public void closeGripper_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.closeGripperWrapped()).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
robot.closeGripper();
wp.AssertWasCalled(t => t.closeGripperWrapped());
}
public void getJawOpeningWidthPercentage_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.getJawWrapped(ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy, ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy)).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
robot.getJawOpeningWidthPercentage();
wp.AssertWasCalled(t => t.getJawWrapped(ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy, ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy));
}
public void getJawOpeningWidthMilimeters_IsCalled_ReturnFalse_ExpectException()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(
t =>
t.getJawWrapped(ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy,
ref Arg<short>.Ref(Rhino.Mocks.Constraints.Is.Anything(), new short()).Dummy)).Return(
false);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.Catch(() => robot.getJawOpeningWidthMilimeters());
}
public void Wrapper_PropertyTest()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.AreEqual(wp, robot.wrapper);
}
public void Time_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.timeWrapped(Arg<Wrapper.enumAxisSettings>.Is.Anything, Arg<int>.Is.Anything)).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.IsTrue(robot.Time(Wrapper.enumAxisSettings.AXIS_ALL, 1000));
}
public void stopAllMovement_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.stopWrapped(Arg<Wrapper.enumAxisSettings>.Is.Equal(Wrapper.enumAxisSettings.AXIS_ROBOT))).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
robot.Sem.WaitOne();
Assert.IsTrue(robot.stopAllMovement());
}
public void moveWristRoll_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.moveManualWrapped(Arg<Wrapper.enumManualModeWhat>.Is.Equal(Wrapper.enumManualModeWhat.MANUAL_MOVE_WRISTROLL), Arg<int>.Is.Equal(100))).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.IsTrue(robot.moveWristRoll(100));
}
public void moveByZCoordinate_IsCalled_ReturnFalse()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.moveManualWrapped(Arg<Wrapper.enumManualModeWhat>.Is.Equal(Wrapper.enumManualModeWhat.MANUAL_MOVE_Z), Arg<int>.Is.Equal(10))).Return(false);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.IsFalse(robot.moveByZCoordinate(10));
}
public void moveByPitch_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.moveManualWrapped(Arg<Wrapper.enumManualModeWhat>.Is.Equal(Wrapper.enumManualModeWhat.MANUAL_MOVE_PITCH), Arg<int>.Is.Equal(10))).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
robot.homeRobot();
robot.moveByPitch(10);
wp.AssertWasCalled(t => t.moveManualWrapped(Arg<Wrapper.enumManualModeWhat>.Is.Equal(Wrapper.enumManualModeWhat.MANUAL_MOVE_PITCH), Arg<int>.Is.Equal(10)));
}
public void movebyCoordinates_IsCalled_ReturnTrue()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.moveManualWrapped(Arg<Wrapper.enumManualModeWhat>.Is.Anything, Arg<int>.Is.Anything)).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
//Assert.IsTrue(robot.movebyCoordinates(10, 20, 30));
}
public void movebyCoordinates_IsCalled_ReturnFalseOnMoveZ()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.moveManualWrapped(Wrapper.enumManualModeWhat.MANUAL_MOVE_X, 10)).Return(true);
wp.Stub(t => t.moveManualWrapped(Wrapper.enumManualModeWhat.MANUAL_MOVE_Y, 20)).Return(true);
wp.Stub(t => t.moveManualWrapped(Wrapper.enumManualModeWhat.MANUAL_MOVE_Z, 30)).Return(false);
robot.wrapper = wp;
robot.STK = serialSTK;
//Assert.IsFalse(robot.movebyCoordinates(10, 20, 30));
}
public void isOnline_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None, 8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.isOnlineOkWrapped()).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.IsTrue(robot.isOnline());
}
public void HomeRobot_IsCalled()
{
IWrapper wp = MockRepository.GenerateStub<IWrapper>();
SerialSTK serialSTK = MockRepository.GenerateStub<SerialSTK>(9600, Parity.None,8, StopBits.One);
Robot robot = new Robot();
wp.Stub(t => t.homeWrapped(Arg<Wrapper.enumAxisSettings>.Is.Equal(Wrapper.enumAxisSettings.AXIS_ROBOT), Arg<DLL.DgateCallBackByteRefArg>.Is.Anything)).Return(true);
robot.wrapper = wp;
robot.STK = serialSTK;
Assert.IsTrue(robot.homeRobot());
}
