worked some more advanced subsystem test

Author: PGgit08

src/main/java/frc/lib/AdvancedSubsystem.java

@@ -1,16 +1,18 @@
 package frc.lib;
 
+import static edu.wpi.first.wpilibj2.command.Commands.*;
+
 import dev.doglog.DogLog;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.lib.FaultsTable.Fault;
 import frc.lib.FaultsTable.FaultType;
 import java.util.HashSet;
 import java.util.Set;
 
-public class AdvancedSubsystem extends SubsystemBase implements SelfChecked, AutoCloseable {
+public abstract class AdvancedSubsystem extends SubsystemBase
+    implements SelfChecked, AutoCloseable {
   // faults and the table containing them
   private Set<Fault> _faults = new HashSet<Fault>();
   private FaultsTable _faultsTable =
@@ -31,12 +33,17 @@ protected final void clearFaults() {
 
   /** Adds a new fault under this subsystem. */
   protected final void addFault(String description, FaultType faultType) {
+    _hasError = (faultType == FaultType.ERROR);
+
     Fault fault = new Fault(description, faultType);
 
     _faults.add(fault);
     _faultsTable.set(_faults);
+  }
 
-    _hasError = faultType == FaultType.ERROR;
+  /** Returns the faults belonging to this subsystem. */
+  public final Set<Fault> getFaults() {
+    return _faults;
   }
 
   /** Returns whether this subsystem has errors (has fault type of error). */
@@ -47,20 +54,12 @@ public final boolean hasError() {
   /** Returns a full Command that self checks this Subsystem for pre-match. */
   public final Command fullSelfCheck() {
     Command selfCheck =
-        Commands.sequence(
-                runOnce(
-                    this::clearFaults), // clear all faults and hasError (also adds this subsystem
-                // as a requirement)
-                selfCheck(this::addFault).until(this::hasError) // self check this subsystem
-                )
+        sequence(runOnce(this::clearFaults), selfCheck(this::addFault).until(this::hasError))
             .withName(getName() + " Self Check");
 
     return selfCheck;
   }
 
-  @Override
-  public void close() throws Exception {}
-
   @Override
   public void periodic() {
     String currentCommandName = "None";

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

@@ -17,7 +17,18 @@ public class FaultsTable {
   private final StringArrayPublisher infos;
 
   /** An individual fault, containing necessary information. */
-  public static record Fault(String description, FaultType type) {}
+  public static record Fault(String description, FaultType type) {
+    @Override
+    public final boolean equals(Object other) {
+      if (other == this) return true;
+
+      if (other instanceof Fault o) {
+        return o.description == description && o.type == type;
+      }
+
+      return false;
+    }
+  }
 
   /**
    * The type of fault, used for detecting whether the fallible is in a failure state and displaying
@@ -26,7 +37,7 @@ public static record Fault(String description, FaultType type) {}
   public static enum FaultType {
     INFO,
     WARNING,
-    ERROR,
+    ERROR
   }
 
   public FaultsTable(NetworkTable base, String name) {

src/main/java/frc/lib/SelfChecked.java

@@ -1,7 +1,8 @@
 package frc.lib;
 
+import static edu.wpi.first.wpilibj2.command.Commands.*;
+
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
 import frc.lib.FaultsTable.FaultType;
 import java.util.function.BiConsumer;
 
@@ -13,6 +14,6 @@ public interface SelfChecked {
    *     type.
    */
   public default Command selfCheck(BiConsumer<String, FaultType> faultAdder) {
-    return Commands.none();
+    return none();
   }
 }

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

@@ -4,6 +4,7 @@
 
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.units.measure.Time;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.simulation.DriverStationSim;
 import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -18,11 +19,15 @@ public class UnitTestingUtil {
   /** Sets up DS and initializes HAL with default values and asserts that it doesn't fail. */
   public static void setupTests() {
     assert HAL.initialize(500, 0);
+
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setTest(true);
     DriverStationSim.notifyNewData();
+
     FaultLogger.clear();
     FaultLogger.unregisterAll();
+
+    // delay 100 ms to wait for CTRE device enable
+    Timer.delay(0.100);
   }
 
   /**
@@ -97,7 +102,9 @@ public static void run(Command command, int runs) {
    */
   public static void runToCompletion(Command command) {
     command.schedule();
+
     fastForward(1);
+
     while (command.isScheduled()) {
       fastForward(1);
     }

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

@@ -4,10 +4,12 @@
 
 package frc.lib;
 
+import static edu.wpi.first.wpilibj2.command.Commands.*;
 import static frc.lib.UnitTestingUtil.*;
 
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
+import frc.lib.FaultsTable.Fault;
 import frc.lib.FaultsTable.FaultType;
 import java.util.function.BiConsumer;
 import org.junit.jupiter.api.AfterEach;
@@ -17,21 +19,35 @@
 public class AdvancedSubsystemTest {
   static final double DELTA = 1e-2; // acceptable deviation range
 
-  private TestImpl sub = new TestImpl();
+  private TestImpl _sub;
 
   @BeforeEach
   public void setup() {
     setupTests();
+
+    _sub = new TestImpl();
   }
 
   @AfterEach
   public void close() throws Exception {
-    reset(sub);
+    reset(_sub);
+  }
+
+  @Test
+  public void robotIsEnabled() {
+    assert DriverStation.isEnabled();
   }
 
   @Test
   public void subsystemSelfCheck() {
-    // TODO
+    runToCompletion(_sub.fullSelfCheck());
+
+    // should give FAULT 1 error
+    assert _sub.hasError();
+
+    // should only give FAULT 1 error and stop there
+    assert _sub.getFaults().contains(new Fault("FAULT 1", FaultType.ERROR));
+    assert !_sub.getFaults().contains(new Fault("FAULT 2", FaultType.ERROR));
   }
 
   public class TestImpl extends AdvancedSubsystem {
@@ -54,16 +70,16 @@ public double getEncoderSpeed() {
 
       @Override
       public Command selfCheck(BiConsumer<String, FaultType> faultAdder) {
-        return Commands.sequence(
-            Commands.runOnce(
+        return sequence(
+            runOnce(
                 () -> {
                   if (_fault1) faultAdder.accept("FAULT 1", FaultType.ERROR);
                 }),
-            Commands.runOnce(
+            runOnce(
                 () -> {
                   if (_fault2) faultAdder.accept("FAULT 2", FaultType.ERROR);
                 }),
-            Commands.runOnce(
+            runOnce(
                 () -> {
                   if (_fault3) faultAdder.accept("FAULT 3", FaultType.WARNING);
                 }));
@@ -77,13 +93,16 @@ public double speed() {
 
     @Override
     public Command selfCheck(BiConsumer<String, FaultType> faultAdder) {
-      return Commands.sequence(
+      return sequence(
           _io.selfCheck(faultAdder), // self check io devices first
           runOnce(
               () -> {
                 if (speed() < 2) faultAdder.accept("TOO SLOW", FaultType.WARNING);
               }) // then check the whole subsystem
           );
     }
+
+    @Override
+    public void close() throws Exception {}
   }
 }