public void ManualController_CallsIt_SpeedIsSetTo50()
{
// Setup and test
mcTestObj = new ManualController();
mcTestObj.Speed = 50;
// Verify
Assert.AreEqual(50, mcTestObj.Speed);
}
public void ManualController_DefaultConstructorCalledWhenNoConnection_ThrowsExceptionIfOffline()
{
// Setup
IRobot irMock = MockRepository.GenerateStub<IRobot>();
irMock.Stub(t => t.isOnline()).Return(false);
// Test
Factory.currentIRobotInstance = irMock;
mcTestObj = new ManualController();
}
public void ManualControl_SetsIt_GetsSaved()
{
// Setup
vmmsTestObj = new ViewModelManualSteering();
ManualController mcTmp = new ManualController();
// Test
vmmsTestObj.ManualControl = mcTmp;
// Verify
Assert.AreSame(mcTmp, vmmsTestObj.ManualControl);
}
public void ManualController_DefaultConstructorCalled_RobotConnectionIsSameAsFactorycurrentIRobotInstance()
{
// Setup
IRobot irMock = MockRepository.GenerateStub<IRobot>();
irMock.Stub(t => t.isOnline()).Return(true);
// Test
Factory.currentIRobotInstance = irMock;
mcTestObj = new ManualController();
// Verify
Assert.IsTrue(mcTestObj.RobotConnection == Factory.currentIRobotInstance);
}
public void ManualController_DefaultConstructorCalled_ChecksForBeingOnline()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
irMock.Stub(t => t.isOnline()).Return(true);
// Test
Factory.currentIRobotInstance = irMock;
mcTestObj = new ManualController();
// Verify
irMock.AssertWasCalled(t => t.isOnline());
}
public void moveCoordZ_CalledWithArgIncreasing_CallsRobotmoveByZCoordinateWithPositiveSpeedValue()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
mcTestObj.Speed = 50;
irMock.Stub(t => t.moveByZCoordinate(Arg<int>.Is.Anything)).Return(true);
// Test
mcTestObj.moveCoordZ(enumIncDec.MANUAL_MOVE_INC);
// Verify
irMock.AssertWasCalled(t => t.moveByZCoordinate(mcTestObj.Speed));
}
public void moveCoordY_CalledWithArgDecreasing_CallsRobotmoveByYCoordinate()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.moveByYCoordinate(Arg<int>.Is.Anything)).Return(true);
// Test
mcTestObj.moveCoordY(enumIncDec.MANUAL_MOVE_DEC);
// Verify
irMock.AssertWasCalled(t => t.moveByYCoordinate(Arg<int>.Is.Anything));
}
public void moveCoordRoll_CalledWithArgDecreasing_CallsRobotmoveByRollWithPositiveSpeedValue_ReturnFalse_ExpectException()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
mcTestObj.Speed = 50;
irMock.Stub(t => t.moveByRoll(Arg<int>.Is.Anything)).Return(false);
// Test
Assert.Catch(() => mcTestObj.moveCoordRoll(enumIncDec.MANUAL_MOVE_DEC));
}
public void Speed_SettingSpeedTo50_SpeedIsSaved()
{
// Setup
mcTestObj = new ManualController();
// Test
mcTestObj.Speed = 50;
// Verify
Assert.AreEqual(mcTestObj.Speed, 50);
}
public void setTimeSecond_Checking_ForBeingCalled()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.Time(Arg<Wrapper.enumAxisSettings>.Is.Anything, Arg<long>.Is.Anything)).Return(true);
// Test
mcTestObj.setTimeSecond(200);
// Verify
irMock.AssertWasCalled(t => t.Time(Arg<Wrapper.enumAxisSettings>.Is.Anything, Arg<long>.Is.Anything));
}
public void moveAxisPitch_ReturnsFalse_CastExceptions()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.moveWristPitch(Arg<int>.Is.Anything)).Return(false);
// Verify
Assert.Catch(() => mcTestObj.moveAxisPitch(enumUpDown.MANUAL_MOVE_UP));
}
public void moveAxisPitch_CalledWithArgUp_CallsRobotmoveWristPitchWithPositiveSpeedValue()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
mcTestObj.Speed = 50;
irMock.Stub(t => t.moveWristPitch(Arg<int>.Is.Anything)).Return(true);
// Test
mcTestObj.moveAxisPitch(enumUpDown.MANUAL_MOVE_UP);
// Verify
irMock.AssertWasCalled(t => t.moveWristPitch(mcTestObj.Speed));
}
public void moveAxisGripper_ReturnsFalseOnCloseGripper_CastExceptions()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.closeGripper()).Return(false);
// Verify
Assert.Catch(() => mcTestObj.moveAxisGripper(enumCloseOpen.MANUAL_CLOSE));
}
public void moveAxisGripper_CalledWithArgOpen_CallsRobotopenGripper()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.openGripper()).Return(true);
// Test
mcTestObj.moveAxisGripper(enumCloseOpen.MANUAL_OPEN);
// Verify
irMock.AssertWasCalled(t => t.openGripper());
}
public void stopAllMovement_CheckForWasCalled()
{
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.stopAllMovement()).Return(true);
mcTestObj.stopAllMovement();
irMock.AssertWasCalled(t => t.stopAllMovement());
}
public void moveCoordZ_CalledWithArgIncreasing_CallsRobotmoveByZCoordinate_ReturnFalse_ExpectException()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.moveByZCoordinate(Arg<int>.Is.Anything)).Return(false);
// Test
Assert.Catch(() => mcTestObj.moveCoordZ(enumIncDec.MANUAL_MOVE_INC));
}
public void moveAxisBase_CalledWithArgLeft_CallsRobotmoveBase()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.moveBase(Arg<int>.Is.Anything)).Return(true);
// Test
mcTestObj.moveAxisBase(enumLeftRight.MANUAL_MOVE_LEFT);
// Verify
irMock.AssertWasCalled(t => t.moveBase(Arg<int>.Is.Anything));
}
public void moveAxisShoulder_CalledWithArgRight_CallsRobotmoveShoulderWithPositiveSpeedValue()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
mcTestObj.Speed = 50;
irMock.Stub(t => t.moveShoulder(Arg<int>.Is.Anything)).Return(true);
// Test
mcTestObj.moveAxisShoulder(enumLeftRight.MANUAL_MOVE_RIGHT);
// Verify
irMock.AssertWasCalled(t => t.moveShoulder(mcTestObj.Speed));
}
public void moveAxisShoulder_ReturnsFalse_CastExceptions()
{
// Setup
IRobot irMock = MockRepository.GenerateMock<IRobot>();
mcTestObj = new ManualController();
mcTestObj.RobotConnection = irMock;
irMock.Stub(t => t.moveShoulder(Arg<int>.Is.Anything)).Return(false);
// Verify
Assert.Catch(() => mcTestObj.moveAxisShoulder(enumLeftRight.MANUAL_MOVE_LEFT));
}
public void Speed_SettingSpeedTo101_SpeedIsNotSaved()
{
// Setup
mcTestObj = new ManualController();
// Test
mcTestObj.Speed = 101;
// Verify
Assert.AreNotEqual(mcTestObj.Speed, 101);
}