public void SetUp()
{
_mockIoCommunicator = new Mock<IOCommunicator>();
var startStreamBytes = new byte[] { 148, 1, Sensor.Bumps_And_WheelDrops };
_writeToIoExpectation = ioCommunicator => ioCommunicator.Write(
It.Is<byte[]>(bytes => BytesAreEqual(startStreamBytes, bytes)),
It.Is<int>(offset => offset == 0),
It.Is<int>(length => length == startStreamBytes.Length)
);
_mockIoCommunicator.Setup(_writeToIoExpectation);
var sensors = new List<ISensor>
{
new BumpsAndWheelDrops()
};
_robotController = new RobotController(_mockIoCommunicator.Object, sensors);
_robotController.StartSensorStream();
}
public void SetUp()
{
_mockIoCommunicator = new Mock<IOCommunicator>();
_bumpsAndWheelDropsSensor = new BumpsAndWheelDrops();
var sensors = new List<ISensor>
{
_bumpsAndWheelDropsSensor
};
_robotController = new RobotController(_mockIoCommunicator.Object, sensors);
_robotController.StartSensorStream();
byte dataByte = new BitArray(new[] {true, true, false, false, false, false, false, false}).ToByte();
var sensorUpdateBytes = new[]
{
Sensor.Bumps_And_WheelDrops,
dataByte
};
_mockIoCommunicator.Raise(ioCommunicator => ioCommunicator.DataRecieved += null, sensorUpdateBytes);
}
