weevil/templates/testing/SOLUTION.md

Solution: Testing FTC Code Without Hardware

The Problem

When you run gradlew test, it tries to compile ALL your code including FTC-dependent files:

FtcMotorController.java → needs com.qualcomm.robotcore.hardware.DcMotor
MotorCycleOpMode.java → needs com.qualcomm.robotcore.eventloop.opmode.OpMode

These classes don't exist on Windows → compilation fails → no tests.

The Solution (One Line)

Exclude FTC-dependent files from test compilation:

// build.gradle.kts
sourceSets {
    main {
        java {
            exclude(
                "robot/hardware/FtcMotorController.java",
                "robot/opmodes/**/*.java"
            )
        }
    }
}

Done. That's it.

What Happens Now

When You Run gradlew test:

• ✅ Compiles: MotorController.java (interface, no FTC deps)
• ✅ Compiles: MotorCycler.java (pure Java logic)
• ✅ Compiles: MockMotorController.java (test mock)
• ✅ Compiles: MotorCyclerTest.java (tests)
• ❌ Skips: FtcMotorController.java (EXCLUDED - has FTC deps)
• ❌ Skips: MotorCycleOpMode.java (EXCLUDED - has FTC deps)

Tests run on Windows in seconds!

When You Run build.bat:

• Copies ALL files to FTC SDK TeamCode directory
• FTC SDK's Gradle compiles everything (it has the FTC SDK jars)
• Creates APK with all your code

The Architecture Pattern

Interface (no FTC) → Logic uses interface → Test with mock
    ↓
FTC Implementation (excluded from tests)

Example: Motor

// 1. Interface (compiles for tests)
public interface MotorController {
    void setPower(double power);
}

// 2. FTC implementation (excluded from tests)
public class FtcMotorController implements MotorController {
    private final DcMotor motor;  // FTC SDK class
    public void setPower(double p) { motor.setPower(p); }
}

// 3. Mock (test only)
public class MockMotorController implements MotorController {
    private double power;
    public void setPower(double p) { this.power = p; }
}

// 4. Logic (pure Java - testable!)
public class MotorCycler {
    private final MotorController motor;  // Uses interface!
    // ... no FTC dependencies ...
}

// 5. Test
@Test
void test() {
    MockMotorController mock = new MockMotorController();
    MotorCycler cycler = new MotorCycler(mock, 100, 50);
    cycler.update(60);
    assertEquals(0.5, mock.getPower());
}

Applies to Any Hardware

Same pattern for everything:

• Motors → MotorController interface + Ftc + Mock
• Servos → ServoController interface + Ftc + Mock
• Sensors (I2C, SPI, USB, etc.) → SensorInterface + Ftc + Mock
• Gyros → GyroSensor interface + Ftc + Mock

The FTC implementation is always just a thin wrapper. All your logic uses interfaces and is fully testable.

Why This Works

Test compilation:

• Only compiles files WITHOUT FTC dependencies
• Pure Java logic + interfaces + mocks
• Runs on Windows JRE

Robot compilation:

• ALL files copied to TeamCode
• Compiled by FTC SDK (which has FTC jars)
• Creates APK with everything

Same logic runs in both places - no special test-only code!

Quick Start

1. Create interface (no FTC deps)
2. Create FTC implementation (add to exclude list)
3. Create mock for testing
4. Write pure Java logic using interface
5. Test instantly on PC
6. Deploy to robot - everything works

See TESTING_GUIDE.md for detailed examples.