No op if real, use SendableChooserSim in existing tests

wpilibsuite · Jan 19, 2024 · 18675d6 · 18675d6
1 parent f20a408
commit 18675d6
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Showing 5 changed files with 39 additions and 34 deletions.
diff --git a/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp b/wpilibc/src/main/native/cpp/simulation/SendableChooserSim.cpp
@@ -22,5 +22,7 @@ SendableChooserSim::SendableChooserSim(nt::NetworkTableInstance inst,
 }
 
 void SendableChooserSim::SetSelected(std::string_view option) {
-  m_publisher.Set(option);
+  if (RobotBase::IsSimulation()) {
+    m_publisher.Set(option);
+  }
 }
diff --git a/wpilibc/src/main/native/include/frc/simulation/SendableChooserSim.h b/wpilibc/src/main/native/include/frc/simulation/SendableChooserSim.h
@@ -15,8 +15,25 @@ namespace frc::sim {
 
 class SendableChooserSim {
  public:
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param path The path where the SendableChooser is published.
+   */
   explicit SendableChooserSim(std::string_view path);
+
+  /**
+   * Constructs a SendableChooserSim.
+   *
+   * @param inst The NetworkTables instance.
+   * @param path The path where the SendableChooser is published.
+   */
   SendableChooserSim(nt::NetworkTableInstance inst, std::string_view path);
+
+  /**
+   * Set the selected option.
+   * @param option The option.
+   */
   void SetSelected(std::string_view option);
 
  private:

diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -17,22 +17,18 @@ class SendableChooserTest : public ::testing::TestWithParam<int> {};
 
 TEST_P(SendableChooserTest, ReturnsSelected) {
   frc::SendableChooser<int> chooser;
+  frc::sim::SendableChooserSim chooserSim = frc::sim::SendableChooserSim{
+      fmt::format("/SmartDashboard/ReturnsSelectedChooser{}/", GetParam())};
 
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
   }
   chooser.SetDefaultOption("0", 0);
 
-  auto pub =
-      nt::NetworkTableInstance::GetDefault()
-          .GetStringTopic(fmt::format(
-              "/SmartDashboard/ReturnsSelectedChooser{}/selected", GetParam()))
-          .Publish();
-
   frc::SmartDashboard::PutData(
       fmt::format("ReturnsSelectedChooser{}", GetParam()), &chooser);
   frc::SmartDashboard::UpdateValues();
-  pub.Set(std::to_string(GetParam()));
+  chooserSim.SetSelected(std::to_string(GetParam()));
   frc::SmartDashboard::UpdateValues();
   EXPECT_EQ(GetParam(), chooser.GetSelected());
 }
@@ -78,23 +74,5 @@ TEST(SendableChooserTest, ChangeListener) {
   EXPECT_EQ(3, currentVal);
 }
 
-TEST_P(SendableChooserTest, SetSelected) {
-  frc::SendableChooser<int> chooser;
-  frc::sim::SendableChooserSim chooserSim = frc::sim::SendableChooserSim{
-      fmt::format("/SmartDashboard/SetSelectedChooser{}/", GetParam())};
-
-  for (int i = 1; i <= 3; i++) {
-    chooser.AddOption(std::to_string(i), i);
-  }
-  chooser.SetDefaultOption("0", 0);
-
-  frc::SmartDashboard::PutData(fmt::format("SetSelectedChooser{}", GetParam()),
-                               &chooser);
-  frc::SmartDashboard::UpdateValues();
-  chooserSim.SetSelected(std::to_string(GetParam()));
-  frc::SmartDashboard::UpdateValues();
-  EXPECT_EQ(GetParam(), chooser.GetSelected());
-}
-
 INSTANTIATE_TEST_SUITE_P(SendableChooserTests, SendableChooserTest,
                          ::testing::Values(0, 1, 2, 3));
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SendableChooserSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SendableChooserSim.java
@@ -24,7 +24,7 @@ public SendableChooserSim(String path) {
   /**
    * Constructs a SendableChooserSim.
    *
-   * @param inst The NetworkTable instance.
+   * @param inst The NetworkTables instance.
    * @param path The path where the SendableChooser is published.
    */
   public SendableChooserSim(NetworkTableInstance inst, String path) {
@@ -35,10 +35,19 @@ public SendableChooserSim(NetworkTableInstance inst, String path) {
 
   @Override
   public void close() {
-    m_publisher.close();
+    if (RobotBase.isSimulation()) {
+      m_publisher.close();
+    }
   }
 
+  /**
+   * Set the selected option.
+   *
+   * @param option The option.
+   */
   public void setSelected(String option) {
-    m_publisher.set(option);
+    if (RobotBase.isSimulation()) {
+      m_publisher.set(option);
+    }
   }
 }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
@@ -29,18 +29,17 @@ void setUp() {
   @ParameterizedTest
   void returnsSelected(int toSelect) {
     try (var chooser = new SendableChooser<Integer>();
-        var publisher =
-            m_inst
-                .getStringTopic("/SmartDashboard/returnsSelectedChooser" + toSelect + "/selected")
-                .publish()) {
+        var chooserSim =
+            new SendableChooserSim(
+                m_inst, "/SmartDashboard/returnsSelectedChooser" + toSelect + "/")) {
       for (int i = 1; i <= 3; i++) {
         chooser.addOption(String.valueOf(i), i);
       }
       chooser.setDefaultOption(String.valueOf(0), 0);
 
       SmartDashboard.putData("returnsSelectedChooser" + toSelect, chooser);
       SmartDashboard.updateValues();
-      publisher.set(String.valueOf(toSelect));
+      chooserSim.setSelected(String.valueOf(toSelect));
       SmartDashboard.updateValues();
       assertEquals(toSelect, chooser.getSelected());
     }