Change structure of assertion manager to rely on guice instead of flags

src/xbot/common/command/BaseSubsystem.java

@@ -11,7 +11,6 @@ public void setDefaultCommand(Command command) {
 
     @Override
     protected void initDefaultCommand() {
-        // TODO Auto-generated method stub
 
     }
 

src/xbot/common/injection/RobotModule.java

@@ -4,6 +4,8 @@
 import xbot.common.command.SmartDashboardCommandPutter;
 import xbot.common.injection.wpi_factories.RealWPIFactory;
 import xbot.common.injection.wpi_factories.WPIFactory;
+import xbot.common.logging.RobotAssertionManager;
+import xbot.common.logging.SilentRobotAssertionManager;
 import xbot.common.properties.DatabaseStorageBase;
 import xbot.common.properties.ITableProxy;
 import xbot.common.properties.RobotDatabaseStorage;
@@ -19,6 +21,7 @@ protected void configure() {
         this.bind(ITableProxy.class).to(SmartDashboardTableWrapper.class);
         this.bind(DatabaseStorageBase.class).to(RobotDatabaseStorage.class);
         this.bind(SmartDashboardCommandPutter.class).to(RealSmartDashboardCommandPutter.class);
+        this.bind(RobotAssertionManager.class).to(SilentRobotAssertionManager.class);
     }
 
 }

src/xbot/common/logging/LoudRobotAssertionManager.java

@@ -0,0 +1,15 @@
+package xbot.common.logging;
+
+public class LoudRobotAssertionManager extends RobotAssertionManager {
+
+    @Override
+    protected void handlePlatformException(RuntimeException e) {
+        throw e;
+    }
+
+    @Override
+    public boolean isExceptionsEnabled() {
+        return true;
+    }
+
+}

src/xbot/common/logging/RobotAssertionException.java

@@ -0,0 +1,7 @@
+package xbot.common.logging;
+
+public class RobotAssertionException extends RuntimeException {
+    public RobotAssertionException(String failureCauseCause) {
+        super("Assertion error: " + failureCauseCause);
+    }
+}

src/xbot/common/logging/RobotAssertionManager.java

@@ -0,0 +1,35 @@
+package xbot.common.logging;
+
+import java.util.Arrays;
+import java.util.stream.Collectors;
+
+import org.apache.log4j.Logger;
+
+public abstract class RobotAssertionManager {
+    static Logger log = Logger.getLogger(RobotAssertionManager.class);
+
+    public final void throwException(RuntimeException e) {
+        log.error("Safe exception encountered (exception throw " + (this.isExceptionsEnabled() ? "enabled" : "disabled") + "): "
+                +  e.getMessage());
+        log.error("Stack trace: \n    "
+                + Arrays.stream(e.getStackTrace())
+                    .map(elem -> elem.toString())
+                    .collect(Collectors.joining("\n    ")));
+
+        handlePlatformException(e);
+    }
+
+    protected abstract void handlePlatformException(RuntimeException e);
+
+    public abstract boolean isExceptionsEnabled();
+
+    public final void throwException(String message, Throwable cause) {
+        throwException(new RuntimeException(message, cause));
+    }
+
+    public final void assertTrue(boolean value, String assertionFaliureCause) {
+        if(!value) {
+            throwException(new RobotAssertionException(assertionFaliureCause));
+        }
+    }
+}

src/xbot/common/logging/SilentRobotAssertionManager.java

@@ -0,0 +1,15 @@
+package xbot.common.logging;
+
+public class SilentRobotAssertionManager extends RobotAssertionManager {
+
+    @Override
+    protected void handlePlatformException(RuntimeException e) {
+        // Don't do anything: we don't need to throw
+    }
+
+    @Override
+    public boolean isExceptionsEnabled() {
+        return false;
+    }
+
+}

tests/xbot/common/injection/BaseWPITest.java

@@ -8,7 +8,7 @@
 import com.google.inject.Injector;
 
 import xbot.common.controls.MockRobotIO;
-import xbot.common.logging.SafeRobotAssertionManager;
+import xbot.common.logging.RobotAssertionManager;
 import xbot.common.properties.PropertyManager;
 import edu.wpi.first.wpilibj.HLUsageReporting;
 import edu.wpi.first.wpilibj.MockHLUsageReporting;
@@ -39,9 +39,6 @@ public void setUp() {
         RobotState.SetImplementation(mockRobotState);
 
         propertyManager = injector.getInstance(PropertyManager.class);
-
-        SafeRobotAssertionManager assertionMan = injector.getInstance(SafeRobotAssertionManager.class);
-        assertionMan.setExceptionsEnabled(true);
 
         DOMConfigurator.configure("lib/log4jConfig/log4j4unitTesting.xml");
     }

tests/xbot/common/injection/UnitTestModule.java

@@ -4,6 +4,8 @@
 import xbot.common.command.SmartDashboardCommandPutter;
 import xbot.common.injection.wpi_factories.MockWPIFactory;
 import xbot.common.injection.wpi_factories.WPIFactory;
+import xbot.common.logging.LoudRobotAssertionManager;
+import xbot.common.logging.RobotAssertionManager;
 import xbot.common.properties.DatabaseStorageBase;
 import xbot.common.properties.ITableProxy;
 import xbot.common.properties.TableProxy;
@@ -28,5 +30,7 @@ protected void configure() {
         this.bind(DatabaseStorageBase.class).to(OffRobotDatabaseStorage.class).in(Singleton.class);
 
         this.bind(SmartDashboardCommandPutter.class).to(MockSmartDashboardCommandPutter.class);
+
+        this.bind(RobotAssertionManager.class).to(LoudRobotAssertionManager.class);
     }
 }

tests/xbot/common/logging/SafeRobotAssertionTests.java

@@ -8,38 +8,36 @@
 public class SafeRobotAssertionTests extends BaseWPITest {
     @Test
     public void testNoExceptionOnRobot() {
-        SafeRobotAssertionManager assertMan = injector.getInstance(SafeRobotAssertionManager.class);
-        assertMan.setExceptionsEnabled(false);
+        RobotAssertionManager assertMan = new SilentRobotAssertionManager();
 
         assertMan.throwException(new RuntimeException("Something really bad happened (...but robots never die)"));
     }
 
     @Test(expected=RuntimeException.class)
     public void testExceptionThrownInTests() {
-        SafeRobotAssertionManager assertMan = injector.getInstance(SafeRobotAssertionManager.class);
+        RobotAssertionManager assertMan = new LoudRobotAssertionManager();
 
         assertMan.throwException(new RuntimeException("Something really bad happened (tests are free to die as necessary)"));
     }
 
     @Test
     public void testAssertionContinuesOnRobot() {
-        SafeRobotAssertionManager assertMan = injector.getInstance(SafeRobotAssertionManager.class);
-        assertMan.setExceptionsEnabled(false);
+        RobotAssertionManager assertMan = new SilentRobotAssertionManager();
 
         assertMan.assertTrue(true, "The world is ending");
         assertMan.assertTrue(false, "false != true");
     }
 
-    @Test(expected=SafeRobotAssertionException.class)
+    @Test(expected=RobotAssertionException.class)
     public void testAssertionFailedInTests() {
-        SafeRobotAssertionManager assertMan = injector.getInstance(SafeRobotAssertionManager.class);
+        RobotAssertionManager assertMan = new LoudRobotAssertionManager();
 
         assertMan.assertTrue(false, "false != true");
     }
 
     @Test()
     public void testAssertionPassedInTests() {
-        SafeRobotAssertionManager assertMan = injector.getInstance(SafeRobotAssertionManager.class);
+        RobotAssertionManager assertMan = new LoudRobotAssertionManager();
 
         assertMan.assertTrue(true, "The world is ending");
     }