Refactor tests to use @ArgumentsSource

Author: kcooney

testing/src/test/java/com/team2813/lib2813/testing/truth/Component.java

@@ -0,0 +1,47 @@
+/*
+Copyright 2026 Prospect Robotics SWENext Club
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+package com.team2813.lib2813.testing.truth;
+
+import java.util.List;
+import java.util.stream.Stream;
+import org.junit.jupiter.api.extension.ExtensionContext;
+import org.junit.jupiter.params.provider.Arguments;
+import org.junit.jupiter.params.provider.ArgumentsProvider;
+import org.junit.jupiter.params.support.ParameterDeclarations;
+
+interface Component {
+
+  Type getType();
+
+  enum Type {
+    TRANSLATION,
+    ROTATION
+  }
+
+  abstract class ComponentArgumentsProvider<T extends Component> implements ArgumentsProvider {
+    private final List<T> values;
+
+    protected ComponentArgumentsProvider(Type componentType, Stream<T> allValues) {
+      values = allValues.filter(c -> c.getType() == componentType).toList();
+    }
+
+    @Override
+    public final Stream<? extends Arguments> provideArguments(
+        ParameterDeclarations parameters, ExtensionContext context) {
+      return values.stream().map(Arguments::of);
+    }
+  }
+}

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose2dComponent.java

@@ -18,28 +18,48 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import java.util.stream.Stream;
 
-enum Pose2dComponent {
-  X {
+/** Represents component in a two-dimensional coordinate system. */
+enum Pose2dComponent implements Component {
+  X(Type.TRANSLATION) {
     @Override
     Pose2d add(Pose2d pose, double value) {
       return new Pose2d(pose.getX() + value, pose.getY(), pose.getRotation());
     }
   },
-  Y {
+  Y(Type.TRANSLATION) {
     @Override
     Pose2d add(Pose2d pose, double value) {
       return new Pose2d(pose.getX(), pose.getY() + value, pose.getRotation());
     }
   },
-  R {
+  R(Type.ROTATION) {
     @Override
     Pose2d add(Pose2d pose, double value) {
       return new Pose2d(
           pose.getTranslation(), new Rotation2d(pose.getRotation().getRadians() + value));
     }
   };
 
+  /** An arguments provider for Pose3dComponent values that represent translations. */
+  static class TranslationsArgumentsProvider extends ComponentArgumentsProvider<Pose2dComponent> {
+    TranslationsArgumentsProvider() {
+      super(Type.TRANSLATION, Stream.of(Pose2dComponent.values()));
+    }
+  }
+
+  private final Type componentType;
+
+  Pose2dComponent(Type componentType) {
+    this.componentType = componentType;
+  }
+
+  @Override
+  public final Type getType() {
+    return componentType;
+  }
+
   abstract Pose2d add(Pose2d pose, double value);
 
   final Translation2d add(Translation2d translation, double value) {

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose2dSubjectTest.java

@@ -25,7 +25,7 @@
 /** Tests for {@link Pose2dSubject}. */
 class Pose2dSubjectTest {
   private static final Pose2d POSE =
-      new Pose2d(7.353, 0.706, new Rotation2d(Math.toRadians(6.81), Math.toRadians(-25.67)));
+      new Pose2d(7.353, 0.706, new Rotation2d(Math.PI / 6));
 
   @ParameterizedTest
   @EnumSource(Pose2dComponent.class)

testing/src/test/java/com/team2813/lib2813/testing/truth/Pose3dComponent.java

@@ -18,27 +18,29 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.geometry.Translation3d;
+import java.util.stream.Stream;
 
-enum Pose3dComponent {
-  X {
+/** Represents component in a three-dimensional coordinate system. */
+enum Pose3dComponent implements Component {
+  X(Type.TRANSLATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       return new Pose3d(pose.getX() + value, pose.getY(), pose.getZ(), pose.getRotation());
     }
   },
-  Y {
+  Y(Type.TRANSLATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       return new Pose3d(pose.getX(), pose.getY() + value, pose.getZ(), pose.getRotation());
     }
   },
-  Z {
+  Z(Type.TRANSLATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       return new Pose3d(pose.getX(), pose.getY(), pose.getZ() + value, pose.getRotation());
     }
   },
-  ROLL {
+  ROLL(Type.ROTATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       Rotation3d rotation = pose.getRotation();
@@ -47,7 +49,7 @@ Pose3d add(Pose3d pose, double value) {
           new Rotation3d(rotation.getX() + value, rotation.getY(), rotation.getZ()));
     }
   },
-  PITCH {
+  PITCH(Type.ROTATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       Rotation3d rotation = pose.getRotation();
@@ -56,7 +58,7 @@ Pose3d add(Pose3d pose, double value) {
           new Rotation3d(rotation.getX(), rotation.getY() + value, rotation.getZ()));
     }
   },
-  YAW {
+  YAW(Type.ROTATION) {
     @Override
     Pose3d add(Pose3d pose, double value) {
       Rotation3d rotation = pose.getRotation();
@@ -66,6 +68,31 @@ Pose3d add(Pose3d pose, double value) {
     }
   };
 
+  /** An arguments provider for Pose3dComponent values that represent translations. */
+  static class TranslationsArgumentsProvider extends ComponentArgumentsProvider<Pose3dComponent> {
+    TranslationsArgumentsProvider() {
+      super(Type.TRANSLATION, Stream.of(Pose3dComponent.values()));
+    }
+  }
+
+  /** An arguments provider for Pose3dComponent values that represent rotations. */
+  static class RotationsArgumentsProvider extends ComponentArgumentsProvider<Pose3dComponent> {
+    RotationsArgumentsProvider() {
+      super(Type.ROTATION, Stream.of(Pose3dComponent.values()));
+    }
+  }
+
+  private final Type componentType;
+
+  Pose3dComponent(Type componentType) {
+    this.componentType = componentType;
+  }
+
+  @Override
+  public final Type getType() {
+    return componentType;
+  }
+
   abstract Pose3d add(Pose3d pose, double value);
 
   final Translation3d add(Translation3d translation, double value) {

testing/src/test/java/com/team2813/lib2813/testing/truth/Rotation2dSubjectTest.java

@@ -22,8 +22,7 @@
 
 /** Tests for {@link Rotation2dSubject}. */
 class Rotation2dSubjectTest {
-  private static final Rotation2d ROTATION =
-      new Rotation2d(Math.toRadians(6.81), Math.toRadians(-25.67));
+  private static final Rotation2d ROTATION = new Rotation2d(Math.PI / 6);
 
   @Test
   public void isWithin_valueWithinTolerance_doesNotThrow() {

testing/src/test/java/com/team2813/lib2813/testing/truth/Rotation3dSubjectTest.java

@@ -19,26 +19,22 @@
 
 import edu.wpi.first.math.geometry.Rotation3d;
 import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ArgumentsSource;
 
 /** Tests for {@link Rotation3dSubject}. */
 class Rotation3dSubjectTest {
   private static final Rotation3d ROTATION = new Rotation3d(6.81, -25.67, 3.16);
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose3dComponent.class,
-      names = {"ROLL", "PITCH", "YAW"})
+  @ArgumentsSource(Pose3dComponent.RotationsArgumentsProvider.class)
   public void isWithin_valueWithinTolerance_doesNotThrow(Pose3dComponent component) {
     Rotation3d closeRotation = component.add(ROTATION, 0.009);
 
     Rotation3dSubject.assertThat(closeRotation).isWithin(0.01).of(ROTATION);
   }
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose3dComponent.class,
-      names = {"ROLL", "PITCH", "YAW"})
+  @ArgumentsSource(Pose3dComponent.RotationsArgumentsProvider.class)
   public void isWithin_valueNotWithinTolerance_throws(Pose3dComponent component) {
     Rotation3d closeRotation = component.add(ROTATION, 0.011);
 

testing/src/test/java/com/team2813/lib2813/testing/truth/Translation2dSubjectTest.java

@@ -19,26 +19,22 @@
 
 import edu.wpi.first.math.geometry.Translation2d;
 import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ArgumentsSource;
 
 /** Tests for {@link Translation2dSubject}. */
 class Translation2dSubjectTest {
   private static final Translation2d TRANSLATION = new Translation2d(7.353, 0.706);
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose2dComponent.class,
-      names = {"X", "Y"})
+  @ArgumentsSource(Pose2dComponent.TranslationsArgumentsProvider.class)
   public void isWithin_valueWithinTolerance_doesNotThrow(Pose2dComponent component) {
     Translation2d closeTranslation = component.add(TRANSLATION, 0.009);
 
     Translation2dSubject.assertThat(closeTranslation).isWithin(0.01).of(TRANSLATION);
   }
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose2dComponent.class,
-      names = {"X", "Y"})
+  @ArgumentsSource(Pose2dComponent.TranslationsArgumentsProvider.class)
   public void isWithin_valueNotWithinTolerance_throws(Pose2dComponent component) {
     Translation2d closeTranslation = component.add(TRANSLATION, 0.011);
 

testing/src/test/java/com/team2813/lib2813/testing/truth/Translation3dSubjectTest.java

@@ -15,30 +15,26 @@
 */
 package com.team2813.lib2813.testing.truth;
 
-import static org.junit.jupiter.api.Assertions.*;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
 import edu.wpi.first.math.geometry.Translation3d;
 import org.junit.jupiter.params.ParameterizedTest;
-import org.junit.jupiter.params.provider.EnumSource;
+import org.junit.jupiter.params.provider.ArgumentsSource;
 
 /** Tests for {@link Translation3dSubject}. */
 class Translation3dSubjectTest {
   private static final Translation3d TRANSLATION = new Translation3d(7.353, 0.706, 42.00);
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose3dComponent.class,
-      names = {"X", "Y", "Z"})
+  @ArgumentsSource(Pose3dComponent.TranslationsArgumentsProvider.class)
   public void isWithin_valueWithinTolerance_doesNotThrow(Pose3dComponent component) {
     Translation3d closeTranslation = component.add(TRANSLATION, 0.009);
 
     Translation3dSubject.assertThat(closeTranslation).isWithin(0.01).of(TRANSLATION);
   }
 
   @ParameterizedTest
-  @EnumSource(
-      value = Pose3dComponent.class,
-      names = {"X", "Y", "Z"})
+  @ArgumentsSource(Pose3dComponent.TranslationsArgumentsProvider.class)
   public void isWithin_valueNotWithinTolerance_throws(Pose3dComponent component) {
     Translation3d closeTranslation = component.add(TRANSLATION, 0.011);