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Merge pull request #65 from strykeforce/healthcheck
Add health check to Third Coast
2 parents b9271cd + ae873f5 commit 2dd65a7

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13 files changed

+743
-29
lines changed

13 files changed

+743
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lines changed

‎build.gradle‎

Lines changed: 13 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2,20 +2,25 @@ plugins {
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id "java"
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id "idea"
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id "maven-publish"
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id "org.jetbrains.kotlin.jvm" version "1.3.61"
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id "org.jetbrains.kotlin.jvm" version "1.3.70"
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id "org.jetbrains.kotlin.kapt" version "1.3.61"
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id "edu.wpi.first.GradleRIO" version "2020.1.2"
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id "edu.wpi.first.GradleRIO" version "2020.3.2"
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}
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group = 'org.strykeforce'
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version = '20.2.1'
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version = '20.3.2'
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sourceCompatibility = JavaVersion.VERSION_11
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targetCompatibility = JavaVersion.VERSION_11
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// Set this to true to enable desktop support.
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def includeDesktopSupport = false
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repositories {
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jcenter()
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maven {url = "http://first.wpi.edu/FRC/roborio/maven/release"}
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}
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
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// Also defines JUnit 5.
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dependencies {
@@ -33,6 +38,7 @@ dependencies {
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implementation "org.eclipse.jetty:jetty-server:9.4.19.v20190610"
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implementation "com.squareup.okhttp3:okhttp:3.12.5"
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implementation "io.github.microutils:kotlin-logging:1.7.6"
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implementation "org.jetbrains.kotlinx:kotlinx-html-jvm:0.7.1"
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implementation "com.squareup.moshi:moshi:1.9.2"
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kapt "com.squareup.moshi:moshi-kotlin-codegen:1.9.2"
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@@ -52,6 +58,10 @@ java {
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withSourcesJar()
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}
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test {
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useJUnitPlatform()
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}
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idea {
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module {
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downloadJavadoc = true

‎src/main/kotlin/org/strykeforce/thirdcoast/healthcheck/HealthCheck.kt‎

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@@ -0,0 +1,91 @@
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package org.strykeforce.thirdcoast.healthcheck
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import edu.wpi.first.wpilibj.TimedRobot
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import kotlinx.html.*
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import kotlinx.html.stream.appendHTML
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import mu.KotlinLogging
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import java.io.File
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import java.text.SimpleDateFormat
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import java.util.*
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private const val HTML_PATH = "/var/local/natinst/www/healthcheck/index.html"
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private val logger = KotlinLogging.logger {}
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class HealthCheck {
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var period = TimedRobot.kDefaultPeriod
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private val testGroups = mutableListOf<TestGroup>()
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private var state = State.STARTING
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private lateinit var iterator: Iterator<TestGroup>
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private lateinit var currentTestGroup: TestGroup
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fun talonCheck(init: TalonGroup.() -> Unit): TalonGroup {
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val test = TalonGroup(this)
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test.init()
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testGroups.add(test)
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return test
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}
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fun execute() = when (state) {
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State.STARTING -> {
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check(testGroups.isNotEmpty()) { "no test groups" }
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iterator = testGroups.iterator()
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currentTestGroup = iterator.next()
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state = State.RUNNING
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}
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State.RUNNING -> if (!currentTestGroup.isFinished()) {
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currentTestGroup.execute()
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} else if (iterator.hasNext()) {
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currentTestGroup = iterator.next()
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} else {
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state = State.STOPPING
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}
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State.STOPPING -> {
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logger.info { "health check finished" }
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state = State.STOPPED
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}
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State.STOPPED -> throw IllegalStateException()
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}
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fun isFinised() = state == State.STOPPED
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fun report() {
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File(HTML_PATH).writer().use { writer ->
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writer.appendln("<!DOCTYPE html>")
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val tagConsumer = writer.appendHTML()
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tagConsumer.html {
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attributes["lang"] = "en"
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head {
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title { +"Health Check" }
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style {
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unsafe {
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raw(HealthCheck::class.java.getResource("/healthcheck.css").readText())
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}
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}
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}
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body {
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h1 { +"Health Check ${SimpleDateFormat("HH:mm:ss").format(Date())}" }
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testGroups.forEach { it.report(tagConsumer) }
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}
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}
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}
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logger.info { "health check report: http://10.27.67.2/healthcheck/index.html" }
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}
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override fun toString(): String {
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return "HealthCheck(testGroups=$testGroups)"
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}
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private enum class State {
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STARTING,
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RUNNING,
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STOPPING,
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STOPPED
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}
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}
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fun healthCheck(init: HealthCheck.() -> Unit): HealthCheck = HealthCheck().apply(init)
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‎src/main/kotlin/org/strykeforce/thirdcoast/healthcheck/Reportable.kt‎

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package org.strykeforce.thirdcoast.healthcheck
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import kotlinx.html.TagConsumer
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import kotlinx.html.table
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import java.lang.Appendable
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interface Reportable{
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fun reportTable(tagConsumer: TagConsumer<Appendable>){
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tagConsumer.table{
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reportHeader(tagConsumer)
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reportRows(tagConsumer)
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}
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}
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fun reportHeader(tagConsumer: TagConsumer<Appendable>)
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fun reportRows(tagConsumer: TagConsumer<Appendable>)
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}

‎src/main/kotlin/org/strykeforce/thirdcoast/healthcheck/Test.kt‎

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package org.strykeforce.thirdcoast.healthcheck
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import kotlinx.html.TagConsumer
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import java.lang.Appendable
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fun<T : Comparable<T>> ClosedRange<T>.statusOf(value: T): String = if(this.contains(value)) "pass" else "fail"
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interface Test{
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var name: String
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fun execute()
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fun isFinished(): Boolean
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fun report(tagConsumer: TagConsumer<Appendable>)
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}

‎src/main/kotlin/org/strykeforce/thirdcoast/healthcheck/TestGroup.kt‎

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package org.strykeforce.thirdcoast.healthcheck
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import com.ctre.phoenix.motorcontrol.can.BaseTalon
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import kotlinx.html.TagConsumer
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import kotlinx.html.div
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import kotlinx.html.h2
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import kotlinx.html.table
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import org.strykeforce.thirdcoast.healthcheck.tests.*
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import mu.KotlinLogging
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private val logger = KotlinLogging.logger {}
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abstract class TestGroup(val healthCheck: HealthCheck) : Test {
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override var name = "name not set"
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protected val tests = mutableListOf<Test>()
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private var state = State.STARTING
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private lateinit var iterator: Iterator<Test>
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private lateinit var currentTest: Test
21+
22+
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override fun execute() = when (state) {
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State.STARTING -> {
25+
logger.info { "$name starting" }
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check(tests.isNotEmpty()) { "no tests in test group '$name'" }
27+
iterator = tests.iterator()
28+
currentTest = iterator.next()
29+
state = State.RUNNING
30+
}
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32+
State.RUNNING -> if (!currentTest.isFinished()) {
33+
currentTest.execute()
34+
} else if (iterator.hasNext()) {
35+
currentTest = iterator.next()
36+
} else {
37+
logger.info { "$name finished" }
38+
state = State.STOPPED
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}
40+
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State.STOPPED -> throw IllegalStateException()
42+
}
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override fun isFinished() = state == State.STOPPED
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override fun report(tagConsumer: TagConsumer<Appendable>) {
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tagConsumer.div {
48+
h2 { +name }
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table {
50+
val reportable = tests.filterIsInstance<Reportable>()
51+
if (!reportable.isEmpty()) {
52+
reportable.first().apply { reportHeader(tagConsumer) }
53+
reportable.forEach { it.reportRows(tagConsumer) }
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}
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}
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}
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}
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60+
override fun toString(): String {
61+
return "TestGroup(name='$name', tests=$tests)"
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}
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private enum class State {
66+
STARTING,
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RUNNING,
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STOPPED
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}
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}
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class TalonGroup(healthCheck: HealthCheck) : TestGroup(healthCheck) {
75+
var talons = emptyList<BaseTalon>()
76+
77+
fun timedTest(init: TalonTimedTest.() -> Unit): Test {
78+
val spinTest = TalonTimedTest(this)
79+
spinTest.init()
80+
tests.add(spinTest)
81+
return spinTest
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}
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84+
fun followerTimedTest(init: TalonFollowerTimedTest.() -> Unit): Test {
85+
val spinTest = TalonFollowerTimedTest(this)
86+
spinTest.init()
87+
tests.add(spinTest)
88+
return spinTest
89+
}
90+
91+
fun positionTest(init: TalonPositionTest.() -> Unit): Test {
92+
val positionTest = TalonPositionTest(this)
93+
positionTest.init()
94+
tests.add(positionTest)
95+
return positionTest
96+
}
97+
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fun positionTalon(init: TalonPosition.() -> Unit): Test {
99+
val position = TalonPosition(this)
100+
position.init()
101+
tests.add(position)
102+
return position
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}
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}

‎src/main/kotlin/org/strykeforce/thirdcoast/healthcheck/Zeroable.kt‎

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package org.strykeforce.thirdcoast.healthcheck
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interface Zeroable {
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fun zero(): Boolean;
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}

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