private static void RideTheHood(ILogger logger, IWrapGPIO gpioWrapper)
{
var lFNumber = 1;
var lBNumber = 1;
var rFNumber = 1;
var rBNumber = 1;
IPin lF = new DOPin(lFNumber);
IPin lB = new DOPin(lBNumber);
IPin rF = new DOPin(rFNumber);
IPin rB = new DOPin(rBNumber);
var rider = new Rider(gpioWrapper, lF, rF, lB, rB, logger);
rider.MoveAhead();
Thread.Sleep(2000);
rider.MoveBack();
Thread.Sleep(2000);
rider.TurnLeft();
Thread.Sleep(2000);
rider.TurnRight();
Thread.Sleep(2000);
rider.TurnLeftInPlace();
Thread.Sleep(2000);
rider.TurnRightInPlace();
Thread.Sleep(2000);
rider.Stop();
}
public void When_GetDistanceIsCalled_Then_DistanceIsReturned(IWrapGPIO gpioStub,
SonicSensorDriver sut)
{
//a
var echoPin = sut.EchoPin;
double readedDistance = 0;
double milisToSleep = 3;
var measuringThread = new Thread(() =>
{
//Thread.Sleep(1000);
//gpioStub.DigitalRead(echoPin).Returns(GPIO.GPIOpinvalue.Low);
//Thread.Sleep(1000);
gpioStub.DigitalRead(echoPin).Returns(GPIO.GPIOpinvalue.High);
Thread.Sleep((int)milisToSleep);
gpioStub.DigitalRead(echoPin).Returns(GPIO.GPIOpinvalue.Low);
});
//aa
measuringThread.Start();
readedDistance = sut.GetDistance();
//aaa
//var measuredTime = sut.elapsedTime.TotalMilliseconds;
Assert.Equal(milisToSleep, measuredTime);
}
public void When_Ctor_IsCalledWithProperParameters_Then_NoExceptionIsThrown(IWrapGPIO gpioWrapperStub,
IWrapTiming timingWrapperStub)
{
//a
//aa, aaa
new SonicSensorDriver(gpioWrapperStub, timingWrapperStub);
}
public Rider(IWrapGPIO gpio, IPin leftPin, IPin rightPin, IPin leftBackward, IPin rightBackward, ILogger logger)
{
_gpio = gpio;
_leftPin = leftPin;
_leftBackward = leftBackward;
_rightPin = rightPin;
_rightBackward = rightBackward;
log = logger;
}
public Rider(GPIOWrapper gpio, IPin leftPin, IPin rightPin, ILogger logger)
{
_gpio = gpio;
_leftPin = leftPin;
_leftBackward = null;
_rightPin = rightPin;
_rightBackward = null;
log = logger;
}
public Rider(GPIOWrapper gpio, IPin leftForward, IPin rightForward, IPin leftBackward, IPin rightBackward, ILogger logger)
{
_gpio = gpio;
_leftForward = leftForward;
_leftBackward = leftBackward;
_rightForward = rightForward;
_rightBackward = rightBackward;
log = logger;
}
public void When_Configure_Then_TriggerPin_IsSetToLow(IWrapGPIO gpioSpy,
SonicSensorDriver sut)
{
//a
var triggerPin = sut.TriggerPin;
//aa
sut.Configure();
//aaa
gpioSpy.Received(1).DigitalWrite(triggerPin, GPIO.GPIOpinvalue.Low);
}
public void When_Configure_Then_PinModesAreReSetted(IWrapGPIO gpioSpy,
SonicSensorDriver sut)
{
//a
//aa
sut.Configure();
//aaa
gpioSpy.Received(1).PinMode(sut.EchoPin);
gpioSpy.Received(1).PinMode(sut.TriggerPin);
}
private static void DoSonicMeasuring(IWrapGPIO gpioWrapper, IWrapTiming timingWrapper, int delay)
{
var sonicSensorDriver = new SonicSensorDriver(gpioWrapper, timingWrapper);
sonicSensorDriver.Configure();
do
{
sonicSensorDriver.GetDistance();
Thread.Sleep(delay);
}while (true);
}
public void When_GetDistanceIsCalled_Then_DelaysAreCalled(IWrapGPIO gpioStub,
IWrapTiming timingSpy,
SonicSensorDriver sut)
{
//a
var echoPin = sut.EchoPin;
var measuringThread = new Thread(() => sut.GetDistance());
//aa
measuringThread.Start();
gpioStub.DigitalRead(echoPin).Returns(GPIO.GPIOpinvalue.High);
Thread.Sleep(1);
gpioStub.DigitalRead(echoPin).Returns(GPIO.GPIOpinvalue.Low);
//aaa
timingSpy.Received(1).DelayMicroseconds(5);
timingSpy.Received(1).DelayMicroseconds(10);
}
public HighPrecisionTimer2(IWrapGPIO gpioWrapper)
{
_gpioWrapper = gpioWrapper ?? throw new ArgumentNullException(nameof(gpioWrapper));
}
public void When_Ctor_IsCalledWithWrongPinType_Then_ValidationExceptionIsThrown(IWrapGPIO gpioWrapperDummy,
IWrapTiming timingWrapperDummy,
IPin triggerPinDummy,
DOPin echoPinStub)
{
//a
Action action = () => new SonicSensorDriver(echoPinStub, triggerPinDummy, gpioWrapperDummy, timingWrapperDummy);
//aa
//aaa
Assert.Throws <PinStateValidationException>(action);
}
