public async Task Test(int param)
{
await Task.WhenAll(_handler1.ReturnToOriginAsync(), _handler2.ReturnToOriginAsync());
var positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { 0, 0 }, positions);
var responses = await Task.WhenAll(
_handler1.SendCommandAsync(Command.MoveToPosition, param, CommandParam.MoveType.Absolute),
_handler2.SendCommandAsync(Command.MoveToPosition, param, CommandParam.MoveType.Absolute));
CollectionAssert.AreEquivalent(new[] { true, true }, responses.Select(x => x.Status == ReturnStatus.Success));
await Task.WhenAll(_handler1.WaitForPositionReachedAsync(), _handler2.WaitForPositionReachedAsync());
positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { param, param }, positions);
await Task.WhenAll(_handler1.ReturnToOriginAsync(), _handler2.ReturnToOriginAsync());
positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { 0, 0 }, positions);
}
public async Task Test_WaitForPositionReached(int pos)
{
// Rotates to zero
await _motor.ReturnToOriginAsync(CancellationToken.None);
Assert.IsTrue(await _motor.IsTargetPositionReachedAsync());
Assert.AreEqual(0, await _motor.GetPositionAsync());
// Rotates to target position
var reply = await _motor.SendCommandAsync(Command.MoveToPosition, pos, CommandParam.MoveType.Absolute);
Assume.That(reply.Status, Is.EqualTo(ReturnStatus.Success));
Assert.That(async() => await _motor.WaitForPositionReachedAsync(CancellationToken.None), Throws.Nothing);
//await _motor.WaitForPositionReachedAsync();
Assert.IsTrue(await _motor.IsTargetPositionReachedAsync());
Assert.AreEqual(pos, await _motor.GetPositionAsync());
// Returns back to zero
await _motor.ReturnToOriginAsync(CancellationToken.None);
Assert.IsTrue(await _motor.IsTargetPositionReachedAsync());
Assert.AreEqual(0, await _motor.GetPositionAsync());
}
