{"action":"created","comment":{"url":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/pulls/comments/88809555","pull_request_review_id":9371437,"id":88809555,"diff_hunk":"@@ -0,0 +1,401 @@\n+package com.roboclub.robobuggy.nodes.localizers;\n+\n+import com.hcrest.jfreespace.Device;\n+import com.hcrest.jfreespace.FreespaceErrorCodes;\n+import com.hcrest.jfreespace.inreport.DecoderFactory;\n+import com.hcrest.jfreespace.inreport.FreespaceMsgInMotionEngineOutput;\n+import com.hcrest.jfreespace.inreport.HidInMsg;\n+import com.hcrest.jfreespace.outreport.HidOutMsg;\n+import com.roboclub.robobuggy.messages.*;\n+import com.roboclub.robobuggy.nodes.sensors.HillCrestImuNode;\n+import com.roboclub.robobuggy.ros.*;\n+import org.junit.Test;\n+\n+import java.util.ArrayList;\n+import java.util.concurrent.TimeUnit;\n+\n+/**\n+ * Created by Alex on 11/10/2016.\n+ */\n+public class MultipleIMUtest {\n+    private static ArrayList<Message> messages;\n+\n+    private double EPS = Math.pow(10, -5);\n+    private long waitTime = 10 * 1000;\n+\n+    private HillCrestImuNode node;\n+\n+    private FakeHillcrest a;\n+    private FakeHillcrest b;\n+\n+    private boolean setUp = false;\n+\n+    @Test\n+    public void testStandardIMUData() {\n+        System.out.println(\"Run All Tests\");\n+        System.out.println(\"\\n====================================================\\n\");\n+\n+        if(!setUp) {\n+            oneTimeSetup();\n+        }\n+\n+        testImu0Msg0();\n+        testImu1Msg0();\n+        testImu0Msg1();\n+        testImu1Msg1();\n+    }\n+\n+    @Test\n+    public void testImu0Msg0() {\n+        System.out.println(\"Testing MSG 0 with IMU 0\");\n+        System.out.println(\"====================================================\");\n+\n+        if(!setUp) {\n+            oneTimeSetup();\n+        }\n+\n+        HidInMsg msg = makeMessage(0);\n+        node.handleRead(a, msg, 34, System.currentTimeMillis());\n+\n+        testMessages(waitTime, 0, 0);\n+\n+\n+        System.out.println(\"Success\\n\");\n+    }\n+\n+    @Test\n+    public void testImu1Msg0() {\n+        System.out.println(\"Testing MSG 0 with IMU 1\");\n+        System.out.println(\"====================================================\");\n+\n+        if(!setUp) {\n+            oneTimeSetup();\n+        }\n+\n+        HidInMsg msg = makeMessage(0);\n+        node.handleRead(b, msg, 34, System.currentTimeMillis());\n+\n+        testMessages(waitTime, 0, 1);\n+\n+\n+        System.out.println(\"Success\\n\");\n+    }\n+\n+    @Test\n+    public void testImu0Msg1() {\n+        System.out.println(\"Testing MSG 1 with IMU 0\");\n+        System.out.println(\"====================================================\");\n+\n+        if(!setUp) {\n+            oneTimeSetup();\n+        }\n+\n+        HidInMsg msg = makeMessage(1);\n+        node.handleRead(a, msg, 34, System.currentTimeMillis());\n+\n+        testMessages(waitTime, 1, 0);\n+\n+\n+        System.out.println(\"Success\\n\");\n+    }\n+\n+    @Test\n+    public void testImu1Msg1() {\n+        System.out.println(\"Testing MSG 1 with IMU 1\");\n+        System.out.println(\"====================================================\");\n+\n+        if(!setUp) {\n+            oneTimeSetup();\n+        }\n+\n+        HidInMsg msg = makeMessage(1);\n+        node.handleRead(b, msg, 34, System.currentTimeMillis());\n+\n+        testMessages(waitTime, 1, 1);\n+\n+        System.out.println(\"Success\\n\");\n+    }\n+\n+    public void testMessages (long delayinMS, int messageID, int imuID) {\n+        boolean z = messageID == 0;\n+\n+        System.out.println(\"Waiting \" + delayinMS + \" ms ....\");\n+        try {\n+            TimeUnit.MILLISECONDS.sleep(delayinMS);\n+        } catch (InterruptedException e) {\n+            e.printStackTrace();\n+        }\n+\n+        System.out.println(\"Testing Message Results\");\n+        while(!messages.isEmpty()) {\n+            Message m = messages.remove(0);\n+            if(m instanceof IMUAccelerationMessage) {\n+                IMUAccelerationMessage a = (IMUAccelerationMessage) m;\n+                accelerationTest(a, z, imuID);\n+            } else if(m instanceof IMULinearAccelerationMessage) {\n+                IMULinearAccelerationMessage a = (IMULinearAccelerationMessage) m;\n+                linAccelerationTest(a, z, imuID);\n+            } else if(m instanceof IMUAngularVelocityMessage) {\n+                IMUAngularVelocityMessage a = (IMUAngularVelocityMessage) m;\n+                angularVelTest(a, z, imuID);\n+            } else if(m instanceof MagneticMeasurement) {\n+                MagneticMeasurement a = (MagneticMeasurement) m;\n+                magneticTest(a, z, imuID);\n+            } else if(m instanceof IMUInclinationMessage) {\n+                IMUInclinationMessage a = (IMUInclinationMessage) m;\n+                inclinationTest(a, z, imuID);\n+            } else if(m instanceof IMUCompassMessage) {\n+                IMUCompassMessage a = (IMUCompassMessage) m;\n+                compassTest(a, z, imuID);\n+            } else if(m instanceof IMUAngularPositionMessage) {\n+                IMUAngularPositionMessage a = (IMUAngularPositionMessage) m;\n+                angularPositionTest(a, z, imuID);\n+            } else {\n+                System.out.println(\"Class not found\");\n+                System.out.println(\"Class given was \" + m.getClass().toString());\n+                assert false;\n+            }\n+        }\n+    }\n+\n+    public void accelerationTest(IMUAccelerationMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getXAccel(), 8, EPS);\n+        assert approxEq(a.getYAccel(), 3.36, EPS);\n+        assert approxEq(a.getZAccel(), z ? 40.96 : 5.12, EPS);\n+    }\n+\n+    public void linAccelerationTest(IMULinearAccelerationMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getX(), 3.36, EPS);\n+        assert approxEq(a.getY(), 8, EPS);\n+        assert approxEq(a.getZ(), z ? 2.56 : 0, EPS);\n+    }\n+\n+    public void angularVelTest(IMUAngularVelocityMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getX(), 8.5, EPS);\n+        assert approxEq(a.getY(), 9.5, EPS);\n+        assert approxEq(a.getZ(), z ? 63.8 : 115, EPS);\n+    }\n+\n+    public void magneticTest(MagneticMeasurement a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getmagX(), 0.86, EPS);\n+        assert approxEq(a.getmagY(), 4.202, EPS);\n+        assert approxEq(a.getmagZ(), z ? 0 : 1.024, EPS);\n+    }\n+\n+    public void inclinationTest(IMUInclinationMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getXInclination(), 6, EPS);\n+        assert approxEq(a.getYInclination(), 5, EPS);\n+        assert approxEq(a.getZInclination(), z ? 25.6 : 76.8, EPS);\n+    }\n+\n+    public void compassTest(IMUCompassMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+        assert approxEq(a.getCompassHeading(), z ? 1692.2 : -151.0, EPS);\n+    }\n+\n+    public void angularPositionTest(IMUAngularPositionMessage a, boolean z, int imuID) {\n+        assert a.getImuID() == imuID;\n+\n+        double[][] rot = a.getRot();\n+        assert rot.length == 3;\n+        assert rot[0].length == 3;\n+        assert rot[1].length == 3;\n+        assert rot[2].length == 3;\n+        assert rot[0][0] == (z ? -1.125 : 0.87451171875);\n+        assert rot[0][1] == (z ? -2.75 : 0.203125);\n+        assert rot[0][2] == (z ? 1.75 : 0.765625);\n+        assert rot[1][0] == (z ? 3.25 : 0.296875);\n+        assert rot[1][1] == (z ? -1.5 : 0.49951171875);\n+        assert rot[1][2] == (z ? -1.0 : -1.4921875);\n+        assert rot[2][0] == (z ? 0.25 : -0.734375);\n+        assert rot[2][1] == (z ? 2.0 : 1.5078125);\n+        assert rot[2][2] == (z ? 0.375 : 0.375);\n+    }\n+\n+    private void oneTimeSetup() {\n+        setUp = true;\n+        messages = new ArrayList<>();\n+        Subscriber angPosSub = new Subscriber(\"test\", NodeChannel.IMU_ANG_POS.getMsgPath(), (topicName, m) -> {\n+            processMessage(m);\n+            System.out.println(\"Received Angular Position Message\");\n+        });\n+        Subscriber compSub = new Subscriber(\"test\", NodeChannel.IMU_COMPASS.getMsgPath(), (topicName, m) -> {","path":"real_time/surface_src/java_src/Alice/src/test/java/com/roboclub/robobuggy/nodes/localizers/MultipleIMUtest.java","position":227,"original_position":227,"commit_id":"b1e9e40402ec50b529cf3b3ffaea2b2065b5a8f7","original_commit_id":"b1e9e40402ec50b529cf3b3ffaea2b2065b5a8f7","user":{"login":"codacy-bot","id":19940114,"avatar_url":"https://avatars.githubusercontent.com/u/19940114?v=3","gravatar_id":"","url":"https://api.github.com/users/codacy-bot","html_url":"https://github.com/codacy-bot","followers_url":"https://api.github.com/users/codacy-bot/followers","following_url":"https://api.github.com/users/codacy-bot/following{/other_user}","gists_url":"https://api.github.com/users/codacy-bot/gists{/gist_id}","starred_url":"https://api.github.com/users/codacy-bot/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/codacy-bot/subscriptions","organizations_url":"https://api.github.com/users/codacy-bot/orgs","repos_url":"https://api.github.com/users/codacy-bot/repos","events_url":"https://api.github.com/users/codacy-bot/events{/privacy}","received_events_url":"https://api.github.com/users/codacy-bot/received_events","type":"User","site_admin":false},"body":"![Codacy](https://www.codacy.com/assets/images/favicon.png) Issue found: [Avoid unused local variables such as 'compSub'.](https://www.codacy.com/app/Mr-Trevor-Decker/RoboBuggy/file/4478983717/issues/source?bid=2938665&fileBranchId=3920697#l227)","created_at":"2016-11-20T19:48:25Z","updated_at":"2016-11-20T19:48:25Z","html_url":"https://github.com/CMU-Robotics-Club/RoboBuggy/pull/439#discussion_r88809555","pull_request_url":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/pulls/439","_links":{"self":{"href":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/pulls/comments/88809555"},"html":{"href":"https://github.com/CMU-Robotics-Club/RoboBuggy/pull/439#discussion_r88809555"},"pull_request":{"href":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/pulls/439"}}},"pull_request":{"url":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/pulls/439","id":94313479,"html_url":"https://github.com/CMU-Robotics-Club/RoboBuggy/pull/439","diff_url":"https://github.com/CMU-Robotics-Club/RoboBuggy/pull/439.diff","patch_url":"https://github.com/CMU-Robotics-Club/RoboBuggy/pull/439.patch","issue_url":"https://api.github.com/repos/CMU-Robotics-Club/RoboBuggy/issues/439","number":439,"state":"open","locked":false,"title":"Multiple IMU Reintegration","user":{"login":"RufusBarbarossa","id":16586614,"avatar_url":"https://avatars.githubusercontent.com/u/16586614?v=3","gravatar_id":"","url":"https://api.github.com/users/RufusBarbarossa","html_url":"https://github.com/RufusBarbarossa","followers_url":"https://api.github.com/users/RufusBarbarossa/followers","following_url":"https://api.github.com/users/RufusBarbarossa/following{/other_user}","gists_url":"https://api.github.com/users/RufusBarbarossa/gists{/gist_id}","starred_url":"https://api.github.com/users/RufusBarbarossa/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RufusBarbarossa/subscriptions","organizations_url":"https://api.github.com/users/RufusBarbarossa/orgs","repos_url":"https://api.github.com/users/RufusBarbarossa/repos","events_url":"https://api.github.com/users/RufusBarbarossa/events{/privacy}","received_events_url":"https://api.github.com/users/RufusBarbarossa/received_events","type":"User","site_admin":false},"body":"Multiple 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All IMU Messages now have an additional method (m.getIMU()) which returns the ID of the IMU (in the order that they were plugged in). 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