Merge pull request #43 from HighOakRobotics/dev

Dev

Author: Stinggyray

src/main/java/com/ftc11392/sequoia/task/Scheduler.java

@@ -4,8 +4,6 @@
 import com.ftc11392.sequoia.util.Clock;
 import com.ftc11392.sequoia.util.OpModeState;
 import com.qualcomm.robotcore.hardware.HardwareMap;
-//import org.apache.logging.log4j.LogManager;
-//import org.apache.logging.log4j.Logger;
 import org.firstinspires.ftc.robotcore.external.Telemetry;
 
 import java.util.*;

src/main/java/com/ftc11392/sequoia/task/SequentialTaskBundle.java

@@ -25,13 +25,15 @@ public void addTasks(Task... tasks) {
 		registerBundledTasks(tasks);
 
 		for (Task task : tasks) {
+			System.out.println("Registering new " + task.getClass());
 			this.tasks.add(task);
 			subsystems.addAll(task.getSubsystems());
 		}
 	}
 
 	@Override
 	public void init() {
+		System.out.println("Init loop called");
 		currentTaskIndex = 0;
 
 		if (!tasks.isEmpty()) {
@@ -41,6 +43,7 @@ public void init() {
 
 	@Override
 	public void loop() {
+		System.out.println("Loop method called");
 		if (tasks.isEmpty()) {
 			return;
 		}
@@ -60,6 +63,7 @@ public void loop() {
 
 	@Override
 	public void stop(boolean interrupted) {
+		System.out.println("Stop method called");
 		if (interrupted && !tasks.isEmpty() && currentTaskIndex > -1 && currentTaskIndex < tasks.size()) {
 			tasks.get(currentTaskIndex).stop(true);
 		}

src/test/java/com/ftc11392/sequoia/task/ParallelTaskBundleTest.java

@@ -0,0 +1,146 @@
+package com.ftc11392.sequoia.task;
+
+import com.ftc11392.sequoia.subsystem.Subsystem;
+import com.ftc11392.sequoia.util.OpModeState;
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.firstinspires.ftc.robotcore.internal.opmode.TelemetryImpl;
+import org.junit.jupiter.api.DisplayName;
+import org.junit.jupiter.api.Test;
+
+import static org.junit.jupiter.api.Assertions.*;
+import static org.mockito.ArgumentMatchers.anyString;
+import static org.mockito.Mockito.*;
+
+public class ParallelTaskBundleTest {
+
+	@DisplayName("Test Parallel Task Bundle")
+	@Test
+	public void TestParallelTaskBundle() {
+		Scheduler.getInstance().cancelAll();
+		Scheduler.getInstance().clearSubsystems();
+		Scheduler.getInstance().clearBehaviors();
+
+		TelemetryImpl fakeTele = mock(TelemetryImpl.class);
+
+		when(fakeTele.log()).thenReturn(mock(Telemetry.Log.class));
+		when(fakeTele.addLine(anyString())).thenReturn(mock(Telemetry.Line.class, RETURNS_DEEP_STUBS));
+
+		Scheduler.getInstance().init(fakeTele);
+
+		Subsystem mockedSubsystem = mock(Subsystem.class);
+		Subsystem mockedSubsystem2 = mock(Subsystem.class);
+
+		Scheduler.getInstance().initSubsystems(null);
+		Scheduler.getInstance().loop(OpModeState.INIT_LOOP);
+
+		Task testTask = new Task() {
+			@Override
+			public void init() {
+				running = true;
+				addSubsystems(mockedSubsystem);
+			}
+
+			@Override
+			public void loop() {
+			}
+
+			@Override
+			public void stop(boolean interrupted) {
+				running = false;
+			}
+		};
+
+		Task testTask2 = new Task() {
+
+			@Override
+			public void init() {
+				running = true;
+				addSubsystems(mockedSubsystem2);
+			}
+
+			@Override
+			public void loop() {
+			}
+
+			@Override
+			public void stop(boolean interrupted) {
+				running = false;
+			}
+		};
+
+		ParallelTaskBundle testParallelTaskBundle = new ParallelTaskBundle(testTask, testTask2);
+
+		Scheduler.getInstance().schedule(testParallelTaskBundle);
+		Scheduler.getInstance().loop(OpModeState.RUN_LOOP);
+
+		assertTrue(testTask.isRunning());
+
+		Scheduler.getInstance().cancelAll();
+		Scheduler.getInstance().loop(OpModeState.RUN_LOOP);
+
+		assertFalse(testTask.isRunning());
+	}
+
+	@DisplayName("Test Parallel Task Bundle Same Subsystem")
+	@Test
+	public void TestSameSubsystem() {
+		Scheduler.getInstance().cancelAll();
+		Scheduler.getInstance().clearSubsystems();
+		Scheduler.getInstance().clearBehaviors();
+
+		TelemetryImpl fakeTele = mock(TelemetryImpl.class);
+
+		when(fakeTele.log()).thenReturn(mock(Telemetry.Log.class));
+		when(fakeTele.addLine(anyString())).thenReturn(mock(Telemetry.Line.class, RETURNS_DEEP_STUBS));
+
+		Scheduler.getInstance().init(fakeTele);
+
+		Subsystem mockedSubsystem = mock(Subsystem.class);
+
+		Scheduler.getInstance().initSubsystems(null);
+		Scheduler.getInstance().loop(OpModeState.INIT_LOOP);
+
+		Task testTask = new Task() {
+			@Override
+			public void init() {
+				running = true;
+			}
+
+			@Override
+			public void loop() {
+			}
+
+			@Override
+			public void stop(boolean interrupted) {
+				running = false;
+			}
+		};
+
+		testTask.addSubsystems(mockedSubsystem);
+
+		Task testTask2 = new Task() {
+
+			@Override
+			public void init() {
+				running = true;
+			}
+
+			@Override
+			public void loop() {
+			}
+
+			@Override
+			public void stop(boolean interrupted) {
+				running = false;
+			}
+		};
+
+		testTask2.addSubsystems(mockedSubsystem);
+
+		assertEquals(testTask.getSubsystems().toArray()[0], testTask2.getSubsystems().toArray()[0]);
+		Throwable thrownException = assertThrows(TaskException.class, () -> {
+			ParallelTaskBundle testParallelTaskBundle = new ParallelTaskBundle(testTask, testTask2);
+		});
+		assertEquals(thrownException.getMessage(), "Multiple tasks in a parallel bundle cannot require the same subsystems");
+	}
+}

src/test/java/com/ftc11392/sequoia/task/TaskTest.java

@@ -65,9 +65,9 @@ public void stop(boolean interrupted) {
 		assertFalse(testTask.isRunning());
 	}
 
-	@DisplayName("Test Task Timeout")
+	@DisplayName("Test Task With Timeout")
 	@Test
-	public void testTaskTimeout() {
+	public void testTaskWithTimeout() {
 		int timeoutCount = 4;
 
 		Scheduler.getInstance().cancelAll();