public void GivenAbsoluteControl_SendProgressiveCommand_EnqueuesProgressiveCommand()
{
// Arrange
const string testFormattedCommand = "testFormattedCommand";
const bool absoluteControl = true;
var mockProgressiveCommand = CreateMockProgressiveCommand(absoluteControl);
const ProgressiveCommandFormatter.Modes mode = ProgressiveCommandFormatter.Modes.CombineYaw;
const int roll = 202;
const int pitch = 303;
const int gaz = 404;
const int yaw = 505;
const int magnetoPsi = 606;
const int magnetoPsiAccuracy = 707;
SetupModeRollPitchGazAndYaw(mode, roll, pitch, gaz, yaw);
SetupMagnetoPsiAndMagnetoPsiAccuracy(magnetoPsi, magnetoPsiAccuracy);
string message = string.Format("{0},{1},{2},{3},{4},{5},{6}", (int)mode, roll, pitch, gaz, yaw, magnetoPsi,
magnetoPsiAccuracy);
_mockCommandFormatter.Setup(x => x.CreateCommand(CommandWorker.PcmdMagCommand, message))
.Returns(testFormattedCommand);
// Act
_target.SendProgressiveCommand(mockProgressiveCommand.Object);
// Assert
_mockProgressiveCommandFormatter.Verify(x => x.Load(mockProgressiveCommand.Object));
_mockCommandQueue.Verify(x => x.Enqueue(testFormattedCommand));
}
private void SetupModeRollPitchGazAndYaw(ProgressiveCommandFormatter.Modes mode, int roll, int pitch, int gaz, int yaw)
{
_mockProgressiveCommandFormatter.Setup(x => x.Mode).Returns(mode);
_mockProgressiveCommandFormatter.Setup(x => x.Roll).Returns(roll);
_mockProgressiveCommandFormatter.Setup(x => x.Pitch).Returns(pitch);
_mockProgressiveCommandFormatter.Setup(x => x.Gaz).Returns(gaz);
_mockProgressiveCommandFormatter.Setup(x => x.Yaw).Returns(yaw);
}
