Reenable and fix flaky tests (#1837)

Author: Gold856

.github/workflows/build.yml

@@ -89,7 +89,7 @@ jobs:
       - name: Gradle Build
         run: ./gradlew photon-targeting:build photon-core:build photon-server:build -x check
       - name: Gradle Tests
-        run: ./gradlew testHeadless -i --stacktrace
+        run: ./gradlew testHeadless --stacktrace
       - name: Gradle Coverage
         run: ./gradlew jacocoTestReport
       - name: Publish Coverage Report
@@ -185,7 +185,7 @@ jobs:
           distribution: temurin
           architecture: ${{ matrix.architecture }}
       - run: git fetch --tags --force
-      - run: ./gradlew photon-targeting:build photon-lib:build -i
+      - run: ./gradlew photon-targeting:build photon-lib:build
         name: Build with Gradle
       - run: ./gradlew photon-lib:publish photon-targeting:publish
         name: Publish
@@ -226,7 +226,7 @@ jobs:
           git config --global --add safe.directory /__w/photonvision/photonvision
       - name: Build PhotonLib
         # We don't need to run tests, since we specify only non-native platforms
-        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -i -x test
+        run: ./gradlew photon-targeting:build photon-lib:build ${{ matrix.build-options }} -x test
       - name: Publish
         run: ./gradlew photon-lib:publish photon-targeting:publish ${{ matrix.build-options }}
         env:

photon-lib/src/test/java/org/photonvision/PhotonCameraTest.java

@@ -28,7 +28,6 @@
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertNull;
 import static org.junit.jupiter.api.Assertions.assertTrue;
-import static org.junit.jupiter.api.Assumptions.assumeTrue;
 import static org.photonvision.UnitTestUtils.waitForCondition;
 import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
 
@@ -48,7 +47,10 @@
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.MethodOrderer;
+import org.junit.jupiter.api.Order;
 import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.TestMethodOrder;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.Arguments;
 import org.junit.jupiter.params.provider.MethodSource;
@@ -60,6 +62,7 @@
 import org.photonvision.targeting.PhotonPipelineMetadata;
 import org.photonvision.targeting.PhotonPipelineResult;
 
+@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
 class PhotonCameraTest {
     // A test-scoped, local-only NT instance
     NetworkTableInstance inst = null;
@@ -76,6 +79,7 @@ public void setup() {
         HAL.initialize(500, 0);
 
         inst = NetworkTableInstance.create();
+        assertTrue(inst.isValid());
         inst.stopClient();
         inst.stopServer();
         inst.startLocal();
@@ -105,6 +109,7 @@ public void testEmpty() {
 
     // Just a smoketest for dev use -- don't run by default
     @Test
+    @Order(3)
     public void testTimeSyncServerWithPhotonCamera() throws InterruptedException, IOException {
         load_wpilib();
         PhotonTargetingJniLoader.load();
@@ -189,12 +194,10 @@ private void configureInstanceDataLoggers(NetworkTableInstance inst, String name
      * check
      */
     @ParameterizedTest
+    @Order(2)
     @MethodSource("testNtOffsets")
     public void testRestartingRobotAndCoproc(
             int robotStart, int coprocStart, int robotRestart, int coprocRestart) throws Throwable {
-        // See #1574 - test flakey, disabled until we address this
-        assumeTrue(false);
-
         var robotNt = NetworkTableInstance.create();
         var coprocNt = NetworkTableInstance.create();
 
@@ -304,9 +307,8 @@ public void testRestartingRobotAndCoproc(
     }
 
     @Test
+    @Order(1) // Alerts can't be reset, need to run this test first to have a clean slate
     public void testAlerts() throws InterruptedException {
-        // See https://github.com/PhotonVision/photonvision/pull/1969. Flaky on Linux
-        assumeTrue(false);
         // GIVEN a fresh NT instance
 
         var cameraName = "foobar";

photon-lib/src/test/java/org/photonvision/VisionSystemSimTest.java

@@ -29,7 +29,6 @@
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
-import static org.junit.jupiter.api.Assumptions.assumeTrue;
 import static org.photonvision.UnitTestUtils.waitForSequenceNumber;
 
 import edu.wpi.first.apriltag.AprilTag;
@@ -67,7 +66,6 @@
 import org.photonvision.simulation.VisionTargetSim;
 import org.photonvision.targeting.PhotonTrackedTarget;
 
-// See #1574 - flakey on windows and also linux, so commenting out until we bump wpilib
 class VisionSystemSimTest {
     private static final double kRotDeltaDeg = 0.25;
 
@@ -85,9 +83,6 @@ public static void setUp() {
         }
 
         OpenCvLoader.forceStaticLoad();
-
-        // See #1574 - test flakey, disabled until we address this
-        assumeTrue(false);
     }
 
     @BeforeEach
@@ -200,7 +195,7 @@ public void testNotVisibleVert1() {
         var cameraSim = new PhotonCameraSim(camera);
         visionSysSim.addCamera(cameraSim, new Transform3d());
         cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
-        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 3.0), 3));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(3.0, 3.0), 3));
 
         var robotPose = new Pose2d(new Translation2d(5, 0), Rotation2d.fromDegrees(5));
         visionSysSim.update(robotPose);
@@ -225,7 +220,7 @@ public void testNotVisibleVert2() {
         var cameraSim = new PhotonCameraSim(camera);
         visionSysSim.addCamera(cameraSim, robotToCamera);
         cameraSim.prop.setCalibration(1234, 1234, Rotation2d.fromDegrees(80));
-        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.5), 1736));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 1736));
 
         var robotPose = new Pose2d(new Translation2d(13.98, 0), Rotation2d.fromDegrees(5));
         visionSysSim.update(robotPose);
@@ -250,7 +245,7 @@ public void testNotVisibleTgtSize() {
         visionSysSim.addCamera(cameraSim, new Transform3d());
         cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
         cameraSim.setMinTargetAreaPixels(20.0);
-        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.1, 0.025), 24));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.1, 0.1), 24));
 
         var robotPose = new Pose2d(new Translation2d(12, 0), Rotation2d.fromDegrees(5));
         visionSysSim.update(robotPose);
@@ -274,7 +269,7 @@ public void testNotVisibleTooFarForLEDs() {
         cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(80));
         cameraSim.setMaxSightRange(10);
         cameraSim.setMinTargetAreaPixels(1.0);
-        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 0.25), 78));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(1.0, 1), 78));
 
         var robotPose = new Pose2d(new Translation2d(10, 0), Rotation2d.fromDegrees(5));
         visionSysSim.update(robotPose);
@@ -322,7 +317,7 @@ public void testPitchAngles(double testPitch) throws InterruptedException {
         visionSysSim.addCamera(cameraSim, new Transform3d());
         cameraSim.prop.setCalibration(640, 480, Rotation2d.fromDegrees(120));
         cameraSim.setMinTargetAreaPixels(0.0);
-        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 23));
+        visionSysSim.addVisionTargets(new VisionTargetSim(targetPose, new TargetModel(0.5, 0.5), 3));
 
         // Transform is now robot -> camera
         visionSysSim.adjustCamera(

photon-lib/src/test/native/cpp/VisionSystemSimTest.cpp

@@ -220,7 +220,6 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
   const frc::Pose3d targetPose{
       {15.98_m, 0_m, 0_m},
       frc::Rotation3d{0_deg, 0_deg, units::radian_t{3 * std::numbers::pi / 4}}};
-  frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{GetParam() * -1.0}};
   photon::VisionSystemSim visionSysSim{"Test"};
   photon::PhotonCamera camera{"camera"};
   photon::PhotonCameraSim cameraSim{&camera};
@@ -231,8 +230,8 @@ TEST_P(VisionSystemSimTestWithParamsTest, YawAngles) {
       targetPose, photon::TargetModel{0.5_m, 0.5_m}, 3}});
 
   // If the robot is rotated x deg (CCW+), the target yaw should be x deg (CW+)
-  robotPose =
-      frc::Pose2d{frc::Translation2d{10_m, 0_m}, frc::Rotation2d{GetParam()}};
+  frc::Pose2d robotPose{frc::Translation2d{10_m, 0_m},
+                        frc::Rotation2d{GetParam()}};
   visionSysSim.Update(robotPose);
 
   const auto result = camera.GetLatestResult();

shared/javacommon.gradle

@@ -113,7 +113,9 @@ test {
     testLogging {
         events "failed"
         exceptionFormat "full"
+        showStandardStreams = true
     }
+    forkEvery = 1
     finalizedBy jacocoTestReport
 }