public bool CanMoveArm(RobotVO robot, ArmVO armMoved, ArmSide armSide)
{
ArmVO arm = armSide == ArmSide.Left ? robot.LeftArm : robot.RightArm;
bool isElbowMovement = IsElbowMovement(arm, armMoved.Elbow);
bool isWristMovement = IsWristMovement(arm, armMoved.Wrist);
// Não se pode mexer mais de uma parte do braço por vez
if (isElbowMovement && isWristMovement)
{
return(false);
}
if (isElbowMovement)
{
return(ChangeElbowMovement(arm, armMoved.Elbow));
}
if (isWristMovement)
{
return(ChangeWristMovement(arm, armMoved.Wrist));
}
//Não houve mudança
return(true);
}
public bool PutRightArm(long id, ArmVO rightArmMoved)
{
bool isRightArmMoved = false;
using (var client = new HttpClient())
{
client.BaseAddress = new Uri(_kraftwerkAPIUrl);
var putTask = client.PutAsJsonAsync <ArmVO>($"api/Robot/{id}/LeftArm", rightArmMoved);
putTask.Wait();
var result = putTask.Result;
if (result.IsSuccessStatusCode)
{
isRightArmMoved = true;
}
else if (result.StatusCode == HttpStatusCode.BadRequest)
{
isRightArmMoved = false;
}
}
return(isRightArmMoved);
}
public bool ChangeWristMovement(ArmVO arm, WristMovement wristMovement)
{
if (arm.Elbow != ElbowMovement.StronglyContracted)
{
return(false);
}
return(true);
}
public void NaoDevePermitirMovimentoDoPulso()
{
//Assert
ArmVO arm = new ArmVO()
{
Elbow = ElbowMovement.InRest,
Wrist = WristMovement.InRest
};
WristMovement wristMovement = WristMovement.Rotate135Degrees;
//Act
var result = _armMovement.ChangeWristMovement(arm, wristMovement);
//Assert
Assert.False(result);
}
public void DevePermitirMovimentoDoPulso()
{
//Arrange
ArmVO arm = new ArmVO()
{
Elbow = ElbowMovement.StronglyContracted,
Wrist = WristMovement.InRest
};
WristMovement wristMovement = WristMovement.Rotate135Degrees;
//Act
var result = _armMovement.ChangeWristMovement(arm, wristMovement);
//Assert
Assert.True(result);
}
private JsonResult ChangeWristPosition(long id, ArmVO arm, int newPositionWristNumeric, ArmSide armSide)
{
WristMovement newWristMovement;
string movementDescription = string.Empty;
bool isValidMovement = newPositionWristNumeric.TryParseEnum(out newWristMovement);
if (isValidMovement)
{
arm.Wrist = newWristMovement;
movementDescription = arm.Wrist.GetDescription();
bool isArmMoved = armSide == ArmSide.Left ? _robotService.PutLeftArm(id, arm) : _robotService.PutRightArm(id, arm);
if (isArmMoved == false)
{
isValidMovement = false;
}
}
return(Json(new { isValidMovement, description = movementDescription }));
}
public ArmVO GetRightArm(long id)
{
ArmVO rightArm = null;
using (var client = new HttpClient())
{
client.BaseAddress = new Uri(_kraftwerkAPIUrl);
Task <HttpResponseMessage> responseTask = client.GetAsync($"api/robot/{id}/RightArm");
responseTask.Wait();
HttpResponseMessage result = responseTask.Result;
if (result.IsSuccessStatusCode)
{
Task <ArmVO> readTask = result.Content.ReadAsAsync <ArmVO>();
readTask.Wait();
rightArm = readTask.Result;
}
}
return(rightArm);
}
public bool ChangeElbowMovement(ArmVO arm, ElbowMovement elbowMovement) => true;
private bool IsWristMovement(ArmVO arm, WristMovement wristMovement) => arm.Wrist != wristMovement;
private bool IsElbowMovement(ArmVO arm, ElbowMovement elbowMovement) => arm.Elbow != elbowMovement;
