add smoketest

Author: rylanmoseley

src/test/java/SmokeTest.java

@@ -0,0 +1,92 @@
+// REBELLION 10014
+
+import static org.junit.jupiter.api.Assertions.fail;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.RobotBase;
+import frc.robot.Robot;
+import java.io.ByteArrayOutputStream;
+import java.io.PrintStream;
+import java.util.concurrent.atomic.AtomicReference;
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+class SmokeTest {
+    static Thread robotThread;
+    static AtomicReference<Throwable> threadCrashException;
+
+    // Streams for intercepting WPILib console output
+    static ByteArrayOutputStream errContent;
+    static PrintStream originalErr;
+
+    @BeforeEach
+    void setup() {
+        // 1. Setup exception catcher for the robot thread
+        threadCrashException = new AtomicReference<>();
+        robotThread = new Thread(() -> RobotBase.startRobot(Robot::new));
+        robotThread.setUncaughtExceptionHandler((th, ex) -> threadCrashException.set(ex));
+
+        // 2. Intercept System.err to catch DriverStation errors/warnings
+        errContent = new ByteArrayOutputStream();
+        originalErr = System.err;
+        System.setErr(new PrintStream(errContent));
+
+        assert HAL.initialize(500, 0); // initialize the HAL, crash if failed
+        robotThread.start();
+    }
+
+    @Test
+    void fiveSecondTest() throws InterruptedException {
+        long startTime = System.currentTimeMillis();
+        long timeout = 5000; // 5 seconds timeout
+
+        while (System.currentTimeMillis() - startTime < timeout) {
+            // Check if the thread threw a fatal exception
+            if (threadCrashException.get() != null) {
+                fail(
+                        "Robot crashed with exception: "
+                                + threadCrashException.get().getMessage(),
+                        threadCrashException.get());
+            }
+
+            // Check if the thread died silently
+            if (robotThread.getState() == Thread.State.TERMINATED) {
+                fail("Robot thread terminated unexpectedly without a caught exception.");
+            }
+
+            // Yield to prevent the while loop from hogging the CPU
+            Thread.sleep(100);
+        }
+
+        // 3. Analyze the intercepted error stream
+        String consoleOutput = errContent.toString();
+
+        // Check for WPILib-specific error tags or general exceptions
+        if (consoleOutput.contains("Error") || consoleOutput.contains("Exception")) {
+            fail("WPILib reported errors during the smoke test:\n" + consoleOutput);
+        }
+
+        // Optional: You can also fail on warnings, but WPILib often prints benign
+        // warnings (like missing joysticks in sim), so use this with caution!
+        // if (consoleOutput.contains("Warning")) { ... }
+    }
+
+    @AfterEach
+    void tearDown() {
+        // Restore the original System.err so regular testing output isn't hidden
+        System.setErr(originalErr);
+    }
+
+    @AfterAll
+    static void cleanup() {
+        // Stop the robot thread
+        if (robotThread != null && robotThread.isAlive()) {
+            robotThread.interrupt();
+        }
+
+        HAL.exitMain();
+        HAL.shutdown();
+    }
+}