public void TestMotorStall()
{
constructMotorMover();
((MotorMover)motorMover).Dispose();
motorMover = new MotorMover(0, positionSignaler, motorLocator, mockMotor);
int targetPos = 400;
var moveTask = motorMover.GoToPositionAsync(targetPos);
Task.Delay(60).Wait();
mockMotor.HandleMotorDirectionChanged(MoveDirection.Stopped);
while (mockMotor.Information.Direction != MoveDirection.Stopped)
{
Task.Delay(30).Wait();
}
Task.Delay(30).Wait();
int finalPos = moveTask.Result;
Assert.IsTrue(finalPos < targetPos, "Counted all the way to the target position instead of stalling.");
Assert.AreEqual(motorLocator.Position, finalPos, "MotorLocator position did not match finalPos");
Assert.AreEqual(MoveDirection.Stopped, mockMotor.Direction, "Motor was not stopped after move stalled.");
Assert.AreEqual(0, motorMover.EstimatedOvershoot, "EstimatedOvershoot shouldn't be updated with a stall.");
}
public void TestMotorMoverCancel()
{
constructMotorMover();
((MotorMover)motorMover).Dispose();
motorMover = new MotorMover(0, positionSignaler, motorLocator, mockMotor);
int targetPos = 300;
var moveTask = motorMover.GoToPositionAsync(targetPos);
Task.Delay(30).Wait();
motorMover.CancelMove();
while (mockMotor.Information.Direction != MoveDirection.Stopped)
{
Task.Delay(30).Wait();
}
Task.Delay(60).Wait();
Assert.IsTrue(moveTask.IsCompleted, "Move task did not end after cancellation.");
int finalPos = moveTask.Result;
Assert.AreEqual(motorLocator.Position, finalPos, $"Motor mover result {finalPos} does not match motorLocator position {motorLocator.Position}");
Assert.IsTrue(finalPos < targetPos, $"Motor final position {finalPos} did not make sense with target {targetPos}.");
Assert.AreEqual(0, motorMover.EstimatedOvershoot, "EstimatedOvershoot should not update if a move is canceled.");
}