public void BeAbleToProcessIdleResponse()
{
var testObject = new ObtainStatusInstruction();
var testResult = testObject.CanProcessResponse(sampleRobotIdleResponse);
Assert.IsTrue(testResult);
}
public void GenerateQuestionMarkAsGCode()
{
var testObject = new ObtainStatusInstruction();
var testResult = testObject.GenerateGCode(new EmptyInstructionParameter());
Assert.AreEqual("?", testResult);
}
public void NotBeAbleToProcessBogusResponse()
{
var testObject = new ObtainStatusInstruction();
var testResult = testObject.CanProcessResponse("ok");
Assert.IsFalse(testResult);
}
public void ParseBusyResponseToStatusInformationObject()
{
var testObject = new ObtainStatusInstruction();
var testResult = testObject.ProcessResponse(sampleRobotBusyResponse);
Assert.IsTrue(testResult.HasData);
Assert.IsFalse(testResult.IsIdle.Value);
Assert.AreEqual(angleX, testResult.Axis1Angle);
Assert.AreEqual(angleY, testResult.Axis2Angle);
Assert.AreEqual(angleZ, testResult.Axis3Angle);
Assert.AreEqual(angleA, testResult.Axis4Angle);
Assert.AreEqual(angleB, testResult.Axis5Angle);
Assert.AreEqual(angleC, testResult.Axis6Angle);
Assert.AreEqual(slideRail, testResult.ExternalSlideRail);
Assert.AreEqual(xCoordinate, testResult.XCoordinate);
Assert.AreEqual(yCoordinate, testResult.YCoordinate);
Assert.AreEqual(zCoordinate, testResult.ZCoordinate);
Assert.AreEqual(xRotation, testResult.XRotation);
Assert.AreEqual(yRotation, testResult.YRotation);
Assert.AreEqual(zRotation, testResult.ZRotation);
Assert.AreEqual(pumpPwm, testResult.Pwm1);
Assert.AreEqual(gripperPwm, testResult.Pwm2);
}
