/** Test of getOutput method, of class GPS with noise. */
@Test
public void testNoisyOutput() {
System.out.println("getOutput with noise");
// Set up test data
GPS instance = new GPS(0.2);
XPoint location = new XPoint(10, 20);
SensorTestingRobot robot = new SensorTestingRobot(0, location, 0);
instance.setObject(robot);
// Check the values are correct
assertEquals(10, instance.getOutput().getX(), 10 * 0.2);
assertEquals(20, instance.getOutput().getY(), 20 * 0.2);
}
@Test
public void testUpdateLocation() {
// Wings wings = new Wings();
Engine[] engine = new Engine[2];
GPS gps = new GPS();
final double MAXRPM = 10000;
engine[0] = new Engine(MAXRPM);
engine[1] = new Engine(MAXRPM);
engine[0].turnOn();
engine[1].turnOn();
engine[0].setCurrentRPM(2000);
engine[1].setCurrentRPM(2000);
System.out.println(gps.getLat());
System.out.println(gps.getLon());
gps.updateLocation(45, 100, 0.1);
assertEquals(1.964185503, gps.getLat(), .001);
assertEquals(1.964185503, gps.getLon(), .001);
gps.updateLocation(180, 300, 0.1);
assertEquals(1.964185503, gps.getLat(), .001);
assertEquals(-478.0 / 75, gps.getLon(), .01);
try {
gps.updateLocation(180, -300, 0.01);
fail();
} catch (IllegalArgumentException e) {
// Exception Caught, Pass Negative Speed Test
}
try {
gps.updateLocation(-180, 300, 0.01);
fail();
} catch (IllegalArgumentException e) {
// Exception Caught, Pass Negative Speed Test
}
try {
gps.updateLocation(180, 300, -0.01);
fail();
} catch (IllegalArgumentException e) {
// Exception Caught, Pass Negative Speed Test
}
}
@Test
public void testUpdateAltitude() {
Engine[] engine = new Engine[2];
GPS gps = new GPS();
final double MAXRPM = 10000;
engine[0].turnOn();
engine[1].turnOn();
engine[0] = new Engine(MAXRPM);
engine[1] = new Engine(MAXRPM);
gps.updateAltitude(20, 200, 100, 0.1);
assertEquals(gps.getAltitude(), 0.0, 0.1);
gps.updateAltitude(20, 200, 200, 0.1);
assertEquals(gps.getAltitude(), 1.90011, 0.1);
gps.updateAltitude(40, 400, 200, 0.1);
assertEquals(gps.getAltitude(), 9.042196, 0.1);
gps.updateAltitude(-30, 200, 100, 0.1);
assertEquals(gps.getAltitude(), 6.264418, 0.1);
try {
gps.updateAltitude(-110, 400, 200, 0.1);
fail();
} catch (IllegalArgumentException e) {
// Passed, caught the correct error
}
try {
gps.updateAltitude(110, -400, 200, 0.1);
fail();
} catch (IllegalArgumentException e) {
// Passed, caught the correct error
}
try {
gps.updateAltitude(110, 400, 200, -0.1);
fail();
} catch (IllegalArgumentException e) {
// Passed, caught the correct error
}
}