ci/test: add automated simulation testing to CI/CD and unit test suite

.vscode/settings.json

@@ -58,5 +58,6 @@
     "edu.wpi.first.math.**.struct.*",
   ],
   "java.compile.nullAnalysis.mode": "automatic",
-  "java.debug.settings.onBuildFailureProceed": true
+  "java.debug.settings.onBuildFailureProceed": true,
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx16G -Xms100m -Xlog:disable"
 }

advantagescope-custom-assets/AdvantageScope 7-8-2026.json

@@ -0,0 +1,178 @@
+{
+  "hubs": [
+    {
+      "x": -8,
+      "y": -8,
+      "width": 1936,
+      "height": 1048,
+      "state": {
+        "sidebar": {
+          "width": 334,
+          "expanded": [
+            "/SmartDashboard/Sim",
+            "/SmartDashboard/MapleSim/MatchData",
+            "/Robot/SimShot",
+            "/SmartDashboard/MapleSim/MatchData/Breakdown",
+            "/SmartDashboard/MapleSim/MatchData/Breakdown/blue Alliance",
+            "/Robot/FieldSimulation",
+            "/Robot/FieldSimulation/SimRobotPose",
+            "/Robot/FieldSimulation/SimRobotPoseWithBump",
+            "/Robot/FieldSimulation/SimRobotPoseWithBump/rotation",
+            "/Robot/FieldSimulation/SimRobotPoseWithBump/rotation/q",
+            "/Robot/FieldSimulation/SimRobotPose/rotation",
+            "/Robot/Superstructure",
+            "/Robot/Target ID getReefZone",
+            "/Sim/Fuel",
+            "/Robot",
+            "/Sim/Fuel/Stats",
+            "/Robot/Hood",
+            "/Robot/Sim"
+          ]
+        },
+        "tabs": {
+          "selected": 3,
+          "tabs": [
+            {
+              "type": 0,
+              "title": "",
+              "controller": null,
+              "controllerUUID": "n0ilkkww0cjb3y0s6c3jycvmc288co6z",
+              "renderer": "",
+              "controlsHeight": 0
+            },
+            {
+              "type": 1,
+              "title": "Line Graph",
+              "controller": {
+                "leftSources": [],
+                "rightSources": [],
+                "discreteSources": [],
+                "leftLockedRange": null,
+                "rightLockedRange": null,
+                "leftUnitConversion": {
+                  "autoTarget": null,
+                  "preset": null
+                },
+                "rightUnitConversion": {
+                  "autoTarget": null,
+                  "preset": null
+                },
+                "leftFilter": 0,
+                "rightFilter": 0
+              },
+              "controllerUUID": "ymy0ce0vpb9tpe3vl7f4eh6oclm0c6ia",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 10,
+              "title": "Mechanism",
+              "controller": [
+                {
+                  "type": "mechanism",
+                  "logKey": "NT:/SmartDashboard/Sim/LeftView",
+                  "logType": "Mechanism2d",
+                  "visible": true,
+                  "options": {}
+                }
+              ],
+              "controllerUUID": "8x5r9tpkrt5x85mzz0uuj3gwdqd1qwzy",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 3,
+              "title": "3D Field",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "robot",
+                    "logKey": "NT:/Robot/Sim/RobotPose3d",
+                    "logType": "Pose3d",
+                    "visible": true,
+                    "options": {
+                      "model": "3847 - PM"
+                    }
+                  },
+                  {
+                    "type": "component",
+                    "logKey": "NT:/Robot/Sim/Components",
+                    "logType": "Pose3d[]",
+                    "visible": true,
+                    "options": {}
+                  },
+                  {
+                    "type": "gamePiece",
+                    "logKey": "NT:Sim/Fuel/Positions",
+                    "logType": "Translation3d[]",
+                    "visible": true,
+                    "options": {
+                      "variant": "Fuel"
+                    }
+                  }
+                ],
+                "game": "FRC:2026 Field"
+              },
+              "controllerUUID": "1amtkucvvwtuj1q7z0e6rkfcgp1cfnhg",
+              "renderer": {
+                "cameraIndex": -1,
+                "orbitFov": 50,
+                "cameraPosition": [
+                  -3.3022221575556503,
+                  3.0069939305682825,
+                  5.432943392512464
+                ],
+                "cameraTarget": [
+                  -3.4582712997448435,
+                  2.119258167082097,
+                  1.3738810277593272
+                ]
+              },
+              "controlsHeight": 207
+            },
+            {
+              "type": 2,
+              "title": "2D Field",
+              "controller": {
+                "sources": [
+                  {
+                    "type": "robot",
+                    "logKey": "NT:/Robot/Swerve/Pose",
+                    "logType": "Pose2d",
+                    "visible": true,
+                    "options": {
+                      "bumpers": ""
+                    }
+                  }
+                ],
+                "field": "FRC:2025 Field (AndyMark)",
+                "orientation": 3,
+                "size": "large"
+              },
+              "controllerUUID": "t1whba8qra0vc9iqjxr7cnmasxq2l7zf",
+              "renderer": null,
+              "controlsHeight": 200
+            },
+            {
+              "type": 8,
+              "title": "Joysticks",
+              "controller": [
+                "None",
+                "None",
+                "None",
+                "None",
+                "None",
+                "None"
+              ],
+              "controllerUUID": "23r5466w9fbogud4fh5jfvz48tsz3gcc",
+              "renderer": null,
+              "controlsHeight": 85
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "satellites": [],
+  "version": "26.0.0"
+}

advantagescope-custom-assets/README.txt

@@ -0,0 +1,3 @@
+This folder contains extra assets for the odometry, 3D field, and joystick views. For more details, see the "Custom Fields/Robots/Joysticks" page in the AdvantageScope documentation (available through the documentation tab in the app or the URL below).
+
+https://docs.advantagescope.org/more-features/custom-assets

advantagescope-custom-assets/Robot_FM/config.json

@@ -0,0 +1,57 @@
+{
+  "name": "3847 - FM",
+  "isFTC": false,
+  "disableSimplification": false,
+  "rotations": [
+    {
+      "axis": "x",
+      "degrees": 90
+    },
+    {
+      "axis": "z",
+      "degrees": 90
+    }
+  ],
+  "position": [
+    0,
+    0,
+    0
+  ],
+  "cameras": [],
+  "components": [
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0,
+        0,
+        0
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0,
+        0,
+        0
+      ]
+    }
+  ]
+}

advantagescope-custom-assets/Robot_PM/config.json

@@ -0,0 +1,54 @@
+{
+  "name": "3847 - PM",
+  "isFTC": false,
+  "disableSimplification": false,
+  "rotations": [{
+    "axis": "x",
+    "degrees": 90
+  }, {
+    "axis": "z",
+    "degrees": 90
+  }],
+  "position": [
+    0,
+    0,
+    0
+  ],
+  "cameras": [],
+  "components": [
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0,
+        0,
+        0
+      ]
+    },
+    {
+      "zeroedRotations": [
+        {
+          "axis": "x",
+          "degrees": 90
+        },
+        {
+          "axis": "z",
+          "degrees": 90
+        }
+      ],
+      "zeroedPosition": [
+        0,
+        0,
+        0
+      ]
+    }
+  ]
+}

build.gradle

@@ -99,11 +99,16 @@ dependencies {
 test {
     useJUnitPlatform()
     systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+    testLogging {
+        events "passed", "skipped", "failed"
+        exceptionFormat "full"
+    }
 }
 
 // Simulation configuration (e.g. environment variables).
-wpi.sim.addGui().defaultEnabled = true
-wpi.sim.addDriverstation()
+def isCI = System.getenv("CI") != null || project.hasProperty("headless")
+wpi.sim.addGui().defaultEnabled = !isCI
+wpi.sim.addDriverstation().defaultEnabled = !isCI
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')
 // in order to make them all available at runtime. Also adding the manifest so WPILib

docs/tools/simulation.md

@@ -47,6 +47,25 @@ That view is especially useful for autos. Select the auto in Elastic or Glass, e
 
 AdvantageScope can also replay the same data from a `.wpilog` after the run. That makes the workflow: test the auto in sim, use 3D Field live while it runs, then open the saved log if you need to scrub frame-by-frame through the exact moment the path or pose estimate went sideways.
 
+## Automated Simulation Testing in CI/CD
+
+In addition to interactive debugging in Glass and AdvantageScope, the repository runs automated JUnit 5 simulation integration tests as part of `./gradlew build` and GitHub Actions CI.
+
+The simulation test suite lives under [`src/test/java/frc/robot/sim/`](../../src/test/java/frc/robot/sim/) and is built around [`SimTestBase`](../../src/test/java/frc/robot/sim/SimTestBase.java), which handles:
+
+* Initializing WPILib's Hardware Abstraction Layer (HAL) in simulation mode (`HAL.initialize(50, 0)`).
+* Managing `DriverStationSim` state transitions (teleop and autonomous modes).
+* Stepping simulation timing deterministically via `SimHooks.stepTiming(...)` and executing the `CommandScheduler`.
+* Resetting scheduler, notifier, and DriverStation state between test runs so tests remain isolated.
+
+In CI (`CI=true`) or when `-Pheadless=true` is passed to Gradle, `wpi.sim.addGui().defaultEnabled` and `wpi.sim.addDriverstation().defaultEnabled` are automatically set to `false`, allowing simulation tests to run in headless Ubuntu Linux containers without requiring X11 display servers.
+
+You can run the full verification suite locally using:
+
+```bash
+scripts/verify.sh
+```
+
 ## What Simulation Catches (and Doesn't)
 
 It catches:

scripts/verify.sh

@@ -0,0 +1,21 @@
+#!/usr/bin/env bash
+set -e
+
+# Change to repo root
+cd "$(dirname "$0")/.."
+
+if [ "$1" = "--fix" ]; then
+    echo "=== Running Spotless Apply ==="
+    ./gradlew spotlessApply
+else
+    echo "=== Running Spotless Check ==="
+    ./gradlew spotlessCheck
+fi
+
+echo "=== Running SpotBugs Static Analysis ==="
+./gradlew spotbugsMain
+
+echo "=== Running Compile and Tests (Unit & Sim Tests) ==="
+./gradlew test -Pheadless=true
+
+echo "=== Verification SUCCESSFUL ==="

simgui-ds.json

@@ -1,9 +1,4 @@
 {
-  "System Joysticks": {
-    "window": {
-      "enabled": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -104,5 +99,6 @@
     {
       "useGamepad": true
     }
-  ]
+  ],
+  "useEnableDisableHotkeys": true
 }