content: /*
   * Copyright 2016 Google Inc.
   *
   * Licensed under the Apache License, Version 2.0 (the "License");
   * you may not use this file except in compliance with the License.
   * You may obtain a copy of the License at
   *
   *     http://www.apache.org/licenses/LICENSE-2.0
   *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.google.android.things.contrib.driver.pwmservo;
  
  import com.google.android.things.pio.Pwm;
  
  import org.junit.Rule;
  import org.junit.Test;
  import org.junit.rules.ExpectedException;
  import org.mockito.Mock;
  import org.mockito.Mockito;
  import org.mockito.junit.MockitoJUnit;
  import org.mockito.junit.MockitoRule;
  
  import java.io.IOException;
  
  import static org.hamcrest.CoreMatchers.equalTo;
  import static org.junit.Assert.assertEquals;
  import static org.mockito.Mockito.times;
  
  public class ServoTest {
  
      private static final double EPSILON = 1e-15;
  
      @Mock
      Pwm mPwm;
  
      @Rule
      public MockitoRule mMockitoRule = MockitoJUnit.rule();
  
      @Rule
      public ExpectedException mExpectedException = ExpectedException.none();
  
      @Test
      public void setEnabled() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.setEnabled(true);
          Mockito.verify(mPwm).setEnabled(true);
          servo.setEnabled(false);
          Mockito.verify(mPwm).setEnabled(false);
      }
  
      @Test
      public void setEnabled_throwsIfClosed() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.close();
  
          mExpectedException.expect(IllegalStateException.class);
          servo.setEnabled(true);
      }
  
      @Test
      public void setPulseDurationRange() throws IOException {
          Servo servo = new Servo(mPwm);
  
          final double minPulse = 5, maxPulse = 10;
          servo.setPulseDurationRange(minPulse, maxPulse);
          assertEquals(minPulse, servo.getMinimumPulseDuration(), EPSILON);
          assertEquals(maxPulse, servo.getMaximumPulseDuration(), EPSILON);
      }
  
      @Test
      public void setPulseDurationRange_throwsIfMinLargerThanMax() throws IOException {
          Servo servo = new Servo(mPwm);
          mExpectedException.expect(IllegalArgumentException.class);
          mExpectedException.expectMessage(equalTo("minMs must be less than maxMs"));
          servo.setPulseDurationRange(10, 5);
      }
  
      @Test
      public void setPulseDurationRange_throwsIfMinLessThanZero() throws IOException {
          Servo servo = new Servo(mPwm);
          mExpectedException.expect(IllegalArgumentException.class);
          mExpectedException.expectMessage(equalTo("minMs must be greater than 0"));
          servo.setPulseDurationRange(-1, 1);
      }
  
      @Test
      public void setPulseDurationRange_throwsIfClosed() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.close();
  
          mExpectedException.expect(IllegalStateException.class);
          servo.setPulseDurationRange(5, 10);
      }
  
      @Test
      public void setAngleRange() throws IOException {
          Servo servo = new Servo(mPwm);
  
          final double minAngle = -100, maxAngle = 100;
          servo.setAngleRange(minAngle, maxAngle);
          assertEquals(minAngle, servo.getMinimumAngle(), EPSILON);
          assertEquals(maxAngle, servo.getMaximumAngle(), EPSILON);
      }
  
      @Test
      public void setAngleRange_throwsIfMinLargerThanMax() throws IOException {
          Servo servo = new Servo(mPwm);
          mExpectedException.expect(IllegalArgumentException.class);
          mExpectedException.expectMessage(equalTo("minAngle must be less than maxAngle"));
          servo.setAngleRange(1, -1);
      }
  
      @Test
      public void setAngleRange_clampsAngleIfNecessary() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.setAngleRange(-100, 100);
          servo.setAngle(0);
  
          // clamps too small
          servo.setAngleRange(180, 360);
          assertEquals(180, servo.getAngle(), EPSILON);
  
          // clamps too large
          servo.setAngleRange(-90, 90);
          assertEquals(90, servo.getAngle(), EPSILON);
  
          // no clamp
          servo.setAngleRange(0, 180);
          assertEquals(90, servo.getAngle(), EPSILON);
      }
  
  
      @Test
      public void setAngle() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.setAngleRange(0, 180);
          servo.setAngle(90);
          assertEquals(90, servo.getAngle(), EPSILON);
      }
  
      @Test
      public void setAngle_throwsIfTooSmall() throws IOException {
          Servo servo = new Servo(mPwm);
  
          final double minAngle = 0, maxAngle = 180;
          servo.setAngleRange(minAngle, maxAngle);
  
          mExpectedException.expect(IllegalArgumentException.class);
          servo.setAngle(-1);
      }
  
      @Test
      public void setAngle_throwsIfTooLarge() throws IOException {
          Servo servo = new Servo(mPwm);
  
          final double minAngle = 0, maxAngle = 180;
          servo.setAngleRange(minAngle, maxAngle);
  
          mExpectedException.expect(IllegalArgumentException.class);
          servo.setAngle(1000);
      }
  
      @Test
      public void setAngle_throwsIfClosed() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.close();
  
          mExpectedException.expect(IllegalStateException.class);
          servo.setAngle(90);
      }
  
      @Test
      public void close_safeToCallTwice() throws IOException {
          Servo servo = new Servo(mPwm);
          servo.close();
          servo.close(); // should not throw
          Mockito.verify(mPwm, times(1)).close();
      }
  }
  