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Fix Action Regression Test and add CI #125

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Merged
rbrott merged 6 commits into from
Mar 17, 2025
Merged

Fix Action Regression Test and add CI #125

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223206f
Fix #124
kevinthegreat1 Mar 9, 2025
ca0b53c
Split ActionRegressionTest into multiple tests
kevinthegreat1 Mar 9, 2025
6c02fd3
Add CI build
kevinthegreat1 Mar 9, 2025
d818395
Add default working directory
kevinthegreat1 Mar 9, 2025
021a21c
Merge branch 'master' into action-regression-test-fix
kevinthegreat1 Mar 10, 2025
d031d77
Store test reports
kevinthegreat1 Mar 10, 2025
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26 changes: 26 additions & 0 deletions .github/workflows/build.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,26 @@
name: Road Runner CI

on:
push:
branches: [ "main" ]
pull_request:
branches: [ "main" ]
workflow_dispatch:

defaults:
run:
working-directory: road-runner

jobs:
build:
runs-on: ubuntu-latest

steps:
- name: Checkout repo
uses: actions/checkout@v4
- name: Setup Gradle
uses: gradle/actions/setup-gradle@v4
with:
validate-wrappers: true
- name: Build with Gradle
run: ./gradlew build
35 changes: 25 additions & 10 deletions road-runner/actions/src/test/kotlin/com/acmerobotics/roadrunner/ActionRegressionTest.kt
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Original file line number Diff line number Diff line change
Expand Up @@ -44,9 +44,8 @@ class LabelAction(private val s: String) : Action {
}

class ActionRegressionTest {
@Test
@Strictfp
fun testTrajectoryActionBuilder() {
companion object {
@JvmField
val base =
TrajectoryActionBuilder(
{ TurnAction(it) },
Expand All @@ -58,7 +57,11 @@ class ActionRegressionTest {
TranslationalVelConstraint(20.0),
ProfileAccelConstraint(-10.0, 10.0),
)
}

@Test
@Strictfp
fun testTrajectoryActionBuilder() {
assertEquals(
"SequentialAction(initialActions=[Trajectory])",
base
Expand All @@ -75,7 +78,11 @@ class ActionRegressionTest {
.build()
.toString(),
)
}

@Test
@Strictfp
fun testTrajectoryContinuity() {
assertEquals(
"SequentialAction(initialActions=[Trajectory, SleepAction(dt=10.0), Trajectory])",
base
Expand All @@ -96,11 +103,15 @@ class ActionRegressionTest {
.build()
.toString()
)
}

@Test
@Strictfp
fun testTrajectoryTimeMarkers() {
assertEquals(
"SequentialAction(initialActions=[Trajectory, ParallelAction(initialActions=[" +
"SequentialAction(initialActions=[Trajectory, Trajectory, ParallelAction(initialActions=[" +
"SequentialAction(initialActions=" +
"[Trajectory, Trajectory]), SequentialAction(initialActions=[SleepAction(dt=2.0), A])])])",
"[Trajectory]), SequentialAction(initialActions=[SleepAction(dt=2.0), A])])])",
base
.lineToX(10.0)
.lineToXLinearHeading(20.0, Rotation2d.exp(1.57))
Expand All @@ -112,10 +123,10 @@ class ActionRegressionTest {
)

assertEquals(
"SequentialAction(initialActions=[Trajectory, ParallelAction(initialActions=[" +
"SequentialAction(initialActions=[Trajectory, Trajectory, ParallelAction(initialActions=[" +
"SequentialAction(initialActions=[" +
"Trajectory, Trajectory]), SequentialAction(initialActions=[SleepAction(dt=2.0), A]), " +
"SequentialAction(initialActions=[SleepAction(dt=3.499999999999999), B])])])",
"Trajectory]), SequentialAction(initialActions=[SleepAction(dt=2.0), A]), " +
"SequentialAction(initialActions=[SleepAction(dt=2.5000000000000004), B])])])",
base
.lineToX(10.0)
.lineToXLinearHeading(20.0, Rotation2d.exp(1.57))
Expand All @@ -136,7 +147,11 @@ class ActionRegressionTest {
.build()
.toString()
)
}

@Test
@Strictfp
fun testTrajectoryDispMarkers() {
assertFails {
base
.afterDisp(1.0, LabelAction("A"))
Expand Down Expand Up @@ -167,7 +182,7 @@ class ActionRegressionTest {
assertEquals(
"ParallelAction(initialActions=[SequentialAction(initialActions=[Trajectory]), " +
"SequentialAction(" +
"initialActions=[SleepAction(dt=0.4472135954999579), A])])",
"initialActions=[SleepAction(dt=0.316227766016838), A])])",
base
.afterDisp(1.0, LabelAction("A"))
.lineToX(0.25)
Expand All @@ -178,7 +193,7 @@ class ActionRegressionTest {
assertEquals(
"ParallelAction(initialActions=[SequentialAction(initialActions=[Trajectory, " +
"Trajectory]), " +
"SequentialAction(initialActions=[SleepAction(dt=0.4472135954999579), A])])",
"SequentialAction(initialActions=[SleepAction(dt=0.316227766016838), A])])",
base
.afterDisp(1.0, LabelAction("A"))
.lineToX(0.25)
Expand Down