/// <summary>
/// Initializes a new instance of the DriveHelperTest class.
/// </summary>
public DriveHelperTest()
{
var mock = new Mock<ICommunicationHelper>();
mock.Setup(x => x.SendMessageToRobot(It.IsAny<string>())).Returns(true);
this.communicationHelper = mock.Object;
this.controlSettings = new ControlSettings();
// Специально для тестов переопределяю максимальные скорости нормального и турбо режимов моторов.
this.controlSettings.DriveModeNormalMaxSpeed = 190;
this.controlSettings.DriveModeTurboMaxSpeed = 255;
}
/// <summary>
/// Initializes a new instance of the GunHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект для взаимодействия с головой робота.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public GunHelper(CommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
}
/// <summary>
/// Initializes a new instance of the AudioHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект, упращающий взаимодействие с роботом.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public AudioHelper(UdpCommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
}
/// <summary>
/// Initializes a new instance of the DriveHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект для взаимодействия с головой робота.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public DriveHelper(ICommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
this.speedForKeyboardControl = controlSettings.Speed3;
}
/// <summary>
/// Initializes a new instance of the DriveHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект для взаимодействия с головой робота.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public DriveHelper(ICommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
this.speedForKeyboardControl = controlSettings.Speed3;
}
/// <summary>
/// Initializes a new instance of the LookHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект для взаимодействия с головой робота.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public LookHelper(ICommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
this.fixedLookX = this.controlSettings.HorizontalForwardDegree;
this.fixedLookY = this.controlSettings.VerticalForwardDegree;
}
/// <summary>
/// Loads settings from XML file.
/// </summary>
public void Load()
{
if (!File.Exists(this.settingsFullFilename))
{
// If configuration file doesn't exists then it is created with default values.
this.Save();
}
var serializer = new XmlSerializer(typeof(ControlSettings));
TextReader reader = new StreamReader(this.settingsFullFilename);
try
{
this.Settings = serializer.Deserialize(reader) as ControlSettings;
}
finally
{
reader.Close();
}
}
/// <summary>
/// Initializes a new instance of the LookHelper class.
/// </summary>
/// <param name="communicationHelper">
/// Объект для взаимодействия с головой робота.
/// </param>
/// <param name="controlSettings">
/// Опции управления роботом.
/// </param>
public LookHelper(ICommunicationHelper communicationHelper, ControlSettings controlSettings)
{
if (communicationHelper == null)
{
throw new ArgumentNullException("communicationHelper");
}
if (controlSettings == null)
{
throw new ArgumentNullException("controlSettingsHelper");
}
this.communicationHelper = communicationHelper;
this.controlSettings = controlSettings;
this.fixedLookX = this.controlSettings.HorizontalForwardDegree;
this.fixedLookY = this.controlSettings.VerticalForwardDegree;
}
/// <summary>
/// Loads settings from XML file.
/// </summary>
public void Load()
{
if (!File.Exists(this.settingsFullFilename))
{
// If configuration file doesn't exists then it is created with default values.
this.Save();
}
var serializer = new XmlSerializer(typeof(ControlSettings));
TextReader reader = new StreamReader(this.settingsFullFilename);
try
{
this.Settings = serializer.Deserialize(reader) as ControlSettings;
}
finally
{
reader.Close();
}
}
