Robot-Essentials/src/test/java/frc4388/utility/RobotTimeUtilityTest.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.utility;

import static org.junit.Assert.*;
import static org.mockito.Mockito.*;
import org.junit.*;

import edu.wpi.first.wpilibj.*;

/**
 * Add your docs here.
 */
public class RobotTimeUtilityTest {
    RobotTime robotTime = RobotTime.getInstance();

    @Test
    public void testUpdateTimes() {
        long lastTime;

        // Initialisation
        assertEquals(0, robotTime.m_deltaTime);
        assertEquals(0, robotTime.m_robotTime);
        assertEquals(0, robotTime.m_lastRobotTime);
        assertEquals(0, robotTime.m_frameNumber);
        lastTime = robotTime.m_robotTime;

        wait(1);
        robotTime.updateTimes();

        // First Frame
        assertEquals(true, robotTime.m_deltaTime > 0);
        assertEquals(true, robotTime.m_robotTime > 0);
        assertEquals(lastTime, robotTime.m_lastRobotTime);
        assertEquals(1, robotTime.m_frameNumber);
        lastTime = robotTime.m_robotTime;

        wait(1);
        robotTime.updateTimes();

        // Second Frame
        assertEquals(true, robotTime.m_deltaTime > 0);
        assertEquals(true, robotTime.m_robotTime > 0);
        assertEquals(lastTime, robotTime.m_lastRobotTime);
        assertEquals(2, robotTime.m_frameNumber);
    }

    @Test
    public void testMatchTime() {
        long lastTime;

        // Second Frame
        assertEquals(0, robotTime.m_matchTime);
        assertEquals(0, robotTime.m_lastMatchTime);
        lastTime = robotTime.m_matchTime;

        robotTime.startMatchTime();
        wait(1);
        robotTime.updateTimes();

        // Third Frame
        assertEquals(true, robotTime.m_matchTime > 0);
        assertEquals(lastTime, robotTime.m_lastMatchTime);
        lastTime = robotTime.m_matchTime;
        
        wait(1);
        robotTime.updateTimes();
        robotTime.endMatchTime();

        // Fourth Frame
        assertEquals(0, robotTime.m_matchTime);
        assertEquals(lastTime, robotTime.m_lastMatchTime);
        lastTime = robotTime.m_matchTime;

        wait(1);
        robotTime.updateTimes();

        // Fifth Frame
        assertEquals(0, robotTime.m_matchTime);
        assertEquals(lastTime, robotTime.m_lastMatchTime);
    }

    private void wait(int millis) {
        try {
            Thread.sleep(millis);
        } catch (Exception e) {}
    }
}