public void OneTimeSetUp()
{
alpha = new PoseIPStruct(IPAddress.Parse("192.66.1.10"), 1, 1, Math.PI / 2);
beta = new PoseIPStruct(IPAddress.Parse("192.66.1.11"), -1, -1, -Math.PI / 2);
testData = new byte[2][];
testData[0] = alpha.Bytes;
testData[1] = beta.Bytes;
}
public void ToPoseString(double x, double y, double headingRad)
{
PoseIPStruct poseIPStruct = new PoseIPStruct(IPAddress.Loopback, x, y, headingRad);
string poseString = poseIPStruct.ToPoseIPString();
Match match = poseStringRegex.Match(poseString);
double xVal = double.Parse(match.Groups["xVal"].Value);
double yVal = double.Parse(match.Groups["yVal"].Value);
double headingVal = double.Parse(match.Groups["headingVal"].Value);
Assert.That(x, Is.EqualTo(xVal).Within(0.01));
Assert.That(y, Is.EqualTo(yVal).Within(0.01));
Assert.That(headingRad, Is.EqualTo(headingVal).Within(0.001));
}
public void Constructor(string ipString, double x, double y, double heading)
{
IPAddress ipAddress = System.Net.IPAddress.Parse(ipString);
PoseIPStruct cast = new PoseIPStruct(ipAddress, x, y, heading);
Assert.AreEqual(cast.IPAddress, ipAddress);
Assert.That(cast.X, Is.EqualTo(x).Within(tol));
Assert.That(cast.Y, Is.EqualTo(y).Within(tol));
Assert.That(cast.Heading, Is.EqualTo(heading).Within(tol));
byte[] rawBytes = cast.Bytes;
PoseIPStruct cloneCast = new PoseIPStruct(rawBytes);
Assert.AreEqual(cloneCast.IPAddress, ipAddress);
Assert.That(cloneCast.X, Is.EqualTo(x).Within(tol));
Assert.That(cloneCast.Y, Is.EqualTo(y).Within(tol));
Assert.That(cloneCast.Heading, Is.EqualTo(heading).Within(tol));
}
public void Init(byte tick)
{
FleetPoseIPCast cast = new FleetPoseIPCast(tick, testData);
Assert.AreEqual(tick, cast.Tick);
CollectionAssert.IsNotEmpty(cast.DataSet);
PoseIPStruct alphaDecoded = cast.DataSet.First();
Assert.AreEqual(alpha.IPAddress, alphaDecoded.IPAddress);
Assert.AreEqual(alpha.X, alphaDecoded.X);
Assert.AreEqual(alpha.Y, alphaDecoded.Y);
Assert.AreEqual(alpha.Heading, alphaDecoded.Heading);
PoseIPStruct betaDecoded = cast.DataSet.Last();
Assert.AreEqual(beta.IPAddress, betaDecoded.IPAddress);
Assert.AreEqual(beta.X, betaDecoded.X);
Assert.AreEqual(beta.Y, betaDecoded.Y);
Assert.AreEqual(beta.Heading, betaDecoded.Heading);
}
