public void FrameNamingTest()
{
var provider = new AmlDocument();
var frame = new FrameProperty(provider);
Assert.Equal("Frame", frame.Name);
}
public void LoadTest()
{
var document = CAEXDocument.LoadFromFile(@"D:\test.aml");
var provider = new AmlDocument(document);
var ie = document.CAEXFile.InstanceHierarchy.First().InternalElement.First();
var factory = new KinematicFactory();
var kinematic = factory.Create <Kinematic>(ie, provider);
}
public void Test1()
{
const string asm1Name = "Slider";
const string asm2Name = "Bed Assembly";
const string part1Name = "Base";
const string part2Name = "Bed";
const string part3Name = "Flange";
var doc = new AmlDocument();
var project = new ProjectViewModel(doc);
doc.CaexDocument.CAEXFile.InstanceHierarchy.Insert(project.CaexObject as InstanceHierarchyType);
var asm1 = new AssemblyViewModel(doc)
{
Name = asm1Name
};
var asm2 = new AssemblyViewModel(doc)
{
Name = asm2Name
};
var part1 = new PartViewModel(doc)
{
Name = part1Name
};
var part2 = new PartViewModel(doc)
{
Name = part2Name
};
var part3 = new PartViewModel(doc)
{
Name = part3Name
};
project.Parts.Add(asm1);
asm1.Parts.Add(asm2);
asm1.Parts.Add(part1);
asm2.Parts.Add(part2);
asm2.Parts.Add(part3);
var stream = doc.CaexDocument.SaveToStream(true);
var caex = CAEXDocument.LoadFromStream(stream);
var doc2 = new AmlDocument(caex);
var ih = doc2.CaexDocument.CAEXFile.InstanceHierarchy.First;
var vm = new ProjectViewModel(ih, doc2);
}
public void SerDesTest()
{
var provider = new AmlDocument();
var expected = new KinematicJointValue(provider)
{
Name = "foobar",
Value = 1d,
DefaultValue = 3d,
Minimum = -10d,
Maximum = 20d
};
var value = new KinematicJointValue((AttributeType)expected.CaexObject, provider);
Assert.Equal(expected.Name, value.Name);
Assert.Equal(expected.Value, value.Value);
Assert.Equal(expected.Minimum, value.Minimum);
Assert.Equal(expected.Maximum, value.Maximum);
var ie = provider.CaexDocument.Create <InternalElementType>();
var ih = provider.CaexDocument.Create <InstanceHierarchyType>();
ie.Attribute.Insert((AttributeType)expected.CaexObject);
ih.InternalElement.Insert(ie);
provider.CaexDocument.CAEXFile.InstanceHierarchy.Insert(ih);
var fullPath = Path.Combine(Path.GetTempPath(), Path.GetRandomFileName());
provider.CaexDocument.SaveToFile(fullPath, true);
var d = CAEXDocument.LoadFromFile(fullPath);
var p = new AmlDocument(d);
File.Delete(fullPath);
value = new KinematicJointValue(d.CAEXFile.InstanceHierarchy.First().InternalElement.First().Attribute.First(), provider);
Assert.Equal(expected.Name, value.Name);
Assert.Equal(expected.Value, value.Value);
Assert.Equal(expected.Minimum, value.Minimum);
Assert.Equal(expected.Maximum, value.Maximum);
}
public void SetDhParameterMatrixTest()
{
var document = new AmlDocument();
const double expectedTheta = 0;
const double expectedD = 0;
const double expectedA = 290;
const double expectedAlpha = -90;
var frame = new FrameProperty(document);
frame.SetDhParameters(expectedTheta, expectedD, expectedA, expectedAlpha);
frame.ComputeDhParameter(out var theta, out var d, out var a, out var alpha);
Assert.Equal(expectedTheta, theta, 6);
Assert.Equal(expectedD, d, 6);
Assert.Equal(expectedA, a, 6);
Assert.Equal(expectedAlpha, alpha, 6);
}
public void SerDesTest()
{
// create view model
var provider = new AmlDocument();
var link = new KinematicLink(provider);
var flange = new Flange(provider);
flange.Type = FlangeType.Base;
flange.Frame.SetDhParameters(0, 10, 0, 90);
link.Flanges.Add(flange);
// get model
var model = link.CaexObject as InternalElementType;
// create new view model based on model
var link2 = new KinematicLink(model, provider);
// compare
Assert.Equal(link.Flanges.Count, link2.Flanges.Count);
}
public void FactoryTest()
{
var provider = new AmlDocument();
var expected = new KinematicJointValue(provider)
{
Name = "foobar",
Value = 1d,
DefaultValue = 3d,
Minimum = -10d,
Maximum = 20d
};
var ie = provider.CaexDocument.Create <InternalElementType>();
ie.Attribute.Insert((AttributeType)expected.CaexObject);
Assert.Equal(1, ie.Attribute.Count);
var viewModel = new InternalElementViewModel(ie, provider);
var values = new ViewModelCollection <KinematicJointValue>(ie.Attribute, viewModel);
Assert.Single(values);
Assert.Equal(typeof(KinematicJointValue), values.First().GetType());
}
