Merge branch 'main' of https://github.com/Team334/SwerveBase-CTRE

src/main/java/frc/lib/CTREUtil.java

@@ -43,7 +43,7 @@ public static boolean attempt(Supplier<StatusCode> action, String deviceName) {
     // failed attempt
     else {
       FaultLogger.report(
-          deviceName + ": Config Apply Failed: " + statusCode.getDescription(), FaultType.ERROR);
+          deviceName + ": Config Apply Failed - " + statusCode.getDescription(), FaultType.ERROR);
       return true;
     }
   }

src/main/java/frc/lib/FaultsTable.java

@@ -23,7 +23,7 @@ public final boolean equals(Object other) {
       if (other == this) return true;
 
       if (other instanceof Fault o) {
-        return o.description == description && o.type == type;
+        return o.description.equals(description) && o.type.equals(type);
       }
 
       return false;

src/main/java/frc/lib/UnitTestingUtil.java

@@ -30,6 +30,12 @@ public static void setupTests() {
     Timer.delay(0.100);
   }
 
+  /** Resets the CommandScheduler. */
+  public static void reset() {
+    CommandScheduler.getInstance().unregisterAllSubsystems();
+    CommandScheduler.getInstance().cancelAll();
+  }
+
   /**
    * Resets CommandScheduler and closes all subsystems. Please call in an @AfterEach method!
    *

src/test/java/frc/lib/AdvancedSubsystemTest.java

@@ -14,6 +14,7 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.lib.FaultsTable.Fault;
 import frc.lib.FaultsTable.FaultType;
 import java.util.function.BiConsumer;
 import org.junit.jupiter.api.AfterEach;
@@ -51,10 +52,18 @@ public void addFault() {
     assert _sub.hasFault("FAULT 1", FaultType.ERROR);
   }
 
+  @Test
+  public void faultEquality() {
+    Fault f1 = new Fault("FAULT 1", FaultType.ERROR);
+    Fault f2 = new Fault("FAULT 1", FaultType.ERROR);
+
+    assert f1.equals(f2);
+  }
+
   @Test
   public void duplicateFaults() {
-    _sub.addFault("Fault 1", FaultType.ERROR);
-    _sub.addFault("Fault 1", FaultType.ERROR);
+    _sub.addFault("FAULT 1", FaultType.ERROR);
+    _sub.addFault("FAULT 1", FaultType.ERROR);
 
     assertEquals(_sub.getFaults().size(), 1, DELTA);
   }

src/test/java/frc/lib/CTREUtilTest.java

@@ -0,0 +1,55 @@
+package frc.lib;
+
+import static frc.lib.UnitTestingUtil.reset;
+import static frc.lib.UnitTestingUtil.setupTests;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import com.ctre.phoenix6.StatusCode;
+import com.ctre.phoenix6.hardware.TalonFX;
+import frc.lib.FaultsTable.Fault;
+import frc.lib.FaultsTable.FaultType;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+public class CTREUtilTest {
+  private TalonFX _motor;
+
+  @BeforeEach
+  public void setup() {
+    setupTests();
+
+    _motor = new TalonFX(1);
+  }
+
+  @AfterEach
+  public void close() throws Exception {
+    reset();
+
+    _motor.close();
+  }
+
+  @Test
+  public void motorName() {
+    var name = CTREUtil.getName(_motor);
+
+    assertEquals(name, "TalonFX (1)");
+  }
+
+  @Test
+  public void motorAttempt() {
+    var name = CTREUtil.getName(_motor);
+
+    var failed = CTREUtil.attempt(() -> StatusCode.ConfigFailed, _motor);
+
+    assert failed;
+
+    FaultLogger.update();
+
+    assert FaultLogger.totalFaults()
+        .contains(
+            new Fault(
+                name + ": Config Apply Failed - " + StatusCode.ConfigFailed.getDescription(),
+                FaultType.ERROR));
+  }
+}