mirror of
https://github.com/wpilibsuite/allwpilib
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351 lines
11 KiB
Java
351 lines
11 KiB
Java
// 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 org.wpilib.units;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.assertTrue;
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import static org.wpilib.units.Units.Amps;
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import static org.wpilib.units.Units.Celsius;
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import static org.wpilib.units.Units.Centimeters;
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import static org.wpilib.units.Units.Degrees;
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import static org.wpilib.units.Units.Fahrenheit;
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import static org.wpilib.units.Units.Feet;
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import static org.wpilib.units.Units.FeetPerSecond;
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import static org.wpilib.units.Units.Grams;
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import static org.wpilib.units.Units.Gs;
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import static org.wpilib.units.Units.Horsepower;
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import static org.wpilib.units.Units.Inches;
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import static org.wpilib.units.Units.Kelvin;
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import static org.wpilib.units.Units.Kilo;
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import static org.wpilib.units.Units.Kilograms;
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import static org.wpilib.units.Units.Meters;
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import static org.wpilib.units.Units.MetersPerSecond;
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import static org.wpilib.units.Units.MetersPerSecondPerSecond;
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import static org.wpilib.units.Units.Microseconds;
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import static org.wpilib.units.Units.Milli;
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import static org.wpilib.units.Units.Milliamps;
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import static org.wpilib.units.Units.Millimeters;
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import static org.wpilib.units.Units.Milliseconds;
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import static org.wpilib.units.Units.Millivolts;
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import static org.wpilib.units.Units.Milliwatts;
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import static org.wpilib.units.Units.Minutes;
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import static org.wpilib.units.Units.Ounces;
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import static org.wpilib.units.Units.Percent;
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import static org.wpilib.units.Units.Pounds;
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import static org.wpilib.units.Units.Radians;
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import static org.wpilib.units.Units.Revolutions;
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import static org.wpilib.units.Units.Second;
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import static org.wpilib.units.Units.Seconds;
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import static org.wpilib.units.Units.Value;
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import static org.wpilib.units.Units.Volts;
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import static org.wpilib.units.Units.Watts;
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import java.util.function.DoubleFunction;
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import org.junit.jupiter.api.Test;
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class UnitsTest {
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// Be accurate to 0.01%
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private static final double thresh = 1e-5;
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void testBaseUnit(DoubleFunction<Measure<?>> baseUnit) {
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assertEquals(0, baseUnit.apply(0).baseUnitMagnitude(), 0);
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assertEquals(1, baseUnit.apply(1).baseUnitMagnitude(), 0);
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assertEquals(-1, baseUnit.apply(-1).baseUnitMagnitude(), 0);
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assertEquals(100, baseUnit.apply(100).baseUnitMagnitude(), 0);
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assertEquals(8.281723, baseUnit.apply(8.281723).baseUnitMagnitude(), 0);
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assertEquals(Float.MAX_VALUE, baseUnit.apply(Float.MAX_VALUE).baseUnitMagnitude(), 0);
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assertEquals(Float.MIN_VALUE, baseUnit.apply(Float.MIN_VALUE).baseUnitMagnitude(), 0);
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}
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// Distances
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@Test
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void testMeters() {
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testBaseUnit(Meters::of);
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assertEquals("Meter", Meters.name());
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assertEquals("m", Meters.symbol());
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}
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@Test
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void testMillimeters() {
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assertEquals(1000, Millimeters.convertFrom(1, Meters), thresh);
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assertEquals(1, Meters.convertFrom(1000, Millimeters), thresh);
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assertEquals("Millimeter", Millimeters.name());
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assertEquals("mm", Millimeters.symbol());
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}
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@Test
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void testCentimeters() {
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assertEquals(100, Centimeters.convertFrom(1, Meters), thresh);
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assertEquals(1, Meters.convertFrom(100, Centimeters), thresh);
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assertEquals("Centimeter", Centimeters.name());
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assertEquals("cm", Centimeters.symbol());
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}
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@Test
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void testInches() {
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assertEquals(1, Meters.convertFrom(39.3701, Inches), thresh);
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assertEquals(39.3701, Inches.convertFrom(1, Meters), 1e-4);
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assertEquals(1 / 25.4, Inches.convertFrom(1, Millimeters), 0); // should be exact
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assertEquals(12, Inches.convertFrom(1, Feet), thresh);
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assertEquals("Inch", Inches.name());
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assertEquals("in", Inches.symbol());
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}
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@Test
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void testFeet() {
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assertEquals(3.28084, Feet.convertFrom(1, Meters), thresh);
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assertEquals(1 / 12.0, Feet.convertFrom(1, Inches), thresh);
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assertEquals("Foot", Feet.name());
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assertEquals("ft", Feet.symbol());
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}
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// Velocities
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@Test
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void testMetersPerSecond() {
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testBaseUnit(MetersPerSecond::of);
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assertEquals("Meter per Second", MetersPerSecond.name());
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assertEquals("m/s", MetersPerSecond.symbol());
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}
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@Test
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void testFeetPerSecond() {
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assertEquals(3.28084, FeetPerSecond.convertFrom(1, MetersPerSecond), thresh);
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assertEquals(1 / 3.28084, MetersPerSecond.convertFrom(1, FeetPerSecond), thresh);
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assertEquals("Foot per Second", FeetPerSecond.name());
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assertEquals("ft/s", FeetPerSecond.symbol());
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}
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// Accelerations
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@Test
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void testMetersPerSecondPerSecond() {
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testBaseUnit(MetersPerSecondPerSecond::of);
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assertEquals("Meter per Second per Second", MetersPerSecondPerSecond.name());
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assertEquals("m/s/s", MetersPerSecondPerSecond.symbol());
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assertEquals(MetersPerSecond, MetersPerSecondPerSecond.getUnit());
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assertEquals(Seconds, MetersPerSecondPerSecond.getPeriod());
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}
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@Test
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void testGs() {
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assertEquals(32.17405, Gs.of(1).in(FeetPerSecond.per(Second)), thresh);
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assertEquals(9.80665, Gs.of(1).in(MetersPerSecondPerSecond), thresh);
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assertEquals("G", Gs.name());
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assertEquals("G", Gs.symbol());
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assertEquals(MetersPerSecond, Gs.getUnit());
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assertEquals(Seconds, Gs.getPeriod());
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}
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// Time
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@Test
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void testSeconds() {
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testBaseUnit(Seconds::of);
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assertEquals("Second", Seconds.name());
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assertEquals("s", Seconds.symbol());
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}
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@Test
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void testMillisecond() {
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assertEquals(1000, Milliseconds.convertFrom(1, Seconds), thresh);
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assertEquals("Millisecond", Milliseconds.name());
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assertEquals("ms", Milliseconds.symbol());
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}
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@Test
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void testMicrosecond() {
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assertEquals(1e6, Microseconds.convertFrom(1, Second), 0);
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assertEquals("Microsecond", Microseconds.name());
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assertEquals("us", Microseconds.symbol());
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}
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@Test
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void testMinutes() {
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assertEquals(60, Seconds.convertFrom(1, Minutes), thresh);
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assertEquals("Minute", Minutes.name());
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assertEquals("min", Minutes.symbol());
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}
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// Mass
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@Test
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void testKilograms() {
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testBaseUnit(Kilograms::of);
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assertEquals("Kilogram", Kilograms.name());
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assertEquals("Kg", Kilograms.symbol());
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}
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@Test
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void testGrams() {
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assertEquals(1000, Grams.convertFrom(1, Kilograms), thresh);
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assertEquals("Gram", Grams.name());
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assertEquals("g", Grams.symbol());
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}
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@Test
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void testPounds() {
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assertEquals(453.592, Grams.convertFrom(1, Pounds), thresh);
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assertEquals("Pound", Pounds.name());
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assertEquals("lb.", Pounds.symbol());
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}
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@Test
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void testOunces() {
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assertEquals(16, Ounces.convertFrom(1, Pounds), thresh);
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assertEquals("Ounce", Ounces.name());
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assertEquals("oz.", Ounces.symbol());
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}
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// Angle
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@Test
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void testRevolutions() {
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assertEquals(1, Revolutions.convertFrom(2 * Math.PI, Radians), thresh);
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assertEquals("Revolution", Revolutions.name());
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assertEquals("R", Revolutions.symbol());
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}
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@Test
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void testRadians() {
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testBaseUnit(Radians::of);
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assertEquals(2 * Math.PI, Radians.convertFrom(1, Revolutions), thresh);
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assertEquals(2 * Math.PI, Radians.convertFrom(360, Degrees), thresh);
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assertEquals("Radian", Radians.name());
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assertEquals("rad", Radians.symbol());
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}
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@Test
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void testDegrees() {
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assertEquals(360, Degrees.convertFrom(1, Revolutions), thresh);
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assertEquals(360, Degrees.convertFrom(2 * Math.PI, Radians), thresh);
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assertEquals("Degree", Degrees.name());
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assertEquals("°", Degrees.symbol());
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}
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// Unitless
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@Test
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void testValue() {
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testBaseUnit(Value::of);
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assertEquals("<?>", Value.name());
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assertEquals("<?>", Value.symbol());
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}
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@Test
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void testPercent() {
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assertEquals(100, Percent.convertFrom(1, Value), thresh);
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assertEquals("Percent", Percent.name());
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assertEquals("%", Percent.symbol());
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}
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// Electric potential
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@Test
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void testVolts() {
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testBaseUnit(Volts::of);
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assertEquals("Volt", Volts.name());
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assertEquals("V", Volts.symbol());
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}
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@Test
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void testMillivolts() {
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assertEquals(1000, Millivolts.convertFrom(1, Volts), thresh);
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assertEquals("Millivolt", Millivolts.name());
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assertEquals("mV", Millivolts.symbol());
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}
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// Electric current
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@Test
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void testAmps() {
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testBaseUnit(Amps::of);
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assertEquals("Amp", Amps.name());
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assertEquals("A", Amps.symbol());
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}
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@Test
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void testMilliamps() {
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assertEquals(1000, Milliamps.convertFrom(1, Amps), thresh);
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assertEquals("Milliamp", Milliamps.name());
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assertEquals("mA", Milliamps.symbol());
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}
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// Power
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@Test
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void testWatts() {
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testBaseUnit(Watts::of);
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assertEquals("Watt", Watts.name());
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assertEquals("W", Watts.symbol());
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}
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@Test
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void testMilliwatts() {
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assertEquals(1000, Milliwatts.convertFrom(1, Watts), thresh);
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assertEquals("Milliwatt", Milliwatts.name());
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assertEquals("mW", Milliwatts.symbol());
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}
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@Test
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void testHorsepower() {
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assertEquals(745.7, Watts.convertFrom(1, Horsepower), thresh);
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assertEquals("Horsepower", Horsepower.name());
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assertEquals("HP", Horsepower.symbol());
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}
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// Temperature
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@Test
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void testKelvin() {
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testBaseUnit(Kelvin::of);
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assertEquals("Kelvin", Kelvin.name());
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assertEquals("K", Kelvin.symbol()); // note: there's no degree symbol for Kelvin!
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}
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@Test
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void testCelsius() {
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assertEquals(0, Celsius.of(-273.15).in(Kelvin), thresh);
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assertEquals(273.15, Celsius.of(0).in(Kelvin), thresh);
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assertEquals(0, Kelvin.of(273.15).in(Celsius), thresh);
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assertTrue(Celsius.of(0).isEquivalent(Kelvin.of(273.15)));
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assertTrue(Celsius.of(-273.15).isEquivalent(Kelvin.of(0)));
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assertEquals("Celsius", Celsius.name());
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assertEquals("°C", Celsius.symbol());
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}
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@Test
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void testFahrenheit() {
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assertEquals(0, Fahrenheit.of(32).in(Celsius), thresh);
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assertEquals(100, Fahrenheit.of(212).in(Celsius), thresh);
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assertEquals(-459.67, Kelvin.of(0).in(Fahrenheit), thresh);
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assertEquals(273.15, Fahrenheit.of(32).in(Kelvin), thresh);
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assertEquals(32, Kelvin.of(273.15).in(Fahrenheit), thresh);
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assertTrue(Fahrenheit.of(32).isEquivalent(Celsius.of(0)));
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assertTrue(Fahrenheit.of(212).isEquivalent(Celsius.of(100)));
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assertEquals("Fahrenheit", Fahrenheit.name());
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assertEquals("°F", Fahrenheit.symbol());
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}
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// Helpers
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@Test
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void testKilo() {
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ExampleUnit unit = new ExampleUnit(1);
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ExampleUnit kiloUnit = Kilo(unit);
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assertEquals(1e3, unit.convertFrom(1, kiloUnit), 0);
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assertEquals(1e-3, kiloUnit.convertFrom(1, unit), 0);
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}
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@Test
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void testMilli() {
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ExampleUnit unit = new ExampleUnit(1);
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ExampleUnit milliUnit = Milli(unit);
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assertEquals(1e-3, unit.convertFrom(1, milliUnit), 0);
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assertEquals(1e3, milliUnit.convertFrom(1, unit), 0);
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}
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}
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