Merge pull request #97 from flamingchickens1540/test-bot

Updates to existing testers, new automated tester

README.md

@@ -48,7 +48,9 @@ A system to easily set tuning fields through WPILib `Preferences`.
 
 Various classes for testing common things.
 - `BurnoutTester` for testing if motors are burned out.
+- `EncoderTester` for testing if motors have working encoders attached.
 - `SimpleControllersTester` for easily running motors.
+- `ControllersMultiTester` for automatically running multiple tests across motor groups.
 
 #### Triggers
 

build.gradle

@@ -27,6 +27,7 @@ subprojects {
 
     repositories {
         mavenCentral()
+        maven {url "https://jitpack.io/"}
     }
 
     dependencies {

gradle/wrapper/gradle-wrapper.properties

@@ -1,5 +1,6 @@
+#Fri Nov 30 17:46:10 PST 2018
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.4-all.zip

lib/build.gradle

@@ -45,6 +45,7 @@ dependencies {
     compile "jaci.pathfinder:Pathfinder-Java:1.8"
     compile "openrio.powerup:MatchData:2018.01.07"
     compile "com.google.guava:guava:27.0-jre"
-    // https://mvnrepository.com/artifact/org.apache.commons/commons-math3
-    compile 'org.apache.commons:commons-math3:3.6.1'
+    compile "org.apache.commons:commons-math3:3.6.1"
+    // Last release was in 2014, so we're just pinning it to this commit instead
+    compile "com.github.oxo42:stateless4j:3dd512049f"
 }

lib/src/main/java/org/team1540/rooster/testers/AbstractTester.java

@@ -22,10 +22,10 @@ public abstract class AbstractTester<T, R> implements Tester<T, R> {
   private int updateDelay;
   private boolean running = true;
   @NotNull
-  List<T> itemsToTest;
+  private List<T> itemsToTest;
   @NotNull
   private Function<T, R> test;
-  @NotNull
+  @Nullable
   private List<Function<T, Boolean>> runConditions;
   @NotNull
   private Map<T, ResultStorage<R>> storedResults;
@@ -38,8 +38,8 @@ public abstract class AbstractTester<T, R> implements Tester<T, R> {
    * @param runConditions The conditions that must be met before the test will be executed on an
    * item.
    */
-  AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @NotNull List<Function<T, Boolean>> runConditions) {
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions) {
     this(test, itemsToTest, runConditions, (int) DEFAULT_LOG_TIME / (DEFAULT_UPDATE_DELAY / 1000));
   }
 
@@ -55,8 +55,8 @@ public abstract class AbstractTester<T, R> implements Tester<T, R> {
    * checked against while running.
    * @param updateDelay The delay between the test being run on the items.
    */
-  AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @NotNull List<Function<T, Boolean>> runConditions, float logTime, int updateDelay) {
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions, float logTime, int updateDelay) {
     this(test, itemsToTest, runConditions,
         (int) (logTime / ((float) updateDelay / 1000f)));
     this.updateDelay = updateDelay;
@@ -71,8 +71,9 @@ public abstract class AbstractTester<T, R> implements Tester<T, R> {
    * item.
    * @param queueDepth The maximum number of items that the {@link EvictingQueue} can hold.
    */
-  AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
-      @NotNull List<Function<T, Boolean>> runConditions, int queueDepth) {
+  @SuppressWarnings("WeakerAccess")
+  protected AbstractTester(@NotNull Function<T, R> test, @NotNull List<T> itemsToTest,
+      @Nullable List<Function<T, Boolean>> runConditions, int queueDepth) {
     this.test = test;
     this.itemsToTest = itemsToTest;
     this.runConditions = runConditions;
@@ -95,11 +96,18 @@ public void setTest(@NotNull Function<T, R> test) {
   }
 
   @Override
-  @NotNull
+  @Nullable
   public List<Function<T, Boolean>> getRunConditions() {
-    return Collections.unmodifiableList(runConditions);
+    return runConditions;
+  }
+
+  @Override
+  public void setRunConditions(
+      @Nullable List<Function<T, Boolean>> runConditions) {
+    this.runConditions = runConditions;
   }
 
+
   @Override
   @NotNull
   public List<T> getItemsToTest() {
@@ -141,14 +149,18 @@ public boolean setRunning(boolean status) {
    * The code that should be called every tick. This does the actual testing. Override me as
    * necessary (but don't forget to call super!)
    */
-  void periodic() {
+  protected void periodic() {
     for (T t : itemsToTest) {
-      // Run through all the run conditions and make sure they all return true
-      for (Function<T, Boolean> runCondition : runConditions) {
-        if (!runCondition.apply(t)) {
-          return;
+      // If there are run conditions
+      if (runConditions != null) {
+        // Run through all the run conditions and make sure they all return true
+        for (Function<T, Boolean> runCondition : runConditions) {
+          if (!runCondition.apply(t)) {
+            return;
+          }
         }
       }
+
       this.storedResults.get(t).addResult(this.test.apply(t), System.currentTimeMillis());
     }
   }

lib/src/main/java/org/team1540/rooster/testers/Tester.java

@@ -23,12 +23,21 @@ public interface Tester<T, R> extends Runnable {
   /**
    * Gets the conditions that must be met before the test will be executed on an item.
    *
-   * @return An {@link EvictingQueue} of the run conditions.
+   * @return An potentially {@link List} of the run conditions, or null if there are none (always
+   * execute.)
    */
   @SuppressWarnings("UnstableApiUsage")
-  @NotNull // TODO how to annotate as unmodifiable?
+  @Nullable
   List<Function<T, Boolean>> getRunConditions();
 
+  /**
+   * Sets the run conditions that must be met before the test will be executed on an item.
+   *
+   * @param runConditions A {@link List} of the run conditions, or null if the test should always
+   * run.
+   */
+  void setRunConditions(@Nullable List<Function<T, Boolean>> runConditions);
+
   /**
    * Gets the items that the tests are being applied to.
    *