MockGyroscope.java

/*
 * 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.annotation.ThreadSafe;
import org.strongback.components.AngleSensor;
import org.strongback.components.Gyroscope;

/**
 * A {@link Gyroscope} implementation useful for testing, where the angle and angular rate can be explicitly set in the test
 * case so that the known values can be read by the component that uses an {@link AngleSensor}.
 *
 * @author Randall Hauch
 */
@ThreadSafe
public class MockGyroscope extends MockZeroable implements Gyroscope {

    private volatile double rate = 0;

    @Override
    public MockGyroscope zero() {
        super.zero();
        return this;
    }

    @Override
    public double getAngle() {
        return super.getValue();
    }

    @Override
    public double getRate() {
        return rate;
    }

    /**
     * Set the angle value {@link #getAngle() returned} by this object.
     *
     * @param angle the angle value
     * @return this instance to enable chaining methods; never null
     */
    public MockGyroscope setAngle(double angle) {
        super.setValue(angle);
        return this;
    }

    /**
     * Set the angular velocity {@link #getRate() returned} by this object.
     *
     * @param angularVelocity the angular velocity (or rate of turn) in degrees per second
     * @return this instance to enable chaining methods; never null
     */
    public MockGyroscope setRate(double angularVelocity) {
        this.rate = rate;
        return this;
    }

}