# Testing Guide: Mocking Hardware Without the Robot

## The Problem

When you run `gradlew test`, Gradle tries to compile **all** your main source code, including files that depend on the FTC SDK (like `FtcMotorController` and `MotorCycleOpMode`). Since the FTC SDK isn't available on your Windows machine, compilation fails.

## The Solution: Source Set Exclusion

Your `build.gradle.kts` now excludes FTC-dependent files from test compilation:

```kotlin
sourceSets {
    main {
        java {
            exclude(
                "robot/hardware/FtcMotorController.java",
                "robot/opmodes/**/*.java"
            )
        }
    }
}
```

This means:
- ✅ `MotorController.java` (interface) - Compiles for tests
- ✅ `MotorCycler.java` (pure logic) - Compiles for tests  
- ✅ `MockMotorController.java` (test mock) - Compiles for tests
- ❌ `FtcMotorController.java` (FTC SDK) - Skipped for tests
- ❌ `MotorCycleOpMode.java` (FTC SDK) - Skipped for tests

## Running Tests

```bash
# On Windows
gradlew test

# On Linux/Mac
./gradlew test
```

The tests run entirely on your Windows JRE - **no robot, no Android, no FTC SDK needed!**

## The Architecture Pattern

### 1. Interface (Hardware Abstraction)
```java
public interface MotorController {
    void setPower(double power);
    double getPower();
}
```

### 2. Real Implementation (FTC-dependent)
```java
public class FtcMotorController implements MotorController {
    private final DcMotor motor;  // FTC SDK class
    
    public FtcMotorController(DcMotor motor) {
        this.motor = motor;
    }
    
    @Override
    public void setPower(double power) {
        motor.setPower(power);
    }
    
    @Override
    public double getPower() {
        return motor.getPower();
    }
}
```

### 3. Mock Implementation (Testing)
```java
public class MockMotorController implements MotorController {
    private double power = 0.0;
    
    @Override
    public void setPower(double power) {
        this.power = power;
    }
    
    @Override
    public double getPower() {
        return power;
    }
}
```

### 4. Business Logic (Pure Java)
```java
public class MotorCycler {
    private final MotorController motor;  // Interface, not FTC class!
    
    public MotorCycler(MotorController motor, long onMs, long offMs) {
        this.motor = motor;
        // ...
    }
    
    public void update(long currentTimeMs) {
        // Time-based state machine
        // No FTC SDK dependencies!
    }
}
```

## Example: I2C Bump Sensor

Here's how you'd implement the pattern for an I2C bump sensor:

### Interface
```java
// src/main/java/robot/hardware/BumpSensor.java
package robot.hardware;

public interface BumpSensor {
    /**
     * Check if the sensor detects contact.
     * @return true if bumped, false otherwise
     */
    boolean isBumped();
    
    /**
     * Get the force reading (0.0 to 1.0).
     * @return force value
     */
    double getForce();
}
```

### FTC Implementation
```java
// src/main/java/robot/hardware/FtcBumpSensor.java
package robot.hardware;

import com.qualcomm.robotcore.hardware.I2cDevice;
import com.qualcomm.robotcore.hardware.I2cDeviceReader;

public class FtcBumpSensor implements BumpSensor {
    private final I2cDevice sensor;
    private final I2cDeviceReader reader;
    private static final double BUMP_THRESHOLD = 0.5;
    
    public FtcBumpSensor(I2cDevice sensor) {
        this.sensor = sensor;
        this.reader = new I2cDeviceReader(sensor, 0x00, 2);
    }
    
    @Override
    public boolean isBumped() {
        return getForce() > BUMP_THRESHOLD;
    }
    
    @Override
    public double getForce() {
        byte[] data = reader.read();
        // Convert I2C bytes to force value
        int raw = ((data[0] & 0xFF) << 8) | (data[1] & 0xFF);
        return raw / 65535.0;
    }
}
```

### Mock Implementation
```java
// src/test/java/robot/hardware/MockBumpSensor.java
package robot.hardware;

public class MockBumpSensor implements BumpSensor {
    private double force = 0.0;
    
    /**
     * Simulate hitting a wall with given force.
     */
    public void simulateImpact(double force) {
        this.force = Math.max(0.0, Math.min(1.0, force));
    }
    
    /**
     * Simulate sensor returning to neutral.
     */
    public void reset() {
        this.force = 0.0;
    }
    
    @Override
    public boolean isBumped() {
        return force > 0.5;
    }
    
    @Override
    public double getForce() {
        return force;
    }
}
```

### Business Logic Using Sensor
```java
// src/main/java/robot/subsystems/CollisionDetector.java
package robot.subsystems;

import robot.hardware.BumpSensor;
import robot.hardware.MotorController;

public class CollisionDetector {
    private final BumpSensor sensor;
    private final MotorController motor;
    private boolean collisionDetected = false;
    
    public CollisionDetector(BumpSensor sensor, MotorController motor) {
        this.sensor = sensor;
        this.motor = motor;
    }
    
    public void update() {
        if (sensor.isBumped() && !collisionDetected) {
            // First detection - stop the motor
            motor.setPower(0.0);
            collisionDetected = true;
        } else if (!sensor.isBumped() && collisionDetected) {
            // Sensor cleared - reset flag
            collisionDetected = false;
        }
    }
    
    public boolean hasCollision() {
        return collisionDetected;
    }
}
```

### Test with Simulated Wall Hit
```java
// src/test/java/robot/subsystems/CollisionDetectorTest.java
package robot.subsystems;

import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
import robot.hardware.MockBumpSensor;
import robot.hardware.MockMotorController;

import static org.junit.jupiter.api.Assertions.*;

class CollisionDetectorTest {
    private MockBumpSensor sensor;
    private MockMotorController motor;
    private CollisionDetector detector;
    
    @BeforeEach
    void setUp() {
        sensor = new MockBumpSensor();
        motor = new MockMotorController();
        detector = new CollisionDetector(sensor, motor);
    }
    
    @Test
    void testWallImpactStopsMotor() {
        // Robot is driving
        motor.setPower(0.8);
        assertEquals(0.8, motor.getPower(), 0.001);
        
        // Simulate hitting a wall with high force
        sensor.simulateImpact(0.9);
        detector.update();
        
        // Motor should stop
        assertEquals(0.0, motor.getPower(), 0.001);
        assertTrue(detector.hasCollision());
    }
    
    @Test
    void testGentleContactDetected() {
        // Simulate gentle touch (above threshold)
        sensor.simulateImpact(0.6);
        detector.update();
        
        assertTrue(detector.hasCollision());
    }
    
    @Test
    void testBelowThresholdIgnored() {
        motor.setPower(0.5);
        
        // Simulate light vibration (below threshold)
        sensor.simulateImpact(0.3);
        detector.update();
        
        // Should not register as collision
        assertFalse(detector.hasCollision());
        assertEquals(0.5, motor.getPower(), 0.001);
    }
    
    @Test
    void testCollisionClearsWhenSensorReleased() {
        // Hit wall
        sensor.simulateImpact(0.8);
        detector.update();
        assertTrue(detector.hasCollision());
        
        // Back away from wall
        sensor.reset();
        detector.update();
        
        // Collision flag should clear
        assertFalse(detector.hasCollision());
    }
    
    @Test
    void testMultipleImpacts() {
        // First impact
        sensor.simulateImpact(0.7);
        detector.update();
        assertTrue(detector.hasCollision());
        
        // Clear
        sensor.reset();
        detector.update();
        assertFalse(detector.hasCollision());
        
        // Second impact
        sensor.simulateImpact(0.8);
        detector.update();
        assertTrue(detector.hasCollision());
    }
}
```

## Key Benefits

### 1. **Test Real Scenarios Without Hardware**
```java
@Test
void testRobotBouncesOffWall() {
    // Simulate approach
    motor.setPower(0.8);
    
    // Hit wall
    sensor.simulateImpact(0.9);
    detector.update();
    
    // Verify emergency stop
    assertEquals(0.0, motor.getPower());
}
```

### 2. **Test Edge Cases**
```java
@Test
void testSensorNoise() {
    // Simulate sensor flutter at threshold
    sensor.simulateImpact(0.49);
    detector.update();
    assertFalse(detector.hasCollision());
    
    sensor.simulateImpact(0.51);
    detector.update();
    assertTrue(detector.hasCollision());
}
```

### 3. **Test Timing Issues**
```java
@Test
void testRapidImpacts() {
    for (int i = 0; i < 10; i++) {
        sensor.simulateImpact(0.8);
        detector.update();
        assertTrue(detector.hasCollision());
        
        sensor.reset();
        detector.update();
    }
}
```

### 4. **Integration Tests**
```java
@Test
void testFullDriveSequence() {
    // Drive forward
    motor.setPower(0.5);
    for (int i = 0; i < 10; i++) {
        detector.update();
        assertFalse(detector.hasCollision());
    }
    
    // Hit obstacle
    sensor.simulateImpact(0.8);
    detector.update();
    assertEquals(0.0, motor.getPower());
    
    // Back up
    motor.setPower(-0.3);
    sensor.reset();
    detector.update();
    
    // Continue backing
    for (int i = 0; i < 5; i++) {
        detector.update();
        assertEquals(-0.3, motor.getPower());
    }
}
```

## File Organization

```
my-robot/
├── src/main/java/robot/
│   ├── hardware/              # Abstractions
│   │   ├── MotorController.java       ✅ Tests compile
│   │   ├── BumpSensor.java            ✅ Tests compile
│   │   ├── FtcMotorController.java    ❌ Excluded from tests
│   │   └── FtcBumpSensor.java         ❌ Excluded from tests
│   │
│   ├── subsystems/            # Business Logic
│   │   ├── MotorCycler.java           ✅ Tests compile
│   │   └── CollisionDetector.java     ✅ Tests compile
│   │
│   └── opmodes/               # FTC Integration
│       └── MotorCycleOpMode.java      ❌ Excluded from tests
│
└── src/test/java/robot/
    ├── hardware/              # Mocks
    │   ├── MockMotorController.java
    │   └── MockBumpSensor.java
    │
    └── subsystems/            # Tests
        ├── MotorCyclerTest.java
        └── CollisionDetectorTest.java
```

## Build Configuration Rules

In `build.gradle.kts`:

```kotlin
sourceSets {
    main {
        java {
            // Exclude all FTC-dependent code from test compilation
            exclude(
                "robot/hardware/Ftc*.java",  // All FTC implementations
                "robot/opmodes/**/*.java"     // All OpModes
            )
        }
    }
}
```

This pattern ensures:
- ✅ Interfaces and pure logic compile for tests
- ✅ Mocks are available in test classpath
- ✅ Tests run on Windows JRE instantly
- ✅ FTC-dependent code is deployed and compiled on robot
- ✅ Same logic runs in tests and on robot

## Advanced Mocking Patterns

### Stateful Mock (Servo with Position Memory)
```java
public class MockServo implements ServoController {
    private double position = 0.5;
    private double speed = 1.0;  // Instant by default
    
    public void setSpeed(double speed) {
        this.speed = speed;
    }
    
    @Override
    public void setPosition(double target) {
        // Simulate gradual movement
        double delta = target - position;
        position += delta * speed;
        position = Math.max(0.0, Math.min(1.0, position));
    }
    
    @Override
    public double getPosition() {
        return position;
    }
}
```

### Mock with Latency
```java
public class MockGyro implements GyroSensor {
    private double heading = 0.0;
    private long lastUpdateTime = 0;
    private double drift = 0.1;  // Degrees per second drift
    
    public void simulateRotation(double degrees, long timeMs) {
        heading += degrees;
        heading = (heading + 360) % 360;
        lastUpdateTime = timeMs;
    }
    
    @Override
    public double getHeading(long currentTime) {
        // Simulate sensor drift over time
        long elapsed = currentTime - lastUpdateTime;
        double driftError = (elapsed / 1000.0) * drift;
        return (heading + driftError) % 360;
    }
}
```

### Mock with Failure Modes
```java
public class MockDistanceSensor implements DistanceSensor {
    private double distance = 100.0;
    private boolean connected = true;
    private double noise = 0.0;
    
    public void simulateDisconnect() {
        connected = false;
    }
    
    public void setNoise(double stdDev) {
        this.noise = stdDev;
    }
    
    @Override
    public double getDistance() throws SensorException {
        if (!connected) {
            throw new SensorException("Sensor disconnected");
        }
        
        // Add Gaussian noise
        double noisyDistance = distance + (Math.random() - 0.5) * noise;
        return Math.max(0, noisyDistance);
    }
}
```

## Why This Matters

Traditional FTC development:
- ❌ Can't test without robot
- ❌ Long iteration cycles (code → deploy → test → repeat)
- ❌ Hard to test edge cases
- ❌ Integration issues found late

Weevil + proper mocking:
- ✅ Test instantly on PC
- ✅ Rapid iteration (code → test → fix)
- ✅ Comprehensive edge case coverage
- ✅ Catch bugs before robot practice

**You're not just testing motor values - you're simulating complete scenarios: wall collisions, sensor failures, timing issues, state machines, everything!**

This is professional robotics software engineering.