private static void TestPanMovementWithStartBeforeEndReached(ICommunication communication)
{
Console.WriteLine("Start");
var panTiltControl = new EneoPanTiltControl(communication);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.PositionChanged += PanTiltControl_OnPositionChanged;
while (true)
{
panTiltControl.PanAbsolute(0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 100);
panTiltControl.PanAbsolute(40);
positionChecker.ComparePosition(new PanTiltPosition(40, 0), 0.5, 20, 100);
panTiltControl.PanRelative(-40);
Thread.Sleep(500);
panTiltControl.PanRelative(40);
Thread.Sleep(500);
panTiltControl.PanAbsolute(0);
Console.WriteLine("Loop done");
}
}
private void TestLogic()
{
var limits = this._panTiltControl.GetLimits();
if (limits.PanMin == 0 && limits.PanMax == 0 && limits.TiltMin == 0 && limits.TiltMax == 0)
{
this.textBoxResult.Invoke(o => o.Text += $"Cannot execute test invalid limits\r\n");
}
this.textBoxResult.Invoke(o => o.Text += $"Limits;Pan;{limits.PanMin};{limits.PanMax};Tilt;{limits.TiltMin};{limits.TiltMax}\r\n");
var positionChecker = new PositionChecker(this._panTiltControl);
this._panTiltControl.TiltAbsolute(0);
for (var pan = limits.PanMin; pan < limits.PanMax; pan += 0.05)
{
pan = Math.Round(pan, 2);
this._panTiltControl.PanAbsolute(pan);
Thread.Sleep(2000);
if (positionChecker.ComparePosition(new PanTiltPosition(pan, 0), 0.1))
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Good;pan;{pan};{position.Pan}\r\n");
}
else
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Failure;pan;{pan};{position.Pan}\r\n");
}
}
this._panTiltControl.PanAbsolute(0);
for (var tilt = limits.TiltMin; tilt < limits.TiltMax; tilt += 0.05)
{
tilt = Math.Round(tilt, 2);
this._panTiltControl.TiltAbsolute(tilt);
Thread.Sleep(2000);
if (positionChecker.ComparePosition(new PanTiltPosition(0, tilt), 0.1))
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Good;tilt;{tilt};{position.Tilt}\r\n");
}
else
{
var position = this._panTiltControl.GetPosition();
this.textBoxResult.Invoke(o => o.Text += $"Failure;tilt;{tilt};{position.Tilt}\r\n");
}
}
}
private static void DriveRandomPositions(ICommunication communication, bool debug)
{
var panTiltControl = new EneoPanTiltControl(communication, debug);
var positionChecker = new PositionChecker(panTiltControl);
panTiltControl.Start();
var random = new Random();
while (true)
{
var panForward = true;
var tiltForward = true;
if (random.Next(0, 2) == 1)
{
panForward = false;
}
if (random.Next(0, 2) == 1)
{
tiltForward = false;
}
for (var i = 0; i < 1000; i++)
{
var panDegreePerSecond = random.Next(1, 40);
var tiltDegreePerSecond = random.Next(1, 15);
if (!panForward)
{
panDegreePerSecond = -panDegreePerSecond;
}
if (!tiltForward)
{
tiltDegreePerSecond = -tiltDegreePerSecond;
}
panTiltControl.MoveRelative(panDegreePerSecond, tiltDegreePerSecond);
Thread.Sleep(40);
}
panTiltControl.PanTiltAbsolute(0, 0);
positionChecker.ComparePosition(new PanTiltPosition(0, 0), 0.5, 20, 200);
}
}
