public void Test_BasicEventListenerApi()
{
var rdk = new RoboDK();
rdk.Connect();
// Open Event Channel
var eventListener = rdk.OpenRoboDkEventChannel();
var noEvent = eventListener.WaitForEvent();
noEvent.EventType.Should().Be(EventType.NoEvent);
// Test Simple Event
var frame1 = rdk.AddFrame("Frame1");
var itemMovedEvent = eventListener.WaitForEvent();
itemMovedEvent.EventType.Should().Be(EventType.ItemMovedPose);
itemMovedEvent.Item.Name().Should().Be("Frame1");
// The RoboDK link must be set to the RoboDK API instance
itemMovedEvent.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// Open a second event channel
var eventListener2 = rdk.OpenRoboDkEventChannel();
var frame2 = rdk.AddFrame("Frame2");
var eventOnChannel1 = eventListener.WaitForEvent();
var eventOnChannel2 = eventListener2.WaitForEvent();
eventOnChannel1.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel1.Item.Name().Should().Be("Frame2");
eventOnChannel2.EventType.Should().Be(EventType.ItemMovedPose);
eventOnChannel2.Item.Name().Should().Be("Frame2");
eventOnChannel1.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
eventOnChannel2.Item.RDK().RoboDKClientPort.Should().Be(rdk.RoboDKClientPort);
// After closing an event channel we should get an exception when calling WaitForEvent
eventListener.Close();
var whenAction = new Action(() => eventListener.WaitForEvent());
whenAction.Should().Throw <ObjectDisposedException>();
}
public void Test_RoboDkThrowsObjectDisposedExceptionWhenCallingAnApiMethodAfterDispose()
{
// Given
var rdk = new RoboDK();
rdk.Connect().Should().BeTrue();
// When
rdk.Dispose();
// Then
var whenAction = new Action(() => rdk.AddFrame("TestFrame"));
whenAction.Should().Throw <ObjectDisposedException>();
}