From a56ca65d145766579767f2fbcc6efc7779c7e50e Mon Sep 17 00:00:00 2001
From: "Keenan D. Buckley" <keenandbuckley@protonmail.com>
Date: Wed, 8 Apr 2020 09:30:16 -0600
Subject: [PATCH] Add tests for RobotTime class

---
 src/main/java/frc4388/utility/RobotTime.java  |  5 +-
 .../frc4388/utility/RobotTimeUtilityTest.java | 93 +++++++++++++++++++
 2 files changed, 95 insertions(+), 3 deletions(-)
 create mode 100644 src/test/java/frc4388/utility/RobotTimeUtilityTest.java

diff --git a/src/main/java/frc4388/utility/RobotTime.java b/src/main/java/frc4388/utility/RobotTime.java
index d427fb7..694f850 100644
--- a/src/main/java/frc4388/utility/RobotTime.java
+++ b/src/main/java/frc4388/utility/RobotTime.java
@@ -55,7 +55,7 @@ public class RobotTime {
         m_deltaTime = m_robotTime - m_lastRobotTime;
         m_frameNumber++;
 
-        if (m_matchTime != 0) {
+        if (m_startMatchTime != 0) {
             m_matchTime = m_currTime - m_startMatchTime;
         }
     }
@@ -64,9 +64,8 @@ public class RobotTime {
      * Call this in both the auto and periodic inits
      */
     public void startMatchTime() {
-        if (m_matchTime == 0) {
+        if (m_startMatchTime == 0) {
             m_startMatchTime = m_currTime;
-            m_matchTime = 1;
         }
     }
 
diff --git a/src/test/java/frc4388/utility/RobotTimeUtilityTest.java b/src/test/java/frc4388/utility/RobotTimeUtilityTest.java
new file mode 100644
index 0000000..96bf5b5
--- /dev/null
+++ b/src/test/java/frc4388/utility/RobotTimeUtilityTest.java
@@ -0,0 +1,93 @@
+/*----------------------------------------------------------------------------*/
+/* 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) {}
+    }
+}