Add Tests

Author: AustinShalit

.gitignore

@@ -88,3 +88,7 @@ bower_components
 **/generated
 */generated_tests
 /bin/
+
+### NetworkTables
+networktables.ini
+networktables.ini.bak

core/src/main/java/edu/wpi/grip/core/operations/network/NetworkReceiver.java

@@ -1,5 +1,7 @@
 package edu.wpi.grip.core.operations.network;
 
+import java.util.function.Consumer;
+
 import static com.google.common.base.Preconditions.checkArgument;
 
 /**
@@ -27,6 +29,13 @@ public NetworkReceiver(String path) {
    */
   public abstract Object getValue();
 
+  /**
+   * Add a listener to the NetworkReceiver item.
+   *
+   * @param consumer The consumer to call when this item has a update
+   */
+  public abstract void addListener(Consumer<Object> consumer);
+
   /**
    * Close the network reciever. This should not throw an exception.
    */

core/src/main/java/edu/wpi/grip/core/operations/network/networktables/NTManager.java

@@ -21,13 +21,15 @@
 import edu.wpi.first.wpilibj.tables.ITable;
 
 import java.io.File;
+import java.util.LinkedList;
+import java.util.List;
 import java.util.Map;
 import java.util.Optional;
 import java.util.Set;
 import java.util.concurrent.atomic.AtomicInteger;
+import java.util.function.Consumer;
 import java.util.logging.Level;
 import java.util.logging.Logger;
-import javafx.beans.property.SimpleObjectProperty;
 import javax.inject.Inject;
 
 import static com.google.common.base.Preconditions.checkNotNull;
@@ -47,7 +49,7 @@ public class NTManager implements Manager, MapNetworkPublisherFactory, MapNetwor
    * https://github.com/PeterJohnson/ntcore/blob/e6054f543a6ab10aa27af6cace855da66d67ee44
    * /include/ntcore_c.h#L39
    */
-  private static final Map<Integer, Level> ntLogLevels = ImmutableMap.<Integer, Level>builder()
+  protected static final Map<Integer, Level> ntLogLevels = ImmutableMap.<Integer, Level>builder()
       .put(40, Level.SEVERE)
       .put(30, Level.WARNING)
       .put(20, Level.INFO)
@@ -136,34 +138,39 @@ public NetworkReceiver create(String path) {
   private static final class NTReceiver extends NetworkReceiver {
 
     private int entryListenerFunctionUid;
-    private final SimpleObjectProperty objectProperty = new SimpleObjectProperty();
+    private Object object = false;
+    private final List<Consumer<Object>> listeners = new LinkedList<>();
 
     protected NTReceiver(String path) {
       super(path);
-      NetworkTablesJNI.addConnectionListener((uid, connected, conn) -> {
-        if (connected) {
-          addListener();
-          NetworkTablesJNI.removeConnectionListener(uid);
-        }
-      }, true);
+      addListener();
+
       synchronized (NetworkTable.class) {
         NetworkTable.initialize();
       }
     }
 
     private void addListener() {
       entryListenerFunctionUid = NetworkTablesJNI.addEntryListener(path,
-          (uid, key, value, flags) -> objectProperty.set(value),
+          (uid, key, value, flags) -> {
+            object = value;
+            listeners.forEach(c -> c.accept(object));
+          },
           ITable.NOTIFY_IMMEDIATE
               | ITable.NOTIFY_NEW
               | ITable.NOTIFY_UPDATE
               | ITable.NOTIFY_DELETE
               | ITable.NOTIFY_LOCAL);
     }
 
+    @Override
+    public void addListener(Consumer<Object> consumer) {
+      listeners.add(consumer);
+    }
+
     @Override
     public Object getValue() {
-      return objectProperty.getValue();
+      return object;
     }
 
     @Override

core/src/main/java/edu/wpi/grip/core/sources/NetworkTableEntrySource.java

@@ -1,6 +1,7 @@
 package edu.wpi.grip.core.sources;
 
 import edu.wpi.grip.core.Source;
+import edu.wpi.grip.core.events.SourceHasPendingUpdateEvent;
 import edu.wpi.grip.core.events.SourceRemovedEvent;
 import edu.wpi.grip.core.operations.network.MapNetworkReceiverFactory;
 import edu.wpi.grip.core.operations.network.NetworkReceiver;
@@ -10,6 +11,7 @@
 import edu.wpi.grip.core.util.ExceptionWitness;
 
 import com.google.common.collect.ImmutableList;
+import com.google.common.eventbus.EventBus;
 import com.google.common.eventbus.Subscribe;
 import com.google.inject.assistedinject.Assisted;
 import com.google.inject.assistedinject.AssistedInject;
@@ -51,11 +53,13 @@ public String toString() {
 
   @AssistedInject
   NetworkTableEntrySource(
+      EventBus eventBus,
       ExceptionWitness.Factory exceptionWitnessFactory,
       OutputSocket.Factory osf,
       @Named("ntManager") MapNetworkReceiverFactory networkReceiverFactory,
       @Assisted Properties properties) {
-    this(exceptionWitnessFactory,
+    this(eventBus,
+        exceptionWitnessFactory,
         osf,
         networkReceiverFactory,
         properties.getProperty(PATH_PROPERTY),
@@ -64,6 +68,7 @@ public String toString() {
 
   @AssistedInject
   NetworkTableEntrySource(
+      EventBus eventBus,
       ExceptionWitness.Factory exceptionWitnessFactory,
       OutputSocket.Factory osf,
       @Named("ntManager") MapNetworkReceiverFactory networkReceiverFactory,
@@ -74,6 +79,8 @@ public String toString() {
     this.type = type;
     networkReceiver = networkReceiverFactory.create(path);
     output = osf.create(createOutputSocket(type));
+
+    networkReceiver.addListener(o -> eventBus.post(new SourceHasPendingUpdateEvent(this)));
   }
 
   @Override

core/src/test/java/edu/wpi/grip/core/operations/network/MockGripNetworkModule.java

@@ -1,5 +1,6 @@
 package edu.wpi.grip.core.operations.network;
 
+import edu.wpi.grip.core.operations.network.networktables.TestingNTManager;
 import edu.wpi.grip.core.operations.network.ros.MockROSManager;
 import edu.wpi.grip.core.operations.network.ros.ROSNetworkPublisherFactory;
 
@@ -24,6 +25,6 @@ protected void configure() {
 
     bind(MapNetworkReceiverFactory.class)
         .annotatedWith(Names.named("ntManager"))
-        .to(MockNetworkReceiver.class);
+        .to(TestingNTManager.class);
   }
 }

core/src/test/java/edu/wpi/grip/core/operations/network/MockNetworkReceiver.java

@@ -0,0 +1,36 @@
+package edu.wpi.grip.core.operations.network.networktables;
+
+import com.google.inject.Singleton;
+
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
+
+import java.io.File;
+import java.util.logging.Logger;
+
+/**
+ * This class encapsulates the way we map various settings to the global NetworkTables state.
+ */
+@Singleton
+public class TestingNTManager extends NTManager {
+
+  private static final Logger logger = Logger.getLogger(TestingNTManager.class.getName());
+
+  public TestingNTManager() {
+    // We may have another instance of this method lying around
+    NetworkTable.shutdown();
+
+    // Redirect NetworkTables log messages to our own log files.  This gets rid of console spam,
+    // and it also lets
+    // us grep through NetworkTables messages just like any other messages.
+    NetworkTablesJNI.setLogger((level, file, line, msg) -> {
+      String filename = new File(file).getName();
+      logger.log(ntLogLevels.get(level), String.format("NetworkTables: %s:%d %s", filename, line,
+          msg));
+    }, 0);
+
+    NetworkTable.setServerMode();
+    NetworkTable.initialize();
+  }
+
+}