public void RelCoordSirVector_Constructor_GetiType()
{
VecPoint _vecPoints = MockRepository.GenerateStub<VecPoint>(10, 10, 10, 10, 10);
RelCoordSirVector _relCoordSirVector = new RelCoordSirVector("TestOne");
Assert.AreEqual(-32767, _relCoordSirVector.Type);
}
public void RelCoordSirVector_Constructor_GetNameTest()
{
VecPoint _vecPoints = MockRepository.GenerateStub<VecPoint>(10, 10, 10, 10, 10);
RelCoordSirVector _relCoordSirVector = new RelCoordSirVector("TestOne");
_relCoordSirVector.addPoint(_vecPoints);
Assert.AreEqual("TestOne", _relCoordSirVector.Name);
}
public bool moveToAPosition()
{
////skal placeres med income position
//int[] iArray = new int[] { 200000, 200000, 100000, 100000, 1000000 };
//int[] iArray2 = new int[] { -200000, -200000, -100000, -100000, -1000000 };
////Define navnet på en vector som har KUN 1 position i sig og 'A' for at sige det er robotten
//int check = DLLImport.DefineVector((byte)'A', "firstOne", 2);
//if (check == 0) return false;
////Home robotten før vi kører den til den givne position
//check = DLLImport.Home((byte)'A', dgateEventHandlerHoming);
//if (check == 0) return false;
//check = DLLImport.Teach("firstOne", 1, iArray, 5, -32767);
//if (check == 0) return false;
//check = DLLImport.Teach("firstOne", 2, iArray2, 5, -32767);
//if (check == 0) return false;
////Flyt robotten til positionen
//movementlock.WaitOne();
//check =DLLImport.MoveLinear("firstOne", 1, null,0);
//if (check == 0) return false;
//MessageBox.Show("Moo", "Error", MessageBoxButtons.OK);
//movementlock.WaitOne();
//check = DLLImport.MoveLinear("firstOne",2,null,0);
//if (check == 0) return false;
//return (check == 1);
SIRVector temp = new RelCoordSirVector("yusuf");
temp.addPoint(new VecPoint(10000,10000,70000,10000,10000));
if (!_wrapper.defineVectorWrapped(Wrapper.enumAxisSettings.AXIS_ROBOT, temp.Name, (short)temp.getSize()))
return false;
if (!_wrapper.teachWrapped(temp))
return false;
for (int i = 0; i < temp.getSize(); i++)
{
movementlock.WaitOne();
if (!_wrapper.moveLinearWrapped(temp.Name,i+1))
return false;
}
return true;
}
public bool moveByRelativeVector(RelCoordSirVector rel)
{
if (!teach(rel))
return false;
for (int i = 0; i < rel.getSize(); i++)
{
movementlock.WaitOne();
if (!_wrapper.moveLinearWrapped(rel.Name, (i+1)))
return false;
}
return true;
}
public bool moveByRelativeCoordinates(string vectorname,int _iX, int _iY, int _iZ, int _iPitch, int _iRoll)
{
SIRVector temp = new RelCoordSirVector(vectorname);
temp.addPoint(new VecPoint(_iX, _iY, _iZ, _iPitch, _iRoll));
if (!defineVector(temp))
return false;
if (!teach(temp))
return false;
if (!moveLinear(vectorname, 1))
return false;
return true;
}
public bool defineRelativeVector(RelCoordSirVector rel)
{
return _wrapper.defineVectorWrapped(Wrapper.enumAxisSettings.AXIS_ROBOT, rel.Name, (short)rel.getSize());
}
public void RelCoordSirVector_getSize_AddOneToList_GetOneFromCount()
{
VecPoint _vecPoints = MockRepository.GenerateStub<VecPoint>(10,10,10,10,10);
RelCoordSirVector _relCoordSirVector = new RelCoordSirVector("TestOne");
_relCoordSirVector.addPoint(_vecPoints);
Assert.AreEqual(1, _relCoordSirVector.getSize());
}
public void RelCoordSirVector_getPoint_AddPoint_TestIfSame()
{
VecPoint _vecPoints = MockRepository.GenerateStub<VecPoint>(10, 10, 10, 10, 10);
RelCoordSirVector _relCoordSirVector = new RelCoordSirVector("TestOne");
_relCoordSirVector.addPoint(_vecPoints);
Assert.AreEqual(_vecPoints, _relCoordSirVector.getPoint(0));
}
