Add initial unit tests for LogTable with tooling support

WORKSPACE

@@ -163,6 +163,22 @@ http_archive(
     urls = ["https://github.com/google/googletest/archive/e2239ee6043f73722e7aa812a459f54a28552929.zip"],
 )
 
+# JUnit5 is used for unit testing in Java. We pull that in via contrib_rules_jvm.
+http_archive(
+    name = "contrib_rules_jvm",
+    sha256 = "bfb24b0959b98d1f4b2181896a42b0e01a869b7994d53158d48e3ef979aafd89",
+    strip_prefix = "rules_jvm-0.21.4",
+    url = "https://github.com/bazel-contrib/rules_jvm/releases/download/v0.21.4/rules_jvm-v0.21.4.tar.gz",
+)
+
+load("@contrib_rules_jvm//:repositories.bzl", "contrib_rules_jvm_deps")
+
+contrib_rules_jvm_deps()
+
+load("@contrib_rules_jvm//:setup.bzl", "contrib_rules_jvm_setup")
+
+contrib_rules_jvm_setup()
+
 # This makes WPILib's source repo (allwpilib) available as a repository within our Bazel workspace.
 #new_git_repository(
 #    name = "allwpilib",

generate_library_deps.py

@@ -37,9 +37,12 @@
     "com.fasterxml.jackson.core:jackson-databind:2.15.2",
     "org.ejml:ejml-simple:0.43.1",
     "org.ejml:ejml-core:0.43.1",
-    "junit:junit:4.13.2",
     "com.squareup:javapoet:1.13.0",
-    "us.hebi.quickbuf:quickbuf-runtime:1.3.2"
+    "us.hebi.quickbuf:quickbuf-runtime:1.3.2",
+    "org.junit.jupiter:junit-jupiter-api:5.10.1",
+    "org.junit.jupiter:junit-jupiter-engine:5.10.1",
+    "org.junit.platform:junit-platform-launcher:1.10.1",
+    "org.junit.platform:junit-platform-reporting:1.10.1",
 ]
 
 # WPILib dependencies to pull from frcmaven.  If no version is provided, the above version is used.

junction/core/BUILD

@@ -1,8 +1,9 @@
 load("//build_tools/repo:java_export.bzl", "java_export")
+load("@contrib_rules_jvm//java:defs.bzl", "java_test_suite")
 
 java_library(
     name = "core",
-    srcs = glob(["src/**/*.java"]),
+    srcs = glob(["src/main/**/*.java"]),
     tags = ["ci_build"],
     visibility = ["//visibility:public"],
     deps = [
@@ -27,3 +28,19 @@ java_export(
     visibility = ["//visibility:public"],
     runtime_deps = [":core"],
 )
+
+java_test_suite(
+    name = "core-tests",
+    srcs = glob(["src/test/**/*.java"]),
+    runner = "junit5",
+    runtime_deps = [
+        "@maven//:org_junit_jupiter_junit_jupiter_engine",
+        "@maven//:org_junit_platform_junit_platform_launcher",
+        "@maven//:org_junit_platform_junit_platform_reporting",
+    ],
+    deps = [
+        ":core-export",
+        "//third_party/wpilib:wpilibj-compileonly",
+        "@maven//:org_junit_jupiter_junit_jupiter_api",
+    ],
+)

junction/core/src/org/littletonrobotics/junction/LogTable.java → junction/core/src/main/org/littletonrobotics/junction/LogTable.java

@@ -25,8 +25,6 @@
 import java.util.Objects;
 import java.util.Set;
 
-import org.littletonrobotics.junction.LogTable.LogValue;
-
 import edu.wpi.first.units.ImmutableMeasure;
 import edu.wpi.first.units.MutableMeasure;
 import edu.wpi.first.units.Measure;
@@ -359,15 +357,7 @@ private void addStructSchema(Struct<?> struct, Set<String> seen) {
   public <T> void put(String key, Struct<T> struct, T value) {
     if (value == null) return;
     if (writeAllowed(key, LoggableType.Raw)) {
-      addStructSchema(struct, new HashSet<>());
-      if (!structBuffers.containsKey(struct.getTypeString())) {
-        structBuffers.put(struct.getTypeString(), StructBuffer.create(struct));
-      }
-      StructBuffer<T> buffer = (StructBuffer<T>) structBuffers.get(struct.getTypeString());
-      ByteBuffer bb = buffer.write(value);
-      byte[] array = new byte[bb.position()];
-      bb.position(0);
-      bb.get(array);
+      byte[] array = pack(struct, value);
       put(key, new LogValue(array, struct.getTypeString()));
     }
   }
@@ -380,19 +370,36 @@ public <T> void put(String key, Struct<T> struct, T value) {
   public <T> void put(String key, Struct<T> struct, T... value) {
     if (value == null) return;
     if (writeAllowed(key, LoggableType.Raw)) {
-      addStructSchema(struct, new HashSet<>());
-      if (!structBuffers.containsKey(struct.getTypeString())) {
-        structBuffers.put(struct.getTypeString(), StructBuffer.create(struct));
-      }
-      StructBuffer<T> buffer = (StructBuffer<T>) structBuffers.get(struct.getTypeString());
-      ByteBuffer bb = buffer.writeArray(value);
-      byte[] array = new byte[bb.position()];
-      bb.position(0);
-      bb.get(array);
+      byte[] array = pack(struct, value);
       put(key, new LogValue(array, struct.getTypeString() + "[]"));
     }
   }
 
+  private <T> StructBuffer<T> bufferForStruct(Struct<T> struct) {
+    addStructSchema(struct, new HashSet<>());
+    if (!structBuffers.containsKey(struct.getTypeString())) {
+      structBuffers.put(struct.getTypeString(), StructBuffer.create(struct));
+    }
+   return (StructBuffer<T>) structBuffers.get(struct.getTypeString());
+  }
+
+  private <T> byte[] pack(Struct<T> struct, T[] value) {
+    StructBuffer<T> buffer = bufferForStruct(struct);
+    return copyBytes(buffer.writeArray(value));
+  }
+
+  private <T> byte[] pack(Struct<T> struct, T value) {
+    StructBuffer<T> buffer = bufferForStruct(struct);
+    return copyBytes(buffer.write(value));
+  }
+
+  private static byte[] copyBytes(ByteBuffer bb) {
+    byte[] array = new byte[bb.position()];
+    bb.position(0);
+    bb.get(array);
+    return array;
+  }
+
   /**
    * Writes a new protobuf value to the table. Skipped if the key already exists
    * as a different type.
@@ -410,10 +417,7 @@ public <T, MessageType extends ProtoMessage<?>> void put(String key, Protobuf<T,
       ByteBuffer bb;
       try {
         bb = buffer.write(value);
-        byte[] array = new byte[bb.position()];
-        bb.position(0);
-        bb.get(array);
-        put(key, new LogValue(array, proto.getTypeString()));
+        put(key, new LogValue(copyBytes(bb), proto.getTypeString()));
       } catch (IOException e) {
         e.printStackTrace();
       }

junction/core/src/test/org/littletonrobotics/junction/LogTableTest.java

@@ -0,0 +1,74 @@
+package org.littletonrobotics.junction;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+public class LogTableTest {
+    private LogTable table;
+
+    @BeforeEach
+    void setup() {
+        table = new LogTable(0);
+    }
+
+    @Test
+    void supportsIntegers() {
+        table.put("int", 5);
+        Assertions.assertEquals(5, table.get("int").getInteger());
+    }
+
+    @Test
+    void supportsIntArrays() {
+        long[] expected = { 1, 2, 3 };
+
+        table.put("int-array", expected);
+
+        Assertions.assertArrayEquals(expected, table.get("int-array").getIntegerArray());
+    }
+
+    @Test
+    void supportsProtobufSerialization() {
+        Rotation2d expected = new Rotation2d(1, 2);
+
+        // We're forcing protobuf based serialization so Struct based doesn't run
+        table.put("rot", Rotation2d.proto, expected);
+
+        Assertions.assertEquals(expected, table.get("rot", Rotation2d.proto, new Rotation2d()));
+    }
+
+    @Test
+    void protobufIsntWrittenIfKeyAlreadyInUse() {
+        Rotation2d rot = new Rotation2d(1, 2);
+
+        table.put("rot", 5);
+        table.put("rot", Rotation2d.proto, rot); // This should be skipped
+
+        Assertions.assertNotEquals(rot, table.get("rot", Rotation2d.proto, new Rotation2d()));
+        Assertions.assertEquals(5, table.get("rot").getInteger());
+    }
+
+
+    @Test
+    void supportsStructSerialization() {
+        Rotation2d expected = new Rotation2d(1, 2);
+
+        // We're forcing Struct based serialization so Protobuf based doesn't run
+        table.put("rot", Rotation2d.struct, expected);
+
+        Assertions.assertEquals(expected, table.get("rot", Rotation2d.struct, new Rotation2d()));
+    }
+
+    @Test
+    void supportsStructArraySerialization() {
+        Rotation2d first = new Rotation2d(1, 2);
+        Rotation2d second = new Rotation2d(3, 4);
+
+        // We're forcing Struct serialization
+        table.put("rot", Rotation2d.struct, first, second);
+
+        Rotation2d[] actual = table.get("rot", Rotation2d.struct, new Rotation2d(0, 0), new Rotation2d(0,0));
+        Assertions.assertArrayEquals(new Rotation2d[] { first, second }, actual);
+    }
+}

library_deps.bzl

@@ -4,7 +4,7 @@
 
 load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive", "http_file")
 
-MAVEN_ARTIFACTS = ['io.github.classgraph:classgraph:4.8.128', 'com.fasterxml.jackson.core:jackson-annotations:2.15.2', 'com.fasterxml.jackson.core:jackson-core:2.15.2', 'com.fasterxml.jackson.core:jackson-databind:2.15.2', 'org.ejml:ejml-simple:0.43.1', 'org.ejml:ejml-core:0.43.1', 'junit:junit:4.13.2', 'com.squareup:javapoet:1.13.0', 'us.hebi.quickbuf:quickbuf-runtime:1.3.2']
+MAVEN_ARTIFACTS = ['io.github.classgraph:classgraph:4.8.128', 'com.fasterxml.jackson.core:jackson-annotations:2.15.2', 'com.fasterxml.jackson.core:jackson-core:2.15.2', 'com.fasterxml.jackson.core:jackson-databind:2.15.2', 'org.ejml:ejml-simple:0.43.1', 'org.ejml:ejml-core:0.43.1', 'com.squareup:javapoet:1.13.0', 'us.hebi.quickbuf:quickbuf-runtime:1.3.2', 'org.junit.jupiter:junit-jupiter-api:5.10.1', 'org.junit.jupiter:junit-jupiter-engine:5.10.1', 'org.junit.platform:junit-platform-launcher:1.10.1', 'org.junit.platform:junit-platform-reporting:1.10.1']
 
 WPILIB_VERSION = "2024.3.1"