroPigeon.m_isGyroAPigeon);
+        assertEquals(pigeon, gyroPigeon.getPigeon());
+        assertEquals(null, gyroPigeon.getNavX());
+        assertEquals(false, gyroNavX.m_isGyroAPigeon);
+        assertEquals(navX, gyroNavX.getNavX());
+        assertEquals(null, gyroNavX.getPigeon());
+    }
+
+    @Test
+    public void testHeadingPigeon() {
+        // Arrange
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        gyroPigeon = new RobotGyro(pigeon);
+
+        // Act & Assert
+        assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
+        assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
+        assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
+        assertEquals(30, gyroPigeon.getHeading(30), 0.0001);
+        assertEquals(0, gyroPigeon.getHeading(0), 0.0001);
+        assertEquals(180, gyroPigeon.getHeading(180), 0.0001);
+        assertEquals(-180, gyroPigeon.getHeading(-180), 0.0001);
+        assertEquals(97, gyroPigeon.getHeading(1537), 0.0001);
+        assertEquals(99, gyroPigeon.getHeading(-2781), 0.0001);
+    }
+}

src/test/java/frc4388/robot/subsystems/LEDSubsystemTest.java

@@ -7,9 +7,11 @@
 
 package frc4388.robot.subsystems;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
-import static org.mockito.Mockito.*;
+import static org.mockito.Mockito.mock;
-import org.junit.*;
+
+import org.junit.Test;
+
 import edu.wpi.first.wpilibj.*;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.LEDPatterns;
@@ -18,24 +20,40 @@ import frc4388.utility.LEDPatterns;
  * Add your docs here.
  */
 public class LEDSubsystemTest {
+    @Test
+    public void testConstructor() {
+        // Arrange
         Spark ledController = mock(Spark.class);
+
+        // Act
         LED led = new LED(ledController);
 
+        // Assert
+        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
+    }
+
     @Test
     public void testPatterns() {
-        // TEST 1
+        // Arrange
-        assertEquals(LEDConstants.DEFAULT_PATTERN.getValue(), led.getPattern().getValue(), 0.0001);
+        Spark ledController = mock(Spark.class);
+        LED led = new LED(ledController);
 
-        // TEST 2
+        // Act
         led.setPattern(LEDPatterns.RAINBOW_RAINBOW);
+
+        // Assert
         assertEquals(LEDPatterns.RAINBOW_RAINBOW.getValue(), led.getPattern().getValue(), 0.0001);
 
-        // TEST 3
+        // Act
         led.setPattern(LEDPatterns.BLUE_BREATH);
+
+        // Assert
         assertEquals(LEDPatterns.BLUE_BREATH.getValue(), led.getPattern().getValue(), 0.0001);
 
-        // TEST 4
+        // Act
         led.setPattern(LEDPatterns.SOLID_BLACK);
+
+        // Assert
         assertEquals(LEDPatterns.SOLID_BLACK.getValue(), led.getPattern().getValue(), 0.0001);
     }
 }

src/test/java/frc4388/utility/RobotGyroUtilityTest.java

@@ -9,44 +9,47 @@ package frc4388.utility;
 
 import static org.junit.Assert.*;
 import static org.mockito.Mockito.*;
-import org.junit.*;
 
-import edu.wpi.first.wpilibj.*;
-import com.ctre.phoenix.sensors.PigeonIMU;
 import com.kauailabs.navx.frc.AHRS;
 
+import org.junit.*;
+
 import frc4388.mocks.MockPigeonIMU;
 import frc4388.robot.Constants.DriveConstants;
-import frc4388.utility.RobotGyro;
 
 /**
  * Add your docs here.
  */
 public class RobotGyroUtilityTest {
-    MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
-    RobotGyro gyroPigeon = new RobotGyro(pigeon);
-    AHRS navX = mock(AHRS.class);
-    RobotGyro gyroNavX = new RobotGyro(navX);
-    RobotTime robotTime = RobotTime.getInstance();
-
     // TODO UNTESTED: most functions for NavX
 
+    private RobotGyro gyroPigeon;
+    private RobotGyro gyroNavX;
+
     @Test
-    public void testConfig() {
+    public void testConstructor() {
-        // TEST 1
+        // Arrange
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        AHRS navX = mock(AHRS.class);
+        gyroPigeon = new RobotGyro(pigeon);
+        gyroNavX = new RobotGyro(navX);
+
+        // Assert
         assertEquals(true, gyroPigeon.m_isGyroAPigeon);
         assertEquals(pigeon, gyroPigeon.getPigeon());
         assertEquals(null, gyroPigeon.getNavX());
-
-        // TEST 2
         assertEquals(false, gyroNavX.m_isGyroAPigeon);
         assertEquals(navX, gyroNavX.getNavX());
         assertEquals(null, gyroNavX.getPigeon());
     }
 
     @Test
-    public void testHeading() {
+    public void testHeadingPigeon() {
-        // TESTS
+        // Arrange
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        gyroPigeon = new RobotGyro(pigeon);
+
+        // Act & Assert
         assertEquals(-90, gyroPigeon.getHeading(270), 0.0001);
         assertEquals(-45, gyroPigeon.getHeading(315), 0.0001);
         assertEquals(-60, gyroPigeon.getHeading(-60), 0.0001);
@@ -59,97 +62,123 @@ public class RobotGyroUtilityTest {
     }
 
     @Test
-    public void testYawPitchRoll() {        
+    public void testYawPitchRollPigeon() {
-        // TEST 1
+        // Arrange
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        gyroPigeon = new RobotGyro(pigeon);
+
+        // Assert
         assertEquals(0, gyroPigeon.getAngle(), 0.0001);
 
-        // TEST 2
+        // Act
         pigeon.setYaw(40);
+
+        // Assert
         assertEquals(40, gyroPigeon.getAngle(), 0.0001);
 
-        // TEST 3
+        // Act
         gyroPigeon.reset();
+
+        // Assert
         assertEquals(0, gyroPigeon.getAngle(), 0.0001);
 
-        // TEST 4
+        // Act
         pigeon.setYaw(-1457);
         pigeon.setCurrentPitch(100);
         pigeon.setCurrentRoll(100);
+
+        // Assert
         assertEquals(-1457, gyroPigeon.getAngle(), 0.0001);
         assertEquals(90, gyroPigeon.getPitch(), 0.0001);
         assertEquals(90, gyroPigeon.getRoll(), 0.0001);
 
-        // TEST 5
+        // Act
         pigeon.setCurrentPitch(45);
         pigeon.setCurrentRoll(45);
+
+        // Assert
         assertEquals(45, gyroPigeon.getPitch(), 0.0001);
         assertEquals(45, gyroPigeon.getRoll(), 0.0001);
 
-        // TEST 6
+        // Act
         pigeon.setCurrentPitch(0);
         pigeon.setCurrentRoll(0);
+
+        // Assert
         assertEquals(0, gyroPigeon.getPitch(), 0.0001);
         assertEquals(0, gyroPigeon.getRoll(), 0.0001);
 
-        // TEST 7
+        // Act
         pigeon.setCurrentPitch(-60);
         pigeon.setCurrentRoll(-60);
+
+        // Assert
         assertEquals(-60, gyroPigeon.getPitch(), 0.0001);
         assertEquals(-60, gyroPigeon.getRoll(), 0.0001);
 
-        // TEST 8
+        // Act
         pigeon.setCurrentPitch(-90);
         pigeon.setCurrentRoll(-90);
+
+        // Assert
         assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
         assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
 
-        // TEST 9
+        // Act
         pigeon.setCurrentPitch(-100);
         pigeon.setCurrentRoll(-100);
+
+        // Assert
         assertEquals(-90, gyroPigeon.getPitch(), 0.0001);
         assertEquals(-90, gyroPigeon.getRoll(), 0.0001);
     }
 
     @Test
-    public void testRates() {
+    public void testRatesPigeon() {
-        // SETUP
+        // Arrange
-        pigeon.setYaw(0);
+        MockPigeonIMU pigeon = new MockPigeonIMU(DriveConstants.DRIVE_PIGEON_ID);
+        gyroPigeon = new RobotGyro(pigeon);
+        RobotTime robotTime = RobotTime.getInstance();
         gyroPigeon.updatePigeonDeltas();
 
-        // TEST 1
+        // Act
         robotTime.m_deltaTime = 5;
         pigeon.setYaw(0);
         gyroPigeon.updatePigeonDeltas();
+
+        // Assert
         assertEquals(0, gyroPigeon.getRate(), 1);
 
-        // TEST 2
+        // Act
         robotTime.m_deltaTime = 5;
         pigeon.setYaw(90);
         gyroPigeon.updatePigeonDeltas();
+
+        // Assert
         assertEquals(18000, gyroPigeon.getRate(), 0.001);
 
-        // TEST 3
+        // Act
         robotTime.m_deltaTime = 5;
         pigeon.setYaw(90);
         gyroPigeon.updatePigeonDeltas();
+
+        // Assert
         assertEquals(0, gyroPigeon.getRate(), 0.001);
 
-        // TEST 4
+        // Act
         robotTime.m_deltaTime = 3;
         pigeon.setYaw(-30);
         gyroPigeon.updatePigeonDeltas();
+        
+        // Assert
         assertEquals(-40000, gyroPigeon.getRate(), 0.001);
 
-        // TEST 5
+        // Act
         robotTime.m_deltaTime = 6;
         pigeon.setYaw(690);
         gyroPigeon.updatePigeonDeltas();
+
+        // Assert
         assertEquals(120000, gyroPigeon.getRate(), 0.001);
     }
-
-    private void wait(int millis) {
-        try {
-            Thread.sleep(millis);
-        } catch (Exception e) {}
-    }
 }

src/test/java/frc4388/utility/RobotTimeUtilityTest.java

@@ -8,10 +8,8 @@
 package frc4388.utility;
 
 import static org.junit.Assert.*;
-import static org.mockito.Mockito.*;
-import org.junit.*;
 
-import edu.wpi.first.wpilibj.*;
+import org.junit.*;
 
 /**
  * Add your docs here.
@@ -21,7 +19,7 @@ public class RobotTimeUtilityTest {
 
     @Test
     public void testUpdateTimes() {
-        // SETUP
+        // Arrange
         long lastTime;
         robotTime.m_deltaTime = 0;
         robotTime.m_robotTime = 0;
@@ -30,25 +28,29 @@ public class RobotTimeUtilityTest {
         robotTime.endMatchTime();
         robotTime.m_lastMatchTime = 0;
 
-        // TEST 1
+        // Assert
         assertEquals(0, robotTime.m_deltaTime);
         assertEquals(0, robotTime.m_robotTime);
         assertEquals(0, robotTime.m_lastRobotTime);
         assertEquals(0, robotTime.m_frameNumber);
         lastTime = robotTime.m_robotTime;
 
-        // TEST 2
+        // Act
         wait(1);
         robotTime.updateTimes();
+
+        // Assert
         assertEquals(true, robotTime.m_deltaTime > 0);
         assertEquals(true, robotTime.m_robotTime > 0);
         assertEquals(lastTime, robotTime.m_lastRobotTime);
         assertEquals(1, robotTime.m_frameNumber);
         lastTime = robotTime.m_robotTime;
 
-        // TEST 3
+        // Act
         wait(1);
         robotTime.updateTimes();
+
+        // Assert
         assertEquals(true, robotTime.m_deltaTime > 0);
         assertEquals(true, robotTime.m_robotTime > 0);
         assertEquals(lastTime, robotTime.m_lastRobotTime);
@@ -57,33 +59,39 @@ public class RobotTimeUtilityTest {
 
     @Test
     public void testMatchTime() {
-        // SETUP
+        // Arrange
         long lastTime;
 
-        // TEST 1
+        // Assert
         assertEquals(0, robotTime.m_matchTime);
         assertEquals(0, robotTime.m_lastMatchTime);
         lastTime = robotTime.m_matchTime;
 
-        // TEST 2
+        // Act
         robotTime.startMatchTime();
         wait(1);
         robotTime.updateTimes();
+
+        // Assert
         assertEquals(true, robotTime.m_matchTime > 0);
         assertEquals(lastTime, robotTime.m_lastMatchTime);
         lastTime = robotTime.m_matchTime;
         
-        // TEST 3
+        // Act
         wait(1);
         robotTime.updateTimes();
         robotTime.endMatchTime();
+
+        // Assert
         assertEquals(0, robotTime.m_matchTime);
         assertEquals(lastTime, robotTime.m_lastMatchTime);
         lastTime = robotTime.m_matchTime;
 
-        // TEST 4
+        // Act
         wait(1);
         robotTime.updateTimes();
+
+        // Assert
         assertEquals(0, robotTime.m_matchTime);
         assertEquals(lastTime, robotTime.m_lastMatchTime);
     }

template.config.js

@@ -0,0 +1,31 @@
+/**
+ * This file is a configuration file generated by the `Template` extension on `vscode`
+ * @see https://marketplace.visualstudio.com/items?itemName=yongwoo.template
+ */
+module.exports = {
+  // You can change the template path to another path
+  templateRootPath: "./.templates",
+  // After copying the template file the `replaceFileTextFn` function is executed
+  replaceFileTextFn: (fileText, templateName, utils) => {
+    // @see https://www.npmjs.com/package/change-case
+    const { changeCase } = utils;
+    // You can change the text in the file
+    return fileText
+      .replace(/__templateName__/gm, templateName)
+      .replace(
+        /__templateNameToPascalCase__/gm,
+        changeCase.pascalCase(templateName)
+      )
+      .replace(
+        /__templateNameToParamCase__/gm,
+        changeCase.paramCase(templateName)
+      );
+  },
+  replaceFileNameFn: (fileName, templateName, utils) => {
+    const { path } = utils;
+    // @see https://nodejs.org/api/path.html#path_path_parse_path
+    const { base } = path.parse(fileName);
+    // You can change the file name
+    return base;
+  }
+};