Added component for pneumatics control module

strongback-testing/src/org/strongback/mock/Mock.java

@@ -25,6 +25,25 @@
  */
 public class Mock {
 
+    /**
+     * Create a mock power panel.
+     *
+     * @return the mock power panel; never null
+     */
+    public static MockPowerPanel powerPanel() {
+        return new MockPowerPanel(16);
+    }
+
+    /**
+     * Create a mock pneumatics module. This method can be called more than once to represent a robot with multiple pneumatics
+     * modules.
+     *
+     * @return the mock pneumatics module; never null
+     */
+    public static MockPneumaticsModule pnuematicsModule() {
+        return new MockPneumaticsModule();
+    }
+
     /**
      * Create a mock clock.
      *
@@ -175,6 +194,7 @@ public static MockSolenoid manualSolenoid() {
 
     /**
      * Create a relay that operates instantaneously.
+     *
      * @return the mock relay; never null
      */
     public static MockRelay relay() {

strongback-testing/src/org/strongback/mock/MockAccelerometer.java

@@ -46,4 +46,8 @@ public MockAccelerometer setAcceleration(double accel) {
         return this;
     }
 
+    @Override
+    public String toString() {
+        return Double.toString(getAcceleration()) + " g/s\u00B2";
+    }
 }

strongback-testing/src/org/strongback/mock/MockAngleSensor.java

@@ -50,4 +50,8 @@ public MockAngleSensor setAngle(double angle) {
         return this;
     }
 
+    @Override
+    public String toString() {
+        return Double.toString(getAngle()) + "\u00B0";
+    }
 }

strongback-testing/src/org/strongback/mock/MockClock.java

@@ -69,4 +69,8 @@ public long currentTimeInMicros() {
         return ticker.get();
     }
 
+    @Override
+    public String toString() {
+        return Long.toString(currentTimeInMillis()) + " ms";
+    }
 }

strongback-testing/src/org/strongback/mock/MockCompass.java

@@ -49,4 +49,9 @@ public MockCompass setAngle(double angle) {
         super.setValue(angle);
         return this;
     }
+
+    @Override
+    public String toString() {
+        return Double.toString(getHeading()) + "\u00B0 heading (" + getAngle() + "\u00B0)";
+    }
 }

strongback-testing/src/org/strongback/mock/MockCurrentSensor.java

@@ -46,4 +46,9 @@ public MockCurrentSensor setCurrent(double currentInAmps) {
         return this;
     }
 
+    @Override
+    public String toString() {
+        return Double.toString(getCurrent()) + "A";
+    }
+
 }

strongback-testing/src/org/strongback/mock/MockDistanceSensor.java

@@ -62,4 +62,8 @@ public MockDistanceSensor setDistanceInFeet(double distance) {
         return setDistanceInInches(distance * 12.0);
     }
 
+    @Override
+    public String toString() {
+        return Double.toString(getDistanceInInches()) + " inches";
+    }
 }

strongback-testing/src/org/strongback/mock/MockMotor.java

@@ -43,6 +43,7 @@ public MockMotor setSpeed(double speed) {
         return this;
     }
 
+    @Override
     public MockMotor invert() {
         return new MockMotor(speed) {
             @Override
@@ -58,4 +59,9 @@ public double getSpeed() {
         };
     }
 
+
+    @Override
+    public String toString() {
+        return Double.toString(getSpeed());
+    }
 }

strongback-testing/src/org/strongback/mock/MockPneumaticsModule.java

@@ -0,0 +1,175 @@
+/*
+ * Strongback
+ * Copyright 2015, Strongback and individual contributors by the @authors tag.
+ * See the COPYRIGHT.txt in the distribution for a full listing of individual
+ * contributors.
+ *
+ * Licensed under the MIT License; you may not use this file except in
+ * compliance with the License. You may obtain a copy of the License at
+ * http://opensource.org/licenses/MIT
+ * 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 org.strongback.mock;
+
+import org.strongback.components.Fuse;
+import org.strongback.components.PneumaticsModule;
+import org.strongback.components.Switch;
+
+/**
+ * A mock implementation of the {@link PneumaticsModule} that allows the caller to control the {@link #lowPressureSwitch()}.
+ * When the module's {@link #automaticMode()} is enabled, then triggering the {@link #lowPressureSwitch() low pressure switch}
+ * will start the compressor, and {@link MockSwitch#setNotTriggered() un-triggering} the {@link #lowPressureSwitch() low
+ * pressure switch} will stop the compressor.
+ *
+ * @author Randall Hauch
+ */
+public class MockPneumaticsModule implements PneumaticsModule {
+
+    public static double COMPRESSOR_CURRENT_WHEN_RUNNING = 10.0;
+
+    private final StickyFaults stickyFaults = new StickyFaults();
+    private final MockFaults instantaneousFaults = new MockFaults(stickyFaults);
+    private final MockCurrentSensor current = new MockCurrentSensor();
+    private final MockSwitch running = new MockSwitch().setNotTriggered();
+    private final MockSwitch lowPressure = new MockSwitch() {
+        @Override
+        public MockSwitch setTriggered(boolean triggered) {
+            super.setTriggered(triggered);
+            if (automatic.isOn()) {
+                // The caller is manually triggering the switch, but this affects whether compressor runs ...
+                runCompressor(triggered);
+            }
+            return this;
+        }
+    };
+    private final MockRelay automatic = new MockRelay() {
+        @Override
+        public MockRelay off() {
+            super.off();
+            runCompressor(false);
+            return this;
+        }
+
+        @Override
+        public MockRelay on() {
+            super.on();
+            return this;
+        }
+    };
+
+    public MockPneumaticsModule() {
+        automatic.on();
+        lowPressure.setNotTriggered();
+    }
+
+    private void runCompressor( boolean isRunning ) {
+        if ( isRunning ) {
+            running.setTriggered(isRunning);
+            current.setCurrent(COMPRESSOR_CURRENT_WHEN_RUNNING);
+        } else {
+            running.setNotTriggered();
+            current.setCurrent(0.0);
+        }
+    }
+
+    @Override
+    public MockCurrentSensor compressorCurrent() {
+        return current;
+    }
+
+    @Override
+    public Switch compressorRunningSwitch() {
+        return running;
+    }
+
+    @Override
+    public MockSwitch lowPressureSwitch() {
+        return lowPressure;
+    }
+
+    @Override
+    public MockRelay automaticMode() {
+        return automatic;
+    }
+
+    /**
+     * These faults clear immediately after they are {@link Fuse#trigger() triggered}.
+     * @see #compressorStickyFaults()
+     */
+    @Override
+    public MockFaults compressorFaults() {
+        return instantaneousFaults;
+    }
+
+    @Override
+    public Faults compressorStickyFaults() {
+        return stickyFaults;
+    }
+
+    @Override
+    public MockPneumaticsModule clearStickyFaults() {
+        stickyFaults.reset();
+        return this;
+    }
+
+    private void triggerFault( MockSwitch stickySwitch ) {
+        // Any fault should always stop the compressor ...
+        stickySwitch.setTriggered();
+        runCompressor(false);
+    }
+
+    public class MockFaults implements Faults {
+        private final Fuse currentTooHigh;
+        private final Fuse notConnected;
+        private final Fuse shorted;
+        protected MockFaults( StickyFaults sticky ) {
+            // These should trip the sticky faults and then immediately reset ...
+            currentTooHigh = Fuse.instantaneous(()->triggerFault(sticky.currentTooHigh));
+            notConnected = Fuse.instantaneous(()->triggerFault(sticky.notConnected));
+            shorted = Fuse.instantaneous(()->triggerFault(sticky.shorted));
+        }
+
+        @Override
+        public Fuse currentTooHigh() {
+            return currentTooHigh;
+        }
+        @Override
+        public Fuse notConnected() {
+            return notConnected;
+        }
+        @Override
+        public Fuse shorted() {
+            return shorted;
+        }
+    }
+
+    protected static class StickyFaults implements Faults {
+        private final MockSwitch currentTooHigh = new MockSwitch().setNotTriggered();
+        private final MockSwitch notConnected = new MockSwitch().setNotTriggered();
+        private final MockSwitch shorted = new MockSwitch().setNotTriggered();
+
+        @Override
+        public Switch currentTooHigh() {
+            return currentTooHigh;
+        }
+        @Override
+        public Switch notConnected() {
+            return notConnected;
+        }
+        @Override
+        public Switch shorted() {
+            return shorted;
+        }
+        protected void reset() {
+            currentTooHigh.setNotTriggered();
+            notConnected.setNotTriggered();
+            shorted.setNotTriggered();
+        }
+    }
+
+}

strongback-testing/src/org/strongback/mock/MockPowerPanel.java

@@ -0,0 +1,66 @@
+/*
+ * Strongback
+ * Copyright 2015, Strongback and individual contributors by the @authors tag.
+ * See the COPYRIGHT.txt in the distribution for a full listing of individual
+ * contributors.
+ *
+ * Licensed under the MIT License; you may not use this file except in
+ * compliance with the License. You may obtain a copy of the License at
+ * http://opensource.org/licenses/MIT
+ * 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 org.strongback.mock;
+
+import java.util.ArrayList;
+import java.util.List;
+
+import org.strongback.components.PowerPanel;
+
+/**
+ * A mock implementation of the {@link PowerPanel}, which has 16 channels
+ * @author Randall Hauch
+ */
+public class MockPowerPanel implements PowerPanel {
+
+    private final List<MockCurrentSensor> channels;
+    private final MockTemperatureSensor temperature = new MockTemperatureSensor().setTemperature(72.0);
+    private final MockCurrentSensor totalCurrent = new MockCurrentSensor().setCurrent(10.0);
+    private final MockVoltageSensor voltage = new MockVoltageSensor().setVoltage(12.0);
+
+    /**
+     * Create a mock power panel with the specified number of channels.
+     * @param numChannels the number of channels; must be positive
+     */
+    public MockPowerPanel( int numChannels ) {
+        channels = new ArrayList<>(numChannels);
+        for ( int i= 0; i!= numChannels; ++i ) {
+            channels.add(new MockCurrentSensor());
+        }
+    }
+
+    @Override
+    public MockCurrentSensor getCurrentSensor(int channel) {
+        return channels.get(channel);
+    }
+
+    @Override
+    public MockTemperatureSensor getTemperatureSensor() {
+        return temperature;
+    }
+
+    @Override
+    public MockCurrentSensor getTotalCurrentSensor() {
+        return totalCurrent;
+    }
+
+    @Override
+    public MockVoltageSensor getVoltageSensor() {
+        return voltage;
+    }
+
+}

strongback-testing/src/org/strongback/mock/MockRelay.java

@@ -65,4 +65,9 @@ public MockRelay switchingOn() {
     public State state() {
         return state;
     }
+
+    @Override
+    public String toString() {
+        return state().name();
+    }
 }

strongback-testing/src/org/strongback/mock/MockSolenoid.java

@@ -63,4 +63,9 @@ public MockSolenoid stop() {
         direction = Direction.STOPPED;
         return this;
     }
+
+    @Override
+    public String toString() {
+        return getDirection().name();
+    }
 }

strongback-testing/src/org/strongback/mock/MockTemperatureSensor.java

@@ -46,4 +46,8 @@ public MockTemperatureSensor setTemperature(double temp) {
         return this;
     }
 
+    @Override
+    public String toString() {
+        return Double.toString(getTemperatureInFahrenheit()) + "\u00B0F";
+    }
 }

strongback-testing/src/org/strongback/mock/MockThreeAxisAccelerometer.java

@@ -36,4 +36,9 @@ public class MockThreeAxisAccelerometer extends MockTwoAxisAccelerometer impleme
     public MockAccelerometer getZDirection() {
         return z;
     }
+
+    @Override
+    public String toString() {
+        return "" + getXDirection().getAcceleration() + ", " + getYDirection().getAcceleration() + ", " + getZDirection().getAcceleration() + " g/s\u00B2";
+    }
 }