Timer Abstraction (#29)

* timer abstraction for unit testing

* timer abstraction for unit testing

* added timer test

* fix from PR

* added to minor version

Author: BBScholar

build.gradle

@@ -32,7 +32,7 @@ dependencies {
 }
 
 group = 'org.team5499'
-version = '2.3.0'
+version = '2.4.0'
 
 task sourcesJar(type: Jar) {
     from sourceSets.main.allJava

src/main/kotlin/org/team5499/monkeyLib/auto/Action.kt

@@ -1,13 +1,15 @@
 package org.team5499.monkeyLib.auto
 
-import edu.wpi.first.wpilibj.Timer
+import org.team5499.monkeyLib.util.time.ITimer
+import org.team5499.monkeyLib.util.time.WPITimer
 
-public open class Action(timeoutSeconds: Double) {
-    private val mTimer: Timer
+public open class Action(timeoutSeconds: Double, timer: ITimer = WPITimer()) {
+
+    private val mTimer: ITimer
     private val mTimeoutSeconds: Double
 
     init {
-        mTimer = Timer()
+        mTimer = timer
         mTimeoutSeconds = timeoutSeconds
     }
 

src/main/kotlin/org/team5499/monkeyLib/auto/NothingAction.kt

@@ -1,3 +1,6 @@
 package org.team5499.monkeyLib.auto
 
-public class NothingAction(timeout: Double) : Action(timeout)
+import org.team5499.monkeyLib.util.time.ITimer
+import org.team5499.monkeyLib.util.time.WPITimer
+
+public class NothingAction(timeout: Double, timer: ITimer = WPITimer()) : Action(timeout, timer)

src/main/kotlin/org/team5499/monkeyLib/auto/ParallelAction.kt

@@ -1,6 +1,9 @@
 package org.team5499.monkeyLib.auto
 
-class ParallelAction(vararg actions: Action) : Action(0.0) {
+import org.team5499.monkeyLib.util.time.ITimer
+import org.team5499.monkeyLib.util.time.WPITimer
+
+class ParallelAction(vararg actions: Action, timer: ITimer = WPITimer()) : Action(0.0, timer) {
 
     private val mActions: Array<out Action>
 

src/main/kotlin/org/team5499/monkeyLib/util/time/ITimer.kt

@@ -0,0 +1,28 @@
+package org.team5499.monkeyLib.util.time
+
+/**
+* Timer abstraction layer to allow unit testing
+*/
+public interface ITimer {
+
+    /**
+    * Function to get time since timer started
+    * @return number of ellapsed seconds
+    */
+    public fun get(): Double
+
+    /**
+    * Starts the timer
+    */
+    public fun start(): Unit
+
+    /**
+    * stops the timer
+    */
+    public fun stop(): Unit
+
+    /**
+    * resets the timer to 0.
+    */
+    public fun reset(): Unit
+}

src/main/kotlin/org/team5499/monkeyLib/util/time/SystemTimer.kt

@@ -0,0 +1,44 @@
+package org.team5499.monkeyLib.util.time
+
+public class SystemTimer : ITimer {
+
+    private var mStartTime: Long
+    private var mTotalPauseTime: Long
+    private var mStartPauseTime: Long
+    private var mPaused: Boolean
+
+    init {
+        mStartTime = 0L
+        mTotalPauseTime = 0L
+        mStartPauseTime = 0L
+
+        mPaused = false
+    }
+
+    public override fun get(): Double {
+        @Suppress("MagicNumber")
+        return (mStartTime - System.currentTimeMillis() - mTotalPauseTime) / 1000.0
+    }
+
+    public override fun start() {
+        if (mPaused) {
+            mTotalPauseTime += System.currentTimeMillis() - mStartPauseTime
+            mPaused = false
+        }
+        mStartTime = System.currentTimeMillis()
+    }
+
+    public override fun stop() {
+        if (!mPaused) {
+            mStartPauseTime = System.currentTimeMillis()
+            mPaused = true
+        }
+    }
+
+    public override fun reset() {
+        mStartTime = 0L
+        mTotalPauseTime = 0L
+        mTotalPauseTime = 0L
+        mPaused = false
+    }
+}

src/main/kotlin/org/team5499/monkeyLib/util/time/WPITimer.kt

@@ -0,0 +1,20 @@
+package org.team5499.monkeyLib.util.time
+
+import edu.wpi.first.wpilibj.Timer
+
+public class WPITimer(timer: Timer = Timer()) : ITimer {
+
+    private val mTimer: Timer
+
+    init {
+        mTimer = timer
+    }
+
+    public override fun get() = mTimer.get()
+
+    public override fun start() = mTimer.start()
+
+    public override fun stop() = mTimer.stop()
+
+    public override fun reset() = mTimer.reset()
+}

src/test/kotlin/tests/util/TimerTest.kt

@@ -0,0 +1,30 @@
+package tests.utils
+
+import org.junit.Test
+import org.junit.Assert.assertEquals
+
+import org.team5499.monkeyLib.util.time.ITimer
+import org.team5499.monkeyLib.util.time.SystemTimer
+
+public class TimerTest {
+
+    private val kEpsilon = 1E6
+
+    @Test
+    fun timerSystemTest() {
+        val timer: ITimer = SystemTimer()
+        timer.start()
+        assertEquals(timer.get(), 0.0, kEpsilon)
+        Thread.sleep(2000L)
+        assertEquals(timer.get(), 2.0, kEpsilon)
+        timer.stop()
+        Thread.sleep(1000L)
+        timer.start()
+        Thread.sleep(1000L)
+        assertEquals(timer.get(), 3.0, kEpsilon)
+        timer.stop()
+        timer.reset()
+        timer.start()
+        assertEquals(timer.get(), 0.0, kEpsilon)
+    }
+}