public void ShouldConvertCommandToJsonCorrectly()
{
//Arrange
var testCommand = new UpdateSteeringInfoCommand(10, 10, true);
var resultBytes = new byte[0];
var tcpRawClientMock = new Mock <ITcpRawClient>();
tcpRawClientMock.Setup(x => x.Send(It.IsAny <byte[]>()))
.Callback <byte[]>(x => resultBytes = x);
var tcpRawClientsFactoryMock = new Mock <ITcpRawClientsFactory>();
tcpRawClientsFactoryMock.Setup(x => x.Create(It.IsAny <IpAddress>()))
.Returns(tcpRawClientMock.Object);
var tcpFacade = new TcpFacade(new IpAddress("127.0.0.1", 1234), tcpRawClientsFactoryMock.Object);
//Act
tcpFacade.Send(testCommand);
//Assert
var jsonTestCommand = JsonConvert.SerializeObject(testCommand, Formatting.None);
var stringResult = Encoding.UTF8.GetString(resultBytes);
Assert.That(stringResult, Is.EqualTo(jsonTestCommand));
}
public void ShouldCalculateSteeringCorrectly(int power, int steering, int expectedLeft, int expectedRight)
{
//Arrange
var resultCommand = new UpdateSteeringInfoCommand(0, 0, false);
var connectionServiceMock = new Mock <IConnectionsService>();
connectionServiceMock.Setup(x => x.SendCommand(It.IsAny <UpdateSteeringInfoCommand>()))
.Callback <UpdateSteeringInfoCommand>(x => { resultCommand = x; });
var steeringService = new SteeringService(connectionServiceMock.Object);
//Act
steeringService.UpdateSteeringInfo(power, steering, true);
//Assert
Assert.That(resultCommand.LeftSidePower, Is.EqualTo(expectedLeft));
Assert.That(resultCommand.RightSidePower, Is.EqualTo(expectedRight));
}
/// <param name="power">value from 0 to 100</param>
/// <param name="steering">value from -100 to 100, where values lower than zero means left side,
/// and higher than zero right side</param>
public void UpdateSteeringInfo(int power, int steering, bool reverseGear, IpAddress ipAddress)
{
power = power > 100 ? 100 : power;
steering = steering > 100 ? 100 : steering;
steering = steering < -100 ? -100 : steering;
var left = power;
var right = power;
if (steering < 0 && power > 0)
{
left = power - Math.Abs(steering) * power / 100;
}
else if (steering > 0 && power > 0)
{
right = power - Math.Abs(steering) * power / 100;
}
var command = new UpdateSteeringInfoCommand(left, right, reverseGear);
this._connectionsService.SendCommand(command, new IpAddress(IPAddress.Loopback.ToString(), 1234));
}
