Testing

Synapse’s own correctness is covered by a JUnit 5 suite (51 tests) that runs in CI on every push, plus a soak suite and an R8-minified run. Your job is narrower: verify your OpModes on the bench before the field. This page covers both.

How the library is tested

Area	What’s covered
Topics	creation, type conflicts, auto-creation, latest-value cache
Subscriptions	delivery, unsubscription, type normalization
Periodic loops	fixed-delay behavior, pool isolation
Threading	two-pool isolation under load, callback backpressure
Hardware thread	serial execution, ordering under load, thread assertions
Actions	futures, completion, cancellation
Soak	minutes-long concurrent publisher/subscriber churn
Gamepad	the real SDK 11.2 Gamepad field set, edge detection, field auto-discovery
SafeDevice / HardwareActions	routing, blocking reads, timeouts

Run it from the Synapse repo checkout:

./gradlew test

The suite runs against a decompiled SDK stub, so it verifies Synapse’s logic without needing the full Android toolchain.

Verifying your OpMode

Tests for your robot live in TeamCode, and the most valuable ones are the simplest — direct verification OpModes you drive by hand. The pattern that has worked on a real robot (PR #3):

1. Direction test (bench, wheels up)

Subscribe each motor to one button and spin them individually — see the full listing. Confirms wiring and setDirection choices in five minutes.

2. OpMode smoke (bench)

• The OpMode appears in the Driver Station list.
• onSafeInit() completes without exceptions in Logcat.
• Telemetry shows the values your nodes publish (drive/power/fl, intake/power, …).
• Gamepad inputs produce the expected topic values.

3. Driving (bench, then floor)

• Controls map as expected, with the right signs.
• No IllegalStateException from the hardware-thread assertion — if one appears, see Troubleshooting.

4. Field checklist

Before a match, the on-robot verification checklist used for the reference migration:

• Subsystem powered and wired correctly
• OpMode runs without errors on the driver station
• Telemetry shows expected values
• Motors/servos respond as expected
• Controls mapped correctly
• Tested driver station + robot on the bench and on the field

Programmatic testing of your nodes

Because nodes are plain classes over topics, they are unit-testable on the JVM with Orchestrator.create("test"):

Orchestrator orch = Orchestrator.create("test");
Drive drive = new Drive(orch, fakeLeft, fakeRight, fakeBackLeft, fakeBackRight);
orch.registerNode("drive", drive);

orch.publish("g1/left_stick_y", -1.0f);
// assert the node published the expected power to drive/power/fl

LogSink.SILENT keeps test output clean: Orchestrator.create("test", LogSink.SILENT).

Next steps

• Troubleshooting — when a verification step fails.
• First OpMode — the starting point the tests protect.