public void SetXY_ForwardValue() { // Setup MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); bool correctValues = true; int input = 100; int expectedOutput = 190; int actualOutput = -1; chair.Start(); // act chair.SetX(0); chair.SetY(input); System.Threading.Thread.Sleep(150); actualOutput = chair.VoltY; chair.End(); string message = "Expected: "; message += expectedOutput; message += ", Actual: "; message += actualOutput; chair.Dispose(); Assert.AreEqual(expectedOutput, actualOutput, message); }
public void SetXY_ValidVoltages() { // Setup MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); bool correctValues = true; int[] inputValues = { 0, -100, 100 }; int[] expectedValues = { 128, 66, 190 }; chair.Start(); // act for (int i = 0; i < 3; i++) { chair.SetX(inputValues[i]); chair.SetY(inputValues[i]); Thread.Sleep(150); if (chair.VoltX != expectedValues[i]) { correctValues = false; } if (chair.VoltY != expectedValues[i]) { correctValues = false; } } //chair.End(); chair.Dispose(); Assert.IsTrue(correctValues, "Voltages are not correct."); }
public void Start_InvalidPortName_ShouldThrowArgumentException() { MockSerialDevice serialDevice = new MockSerialDevice("Con3", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); chair.Start(); chair.End(); chair.Dispose(); Assert.Fail("Invalid Port Name. Argument Exception was not thrown."); }
public void Start_InvalidComPort_ShouldThrowIOException() { MockSerialDevice serialDevice = new MockSerialDevice("COM7", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); chair.Start(); chair.End(); chair.Dispose(); Assert.Fail("Invalid COM Port. IO Exception was not thrown."); }
public void Start_PortInUse_ShouldThrowUnauthorizedEx() { // Setup MockSerialDevice serialDevice = new MockSerialDevice("COM5", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); chair.Start(); chair.End(); chair.Dispose(); Assert.Fail("Unauthorized Access Exception was not thrown."); }
public void Start_InvalidBaudRate_ShouldThrowOutOfRange() { bool caught = false; try { MockSerialDevice serialDevice = new MockSerialDevice("COM3", 0); Wheelchair chair = Wheelchair.Instance(serialDevice); } catch (ArgumentOutOfRangeException e) { caught = true; Assert.AreEqual("BaudRate", e.ParamName); } if (!caught) { Assert.Fail("ArgumentOutOfRangeException was not thrown."); } }
public void SetSpeedAndDirection_Inputs() { //int[] directions = {0, 45, 90, 180, 270}; Vector[] directions = { new Vector(0, 0), new Vector(0, 1), new Vector(1, 0), new Vector(0, -1), new Vector(-1, 0) }; int[] expected_x = { 128, 172, 190, 128, 66 }; int[] expected_y = { 190, 172, 128, 66, 128 }; string message = ""; bool correctValues = true; MockSerialDevice serialDevice = new MockSerialDevice("COM3", 9600); Wheelchair chair = Wheelchair.Instance(serialDevice); chair.Start(); for (int i = 0; i < 5; i++) { chair.SetSpeedAndDirection(100, directions[i]); Thread.Sleep(100); if (chair.VoltX != expected_x[i]) { correctValues = false; message += "Direction[" + directions[i]; message += "] was incorrect (X Voltage). Expected:"; message += expected_x[i] + ", Actual:"; message += chair.VoltX; break; } if (chair.VoltY != expected_y[i]) { correctValues = false; message += "Direction[" + directions[i]; message += "] was incorrect (Y Voltage). Expected:"; message += expected_y[i] + ", Actual:"; message += chair.VoltY; break; } } chair.Dispose(); Assert.IsTrue(correctValues, message); }
static void Main() { //change the test file xml here and make sure it is in bin. string startingXMLFile = "ETRL_03_07.xml"; //string startingXMLFile = "FloorPlanTest.xml"; //string startingOpenFile = "Sloan46_FINAL.xml"; double compassToMapOffset = 72.0; // List of all the objects we'll be initializing. // Default to null, as some of them will only // be initialized conditionally e.g. // vehicle is only initialized if // there is a vehicle connected. SerialPort sp = null; IVehicle vehicle = null; IImageStream depthStream = null; IImageStream videoStream = null; IObstacleDetector obstacleDetector = null; ICartographer cartographer = null; IOdometer odometer = null; IInputDevice input = KeyboardInput.Instance; ObstacleMap obstacleMap = null; INavigator navigator = null; MainWindow mainWindow = null; Driver.Driver driver = null; VisualInputGridPresenter uiInputPresenter = null; ObstacleGridPresenter uiGridPresenter = null; PositioningSystem ips = null; OverlayRenderer overlayRenderer = null; SensorArray sensorArray = null; Pose pose = null; IDoorDetector doorDetector = null; ObstacleLocalizer obstacleLocalizer = null; SonarDetector sonarDetector = null; Config.Initialize(); Devices.Initialize(); //string wheelchair_com_port = Devices.IsWheelchairConnected(); string wheelchair_com_port = "COM3";//Devices.FindComPort("Arduino Uno"); bool WheelChairConnected = false; if (wheelchair_com_port != "") { WheelChairConnected = true; } //bool WheelChairConnected = true; bool EyeTribeConnected = true; // Devices.IsEyeTribeConnected(); bool ControllerConnected = true; //Devices.IsControllerConnected(); bool KinectConnected = true; //Devices.IsKinectConnected(); //Console.WriteLine("Kinect Connected: {0}", KinectConnected.ToString()); //Console.WriteLine("Eyetribe Connected: {0}", EyeTribeConnected.ToString()); //Console.WriteLine("Wheelchair Connected: {0}", WheelChairConnected.ToString()); //Console.WriteLine("Controller Connected: {0}", ControllerConnected.ToString()); // Initialize vehicle and serial connection if // there is a vehicle connected. if (WheelChairConnected) { //sp = new SerialPort(wheelchair_com_port, 9600); vehicle = Wheelchair.Instance(wheelchair_com_port); vehicle.initializeOffset(Properties.Settings.Default.CalibrationOffset); } else { vehicle = new MockVehicle(); MockVehicleWindow mockDisplay = new MockVehicleWindow((MockVehicle)vehicle); mockDisplay.Show(); } //initalize IPS here IByteReader sensorReader = null; try { //sensorReader = new SerialByteReader("Arduino Mega"); sensorReader = new SerialByteReader("COM4"); } catch (Exception e) { MessageBox.Show(e.Message); } if (sensorReader != null) { ILogger logger = new NullLogger(); sensorArray = new SensorArray(sensorReader, logger); sonarDetector = new SonarDetector(); } else { sensorReader = new NullByteReader(); ILogger logger = new NullLogger(); sensorArray = new SensorArray(sensorReader, logger); } IByteReader byteReader = null; try { //byteReader = new SerialByteReader(Devices.FindComPort("STMicroelectronics")); byteReader = new SerialByteReader("COM3"); } catch (Exception e) { MessageBox.Show(e.Message); } if (byteReader != null) { ILogger logger = new NullLogger(); ips = new MarvelMind(byteReader, logger); } else { //Setup Mock IPS //IByteReader mockByteReader = new FileByteReader(@"C:\Users\Dana\Documents\Visual Studio 2013\Projects\UITests\UITests\Mock_IPS_Data.txt"); //IByteReader mockByteReader = new XLineFixedYByteReader(800, 100, 200); IByteReader mockByteReader = new RandomByteReader(300, 299); ILogger mockLogger = new NullLogger(); ips = new MarvelMind(mockByteReader, mockLogger); } //wait for an iteration of the IPS system that way //we can get the starting location while (false == ips.XUpdated && false == ips.YUpdated) { continue; } //Tuple<double, double> t = new Tuple<double, double>((double)ips.X, (double)ips.Y); Tuple <double, double> t = new Tuple <double, double>((double)ips.Y, (double)ips.X); mPoint startingLocationInXY = new mPoint(t); // UI, input, object detection, navigation, and driver are initialized always, // as they are not directly dependent on external hardware. obstacleMap = new ObstacleMap(); //cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", ips); // might need to be changed later. If the location is not in the starting room. add staring room. //cartographer = new Cartographer(Directory.GetCurrentDirectory() + @"\FloorPlanTest.xml", startingLocationInXY); OpenFileDialog ofd = new OpenFileDialog(); ofd.Filter = "XML | *.xml"; ofd.Title = "Open Map"; if (ofd.ShowDialog() == true) { startingXMLFile = ofd.FileName; Console.WriteLine(startingXMLFile); } cartographer = new Cartographer(startingXMLFile, startingLocationInXY); pose = new Pose(ips, cartographer.GetStartingRoom(), sensorArray.CompassDevice, compassToMapOffset); overlayRenderer = new OverlayRenderer(); if (KinectConnected) { depthStream = DepthStream.Instance; videoStream = VideoStream.Instance; // Initialize depthstream if kinect is connected. obstacleDetector = new ObstacleDetector(depthStream, false); obstacleDetector.Start(); obstacleLocalizer = new ObstacleLocalizer(pose); ObstaclesOverlay obstaclesOverlay = new ObstaclesOverlay(obstacleDetector); overlayRenderer.Overlays.Add(obstaclesOverlay); doorDetector = new DepthBasedDoorDetector(); doorDetector.RunAsync(depthStream); try { sonarDetector.RunAsync(sensorArray); } catch (Exception e) { } } // Obstacle detector and driver are only run // if both the vehicle and kinect are connected. if (vehicle != null && KinectConnected) { Vector startPoint = new Vector(7 / 0.75f, 43 / 0.75f); Vector startRotation = new Vector(-7, -43); startRotation.Normalize(); odometer = new Odometer(); navigator = new Navigator(obstacleMap, obstacleDetector, obstacleLocalizer, cartographer, doorDetector, pose, sonarDetector, sensorArray); driver = new Driver.Driver(input, vehicle, navigator); driver.Start(); } mainWindow = new MainWindow(pose, obstacleMap, cartographer, navigator, doorDetector, overlayRenderer, EyeTribeConnected, ControllerConnected, sensorArray); uiInputPresenter = new VisualInputGridPresenter(mainWindow.visualInputGrid); //This starts the program. Application app = new Application(); app.ShutdownMode = ShutdownMode.OnMainWindowClose; app.MainWindow = mainWindow; app.MainWindow.Show(); app.Run(); }