added unit tests

.github/workflows/main.yml

@@ -0,0 +1,51 @@
+# This is a basic workflow to build robot code.
+
+name: CI
+
+# Controls when the action will run. Triggers the workflow on push or pull request
+# events but only for the main branch.
+on:
+  push:
+    branches: [ main, develop ]
+  pull_request:
+    branches: [ main, develop ]
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    runs-on: ubuntu-latest
+
+    # This grabs the WPILib docker container
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
+
+    # Steps represent a sequence of tasks that will be executed as part of the job
+    steps:
+    # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
+    - uses: actions/checkout@v3
+
+    # Declares the repository safe and not under dubious ownership.
+    - name: Add repository to git safe directories
+      run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+    # Grant execute permission for gradlew
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+
+    # Runs a single command using the runners shell
+    - name: Compile and run tests on robot code
+      run: ./gradlew build
+
+    # Runs JaCoCo test coverage
+    - name: Create Unit Test Coverage report
+      run: ./gradlew jacocoTestReport
+
+    - name: Add coverage to PR
+      id: jacoco
+      uses: madrapps/jacoco-report@v1.3
+      with:
+        paths: ${{ github.workspace }}/build/reports/jacoco/test/jacocoTestReport.xml
+        token: ${{ secrets.GITHUB_TOKEN }}
+        min-coverage-overall: 40
+        min-coverage-changed-files: 60      

README.md

@@ -1,5 +1,5 @@
 # tigerlib - FRC Java Programs: Now with 100% Less Boilerplate
-[![](https://jitpack.io/v/itrt4176/tigerlib.svg)](https://jitpack.io/#itrt4176/tigerlib)
+[![CI](https://github.com/limited/tigerlib/actions/workflows/main.yml/badge.svg?branch=develop&event=push)](https://github.com/limited/tigerlib/actions/workflows/main.yml) [![](https://jitpack.io/v/itrt4176/tigerlib.svg)](https://jitpack.io/#itrt4176/tigerlib)
 
 **THIS IS BETA SOFTWARE! USE WITH CAUTION**
 
@@ -20,10 +20,10 @@ tigerlib is a library meant at reducing the year to year recreation of nearly id
    ```Gradle
     dependencies {
         ...
-	    implementation 'com.github.itrt4176:tigerlib:v2022.1.0-rc1'
+	    implementation 'com.github.itrt4176:tigerlib:v2023.1.0-beta1'
 	}
    ```
 
 ## Usage
 
-Check our project wiki (*coming soon*) for tutorials and our [javadoc](https://javadoc.jitpack.io/com/github/itrt4176/tigerlib/v2022.1.0-rc1/javadoc/index.html) for the full API.
+Check our project wiki (*coming soon*) for tutorials and our [javadoc](https://javadoc.jitpack.io/com/github/itrt4176/tigerlib/v2022.1.0-rc1/javadoc/index.html) for the full API.

build.gradle

@@ -2,13 +2,15 @@ plugins {
     id "edu.wpi.first.GradleRIO" version "2023.2.1"
     id "java-library"
     id "maven-publish"
+    id 'jacoco'
 }
 
+
 repositories {
     mavenCentral()
     maven {
         url "https://frcmaven.wpi.edu/artifactory/release/"
-    }
+    }    
 }
 
 version = "2023.1.0-beta1"
@@ -17,13 +19,24 @@ group = "com.github.itrt4176"
 sourceCompatibility = JavaVersion.VERSION_17
 targetCompatibility = JavaVersion.VERSION_17
 
-
-
 // Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
 // Also defines JUnit 4.
 dependencies {
-    compileOnly wpi.java.deps.wpilib() 
-    compileOnly wpi.java.vendor.java()
+    implementation wpi.java.deps.wpilib() 
+    implementation wpi.java.vendor.java()
+
+    nativeDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.desktop)
+    nativeDebug wpi.java.vendor.jniDebug(wpi.platforms.desktop)
+    simulationDebug wpi.sim.enableDebug()
+
+    nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
+    nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
+    simulationRelease wpi.sim.enableRelease()
+
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
+    testImplementation "org.mockito:mockito-core:3.+"    
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
 }
 
 java {
@@ -36,6 +49,33 @@ javadoc {
     options.links = ['https://docs.oracle.com/en/java/javase/17/docs/api/', 'https://github.wpilib.org/allwpilib/docs/release/java/']
 }
 
+test {
+    useJUnitPlatform()
+    systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    maxHeapSize = '1G'
+
+    testLogging {
+        events "passed"
+    }
+
+    finalizedBy jacocoTestReport // report is always generated after tests run    
+}
+
+wpi.java.configureExecutableTasks(jar)
+wpi.java.configureTestTasks(test)
+
+jacoco {
+    toolVersion = "0.8.8"
+}
+
+jacocoTestReport {
+    dependsOn test // tests are required to run before generating the report
+    reports {
+        xml.required = true
+        html.outputLocation = layout.buildDirectory.dir('jacocoHtml')    
+    }
+}
+
 artifacts {
     archives sourcesJar
     archives javadocJar
@@ -46,7 +86,7 @@ publishing {
         mavenJava(MavenPublication) {
             groupId = 'com.github.itrt4176'
             artifactId = 'tigerlib'
-            version = '2023.1.0-alpha'
+            version = '2023.1.0-beta1'
 
             from components.java
         }

src/test/java/frc/tigerlib/interpolable/InterpolatingDoubleTest.java

@@ -0,0 +1,54 @@
+package frc.tigerlib.interpolable;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotEquals;
+
+import org.junit.jupiter.api.Test;
+
+public class InterpolatingDoubleTest {
+
+    @Test
+    void testInterpolatePositives() {
+        InterpolatingDouble a = new InterpolatingDouble(0.0);
+        InterpolatingDouble b = new InterpolatingDouble(10.0);
+        assertEquals(5, a.interpolate(b, .5).value);
+    }
+
+    @Test
+    void testInterpolateMixedSigns() {
+        InterpolatingDouble a = new InterpolatingDouble(3.0);
+        InterpolatingDouble b = new InterpolatingDouble(-3.0);
+        assertEquals(2.4, a.interpolate(b, .1).value);
+    }    
+
+    @Test
+    void testInverseInterpolateGood() {
+        InterpolatingDouble a = new InterpolatingDouble(0.0);
+        InterpolatingDouble b = new InterpolatingDouble(10.0);
+        InterpolatingDouble c = new InterpolatingDouble(5.0);
+        assertEquals(a.inverseInterpolate(b, c), .5);             
+    }
+
+    @Test
+    void testInverseInterpolateErrors() {
+        InterpolatingDouble a = new InterpolatingDouble(0.0);
+        InterpolatingDouble b = new InterpolatingDouble(10.0);
+        InterpolatingDouble c = new InterpolatingDouble(5.0);
+        assertEquals(b.inverseInterpolate(a, c), 0);             
+        assertEquals(b.inverseInterpolate(a, c), 0);                     
+    }
+
+    @Test
+    void testCompareMatch() {
+        InterpolatingDouble a = new InterpolatingDouble(3.0);
+        InterpolatingDouble b = new InterpolatingDouble(3.0);    
+        assertEquals(a.compareTo(b), 0);       
+    }
+
+    @Test
+    void testCompareNotMatch() {
+        InterpolatingDouble a = new InterpolatingDouble(3.0);
+        InterpolatingDouble b = new InterpolatingDouble(5.0);    
+        assertNotEquals(a.compareTo(b), 0);       
+    }
+}

src/test/java/frc/tigerlib/subsystem/drive/DifferentialDriveSubsystemTest.java

@@ -0,0 +1,35 @@
+package frc.tigerlib.subsystem.drive;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.mockito.Mockito.*;
+
+import org.junit.jupiter.api.Test;
+import org.mockito.Mock;
+import org.mockito.Mockito;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.interfaces.Gyro;
+import edu.wpi.first.wpilibj.motorcontrol.MotorController;
+
+
+public class DifferentialDriveSubsystemTest {
+
+    @Mock
+    private Gyro mockGyro = Mockito.mock(Gyro.class);
+
+
+   @Test 
+    void testSetMotors() {
+        DifferentialDriveSubsystem driveSub = Mockito.mock(DifferentialDriveSubsystem.class, Mockito.CALLS_REAL_METHODS);
+        when(mockGyro.getRotation2d()).thenReturn(new Rotation2d());      
+        driveSub.setGyro(mockGyro);
+
+
+        MotorController l = Mockito.mock(MotorController.class);
+        MotorController r = Mockito.mock(MotorController.class);        
+
+        driveSub.setMotors(l, r);
+        verify(r).setInverted(true);
+
+    } 
+}

vendordeps/WPILibNewCommands.json

@@ -30,7 +30,7 @@
               "windowsx86-64",
               "windowsx86",
               "linuxx86-64",
-              "osxx86-64"
+              "osxuniversal"
           ]
       }
   ]