cheesy-arena-lite/field/arena_test.go

// Copyright 2014 Team 254. All Rights Reserved.
// Author: pat@patfairbank.com (Patrick Fairbank)

package field

import (
	"bytes"
	"github.com/Team254/cheesy-arena/game"
	"github.com/Team254/cheesy-arena/model"
	"github.com/stretchr/testify/assert"
	"log"
	"testing"
	"time"
)

func TestAssignTeam(t *testing.T) {
	arena := setupTestArena(t)

	team := model.Team{Id: 254}
	err := arena.Database.CreateTeam(&team)
	assert.Nil(t, err)
	err = arena.Database.CreateTeam(&model.Team{Id: 1114})
	assert.Nil(t, err)

	err = arena.assignTeam(254, "B1")
	assert.Nil(t, err)
	assert.Equal(t, team, *arena.AllianceStations["B1"].Team)
	dummyDs := &DriverStationConnection{TeamId: 254}
	arena.AllianceStations["B1"].DsConn = dummyDs

	// Nothing should happen if the same team is assigned to the same station.
	err = arena.assignTeam(254, "B1")
	assert.Nil(t, err)
	assert.Equal(t, team, *arena.AllianceStations["B1"].Team)
	assert.NotNil(t, arena.AllianceStations["B1"])
	assert.Equal(t, dummyDs, arena.AllianceStations["B1"].DsConn) // Pointer equality

	// Test reassignment to another team.
	err = arena.assignTeam(1114, "B1")
	assert.Nil(t, err)
	assert.NotEqual(t, team, *arena.AllianceStations["B1"].Team)
	assert.Nil(t, arena.AllianceStations["B1"].DsConn)

	// Check assigning zero as the team number.
	err = arena.assignTeam(0, "R2")
	assert.Nil(t, err)
	assert.Nil(t, arena.AllianceStations["R2"].Team)
	assert.Nil(t, arena.AllianceStations["R2"].DsConn)

	// Check assigning to a non-existent station.
	err = arena.assignTeam(254, "R4")
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Invalid alliance station")
	}
}

func TestArenaMatchFlow(t *testing.T) {
	arena := setupTestArena(t)

	arena.Database.CreateTeam(&model.Team{Id: 254})
	err := arena.assignTeam(254, "B3")
	assert.Nil(t, err)
	dummyDs := &DriverStationConnection{TeamId: 254}
	arena.AllianceStations["B3"].DsConn = dummyDs

	// Check pre-match state and packet timing.
	assert.Equal(t, PreMatch, arena.MatchState)
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	lastPacketCount := arena.AllianceStations["B3"].DsConn.packetCount
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-10 * time.Millisecond)
	arena.Update()
	assert.Equal(t, lastPacketCount, arena.AllianceStations["B3"].DsConn.packetCount)
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, lastPacketCount+1, arena.AllianceStations["B3"].DsConn.packetCount)

	// Check match start, autonomous and transition to teleop.
	arena.AllianceStations["R1"].Bypass = true
	arena.AllianceStations["R2"].Bypass = true
	arena.AllianceStations["R3"].Bypass = true
	arena.AllianceStations["B1"].Bypass = true
	arena.AllianceStations["B2"].Bypass = true
	arena.AllianceStations["B3"].DsConn.RobotLinked = true
	err = arena.StartMatch()
	assert.Nil(t, err)
	arena.Update()
	assert.Equal(t, AutoPeriod, arena.MatchState)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.Update()
	assert.Equal(t, AutoPeriod, arena.MatchState)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.AutoDurationSec) * time.Second)
	arena.Update()
	assert.Equal(t, PausePeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.Update()
	assert.Equal(t, PausePeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.AutoDurationSec+
		game.MatchTiming.PauseDurationSec) * time.Second)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)

	// Check e-stop and bypass.
	arena.AllianceStations["B3"].Estop = true
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.AllianceStations["B3"].Bypass = true
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.AllianceStations["B3"].Estop = false
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.AllianceStations["B3"].Bypass = false
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, TeleopPeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)

	// Check endgame and match end.
	arena.MatchStartTime = time.Now().
		Add(-time.Duration(game.MatchTiming.AutoDurationSec+game.MatchTiming.PauseDurationSec+
			game.MatchTiming.TeleopDurationSec-game.MatchTiming.EndgameTimeLeftSec) * time.Second)
	arena.Update()
	assert.Equal(t, EndgamePeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.Update()
	assert.Equal(t, EndgamePeriod, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.MatchStartTime = time.Now().Add(-time.Duration(game.MatchTiming.AutoDurationSec+
		game.MatchTiming.PauseDurationSec+game.MatchTiming.TeleopDurationSec) * time.Second)
	arena.Update()
	assert.Equal(t, PostMatch, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	arena.Update()
	assert.Equal(t, PostMatch, arena.MatchState)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)

	arena.AllianceStations["R1"].Bypass = true
	arena.ResetMatch()
	arena.lastDsPacketTime = arena.lastDsPacketTime.Add(-300 * time.Millisecond)
	arena.Update()
	assert.Equal(t, PreMatch, arena.MatchState)
	assert.Equal(t, true, arena.AllianceStations["B3"].DsConn.Auto)
	assert.Equal(t, false, arena.AllianceStations["B3"].DsConn.Enabled)
	assert.Equal(t, false, arena.AllianceStations["R1"].Bypass)
}

func TestArenaStateEnforcement(t *testing.T) {
	arena := setupTestArena(t)

	arena.AllianceStations["R1"].Bypass = true
	arena.AllianceStations["R2"].Bypass = true
	arena.AllianceStations["R3"].Bypass = true
	arena.AllianceStations["B1"].Bypass = true
	arena.AllianceStations["B2"].Bypass = true
	arena.AllianceStations["B3"].Bypass = true

	err := arena.LoadMatch(new(model.Match))
	assert.Nil(t, err)
	err = arena.AbortMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot abort match when")
	}
	err = arena.StartMatch()
	assert.Nil(t, err)
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.ResetMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot reset match while")
	}
	arena.MatchState = AutoPeriod
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.ResetMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot reset match while")
	}
	arena.MatchState = PausePeriod
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.ResetMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot reset match while")
	}
	arena.MatchState = TeleopPeriod
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.ResetMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot reset match while")
	}
	arena.MatchState = EndgamePeriod
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.ResetMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot reset match while")
	}
	err = arena.AbortMatch()
	assert.Nil(t, err)
	arena.MatchState = PostMatch
	err = arena.LoadMatch(new(model.Match))
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot load match while")
	}
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot start match while")
	}
	err = arena.AbortMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Cannot abort match when")
	}

	err = arena.ResetMatch()
	assert.Nil(t, err)
	assert.Equal(t, PreMatch, arena.MatchState)
	err = arena.ResetMatch()
	assert.Nil(t, err)
	err = arena.LoadMatch(new(model.Match))
	assert.Nil(t, err)
}

func TestMatchStartRobotLinkEnforcement(t *testing.T) {
	arena := setupTestArena(t)

	arena.Database.CreateTeam(&model.Team{Id: 101})
	arena.Database.CreateTeam(&model.Team{Id: 102})
	arena.Database.CreateTeam(&model.Team{Id: 103})
	arena.Database.CreateTeam(&model.Team{Id: 104})
	arena.Database.CreateTeam(&model.Team{Id: 105})
	arena.Database.CreateTeam(&model.Team{Id: 106})
	match := model.Match{Red1: 101, Red2: 102, Red3: 103, Blue1: 104, Blue2: 105, Blue3: 106}
	arena.Database.CreateMatch(&match)

	err := arena.LoadMatch(&match)
	assert.Nil(t, err)
	arena.AllianceStations["R1"].DsConn = &DriverStationConnection{TeamId: 101}
	arena.AllianceStations["R2"].DsConn = &DriverStationConnection{TeamId: 102}
	arena.AllianceStations["R3"].DsConn = &DriverStationConnection{TeamId: 103}
	arena.AllianceStations["B1"].DsConn = &DriverStationConnection{TeamId: 104}
	arena.AllianceStations["B2"].DsConn = &DriverStationConnection{TeamId: 105}
	arena.AllianceStations["B3"].DsConn = &DriverStationConnection{TeamId: 106}
	for _, station := range arena.AllianceStations {
		station.DsConn.RobotLinked = true
	}
	err = arena.StartMatch()
	assert.Nil(t, err)
	arena.MatchState = PreMatch

	// Check with a single team e-stopped, not linked and bypassed.
	arena.AllianceStations["R1"].Estop = true
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "while an emergency stop is active")
	}
	arena.AllianceStations["R1"].Estop = false
	arena.AllianceStations["R1"].DsConn.RobotLinked = false
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
	}
	arena.AllianceStations["R1"].Bypass = true
	err = arena.StartMatch()
	assert.Nil(t, err)
	arena.AllianceStations["R1"].Bypass = false
	arena.MatchState = PreMatch

	// Check with a team missing.
	err = arena.assignTeam(0, "R1")
	assert.Nil(t, err)
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
	}
	arena.AllianceStations["R1"].Bypass = true
	err = arena.StartMatch()
	assert.Nil(t, err)
	arena.MatchState = PreMatch

	// Check with no teams present.
	arena.LoadMatch(new(model.Match))
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "until all robots are connected or bypassed")
	}
	arena.AllianceStations["R1"].Bypass = true
	arena.AllianceStations["R2"].Bypass = true
	arena.AllianceStations["R3"].Bypass = true
	arena.AllianceStations["B1"].Bypass = true
	arena.AllianceStations["B2"].Bypass = true
	arena.AllianceStations["B3"].Bypass = true
	arena.AllianceStations["B3"].Estop = true
	err = arena.StartMatch()
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "while an emergency stop is active")
	}
	arena.AllianceStations["B3"].Estop = false
	err = arena.StartMatch()
	assert.Nil(t, err)
}

func TestLoadNextMatch(t *testing.T) {
	arena := setupTestArena(t)

	arena.Database.CreateTeam(&model.Team{Id: 1114})
	practiceMatch1 := model.Match{Type: "practice", DisplayName: "1"}
	practiceMatch2 := model.Match{Type: "practice", DisplayName: "2", Status: "complete"}
	practiceMatch3 := model.Match{Type: "practice", DisplayName: "3"}
	arena.Database.CreateMatch(&practiceMatch1)
	arena.Database.CreateMatch(&practiceMatch2)
	arena.Database.CreateMatch(&practiceMatch3)
	qualificationMatch1 := model.Match{Type: "qualification", DisplayName: "1", Status: "complete"}
	qualificationMatch2 := model.Match{Type: "qualification", DisplayName: "2"}
	arena.Database.CreateMatch(&qualificationMatch1)
	arena.Database.CreateMatch(&qualificationMatch2)

	// Test match should be followed by another, empty test match.
	assert.Equal(t, 0, arena.CurrentMatch.Id)
	err := arena.SubstituteTeam(1114, "R1")
	assert.Nil(t, err)
	arena.CurrentMatch.Status = "complete"
	err = arena.LoadNextMatch()
	assert.Nil(t, err)
	assert.Equal(t, 0, arena.CurrentMatch.Id)
	assert.Equal(t, 0, arena.CurrentMatch.Red1)
	assert.NotEqual(t, "complete", arena.CurrentMatch.Status)

	// Other matches should be loaded by type until they're all complete.
	err = arena.LoadMatch(&practiceMatch2)
	assert.Nil(t, err)
	err = arena.LoadNextMatch()
	assert.Nil(t, err)
	assert.Equal(t, practiceMatch1.Id, arena.CurrentMatch.Id)
	practiceMatch1.Status = "complete"
	arena.Database.SaveMatch(&practiceMatch1)
	err = arena.LoadNextMatch()
	assert.Nil(t, err)
	assert.Equal(t, practiceMatch3.Id, arena.CurrentMatch.Id)
	practiceMatch3.Status = "complete"
	arena.Database.SaveMatch(&practiceMatch3)
	err = arena.LoadNextMatch()
	assert.Nil(t, err)
	assert.Equal(t, practiceMatch3.Id, arena.CurrentMatch.Id)
	assert.Equal(t, "complete", practiceMatch3.Status)

	err = arena.LoadMatch(&qualificationMatch1)
	assert.Nil(t, err)
	err = arena.LoadNextMatch()
	assert.Nil(t, err)
	assert.Equal(t, qualificationMatch2.Id, arena.CurrentMatch.Id)
}

func TestSubstituteTeam(t *testing.T) {
	arena := setupTestArena(t)

	arena.Database.CreateTeam(&model.Team{Id: 101})
	arena.Database.CreateTeam(&model.Team{Id: 102})
	arena.Database.CreateTeam(&model.Team{Id: 103})
	arena.Database.CreateTeam(&model.Team{Id: 104})
	arena.Database.CreateTeam(&model.Team{Id: 105})
	arena.Database.CreateTeam(&model.Team{Id: 106})
	arena.Database.CreateTeam(&model.Team{Id: 107})

	// Substitute teams into test match.
	err := arena.SubstituteTeam(101, "B1")
	assert.Nil(t, err)
	assert.Equal(t, 101, arena.CurrentMatch.Blue1)
	assert.Equal(t, 101, arena.AllianceStations["B1"].Team.Id)
	err = arena.assignTeam(104, "R4")
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Invalid alliance station")
	}

	// Substitute teams into practice match.
	match := model.Match{Type: "practice", Red1: 101, Red2: 102, Red3: 103, Blue1: 104, Blue2: 105, Blue3: 106}
	arena.Database.CreateMatch(&match)
	arena.LoadMatch(&match)
	err = arena.SubstituteTeam(107, "R1")
	assert.Nil(t, err)
	assert.Equal(t, 107, arena.CurrentMatch.Red1)
	assert.Equal(t, 107, arena.AllianceStations["R1"].Team.Id)
	matchResult := model.NewMatchResult()
	matchResult.MatchId = arena.CurrentMatch.Id

	// Check that substitution is disallowed in qualification matches.
	match = model.Match{Type: "qualification", Red1: 101, Red2: 102, Red3: 103, Blue1: 104, Blue2: 105, Blue3: 106}
	arena.Database.CreateMatch(&match)
	arena.LoadMatch(&match)
	err = arena.SubstituteTeam(107, "R1")
	if assert.NotNil(t, err) {
		assert.Contains(t, err.Error(), "Can't substitute teams for qualification matches.")
	}
	match = model.Match{Type: "elimination", Red1: 101, Red2: 102, Red3: 103, Blue1: 104, Blue2: 105, Blue3: 106}
	arena.Database.CreateMatch(&match)
	arena.LoadMatch(&match)
	assert.Nil(t, arena.SubstituteTeam(107, "R1"))
}

func TestSetupNetwork(t *testing.T) {
	arena := setupTestArena(t)

	// Verify the setup ran by checking the log for the expected failure messages.
	arena.EventSettings.NetworkSecurityEnabled = true
	arena.accessPoint.port = 10022
	arena.networkSwitch.port = 10023
	arena.LoadMatch(&model.Match{Type: "test"})
	var writer bytes.Buffer
	log.SetOutput(&writer)
	time.Sleep(time.Millisecond * 10) // Allow some time for the asynchronous configuration to happen.
	assert.Contains(t, writer.String(), "Failed to configure team Ethernet")
	assert.Contains(t, writer.String(), "Failed to configure team WiFi")
}