Add tests for monitor fault callbacks

team401 · Nov 25, 2024 · f84a43c · f84a43c
1 parent 35f0f5d
commit f84a43c
Showing 1 changed file with 27 additions and 5 deletions.
diff --git a/monitors/src/test/java/MonitorTests.java b/monitors/src/test/java/MonitorTests.java
@@ -5,16 +5,21 @@
 import org.junit.jupiter.api.Test;
 
 public class MonitorTests {
-    // TODO: FIGURE OUT HOW TO TEST THIS
-    // Callbacks are hard :(
-
     // Mimics a changing robot state
     private boolean isStateValid = true;
 
     private boolean getIsStateValid() {
         return isStateValid;
     }
 
+    // Number to be incremented by fault callback
+    private int faultCallbackCalls = 0;
+
+    // Example fault callback to verify that the callback was called
+    private void callFaultCallback() {
+        faultCallbackCalls++;
+    }
+
     @Test
     public void nonStickyTest() {
         isStateValid = true;
@@ -25,67 +30,84 @@ public void nonStickyTest() {
                         .withStickyness(false)
                         .withIsStateValidSupplier(() -> getIsStateValid())
                         .withTimeToFault(1.0)
-                        .withFaultCallback(() -> {})
+                        .withFaultCallback(
+                                () -> {
+                                    callFaultCallback();
+                                })
                         .build();
 
         exampleMonitor.periodic(0.0);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertFalse(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         isStateValid = false;
         exampleMonitor.periodic(1.0);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         exampleMonitor.periodic(1.25);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         exampleMonitor.periodic(2.0);
         Assertions.assertTrue(exampleMonitor.isFaulted());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 1);
 
         isStateValid = true;
         exampleMonitor.periodic(3.0);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertFalse(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 1);
     }
 
     @Test
     public void stickyTest() {
         // Mimics a changing robot state
         isStateValid = true;
+        faultCallbackCalls = 0;
 
         Monitor exampleMonitor =
                 new Monitor.MonitorBuilder()
                         .withName("exampleMonitor")
                         .withStickyness(true)
                         .withIsStateValidSupplier(() -> getIsStateValid())
                         .withTimeToFault(1.0)
-                        .withFaultCallback(() -> {})
+                        .withFaultCallback(
+                                () -> {
+                                    callFaultCallback();
+                                })
                         .build();
 
         exampleMonitor.periodic(0.0);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertFalse(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         isStateValid = false;
         exampleMonitor.periodic(1.0);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertFalse(getIsStateValid());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         exampleMonitor.periodic(1.25);
         Assertions.assertFalse(exampleMonitor.isFaulted());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 0);
 
         exampleMonitor.periodic(2.0);
         Assertions.assertTrue(exampleMonitor.isFaulted());
         Assertions.assertTrue(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 1);
 
         isStateValid = true;
         exampleMonitor.periodic(3.0);
         Assertions.assertTrue(exampleMonitor.isFaulted());
         Assertions.assertFalse(exampleMonitor.isTriggered());
+        Assertions.assertTrue(faultCallbackCalls == 2);
     }
 }