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_Status()
{
await _motor.WaitForPositionReachedAsync();
var status = await _motor.GetStatusAsync();
var axisStatus = await _motor.GetRotationStatusAsync();
var equivalence = status.Join(axisStatus, x => x.Key, y => y.Key, (x, y) => x.Value == y.Value)
.All(x => x);
var isReached = await _motor.IsTargetPositionReachedAsync();
Assert.IsTrue(equivalence);
Assert.IsTrue(isReached);
}