Unit-test refactoring; removed some unused code too.

.gitignore

@@ -127,3 +127,6 @@ fabric.properties
 .idea/**/azureSettings.xml
 
 # End of https://www.toptal.com/developers/gitignore/api/intellij
+
+# Exclude local preference files generated by VSCode editors.
+.vscode/

lib/build.gradle

@@ -69,11 +69,22 @@ tasks.named('jar') {
 
 javadoc {
     options.tags = [
+        // Converts `@apiNote` paragraph to "Note: " section in the generated javadoc
         'apiNote:a:Api Note:',
+        // Converts `@implSpec` paragraph to "Implementation Requirements: " section in the generated javadoc
         'implSpec:a:Implementation Requirements:'
     ]
 }
 
+// Generates Javadocs for test libraries under /build/docs/testjavadoc
+// https://discuss.gradle.org/t/how-configure-gradle-to-generate-javadoc-for-testing-classes-junit/12764/6
+task testJavadoc(type: Javadoc) {
+    source = sourceSets.test.allJava
+    classpath = sourceSets.test.compileClasspath
+    destinationDir = file("${buildDir}/docs/testjavadoc")
+    println (title == null ? '<null>' : title)
+}
+
 task sourceJar(type: Jar) {
     from sourceSets.main.allJava
     archiveClassifier = 'sources'

lib/src/main/java/com/team2813/lib2813/util/InputValidation.java

@@ -1,32 +1,12 @@
 package com.team2813.lib2813.util;
 
-import java.util.function.Function;
 import java.util.function.IntFunction;
 
 public class InputValidation {
   private InputValidation() {
     throw new AssertionError("non instantiable");
   }
 
-  /**
-   * Check if a given value is between the bounds
-   *
-   * @param <T> the type to compare
-   * @param lower an object that {@code actual} should be comparatively less than or equal to
-   * @param upper an object that {@code actual} should be comparatively greater than or equal to
-   * @param actual the actual value
-   * @param throwable a function that takes the actual value and returns an unchecked exception
-   * @throws RuntimeException when actual is not between lower and upper, based on natural ordering.
-   *     The exception thrown is provided by {@code throwable}
-   */
-  static <T extends Comparable<T>> void checkBounds(
-      T lower, T upper, T actual, Function<? super T, ? extends RuntimeException> throwable) {
-    assert lower.compareTo(upper) <= 0;
-    if (!(lower.compareTo(actual) <= 0 && actual.compareTo(upper) <= 0)) {
-      throw throwable.apply(actual);
-    }
-  }
-
   /**
    * Check if the given value is in the bounds
    *
@@ -37,10 +17,10 @@ static <T extends Comparable<T>> void checkBounds(
    * @throws RuntimeException when the actual is not in between the bounds. exception is provided by
    *     {@code throwable}
    */
-  static void checkBounds(
+  private static void checkBounds(
       int lower, int upper, int actual, IntFunction<? extends RuntimeException> throwable) {
     assert lower <= upper;
-    if (!(lower <= actual && actual <= upper)) {
+    if (actual < lower || upper < actual) {
       throw throwable.apply(actual);
     }
   }

lib/src/main/java/com/team2813/lib2813/util/InvalidCanIdException.java

@@ -7,12 +7,13 @@ public class InvalidCanIdException extends RuntimeException {
    *
    * @serial an integer that is not between 0 and 62
    */
-  private int canId;
+  private final int canId;
 
   public InvalidCanIdException(int canId) {
     super(
         String.format(
             "%d is not a valid can id (a valid can id is between 0 and 62, inclusive)", canId));
+    this.canId = canId;
     if (0 <= canId && canId <= 62) {
       throw new IllegalArgumentException(
           String.format("%s is a valid can id (it is between 0 and 62, inclusive)", canId));

lib/src/test/java/com/team2813/lib2813/util/ControlUtilsTest.java

@@ -1,42 +1,41 @@
 package com.team2813.lib2813.util;
 
-import static org.hamcrest.MatcherAssert.assertThat;
-import static org.junit.Assert.assertEquals;
+import static com.google.common.truth.Truth.assertThat;
 import static org.junit.Assert.assertThrows;
 
-import org.hamcrest.CoreMatchers;
 import org.junit.Test;
 import org.junit.function.ThrowingRunnable;
 
 public class ControlUtilsTest {
   @Test
   public void deadbandValuesWithinDeadbandAreZeroed() {
     // Keep test values in ascending order.
-    assertEquals(0.0, ControlUtils.deadband(-0.5, 0.5), 1e-9);
-    assertEquals(0.0, ControlUtils.deadband(-0.25, 0.5), 1e-9);
-    assertEquals(0.0, ControlUtils.deadband(0.0, 0.5), 1e-9);
-    assertEquals(0.0, ControlUtils.deadband(0.5, 0.5), 1e-9);
+    assertThat(ControlUtils.deadband(-0.5, 0.5)).isEqualTo(0.0);
+    assertThat(ControlUtils.deadband(-0.5, 0.5)).isEqualTo(0.0);
+    assertThat(ControlUtils.deadband(-0.25, 0.5)).isEqualTo(0.0);
+    assertThat(ControlUtils.deadband(0.0, 0.5)).isEqualTo(0.0);
+    assertThat(ControlUtils.deadband(0.5, 0.5)).isEqualTo(0.0);
   }
 
   @Test
   public void deadbandValuesOutsideDeadbandAreAdjusted() {
     // Keep test values in ascending order.
-    assertEquals(-1.0, ControlUtils.deadband(-1.0, 0.5), 1e-9);
-    assertEquals(-0.5, ControlUtils.deadband(-0.75, 0.5), 1e-9);
-    assertEquals(0.2, ControlUtils.deadband(0.6, 0.5), 1e-9);
-    assertEquals(0.5, ControlUtils.deadband(0.75, 0.5), 1e-9);
-    assertEquals(1.0, ControlUtils.deadband(1.0, 0.5), 1e-9);
+    assertThat(ControlUtils.deadband(-1.0, 0.5)).isWithin(1e-9).of(-1.0);
+    assertThat(ControlUtils.deadband(-0.75, 0.5)).isWithin(1e-9).of(-0.5);
+    assertThat(ControlUtils.deadband(0.6, 0.5)).isWithin(1e-9).of(0.2);
+    assertThat(ControlUtils.deadband(0.75, 0.5)).isWithin(1e-9).of(0.5);
+    assertThat(ControlUtils.deadband(1.0, 0.5)).isWithin(1e-9).of(1.0);
   }
 
   @Test
   public void deadbandZeroDeadbandHasNoEffect() {
     // Keep test values in ascending order.
-    assertEquals(-1.0, ControlUtils.deadband(-1.0, 0.0), 1e-9);
-    assertEquals(-0.5, ControlUtils.deadband(-0.5, 0.0), 1e-9);
-    assertEquals(-0.25, ControlUtils.deadband(-0.25, 0.0), 1e-9);
-    assertEquals(0.0, ControlUtils.deadband(0.0, 0.0), 1e-9);
-    assertEquals(0.5, ControlUtils.deadband(0.5, 0.0), 1e-9);
-    assertEquals(1.0, ControlUtils.deadband(1.0, 0.0), 1e-9);
+    assertThat(ControlUtils.deadband(-1.0, 0.0)).isEqualTo(-1.0);
+    assertThat(ControlUtils.deadband(-0.5, 0.0)).isEqualTo(-0.5);
+    assertThat(ControlUtils.deadband(-0.25, 0.0)).isEqualTo(-0.25);
+    assertThat(ControlUtils.deadband(0.0, 0.0)).isEqualTo(0.0);
+    assertThat(ControlUtils.deadband(0.5, 0.0)).isEqualTo(0.5);
+    assertThat(ControlUtils.deadband(1.0, 0.0)).isEqualTo(1.0);
   }
 
   /**
@@ -49,7 +48,7 @@ public void deadbandZeroDeadbandHasNoEffect() {
   private void assertIllegalArgumentExceptionIsThrownContainingMessage(
       ThrowingRunnable testExpression, String expectedMessage) {
     Exception exception = assertThrows(IllegalArgumentException.class, testExpression);
-    assertThat(exception.getMessage(), CoreMatchers.containsString(expectedMessage));
+    assertThat(exception).hasMessageThat().contains(expectedMessage);
   }
 
   @Test

lib/src/test/java/com/team2813/lib2813/util/InputValidationTest.java

@@ -1,38 +1,35 @@
 package com.team2813.lib2813.util;
 
-import static org.junit.Assert.assertEquals;
+import static com.google.common.truth.Truth.assertThat;
+import static com.google.common.truth.Truth.assertWithMessage;
 import static org.junit.Assert.assertThrows;
 
-import com.team2813.lib2813.theories.Between;
-import org.junit.experimental.theories.Theories;
-import org.junit.experimental.theories.Theory;
-import org.junit.runner.RunWith;
+import org.junit.Test;
 
-@RunWith(Theories.class)
 public class InputValidationTest {
-  private static <T> RuntimeException outOfBounds(T val) {
-    return new RuntimeException("Value was out of bounds");
-  }
-
-  @Theory
-  public void invalidCanID(
-      @Between(first = -50, last = -1) @Between(first = 63, last = 100) int canID) {
-    InvalidCanIdException expected = new InvalidCanIdException(canID);
-    InvalidCanIdException actual =
-        assertThrows(InvalidCanIdException.class, () -> InputValidation.checkCanId(canID));
-    assertEquals("Messages were not identical", expected, actual);
-  }
-
-  @Theory
-  public void genericInvalidTest(@Between(first = 0, last = 4) int unused) {
-    Integer min = Integer.valueOf(0);
-    Integer actual = Integer.valueOf(unused);
-    Integer max = Integer.valueOf(4);
-    InputValidation.checkBounds(min, max, actual, InputValidationTest::outOfBounds);
-  }
+  // Tests for the `InputValidation.checkCanId(...)` method.
+  public static class CheckCanIdTest {
+    @Test
+    public void invalidCanId() {
+      // Can IDs can only valid in the range [0, 62].
+      int[] invalidCanIds = {-50, -1, 63, 100};
+      for (int invalidCanId : invalidCanIds) {
+        InvalidCanIdException exception =
+            assertThrows(
+                InvalidCanIdException.class, () -> InputValidation.checkCanId(invalidCanId));
+        assertThat(exception.getCanId()).isEqualTo(invalidCanId);
+        assertThat(exception).hasMessageThat().contains("is not a valid can id");
+      }
+    }
 
-  @Theory
-  public void validCanID(@Between(first = 0, last = 62) int canID) {
-    assertEquals(canID, InputValidation.checkCanId(canID));
+    @Test
+    public void validCanID() {
+      // Can IDs can only valid in the range [0, 62].
+      int[] validCanIds = {0, 1, 10, 62};
+      for (int validCanId : validCanIds) {
+        int returnValue = InputValidation.checkCanId(validCanId);
+        assertWithMessage("Expected a valid CAN ID").that(returnValue).isEqualTo(validCanId);
+      }
+    }
   }
 }