public void SetXY_ForwardValue()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
bool correctValues = true;
int input = 100;
int expectedOutput = 190;
int actualOutput = -1;
chair.Start();
// act
chair.SetX(0);
chair.SetY(input);
System.Threading.Thread.Sleep(150);
actualOutput = chair.VoltY;
chair.End();
string message = "Expected: ";
message += expectedOutput;
message += ", Actual: ";
message += actualOutput;
chair.Dispose();
Assert.AreEqual(expectedOutput, actualOutput, message);
}
public void SetXY_ValidVoltages()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
bool correctValues = true;
int[] inputValues =
{
0,
-100,
100
};
int[] expectedValues = { 128, 66, 190 };
chair.Start();
// act
for (int i = 0; i < 3; i++)
{
chair.SetX(inputValues[i]);
chair.SetY(inputValues[i]);
Thread.Sleep(150);
if (chair.VoltX != expectedValues[i])
{
correctValues = false;
}
if (chair.VoltY != expectedValues[i])
{
correctValues = false;
}
}
//chair.End();
chair.Dispose();
Assert.IsTrue(correctValues, "Voltages are not correct.");
}
public void Start_InvalidPortName_ShouldThrowArgumentException()
{
MockSerialDevice serialDevice = new MockSerialDevice("Con3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Invalid Port Name. Argument Exception was not thrown.");
}
public void Start_InvalidComPort_ShouldThrowIOException()
{
MockSerialDevice serialDevice = new MockSerialDevice("COM7", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Invalid COM Port. IO Exception was not thrown.");
}
public void Start_PortInUse_ShouldThrowUnauthorizedEx()
{
// Setup
MockSerialDevice serialDevice = new MockSerialDevice("COM5", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
chair.End();
chair.Dispose();
Assert.Fail("Unauthorized Access Exception was not thrown.");
}
public void Start_Serial_With_No_Name()
{
try
{
MockSerialDevice sd = new MockSerialDevice();
}
catch (Exception e)
{
Assert.Fail("Should not throw exception");
}
}
public void Start_InvalidBaudRate_ShouldThrowOutOfRange()
{
bool caught = false;
try
{
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 0);
Wheelchair chair = Wheelchair.Instance(serialDevice);
}
catch (ArgumentOutOfRangeException e)
{
caught = true;
Assert.AreEqual("BaudRate", e.ParamName);
}
if (!caught)
{
Assert.Fail("ArgumentOutOfRangeException was not thrown.");
}
}
public void SetSpeedAndDirection_Inputs()
{
//int[] directions = {0, 45, 90, 180, 270};
Vector[] directions = { new Vector(0, 0), new Vector(0, 1), new Vector(1, 0), new Vector(0, -1), new Vector(-1, 0) };
int[] expected_x = { 128, 172, 190, 128, 66 };
int[] expected_y = { 190, 172, 128, 66, 128 };
string message = "";
bool correctValues = true;
MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600);
Wheelchair chair = Wheelchair.Instance(serialDevice);
chair.Start();
for (int i = 0; i < 5; i++)
{
chair.SetSpeedAndDirection(100, directions[i]);
Thread.Sleep(100);
if (chair.VoltX != expected_x[i])
{
correctValues = false;
message += "Direction[" + directions[i];
message += "] was incorrect (X Voltage). Expected:";
message += expected_x[i] + ", Actual:";
message += chair.VoltX;
break;
}
if (chair.VoltY != expected_y[i])
{
correctValues = false;
message += "Direction[" + directions[i];
message += "] was incorrect (Y Voltage). Expected:";
message += expected_y[i] + ", Actual:";
message += chair.VoltY;
break;
}
}
chair.Dispose();
Assert.IsTrue(correctValues, message);
}