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PJ Reiniger
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Peter Johnson
Peter Johnson
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332
wpiunits/src/test/java/org/wpilib/units/MeasureTest.java
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332
wpiunits/src/test/java/org/wpilib/units/MeasureTest.java
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.units;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertFalse;
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import static org.junit.jupiter.api.Assertions.assertNotSame;
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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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DistanceUnit unit = Units.Feet;
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double magnitude = 10;
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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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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).div(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).div(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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Distance m = Units.Meters.of(1);
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Distance m2 = m.div(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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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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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 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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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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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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@Test
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void testPerMeasureTime() {
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var measure = Units.Kilograms.of(144);
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var dt = Units.Milliseconds.of(53);
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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.div(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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@Test
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void testPerUnitTime() {
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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(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 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.div(m2);
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assertEquals(2, m1.div(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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var time = m3.div(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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// Voltage/(Voltage/Distance) -> Voltage * Distance/Voltage -> Distance
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var dist = m5.div(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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void testToShortString() {
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var measure = Units.Volts.of(343);
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assertEquals("3.430e+02 V", measure.toShortString());
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}
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@Test
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void testToLongString() {
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var measure = Units.Volts.of(343);
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assertEquals("343.0 Volt", measure.toLongString());
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assertEquals("343.0001 Volt", Units.Volts.of(343.0001).toLongString());
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assertEquals("1.2345678912345678E8 Volt", Units.Volts.of(123456789.12345678).toLongString());
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}
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@Test
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void testOfBaseUnits() {
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var unit = new ExampleUnit(16);
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var measure = unit.ofBaseUnits(1);
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assertEquals(unit, measure.unit());
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assertEquals(1, measure.baseUnitMagnitude());
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assertEquals(1 / 16.0, measure.magnitude());
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}
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@Test
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@SuppressWarnings("SelfComparison")
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void testCompare() {
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var unit = new ExampleUnit(7);
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var base = unit.of(1);
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var less = unit.of(0.5);
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var more = unit.of(2);
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assertEquals(0, base.compareTo(base));
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assertEquals(-1, base.compareTo(more));
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assertEquals(1, base.compareTo(less));
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// lt, lte, gt, gte helper functions
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assertTrue(base.lt(more));
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assertTrue(base.lte(more));
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assertFalse(base.gt(more));
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assertFalse(base.gte(more));
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assertTrue(base.gt(less));
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assertTrue(base.gte(less));
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assertFalse(base.lt(less));
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assertFalse(base.lte(less));
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assertTrue(base.lte(base));
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assertTrue(base.gte(base));
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assertFalse(base.lt(base));
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assertFalse(base.gt(base));
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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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assertNull(min);
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}
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@Test
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void testMin() {
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var unit = new ExampleUnit(56.1);
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var one = unit.of(1);
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var two = unit.of(2);
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var zero = unit.of(0);
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var veryNegative = unit.of(-12839712);
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var min = Measure.min(one, two, zero, veryNegative);
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assertSame(veryNegative, min);
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}
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@Test
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void testMaxNoArgs() {
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var min = Measure.max();
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assertNull(min);
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}
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@Test
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void testMax() {
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var unit = new ExampleUnit(6.551);
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var one = unit.of(1);
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var two = unit.of(2);
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var zero = unit.of(0);
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var veryLarge = unit.of(8217234);
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var max = Measure.max(one, two, zero, veryLarge);
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assertSame(veryLarge, max);
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}
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@Test
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void testIsNearVarianceThreshold() {
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var unit = new ExampleUnit(92);
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var measureA = unit.of(1.21);
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var measureB = unit.ofBaseUnits(64);
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// A = 1.21 * 92 base units, or 111.32
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// B = 64 base units
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// ratio = 111.32 / 64 = 1.739375 = 173.9375%
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assertTrue(measureA.isNear(measureA, 0));
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assertTrue(measureB.isNear(measureB, 0));
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assertFalse(measureA.isNear(measureB, 0));
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assertFalse(measureA.isNear(measureB, 0.50));
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assertFalse(measureA.isNear(measureB, 0.739370));
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assertTrue(measureA.isNear(measureB, 0.739375));
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assertTrue(measureA.isNear(measureB, 100)); // some stupidly large range +/- 10000%
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var measureC = unit.of(-1.21);
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var measureD = unit.ofBaseUnits(-64);
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assertTrue(measureC.isNear(measureC, 0));
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assertTrue(measureD.isNear(measureD, 0));
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assertFalse(measureC.isNear(measureD, 0));
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assertFalse(measureC.isNear(measureD, 0.50));
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assertFalse(measureC.isNear(measureD, 0.739370));
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assertTrue(measureC.isNear(measureD, 0.739375));
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assertTrue(measureC.isNear(measureD, 100)); // some stupidly large range +/- 10000%
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var measureE = Units.Meters.of(1);
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var measureF = Units.Feet.of(-3.28084);
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assertTrue(measureE.isNear(measureF, 2.01));
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assertFalse(measureE.isNear(measureF, 1.99));
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assertTrue(measureF.isNear(measureE, 2.01));
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assertFalse(measureF.isNear(measureE, 1.99));
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assertTrue(Units.Feet.zero().isNear(Units.Millimeters.zero(), 0.001));
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assertFalse(Units.Feet.of(2).isNear(Units.Millimeters.of(0), 0.001));
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}
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@Test
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void testIsNearMeasureTolerance() {
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var measureCompared = Units.Meters.of(1);
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var measureComparing = Units.Meters.of(1.2);
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// Positive 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.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.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.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.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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assertTrue(measureCompared.isNear(measureComparing, Units.Centimeters.of(-20)));
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}
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}
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