public static async Task <GameManager> CreateAsync()
{
var commandInterpreterConstructor = CommandInterpreter.CreateAsync();
ChessLogic logic = new ChessLogic();
var stepCountPinX = new GpioPinWrapper(5, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinX = new GpioPinWrapper(13, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationX = new MotorInformation(Axis.X, stepCountPinX);
var motorDriverX = new MotorDrv(20, 21, motorInformationX);
var motorLocatorX = new MotorLocator(stepClearPinX, motorDriverX.Information);
var positionSignalerX = new PositionSignaler(motorLocatorX);
var motorMoverX = new MotorMover(50, positionSignalerX, motorLocatorX, motorDriverX);
var stepCountPinY = new GpioPinWrapper(6, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinY = new GpioPinWrapper(19, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationY = new MotorInformation(Axis.Y, stepCountPinY);
var motorDriverY = new MotorDrv(24, 23, motorInformationY);
var motorLocatorY = new MotorLocator(stepClearPinY, motorDriverY.Information);
var positionSignalerY = new PositionSignaler(motorLocatorY);
var motorMoverY = new MotorMover(50, positionSignalerY, motorLocatorY, motorDriverY);
var topInterrupterX = new PhotoInterrupter(17, 1, 150);
var bottomInterrupterX = new PhotoInterrupter(27, -1, -150);
var motorCalibratorX = new MotorCalibrator(-23, 23, motorMoverX, motorInformationX, topInterrupterX, bottomInterrupterX);
var topInterrupterY = new PhotoInterrupter(25, 1, 150);
var bottomInterrupterY = new PhotoInterrupter(22, -1, -150);
var motorCalibratorY = new MotorCalibrator(-17, 17, motorMoverY, motorInformationY, topInterrupterY, bottomInterrupterY);
var preciseMoverX = new PreciseMotorMover(motorMoverX);
var gridMoverX = new GridMotorMover(preciseMoverX, motorCalibratorX);
var preciseMoverY = new PreciseMotorMover(motorMoverY);
var gridMoverY = new GridMotorMover(preciseMoverY, motorCalibratorY);
var magnetDriver = new MagnetDrv(26);
var movePerformer = new MovePerformer(gridMoverX, gridMoverY, magnetDriver);
var motorCalibrationTask = movePerformer.CalibrateAsync();
var movePlanner = new MovePlanner(logic.Board);
var moveManager = new MoveManager(movePlanner, movePerformer);
GameManager manager = new GameManager(await commandInterpreterConstructor, logic, moveManager);
await motorCalibrationTask;
#if DEBUG
manager.DebugMovePerformer = movePerformer;
#endif
return(manager);
}
private void constructAnAxis(ref IMotorMover mover, ref IMotorCalibrator calibrator, ref IPreciseMotorMover preciseMover, ref IGridMotorMover gridMover)
{
var motor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), motor.Information);
var signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, motor);
var topInterrupter = new MockPhotoInterrupter(1, 4, 6, locator, motor);
var bottomInterrupter = new MockPhotoInterrupter(-1, -6, -4, locator, motor);
calibrator = new MotorCalibrator(-5, 5, mover, motor.Information, topInterrupter, bottomInterrupter);
preciseMover = new PreciseMotorMover(mover);
gridMover = new GridMotorMover(preciseMover, calibrator);
}
public void TestMotorStall()
{
constructMotorMover();
((MotorMover)motorMover).Dispose();
motorMover = new MotorMover(0, positionSignaler, motorLocator, mockMotor);
int targetPos = 400;
var moveTask = motorMover.GoToPositionAsync(targetPos);
Task.Delay(60).Wait();
mockMotor.HandleMotorDirectionChanged(MoveDirection.Stopped);
while (mockMotor.Information.Direction != MoveDirection.Stopped)
{
Task.Delay(30).Wait();
}
Task.Delay(30).Wait();
int finalPos = moveTask.Result;
Assert.IsTrue(finalPos < targetPos, "Counted all the way to the target position instead of stalling.");
Assert.AreEqual(motorLocator.Position, finalPos, "MotorLocator position did not match finalPos");
Assert.AreEqual(MoveDirection.Stopped, mockMotor.Direction, "Motor was not stopped after move stalled.");
Assert.AreEqual(0, motorMover.EstimatedOvershoot, "EstimatedOvershoot shouldn't be updated with a stall.");
}
public void TestMotorMoverCancel()
{
constructMotorMover();
((MotorMover)motorMover).Dispose();
motorMover = new MotorMover(0, positionSignaler, motorLocator, mockMotor);
int targetPos = 300;
var moveTask = motorMover.GoToPositionAsync(targetPos);
Task.Delay(30).Wait();
motorMover.CancelMove();
while (mockMotor.Information.Direction != MoveDirection.Stopped)
{
Task.Delay(30).Wait();
}
Task.Delay(60).Wait();
Assert.IsTrue(moveTask.IsCompleted, "Move task did not end after cancellation.");
int finalPos = moveTask.Result;
Assert.AreEqual(motorLocator.Position, finalPos, $"Motor mover result {finalPos} does not match motorLocator position {motorLocator.Position}");
Assert.IsTrue(finalPos < targetPos, $"Motor final position {finalPos} did not make sense with target {targetPos}.");
Assert.AreEqual(0, motorMover.EstimatedOvershoot, "EstimatedOvershoot should not update if a move is canceled.");
}
