private static async Task <bool> CheckMotorStatus(IAsyncMotor motor)
{
try
{
if ((await motor.SendCommandAsync(Command.GetAxisParameter, 1, CommandParam.Default, 0)).IsSuccess)
{
return(true);
}
}
catch (TimeoutException)
{
// Ignored
}
catch (Exception)
{
return(false);
}
try
{
if (await motor.TrySwitchToBinary())
{
return(true);
}
}
catch (Exception)
{
return(false);
}
return(false);
}
public async Task Test(int param)
{
await Task.WhenAll(_handler1.ReturnToOriginAsync(), _handler2.ReturnToOriginAsync());
var positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { 0, 0 }, positions);
var responses = await Task.WhenAll(
_handler1.SendCommandAsync(Command.MoveToPosition, param, CommandParam.MoveType.Absolute),
_handler2.SendCommandAsync(Command.MoveToPosition, param, CommandParam.MoveType.Absolute));
CollectionAssert.AreEquivalent(new[] { true, true }, responses.Select(x => x.Status == ReturnStatus.Success));
await Task.WhenAll(_handler1.WaitForPositionReachedAsync(), _handler2.WaitForPositionReachedAsync());
positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { param, param }, positions);
await Task.WhenAll(_handler1.ReturnToOriginAsync(), _handler2.ReturnToOriginAsync());
positions = await Task.WhenAll(_handler1.GetPositionAsync(), _handler2.GetPositionAsync());
CollectionAssert.AreEquivalent(new[] { 0, 0 }, positions);
}
public async Task Test_Rotation()
{
// ReSharper disable once RedundantArgumentDefaultValue
var reply = await _motor.SendCommandAsync(Command.MoveToPosition, 10000, CommandParam.MoveType.Absolute);
Assert.AreEqual(ReturnStatus.Success, reply.Status);
await Task.Delay(TimeSpan.FromMilliseconds(500));
reply = await _motor.SendCommandAsync(Command.GetAxisParameter, 1, CommandParam.Default);
Assert.AreEqual(ReturnStatus.Success, reply.Status);
Assert.AreEqual(10000, reply.ReturnValue);
await _motor.ReturnToOriginAsync(CancellationToken.None);
reply = await _motor.SendCommandAsync(Command.GetAxisParameter, 1, CommandParam.Default);
Assert.AreEqual(ReturnStatus.Success, reply.Status);
Assert.AreEqual(0, reply.ReturnValue);
}