Unit test release command

Author: James Hagborg

build.gradle

@@ -23,6 +23,7 @@ dependencies {
     // We only need the desktop version right now, since this build file is only used for local testing.
     compile group: 'edu.wpi.first.wpilib.networktables.java', name: 'NetworkTables', version: '3.+', classifier: 'desktop'
     testCompile group: 'junit', name: 'junit', version: '4.+'
+    testCompile group: 'com.google.guava', name: 'guava', version: '19.0'
 }
 
 task sourcesJar(type: Jar, dependsOn: classes) {

src/test/java/edu/wpi/first/wpilibj/MockRobotStateInterface.java

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 edu.wpi.first.wpilibj;
+
+/**
+ * A concrete implementation of the robot state interface that can be used in UnitTests.
+ */
+public class MockRobotStateInterface implements RobotState.Interface {
+  @Override
+  public boolean isDisabled() {
+    return false;
+  }
+
+  @Override
+  public boolean isEnabled() {
+    return true;
+  }
+
+  @Override
+  public boolean isOperatorControl() {
+    return false;
+  }
+
+  @Override
+  public boolean isAutonomous() {
+    return false;
+  }
+
+  @Override
+  public boolean isTest() {
+    return true;
+  }
+}

src/test/java/edu/wpi/first/wpilibj/UnitTestUtility.java

@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 edu.wpi.first.wpilibj;
+
+import com.google.common.base.Stopwatch;
+
+import java.util.concurrent.TimeUnit;
+
+import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
+
+/**
+ * Utility class for configuring unit tests.
+ */
+public final class UnitTestUtility {
+  private UnitTestUtility() {
+        /* no-op */
+  }
+
+  /**
+   * Sets up the base system WPILib so that it does not rely on hardware.
+   */
+  public static void setupMockBase() {
+    try {
+      // Check to see if this has been setup
+      Timer.getFPGATimestamp();
+    } catch (BaseSystemNotInitializedException ex) {
+      // If it hasn't been then do this setup
+
+      HLUsageReporting.SetImplementation(new HLUsageReporting.Null());
+      RobotState.SetImplementation(new MockRobotStateInterface());
+      Timer.SetImplementation(new Timer.StaticInterface() {
+
+        @Override
+        public double getFPGATimestamp() {
+          return System.currentTimeMillis() / 1000.0;
+        }
+
+        @Override
+        public double getMatchTime() {
+          return 0;
+        }
+
+        @Override
+        public void delay(double seconds) {
+          try {
+            Thread.sleep((long) (seconds * 1e3));
+          } catch (InterruptedException ex) {
+            Thread.currentThread().interrupt();
+            throw new RuntimeException("Thread was interrupted", ex);
+          }
+        }
+
+        @Override
+        public Timer.Interface newTimer() {
+          return new Timer.Interface() {
+            private final Stopwatch m_stopwatch = Stopwatch.createUnstarted();
+
+            @Override
+            public double get() {
+              return m_stopwatch.elapsed(TimeUnit.SECONDS);
+            }
+
+            @Override
+            public void reset() {
+              m_stopwatch.reset();
+            }
+
+            @Override
+            public void start() {
+              m_stopwatch.start();
+            }
+
+            @Override
+            public void stop() {
+              m_stopwatch.stop();
+            }
+
+            @Override
+            public boolean hasPeriodPassed(double period) {
+              if (get() > period) {
+                // Advance the start time by the period.
+                // Don't set it to the current time... we want to avoid drift.
+                m_stopwatch.reset().start();
+                return true;
+              }
+              return false;
+            }
+          };
+        }
+      });
+    }
+  }
+}

src/test/java/org/usfirst/frc/team69/util/oi/test/TestReleaseCommand.java

@@ -0,0 +1,69 @@
+package org.usfirst.frc.team69.util.oi.test;
+
+import static org.junit.Assert.*;
+
+import org.junit.Before;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import org.usfirst.frc.team69.util.QuickCommand;
+
+import edu.wpi.first.wpilibj.UnitTestUtility;
+import edu.wpi.first.wpilibj.command.Command;
+import edu.wpi.first.wpilibj.command.Scheduler;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class TestReleaseCommand {
+
+    private Command runningCommand;
+    private Command defaultCommand;
+    private Command releaseCommand;
+    private Subsystem subsystem;
+    private Scheduler scheduler;
+    
+    @BeforeClass
+    public static void setUpBeforeClass() throws Exception {
+        UnitTestUtility.setupMockBase();
+    }
+
+    @Before
+    public void setUp() throws Exception {
+        subsystem = new MySubsystem();
+        defaultCommand = QuickCommand.continuous(subsystem, () -> {});
+        runningCommand = QuickCommand.continuous(subsystem, () -> {});
+        releaseCommand = QuickCommand.release(subsystem);
+        
+        scheduler = Scheduler.getInstance();
+        scheduler.removeAll();
+    }
+
+    private class MySubsystem extends Subsystem {
+        @Override
+        protected void initDefaultCommand() {
+            setDefaultCommand(defaultCommand);
+        }
+    }
+    
+    @Test
+    public void testRequiresSubsystem() {
+        assertTrue(releaseCommand.doesRequire(subsystem));
+    }
+    
+    @Test
+    public void testKillsRunningAndStartsDefault() {
+        runningCommand.start();
+        scheduler.run();
+        assertTrue(runningCommand.isRunning());
+        
+        releaseCommand.start();
+        scheduler.run();
+        assertTrue(releaseCommand.isRunning());
+        assertFalse(runningCommand.isRunning());
+        assertFalse(defaultCommand.isRunning());
+        
+        scheduler.run();
+        assertTrue(defaultCommand.isRunning());
+        assertFalse(releaseCommand.isRunning());
+        assertFalse(runningCommand.isRunning());
+    }
+
+}