public void TestNotificationReceived()
{
var connection = Mock.Create <IConnection>();
//setting mock
Mock.Arrange(() => connection.WriteValue(Arg.IsAny <byte[]>())).Returns((byte[] b) => true);
var sensor = new DistanceColorSensor(connection, Ports.PORT_D);
sensor.OnChange += Changes;
_expectedResult = new DistanceColorSensorEventArgs
{
ColorDetected = Color.Red,
Distance = 2,
Partial = 0.5
};
var data = new byte[] { 0, 0, 0, 0, (byte)_expectedResult.ColorDetected, (byte)_expectedResult.Distance, 0, (byte)(1.0 / _expectedResult.Partial) };
sensor.SetMode(DistanceColorSensorMods.COLOR_DISTANCE_FLOAT);
sensor.FireEvent(data);
Assert.True(_success);
}
internal void FireEvent(byte[] data)
{
DistanceColorSensorEventArgs args = new DistanceColorSensorEventArgs();
var handler = OnChange;
if (handler == null)
{
return;
}
switch (_mode)
{
case DistanceColorSensorMods.COLOR_ONLY:
args.ColorDetected = (Color)data[4];
break;
case DistanceColorSensorMods.DISTANCE_INCHES:
case DistanceColorSensorMods.DISTANCE_HOW_CLOSE:
case DistanceColorSensorMods.DISTANCE_SUBINCH_HOW_CLOSE:
args.Distance = data[4];
break;
case DistanceColorSensorMods.COUNT_2INCH:
args.Count = data[4];
break;
case DistanceColorSensorMods.COLOR_DISTANCE_FLOAT:
{
args.ColorDetected = (Color)data[4];
args.Distance = data[5];
args.Partial = data[7] == 0 ? 0 : 1.0 / data[7];
break;
}
case DistanceColorSensorMods.LUMINOSITY:
args.Luminosity = (double)data[4] / 1023.0;
break;
}
handler.Invoke(this, args);
LoggerHelper.Instance.Debug("DistanceColorSensor::FireEvent OnChange");
}
private void Changes(object sender, DistanceColorSensorEventArgs e)
{
_success = (e.Distance == _expectedResult.Distance) &&
(e.ColorDetected == _expectedResult.ColorDetected) &&
(Math.Abs(e.Partial - _expectedResult.Partial) < 0.01);
}
