public void MotorController_Stop_CallsMotorActorSetSpeedOnceOnEachSideWithZero()
{
// Arrange
var motorActors = new Mock <IDirectional <IMotorActor> >();
var motorActorLeft = new Mock <IMotorActor>();
var motorActorRight = new Mock <IMotorActor>();
motorActors.SetupGet(_ => _.Right).Returns(motorActorRight.Object);
motorActors.SetupGet(_ => _.Left).Returns(motorActorLeft.Object);
var motorSpeedConverter = new MotorSpeedConverter();
var testee = new MotorController(motorActors.Object, motorSpeedConverter);
// Act
testee.Stop();
// Assert
motorActors.Verify(p => p.Right.SetSpeed(0), Times.Once());
motorActors.Verify(p => p.Left.SetSpeed(0), Times.Once());
}
public static async Task StopAll()
{
var stopTask = Task.Run(async() =>
{
ShutdownMotorsServos();
_httpServerController.Stop();
await _camera.Stop();
await _gamepadController.Stop();
await _speechRecognation.Stop();
await _automaticDrive.Stop();
_servoController.Stop();
_motorController.Stop();
await _automaticSpeakController.Stop();
await _accelerometerSensor.Stop();
AudioPlayerController.Stop();
SpeedSensor.Stop();
ShutdownMotorsServos();
});
var timeout = TimeSpan.FromSeconds(5);
await TaskHelper.WithTimeoutAfterStart(ct => stopTask.WithCancellation(ct), timeout);
}