public async Task move_should_stop_at_the_edge_of_the_garden(char orientation, int expectedY, int expectedX)
{
IPosition setting = new DevicePosition(5, 5, orientation) as IPosition;
_initialSettingsMock.Setup(x => x.DevicePosition).Returns(setting);
_buffer = new DeviceBuffer();
_device = new SLMMDevice(_initialSettingsMock.Object, _buffer, _actuator);
var position = _device.CurrentPosition();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
_device.Move();
IPosition newPosition = await _device.Move();
Assert.AreEqual(expectedY, newPosition.YAxis);
Assert.AreEqual(expectedX, newPosition.XAxis);
Assert.AreEqual(orientation, newPosition.Orientation);
}
private static Mock <ISettings> SetInitialSettingsMock(int gardenLenght, int gardenWidth, int yAxis, int xAxis, char orientation)
{
var configurationMock = new Mock <IConfiguration>();
var settings = new Mock <ISettings>();
var gardenSize = new GardenSize(gardenLenght, gardenWidth);
settings.Setup(x => x.GardenSize).Returns(gardenSize as ISize);
var devicePosition = new DevicePosition(yAxis, xAxis, orientation);
settings.SetupGet(x => x.DevicePosition).Returns(devicePosition as IPosition);
return(settings);
}
private void TrackBarTempo_Scroll(object sender, EventArgs e)
{
DevicePosition position = CachedDevicePosition.cache[trackBarTempo.Value];
lblValoreSelezionatoTrackBar.Text = "Valore selezionato: " + position.time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
//ripulisco i punti del grafico del movimento
chartMovimentoDevice.Series["Device"].Points.Clear();
//aggiungo la nuova posizione
int p = chartMovimentoDevice.Series["Device"].Points.AddXY(position.xPosition, position.yPosition);
chartMovimentoDevice.Series["Device"].Points[p].ToolTip = position.time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
}
public async Task be_able_turn_90_degrees_clockwise(char currentOrientation, char expectedOrientation)
{
// arrange
IPosition setting = new DevicePosition(5, 5, currentOrientation) as IPosition;
_initialSettingsMock.Setup(x => x.DevicePosition).Returns(setting);
_buffer = new DeviceBuffer();
_device = new SLMMDevice(_initialSettingsMock.Object, _buffer, _actuator);
// act
var position = await _device.TurnClockwise();
// assert
Assert.AreEqual(expectedOrientation, position.Orientation);
}
public async Task move_one_step_forward(char orientation, int expectedY, int expectedX)
{
// garden: 0 x 0 -> 10 x 10
// starts at: 'N', y:5, x:5
// expects: 'N', y + 1 = 6, x
IPosition setting = new DevicePosition(5, 5, orientation) as IPosition;
_initialSettingsMock.Setup(x => x.DevicePosition).Returns(setting);
_buffer = new DeviceBuffer();
_device = new SLMMDevice(_initialSettingsMock.Object, _buffer, _actuator);
var position = _device.CurrentPosition();
IPosition newPosition = await _device.Move();
Assert.AreEqual(expectedY, newPosition.YAxis);
Assert.AreEqual(expectedX, newPosition.XAxis);
Assert.AreEqual(orientation, newPosition.Orientation);
}
public async Task be_able_turn_anti_clockwise_in_sequence(char start, int numberTurns, char expected)
{
// arrange
IPosition setting = new DevicePosition(5, 5, start) as IPosition;
_initialSettingsMock.Setup(x => x.DevicePosition).Returns(setting);
_buffer = new DeviceBuffer();
_device = new SLMMDevice(_initialSettingsMock.Object, _buffer, _actuator);
IPosition position = _device.CurrentPosition();
// act
for (int i = 0; i < numberTurns; i++)
{
position = await _device.TurnCounterClockwise();
}
// assert
Assert.AreEqual(expected, position.Orientation);
}
private void BoxDevice_SelectedIndexChanged(object sender, EventArgs e)
{
string device = boxDevice.Text;
DateTime dateMin = dateTimePickerDateMin.Value.ToUniversalTime();
DateTime dateMax = dateTimePickerDateMax.Value.ToUniversalTime();
CachedDevicePosition.cache.Clear();
int i = 0;
foreach (DevicePosition position in dbManager.deviceMovement(device, dateMin, dateMax))
{
CachedDevicePosition.cache.Add(i, position);
i++;
}
trackBarTempo.Enabled = true;
lblValoreMassimoTrackbar.Visible = true;
lblValoreMinimoTrackbar.Visible = true;
lblValoreSelezionatoTrackBar.Visible = true;
trackBarTempo.Minimum = 0;
trackBarTempo.Maximum = CachedDevicePosition.cache.Count - 1;
trackBarTempo.Value = CachedDevicePosition.cache.Count - 1;
lblValoreMinimoTrackbar.Text = "Valore minimo: " + CachedDevicePosition.cache[0].time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
lblValoreMassimoTrackbar.Text = "Valore massimo: " + CachedDevicePosition.cache[CachedDevicePosition.cache.Count - 1].time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
lblValoreSelezionatoTrackBar.Text = "Valore selezionato: " + CachedDevicePosition.cache[CachedDevicePosition.cache.Count - 1].time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
//disegno il primo punto
//ripulisco i punti del grafico del movimento
chartMovimentoDevice.Series["Device"].Points.Clear();
DevicePosition devicePosition = CachedDevicePosition.cache[CachedDevicePosition.cache.Count - 1];
//aggiungo la nuova posizione
int p = chartMovimentoDevice.Series["Device"].Points.AddXY(devicePosition.xPosition, devicePosition.yPosition);
chartMovimentoDevice.Series["Device"].Points[p].ToolTip = devicePosition.time.ToLocalTime().ToString("yyyy-MM-dd HH:mm:ss");
}
internal DevicePosition[] loadDevicesPositions(string roomName, DateTime fromdate, string fromtime, DateTime todate, string totime)
{
LinkedList <DevicePosition> li = new LinkedList <DevicePosition>();
Dictionary <String, DevicePosition> prepos = new Dictionary <String, DevicePosition>();
using (ConnectionHandle conn = new ConnectionHandle(connectionpool, connectionstring, false))
{
String query = "select identifier,xpos,ypos,tm,outmovement,uncertainty from devicespositions where roomname=@roomname and tm>=@tmstart and tm<=@tmend order by tm asc";
try
{
if (!connectioncheck(conn))
{
throw new Exception("Connection is not open");
}
using (var cmd = new NpgsqlCommand(query, conn.conn))
{
addParameters(cmd,
"roomname", roomName,
"tmstart", new DateTime(fromdate.Year, fromdate.Month, fromdate.Day, Convert.ToInt32(fromtime.Split(':')[0]), Convert.ToInt32(fromtime.Split(':')[1]), 0),
"tmend", new DateTime(todate.Year, todate.Month, todate.Day, Convert.ToInt32(totime.Split(':')[0]), Convert.ToInt32(totime.Split(':')[1]), 0));
using (var reader = cmd.ExecuteReader())
{
while (reader.Read())
{
DevicePosition dp = new DevicePosition();
DevicePosition dp2;
dp.identifier = reader.GetString(0);
dp.xpos = reader.GetDouble(1);
dp.ypos = reader.GetDouble(2);
dp.timestamp = reader.GetDateTime(3);
dp.moveout = reader.GetBoolean(4);
dp.uncertainity = reader.GetDouble(5);
if (prepos.TryGetValue(dp.identifier, out dp2))
{
dp.prexpos = dp2.xpos;
dp.preypos = dp2.ypos;
prepos[dp.identifier] = dp;
}
else
{
dp.prexpos = -1;
dp.preypos = -1;
prepos.Add(dp.identifier, dp);
}
if (dp.moveout)
{
prepos.Remove(dp.identifier);
}
li.AddLast(dp);
}
}
}
}
catch (Exception ex)
{
manageDbException(ex, conn.conn, true);
return(null);
}
}
return(li.ToArray <DevicePosition>());
}