allwpilib/wpiunits/src/test/java/edu/wpi/first/units/UnitsTest.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.units;

import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Celsius;
import static edu.wpi.first.units.Units.Centimeters;
import static edu.wpi.first.units.Units.Degrees;
import static edu.wpi.first.units.Units.Fahrenheit;
import static edu.wpi.first.units.Units.Feet;
import static edu.wpi.first.units.Units.FeetPerSecond;
import static edu.wpi.first.units.Units.Grams;
import static edu.wpi.first.units.Units.Gs;
import static edu.wpi.first.units.Units.Horsepower;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Kelvin;
import static edu.wpi.first.units.Units.Kilo;
import static edu.wpi.first.units.Units.Kilograms;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.MetersPerSecondPerSecond;
import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Milli;
import static edu.wpi.first.units.Units.Milliamps;
import static edu.wpi.first.units.Units.Millimeters;
import static edu.wpi.first.units.Units.Milliseconds;
import static edu.wpi.first.units.Units.Millivolts;
import static edu.wpi.first.units.Units.Milliwatts;
import static edu.wpi.first.units.Units.Minutes;
import static edu.wpi.first.units.Units.Ounces;
import static edu.wpi.first.units.Units.Percent;
import static edu.wpi.first.units.Units.Pounds;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.Revolutions;
import static edu.wpi.first.units.Units.Second;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Value;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Watts;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;

import org.junit.jupiter.api.Test;

class UnitsTest {
  // Be accurate to 0.01%
  private static final double thresh = 1e-5;

  void testBaseUnit(Unit<?> baseUnit) {
    assertEquals(0, baseUnit.of(0).baseUnitMagnitude(), 0);
    assertEquals(1, baseUnit.of(1).baseUnitMagnitude(), 0);
    assertEquals(-1, baseUnit.of(-1).baseUnitMagnitude(), 0);
    assertEquals(100, baseUnit.of(100).baseUnitMagnitude(), 0);
    assertEquals(8.281723, baseUnit.of(8.281723).baseUnitMagnitude(), 0);
    assertEquals(Float.MAX_VALUE, baseUnit.of(Float.MAX_VALUE).baseUnitMagnitude(), 0);
    assertEquals(Float.MIN_VALUE, baseUnit.of(Float.MIN_VALUE).baseUnitMagnitude(), 0);
  }

  // Distances

  @Test
  void testMeters() {
    testBaseUnit(Meters);
    assertEquals("Meter", Meters.name());
    assertEquals("m", Meters.symbol());
  }

  @Test
  void testMillimeters() {
    assertEquals(1000, Millimeters.convertFrom(1, Meters), thresh);
    assertEquals(1, Meters.convertFrom(1000, Millimeters), thresh);
    assertEquals("Millimeter", Millimeters.name());
    assertEquals("mm", Millimeters.symbol());
  }

  @Test
  void testCentimeters() {
    assertEquals(100, Centimeters.convertFrom(1, Meters), thresh);
    assertEquals(1, Meters.convertFrom(100, Centimeters), thresh);
    assertEquals("Centimeter", Centimeters.name());
    assertEquals("cm", Centimeters.symbol());
  }

  @Test
  void testInches() {
    assertEquals(1, Meters.convertFrom(39.3701, Inches), thresh);
    assertEquals(39.3701, Inches.convertFrom(1, Meters), 1e-4);
    assertEquals(1 / 25.4, Inches.convertFrom(1, Millimeters), 0); // should be exact
    assertEquals(12, Inches.convertFrom(1, Feet), thresh);
    assertEquals("Inch", Inches.name());
    assertEquals("in", Inches.symbol());
  }

  @Test
  void testFeet() {
    assertEquals(3.28084, Feet.convertFrom(1, Meters), thresh);
    assertEquals(1 / 12.0, Feet.convertFrom(1, Inches), thresh);
    assertEquals("Foot", Feet.name());
    assertEquals("ft", Feet.symbol());
  }

  // Velocities

  @Test
  void testMetersPerSecond() {
    testBaseUnit(MetersPerSecond);
    assertEquals("Meter per Second", MetersPerSecond.name());
    assertEquals("m/s", MetersPerSecond.symbol());
  }

  @Test
  void testFeetPerSecond() {
    assertEquals(3.28084, FeetPerSecond.convertFrom(1, MetersPerSecond), thresh);
    assertEquals(1 / 3.28084, MetersPerSecond.convertFrom(1, FeetPerSecond), thresh);
    assertEquals("Foot per Second", FeetPerSecond.name());
    assertEquals("ft/s", FeetPerSecond.symbol());
  }

  // Accelerations

  @Test
  void testMetersPerSecondPerSecond() {
    testBaseUnit(MetersPerSecondPerSecond);
    assertEquals("Meter per Second per Second", MetersPerSecondPerSecond.name());
    assertEquals("m/s/s", MetersPerSecondPerSecond.symbol());
    assertEquals(MetersPerSecond, MetersPerSecondPerSecond.getUnit());
    assertEquals(Seconds, MetersPerSecondPerSecond.getPeriod());
  }

  @Test
  void testGs() {
    assertEquals(32.17405, Gs.of(1).in(FeetPerSecond.per(Second)), thresh);
    assertEquals(9.80665, Gs.of(1).in(MetersPerSecondPerSecond), thresh);
    assertEquals("G", Gs.name());
    assertEquals("G", Gs.symbol());
    assertEquals(Units.AnonymousBaseUnit, Gs.getUnit());
    assertEquals(Seconds, Gs.getPeriod());
  }

  // Time

  @Test
  void testSeconds() {
    testBaseUnit(Seconds);
    assertEquals("Second", Seconds.name());
    assertEquals("s", Seconds.symbol());
  }

  @Test
  void testMillisecond() {
    assertEquals(1000, Milliseconds.convertFrom(1, Seconds), thresh);
    assertEquals("Millisecond", Milliseconds.name());
    assertEquals("ms", Milliseconds.symbol());
  }

  @Test
  void testMicrosecond() {
    assertEquals(1e6, Microseconds.convertFrom(1, Second), 0);
    assertEquals("Microsecond", Microseconds.name());
    assertEquals("us", Microseconds.symbol());
  }

  @Test
  void testMinutes() {
    assertEquals(60, Seconds.convertFrom(1, Minutes), thresh);
    assertEquals("Minute", Minutes.name());
    assertEquals("min", Minutes.symbol());
  }

  // Mass

  @Test
  void testKilograms() {
    testBaseUnit(Kilograms);
    assertEquals("Kilogram", Kilograms.name());
    assertEquals("Kg", Kilograms.symbol());
  }

  @Test
  void testGrams() {
    assertEquals(1000, Grams.convertFrom(1, Kilograms), thresh);
    assertEquals("Gram", Grams.name());
    assertEquals("g", Grams.symbol());
  }

  @Test
  void testPounds() {
    assertEquals(453.592, Grams.convertFrom(1, Pounds), thresh);
    assertEquals("Pound", Pounds.name());
    assertEquals("lb.", Pounds.symbol());
  }

  @Test
  void testOunces() {
    assertEquals(16, Ounces.convertFrom(1, Pounds), thresh);
    assertEquals("Ounce", Ounces.name());
    assertEquals("oz.", Ounces.symbol());
  }

  // Angle

  @Test
  void testRevolutions() {
    assertEquals(1, Revolutions.convertFrom(2 * Math.PI, Radians), thresh);
    assertEquals("Revolution", Revolutions.name());
    assertEquals("R", Revolutions.symbol());
  }

  @Test
  void testRadians() {
    testBaseUnit(Radians);
    assertEquals(2 * Math.PI, Radians.convertFrom(1, Revolutions), thresh);
    assertEquals(2 * Math.PI, Radians.convertFrom(360, Degrees), thresh);
    assertEquals("Radian", Radians.name());
    assertEquals("rad", Radians.symbol());
  }

  @Test
  void testDegrees() {
    assertEquals(360, Degrees.convertFrom(1, Revolutions), thresh);
    assertEquals(360, Degrees.convertFrom(2 * Math.PI, Radians), thresh);
    assertEquals("Degree", Degrees.name());
    assertEquals("°", Degrees.symbol());
  }

  // Unitless

  @Test
  void testValue() {
    testBaseUnit(Value);
    assertEquals("<?>", Value.name());
    assertEquals("<?>", Value.symbol());
  }

  @Test
  void testPercent() {
    assertEquals(100, Percent.convertFrom(1, Value), thresh);
    assertEquals("Percent", Percent.name());
    assertEquals("%", Percent.symbol());
  }

  // Electric potential

  @Test
  void testVolts() {
    testBaseUnit(Volts);
    assertEquals("Volt", Volts.name());
    assertEquals("V", Volts.symbol());
  }

  @Test
  void testMillivolts() {
    assertEquals(1000, Millivolts.convertFrom(1, Volts), thresh);
    assertEquals("Millivolt", Millivolts.name());
    assertEquals("mV", Millivolts.symbol());
  }

  // Electric current

  @Test
  void testAmps() {
    testBaseUnit(Amps);
    assertEquals("Amp", Amps.name());
    assertEquals("A", Amps.symbol());
  }

  @Test
  void testMilliamps() {
    assertEquals(1000, Milliamps.convertFrom(1, Amps), thresh);
    assertEquals("Milliamp", Milliamps.name());
    assertEquals("mA", Milliamps.symbol());
  }

  // Power

  @Test
  void testWatts() {
    testBaseUnit(Watts);
    assertEquals("Watt", Watts.name());
    assertEquals("W", Watts.symbol());
  }

  @Test
  void testMilliwatts() {
    assertEquals(1000, Milliwatts.convertFrom(1, Watts), thresh);
    assertEquals("Milliwatt", Milliwatts.name());
    assertEquals("mW", Milliwatts.symbol());
  }

  @Test
  void testHorsepower() {
    assertEquals(745.7, Watts.convertFrom(1, Horsepower), thresh);
    assertEquals("Horsepower", Horsepower.name());
    assertEquals("HP", Horsepower.symbol());
  }

  // Temperature

  @Test
  void testKelvin() {
    testBaseUnit(Kelvin);
    assertEquals("Kelvin", Kelvin.name());
    assertEquals("K", Kelvin.symbol()); // note: there's no degree symbol for Kelvin!
  }

  @Test
  void testCelsius() {
    assertEquals(0, Celsius.of(-273.15).in(Kelvin), thresh);
    assertEquals(273.15, Celsius.of(0).in(Kelvin), thresh);
    assertEquals(0, Kelvin.of(273.15).in(Celsius), thresh);
    assertTrue(Celsius.of(0).isEquivalent(Kelvin.of(273.15)));
    assertTrue(Celsius.of(-273.15).isEquivalent(Kelvin.of(0)));
    assertEquals("Celsius", Celsius.name());
    assertEquals("°C", Celsius.symbol());
  }

  @Test
  void testFahrenheit() {
    assertEquals(0, Fahrenheit.of(32).in(Celsius), thresh);
    assertEquals(100, Fahrenheit.of(212).in(Celsius), thresh);
    assertEquals(-459.67, Kelvin.of(0).in(Fahrenheit), thresh);
    assertEquals(273.15, Fahrenheit.of(32).in(Kelvin), thresh);
    assertEquals(32, Kelvin.of(273.15).in(Fahrenheit), thresh);
    assertTrue(Fahrenheit.of(32).isEquivalent(Celsius.of(0)));
    assertTrue(Fahrenheit.of(212).isEquivalent(Celsius.of(100)));
    assertEquals("Fahrenheit", Fahrenheit.name());
    assertEquals("°F", Fahrenheit.symbol());
  }

  // Helpers

  @Test
  void testKilo() {
    ExampleUnit unit = new ExampleUnit(1);
    ExampleUnit kiloUnit = Kilo(unit);
    assertEquals(1e3, unit.convertFrom(1, kiloUnit), 0);
    assertEquals(1e-3, kiloUnit.convertFrom(1, unit), 0);
  }

  @Test
  void testMilli() {
    ExampleUnit unit = new ExampleUnit(1);
    ExampleUnit milliUnit = Milli(unit);
    assertEquals(1e-3, unit.convertFrom(1, milliUnit), 0);
    assertEquals(1e3, milliUnit.convertFrom(1, unit), 0);
  }
}