public void BrickDataUpdater_UpdateMotorViewModel_Test_003()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice = new Ev3MotorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
}
MotorDevice.ConnectedPort = Ev3Device.OUTPORT.OUTPORT_C;
MotorDevice.DeviceType = Ev3MotorDevice.DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR;
MotorDevice.Power = 12;
Brick.MotorDeviceArray[2] = MotorDevice;
Updater.UpdateMotorViewModel(ViewModel);
Assert.IsFalse(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsTrue(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.AreEqual("PORT_C", ViewModel.MotorViewModelArray[2].PortName);
Assert.AreEqual("LARGE MOTOR", ViewModel.MotorViewModelArray[2].DeviceName);
Assert.AreEqual(12, ViewModel.MotorViewModelArray[2].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[2].CurrentOutputUnit);
Assert.IsFalse(ViewModel.MotorViewModelArray[3].IsConnected);
}
public void BrickDataUpdater_UpdateSensorViewModel_Test_004()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var SensorDevice = new Ev3SensorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.SensorViewModelArray[index] = new Ev3SensorDeviceViewModel();
}
SensorDevice.ConnectedPort = Ev3Device.INPORT.INPORT_4;
SensorDevice.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC;
SensorDevice.Value1 = 10;
SensorDevice.Value2 = 11;
SensorDevice.Value3 = 12;
Brick.SensorDeviceArray[3] = SensorDevice;
Updater.UpdateSensorViewModel(ViewModel);
Assert.IsFalse(ViewModel.SensorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[2].IsConnected);
Assert.IsTrue(ViewModel.SensorViewModelArray[3].IsConnected);
Assert.AreEqual("PORT_4", ViewModel.SensorViewModelArray[3].PortName);
Assert.AreEqual("ULTRASONIC", ViewModel.SensorViewModelArray[3].DeviceName);
Assert.AreEqual(10, ViewModel.SensorViewModelArray[3].SensorValue1);
Assert.AreEqual(11, ViewModel.SensorViewModelArray[3].SensorValue2);
Assert.AreEqual(12, ViewModel.SensorViewModelArray[3].SensorValue3);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue1Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue2Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue3Unit);
}
/// <summary>
/// Set sensor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSensorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.SensorViewModelArray[index];
try
{
var Device = Brick.SensorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.IsConnected = true;
DeviceViewModel.SensorValue1 = Device.Value1;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = Device.Value2;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = Device.Value3;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.SensorValue1 = 0;
DeviceViewModel.SensorValue1Unit = "";
DeviceViewModel.SensorValue2 = 0;
DeviceViewModel.SensorValue2Unit = "";
DeviceViewModel.SensorValue3 = 0;
DeviceViewModel.SensorValue3Unit = "";
}
#pragma warning restore
}
}
public void BrickDataUpdater_UpdateMotorViewModel_Test_010()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice1 = new Ev3MotorDevice();
var MotorDevice2 = new Ev3MotorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
}
MotorDevice1.Power = 13;
MotorDevice2.Power = 23;
Brick.MotorDeviceArray[2] = MotorDevice1;
Brick.MotorDeviceArray[3] = MotorDevice2;
Updater.UpdateMotorViewModel(ViewModel);
Assert.IsFalse(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsTrue(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.AreEqual(13, ViewModel.MotorViewModelArray[2].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[2].CurrentOutputUnit);
Assert.IsTrue(ViewModel.MotorViewModelArray[3].IsConnected);
Assert.AreEqual(23, ViewModel.MotorViewModelArray[3].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[3].CurrentOutputUnit);
}
/// <summary>
/// Set motor data into controller view model.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateMotorViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
var DeviceViewModel = ViewModel.MotorViewModelArray[index];
try
{
var Device = Brick.MotorDeviceArray[index];
DeviceViewModel.PortName = Device.Port;
DeviceViewModel.DeviceName = Device.Device;
DeviceViewModel.CurrentOutput = Device.Power;
DeviceViewModel.IsConnected = Device.IsConnected;
DeviceViewModel.CurrentOutputUnit = @"%";
}
#pragma warning disable 168
catch (NullReferenceException ex)
{
DeviceViewModel.IsConnected = false;
DeviceViewModel.TargetOutput = 0;
DeviceViewModel.TargetOutputUnit = "";
DeviceViewModel.CurrentOutput = 0;
DeviceViewModel.CurrentOutputUnit = "";
}
#pragma warning restore
}
}
public void UpdateViewModel(Ev3ControllerMainViewModel ViewModel)
{
this.UpdateMotorViewModel(ViewModel);
this.UpdateSensorViewModel(ViewModel);
this.UpdateSafeStateViewModel(ViewModel);
this.UpdateTargetMotor(ViewModel);
}
/// <summary>
/// Set safe state.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateSafeStateViewModel(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
ViewModel.SafeStateViewModel.IsConnected = true;
ViewModel.SafeStateViewModel.SafetyState = Brick.State.StateName;
ViewModel.SafeStateViewModel.ImageSource = Brick.State.StateImage;
}
/// <summary>
/// Reset device data by calling
/// </summary>
/// <param name="ViewModel"></param>
public void ResetViewModel(Ev3ControllerMainViewModel ViewModel)
{
for (int index = 0; index < 4; index++)
{
if (null != ViewModel.MotorViewModelArray[index])
{
ViewModel.MotorViewModelArray[index].ResetDevice();
}
if (null != ViewModel.SensorViewModelArray[index])
{
ViewModel.SensorViewModelArray[index].ResetDevice();
}
}
ViewModel.SafeStateViewModel.ResetDevice();
}
/// <summary>
/// Set target motor and steering value to Ev3Brick instance.
/// </summary>
/// <param name="ViewModel"></param>
public void UpdateTargetMotor(Ev3ControllerMainViewModel ViewModel)
{
var Brick = Ev3Brick.GetInstance();
Brick.Output.MotorOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
Brick.Output.Steering = ViewModel.MotorSteerViewModel.TargetSteer;
foreach (Ev3MotorDeviceViewModel MotorDeviceViewModel in
ViewModel.MotorViewModelArray)
{
if (MotorDeviceViewModel.IsConnected)
{
MotorDeviceViewModel.TargetOutput = ViewModel.MotorSteerViewModel.TargetMotorOutput;
}
}
}
public void BrickDataUpdater_UpdateViewModel_Test_001()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice = new Ev3MotorDevice();
var SensorDevice = new Ev3SensorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
ViewModel.SensorViewModelArray[index] = new Ev3SensorDeviceViewModel();
}
MotorDevice.ConnectedPort = Ev3Device.OUTPORT.OUTPORT_A;
MotorDevice.DeviceType = Ev3MotorDevice.DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR;
MotorDevice.Power = 10;
Brick.MotorDeviceArray[0] = MotorDevice;
SensorDevice.ConnectedPort = Ev3Device.INPORT.INPORT_1;
SensorDevice.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR;
SensorDevice.Value1 = 10;
SensorDevice.Value2 = 11;
SensorDevice.Value3 = 12;
Brick.SensorDeviceArray[0] = SensorDevice;
Updater.UpdateViewModel(ViewModel);
Assert.IsTrue(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.AreEqual("PORT_A", ViewModel.MotorViewModelArray[0].PortName);
Assert.AreEqual("LARGE MOTOR", ViewModel.MotorViewModelArray[0].DeviceName);
Assert.AreEqual(10, ViewModel.MotorViewModelArray[0].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[0].CurrentOutputUnit);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[3].IsConnected);
Assert.IsTrue(ViewModel.SensorViewModelArray[0].IsConnected);
Assert.AreEqual("PORT_1", ViewModel.SensorViewModelArray[0].PortName);
Assert.AreEqual("COLOR", ViewModel.SensorViewModelArray[0].DeviceName);
Assert.AreEqual(10, ViewModel.SensorViewModelArray[0].SensorValue1);
Assert.AreEqual(11, ViewModel.SensorViewModelArray[0].SensorValue2);
Assert.AreEqual(12, ViewModel.SensorViewModelArray[0].SensorValue3);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue1Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue2Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue3Unit);
Assert.IsFalse(ViewModel.SensorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[2].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[3].IsConnected);
}
