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https://github.com/wpilibsuite/allwpilib
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[wpiunits] Java units API rewrite (#6958)
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>. Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC). This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
This commit is contained in:
Sam Carlberg
@@ -11,69 +11,106 @@ import static org.junit.jupiter.api.Assertions.assertNull;
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import static org.junit.jupiter.api.Assertions.assertSame;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import edu.wpi.first.units.measure.Angle;
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import edu.wpi.first.units.measure.AngularMomentum;
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import edu.wpi.first.units.measure.Distance;
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import edu.wpi.first.units.measure.LinearVelocity;
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import edu.wpi.first.units.measure.Per;
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import edu.wpi.first.units.measure.Time;
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import org.junit.jupiter.api.Test;
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class MeasureTest {
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@Test
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void testBasics() {
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Unit<Distance> unit = Units.Feet;
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DistanceUnit unit = Units.Feet;
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double magnitude = 10;
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Measure<Distance> m = unit.of(magnitude);
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Distance m = unit.of(magnitude);
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assertEquals(unit, m.unit(), "Wrong units");
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assertEquals(magnitude, m.magnitude(), 0, "Wrong magnitude");
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}
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@Test
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void testMultiply() {
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Measure<Distance> m = Units.Feet.of(1);
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Measure<Distance> m2 = m.times(10);
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assertEquals(10, m2.magnitude(), 1e-12);
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Distance m = Units.Feet.of(1);
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Distance m2 = m.times(10);
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assertEquals(10, m2.in(Units.Feet), 1e-12);
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assertNotSame(m2, m); // make sure state wasn't changed
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}
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@Test
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void testTimesConversionFactor() {
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Distance m = Units.Feet.of(10);
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Per<AngleUnit, DistanceUnit> conversion = Units.Degrees.of(10).divide(Units.Feet.of(1));
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Angle result = m.timesConversionFactor(conversion);
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assertEquals(Units.Degrees.of(100), result);
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}
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@Test
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void testTimesConversionFactorComplex() {
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Distance m = Units.Feet.of(1);
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// Using a complex compound unit here
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// (Per<Mult<Mult<Mass, Per<Distance, Time>>, Distance>, Distance>)
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Per<AngularMomentumUnit, DistanceUnit> conversion =
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Units.KilogramMetersSquaredPerSecond.of(1).divide(Units.Foot.one());
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AngularMomentum result = m.timesConversionFactor(conversion);
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assertEquals(Units.KilogramMetersSquaredPerSecond.of(1), result);
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}
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@Test
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void testTimesVelocityConversionFactor() {
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Time m = Units.Seconds.of(10);
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LinearVelocity conversion = Units.MetersPerSecond.of(10);
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Distance result = m.timesConversionFactor(conversion);
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assertEquals(Units.Meters.of(100), result);
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}
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@Test
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void testDivide() {
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Measure<Distance> m = Units.Meters.of(1);
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Measure<Distance> m2 = m.divide(10);
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Distance m = Units.Meters.of(1);
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Distance m2 = m.divide(10);
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assertEquals(0.1, m2.magnitude(), 0);
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assertNotSame(m2, m);
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}
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@Test
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void testAdd() {
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Measure<Distance> m1 = Units.Feet.of(1);
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Measure<Distance> m2 = Units.Inches.of(2);
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Distance m1 = Units.Feet.of(1);
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Distance m2 = Units.Inches.of(2);
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assertTrue(m1.plus(m2).isEquivalent(Units.Feet.of(1 + 2 / 12d)));
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assertTrue(m2.plus(m1).isEquivalent(Units.Inches.of(14)));
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}
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@Test
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void testSubtract() {
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Measure<Distance> m1 = Units.Feet.of(1);
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Measure<Distance> m2 = Units.Inches.of(2);
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Distance m1 = Units.Feet.of(1);
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Distance m2 = Units.Inches.of(2);
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assertTrue(m1.minus(m2).isEquivalent(Units.Feet.of(1 - 2 / 12d)));
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assertTrue(m2.minus(m1).isEquivalent(Units.Inches.of(-10)));
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}
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@Test
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void testNegate() {
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Measure<Distance> m = Units.Feet.of(123);
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Measure<Distance> n = m.negate();
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assertEquals(-m.magnitude(), n.magnitude(), 1e-12);
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assertEquals(m.unit(), n.unit());
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void testUnaryMinus() {
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Distance m = Units.Feet.of(123);
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Distance negated = m.unaryMinus();
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assertEquals(-123, negated.in(Units.Feet), 1e-12);
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assertEquals(Units.Feet, negated.unit());
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}
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@Test
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void testEquivalency() {
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Measure<Distance> inches = Units.Inches.of(12);
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Measure<Distance> feet = Units.Feet.of(1);
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Distance inches = Units.Inches.of(12);
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Distance feet = Units.Feet.of(1);
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assertTrue(inches.isEquivalent(feet));
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assertTrue(feet.isEquivalent(inches));
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}
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@Test
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void testAs() {
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Measure<Distance> m = Units.Inches.of(12);
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Distance m = Units.Inches.of(12);
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assertEquals(1, m.in(Units.Feet), Measure.EQUIVALENCE_THRESHOLD);
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}
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@@ -84,7 +121,7 @@ class MeasureTest {
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// 144 Kg / (53 ms) = (1000 / 53) * 144 Kg/s = (144,000 / 53) Kg/s
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var result = measure.per(dt);
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var result = measure.divide(dt);
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assertEquals(144_000.0 / 53, result.baseUnitMagnitude(), 1e-5);
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assertEquals(Units.Kilograms.per(Units.Milliseconds), result.unit());
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}
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@@ -94,106 +131,33 @@ class MeasureTest {
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var measure = Units.Kilograms.of(144);
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var result = measure.per(Units.Millisecond);
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assertEquals(Velocity.class, result.unit().getClass());
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assertEquals(VelocityUnit.class, result.unit().getClass());
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assertEquals(144_000.0, result.baseUnitMagnitude(), 1e-5);
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assertEquals(Units.Kilograms.per(Units.Milliseconds), result.unit());
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}
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@Test
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void testTimesMeasure() {
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var m1 = Units.Volts.of(1.567);
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var m2 = Units.Kilograms.of(8.4e-5);
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assertEquals(Units.Volts.mult(Units.Kilograms).of(1.567 * 8.4e-5), m1.times(m2));
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}
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@Test
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void testTimesUnitless() {
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var unit = new ExampleUnit(6);
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var measure = unit.of(2.5);
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var multiplier = Units.Percent.of(125); // 125% or 1.25x
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Measure<?> result = measure.times(multiplier);
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assertSame(unit, result.unit());
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assertEquals(2.5 * 1.25, result.magnitude());
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assertEquals(2.5 * 1.25 * 6, result.baseUnitMagnitude());
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}
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@Test
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void testTimesPerWithDimensionalAnalysis() {
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var measureA = Units.Feet.of(62); // 62 feet
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var measureB = Units.Radians.of(6).per(Units.Inches); // 6 radians per inch
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Measure<?> aTimesB = measureA.times(measureB); // (62 feet) * (6 rad/inch) = 4464 rad
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assertEquals(Units.Radians, aTimesB.unit());
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assertEquals(4464, aTimesB.magnitude(), 1e-12);
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Measure<?> bTimesA = measureB.times(measureA); // should be identical to the above
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assertTrue(bTimesA.isEquivalent(aTimesB));
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assertTrue(aTimesB.isEquivalent(bTimesA));
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}
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@Test
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void testPerTimesPerWithDimensionalAnalysis() {
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var measureA = Units.Inches.of(16).per(Units.Volts);
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var measureB = Units.Millivolts.of(14).per(Units.Meters);
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Measure<?> aTimesB = measureA.times(measureB);
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assertEquals(Units.Value, aTimesB.unit());
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assertEquals((16 * 25.4 / 1000) * (14 / 1000.0), aTimesB.magnitude());
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assertEquals((16 * 25.4 / 1000) * (14 / 1000.0), aTimesB.baseUnitMagnitude());
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Measure<?> bTimesA = measureB.times(measureA); // should be identical to the above
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assertTrue(bTimesA.isEquivalent(aTimesB));
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assertTrue(aTimesB.isEquivalent(bTimesA));
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}
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@Test
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void testPerTimesMeasure() {
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var m1 = Units.Feet.per(Units.Milliseconds).of(19);
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var m2 = Units.Seconds.of(44);
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// 19 ft/ms = 19,000 ft/s
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// 19,000 ft/s * 44s = 836,000 ft
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assertTrue(Units.Feet.of(836_000).isNear(m1.times(m2), 1e-12));
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// 42 ex per foot * 17mm = 42 ex * 17mm / (304.8mm/ft) = 42 * 17 / 304.8 = 2.34252
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var exampleUnit = new ExampleUnit(1);
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var m3 = exampleUnit.per(Units.Feet).of(42);
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var m4 = Units.Millimeters.of(17);
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assertEquals(exampleUnit.of(42 * 17 / (12 * 25.4)), m3.times(m4));
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}
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@Test
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void testDivideMeasure() {
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// Dimensionless divide
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var m1 = Units.Meters.of(6);
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var m2 = Units.Value.of(3);
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var result = m1.divide(m2);
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assertEquals(m1.divide(m2).magnitude(), 2);
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assertEquals(result.unit(), Units.Meters);
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assertEquals(2, m1.divide(m2).magnitude());
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assertEquals(Units.Meters, result.unit());
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// Velocity divide
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var m3 = Units.Meters.of(8);
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var m4 = Units.Meters.per(Units.Second).of(4);
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result = m3.divide(m4);
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assertEquals(result.magnitude(), 2);
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assertEquals(result.unit(), Units.Second);
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// Per divide
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var time = m3.divide(m4);
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assertEquals(2, time.magnitude());
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assertEquals(Units.Second, time.unit());
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// PerUnit divide
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var m5 = Units.Volts.of(6);
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var m6 = Units.Volts.per(Units.Meter).of(2);
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result = m5.divide(m6);
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assertEquals(result.magnitude(), 3);
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assertEquals(result.unit(), Units.Meter);
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// Fallthrough divide
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var m7 = Units.Seconds.of(10);
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var m8 = Units.Amps.of(2);
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result = m7.divide(m8);
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assertEquals(result.magnitude(), 5);
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assertEquals(result.unit(), Units.Seconds.per(Units.Amps));
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// Same base unit divide
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var m9 = Units.Meters.of(8);
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var m10 = Units.Meters.of(4);
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result = m9.divide(m10);
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assertEquals(result.magnitude(), 2);
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assertEquals(result.unit(), Units.Value);
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// Voltage/(Voltage/Distance) -> Voltage * Distance/Voltage -> Distance
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var dist = m5.divide(m6);
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assertEquals(3, dist.magnitude());
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assertEquals(Units.Meter, dist.unit());
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}
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@Test
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@@ -249,57 +213,6 @@ class MeasureTest {
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assertFalse(base.gt(base));
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}
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@Test
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void testTimesScalar() {
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var unit = new ExampleUnit(42);
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var measure = unit.of(4.2);
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var scalar = 18;
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var result = measure.times(scalar);
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assertNotSame(measure, result);
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assertSame(unit, result.unit());
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assertEquals(4.2 * 18, result.magnitude());
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assertEquals(4.2 * 42 * 18, result.baseUnitMagnitude());
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}
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@Test
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void testPerUnit() {
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var unitA = new ExampleUnit(10);
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var unitB = new ExampleUnit(12);
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var measure = unitA.of(1.2);
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var result = measure.per(unitB);
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assertEquals(Per.combine(unitA, unitB), result.unit()); // A/B has base equivalent of 10/12
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assertEquals(1, result.baseUnitMagnitude()); // 10/12 * 12/10 = 1
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assertEquals(measure.magnitude(), result.magnitude());
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}
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@Test
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void testAddMeasureSameUnit() {
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var unit = new ExampleUnit(8.2);
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var measureA = unit.of(3.1);
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var measureB = unit.of(91.6);
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var result = measureA.plus(measureB);
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assertEquals(unit, result.unit());
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assertEquals(94.7, result.magnitude(), 1e-12);
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}
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@Test
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void testAddMeasuresDifferentUnits() {
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var unitA = new ExampleUnit(8.2);
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var unitB = new ExampleUnit(7.3);
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var measureA = unitA.of(5);
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var measureB = unitB.of(16);
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var aPlusB = measureA.plus(measureB);
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assertEquals(unitA, aPlusB.unit());
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assertEquals(8.2 * 5 + 7.3 * 16, aPlusB.baseUnitMagnitude(), 1e-12);
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assertEquals(5 + (16 * 7.3 / 8.2), aPlusB.magnitude(), 1e-12);
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var bPlusA = measureB.plus(measureA);
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assertEquals(unitB, bPlusA.unit());
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assertEquals(8.2 * 5 + 7.3 * 16, bPlusA.baseUnitMagnitude(), 1e-12);
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assertEquals(16 + (5 * 8.2 / 7.3), bPlusA.magnitude(), 1e-12);
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}
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@Test
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void testMinNoArgs() {
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var min = Measure.min();
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@@ -388,29 +301,29 @@ class MeasureTest {
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assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
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assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
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measureCompared = measureCompared.negate();
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measureComparing = measureComparing.negate();
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measureCompared = measureCompared.unaryMinus();
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measureComparing = measureComparing.unaryMinus();
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// Negative value with positive tolerance
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assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(300)));
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assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(10)));
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measureCompared = measureCompared.negate();
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measureComparing = measureComparing.negate();
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measureCompared = measureCompared.unaryMinus();
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measureComparing = measureComparing.unaryMinus();
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// Positive value with negative tolerance
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assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
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assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
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measureCompared = measureCompared.negate();
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measureComparing = measureComparing.negate();
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measureCompared = measureCompared.unaryMinus();
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measureComparing = measureComparing.unaryMinus();
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// Negative value with negative tolerance.
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assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(-300)));
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assertFalse(measureCompared.isNear(measureComparing, Units.Centimeters.of(-10)));
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measureCompared = measureCompared.negate();
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measureComparing = measureComparing.negate();
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measureCompared = measureCompared.unaryMinus();
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measureComparing = measureComparing.unaryMinus();
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// Tolerance exact difference between measures.
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assertTrue(measureCompared.isNear(measureComparing, Units.Millimeters.of(200)));
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