private static async Task TestCase1_TachoMotorPositionByDegreesAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Testing positioning by degress");
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 42, 48);
context.Assert(motor.Position, 42, 48);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 87, 93);
context.Assert(motor.Position, 87, 93);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, 132, 138);
context.Assert(motor.Position, 132, 138);
await motor.StartSpeedForDegreesAsync(45, 10, 100);
await Task.Delay(2000);
context.Assert(Math.Abs(motor.AbsolutePosition), 177, 180);
context.Assert(motor.Position, 177, 183);
await context.ConfirmAsync("TachoMotor.StartSpeedForDegreesAsync: Has moved 40 times CW each by 45°?");
}
public async Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context)
{
var motor = hub.Port(0).GetDevice <TTechnicMotor>();
await motor.GotoRealZeroAsync();
await Task.Delay(2000);
await motor.SetZeroAsync();
// TestCase: AbsoluteMotorReportsAbsolutePosition
await motor.TryLockDeviceForCombinedModeNotificationSetupAsync(motor.ModeIndexAbsolutePosition, motor.ModeIndexPosition);
await motor.SetupNotificationAsync(motor.ModeIndexPosition, true, 2);
await motor.SetupNotificationAsync(motor.ModeIndexAbsolutePosition, true, 2);
await motor.UnlockFromCombinedModeNotificationSetupAsync(true);
await context.ConfirmAsync("AbsoluteMotor.GotoRealZeroAsync: Is in zero position? Adjust Beam to 0°?");
await TestCase1_TachoMotorPositionByDegreesAsync(context, motor);
await TestCase2_TachoMotorExplicitPositionAsync(context, motor);
await TestCase3_TachoMotorHighSpeedAndFloatingAsync(context, motor);
await TestCase4_TachoMotorPositiveNegativeSpeedForTimeAsync(context, motor);
await TestCase5_TachoMotorAccelerationAsync(context, motor);
await TestCase6_BasicMotorAsync(context, motor);
await TestCase7_InputAsync(context, motor);
}
static async Task Main(string[] args)
{
var serviceProvider = new ServiceCollection()
.AddLogging(builder =>
{
builder.AddConsole();
})
.AddPoweredUp()
.AddWinRTBluetooth() // using WinRT Bluetooth on Windows (separate NuGet SharpBrick.PoweredUp.WinRT)
.BuildServiceProvider();
var host = serviceProvider.GetService <PoweredUpHost>();
IEnumerable <ITestScript> scripts = new ITestScript[] {
new TechnicMotorTestScript <TechnicLargeLinearMotor>(),
new MindstormsSensorsTestScript(),
};
var context = new TestScriptExecutionContext(serviceProvider.GetService <ILogger <TestScriptExecutionContext> >());
foreach (var script in scripts)
{
// Test Script
context.Log.LogInformation($"Execute Script {script.GetType().Name}");
// build deployment model
var model = BbuildDeploymentModel(script);
PrintModel(context, model);
// Accept to execute Test Script
var executeTest = await context.ConfirmAsync("> Confirm to execute Test Script");
if (executeTest)
{
context.Log.LogInformation("> Discovering & Connecting Hub");
var hubType = HubFactory.GetTypeFromSystemType(model.Hubs[0].HubType ?? throw new InvalidOperationException("Specify the hub type in the test script."));
using var hub = await host.DiscoverAsync(hubType);
await hub.ConnectAsync();
context.Log.LogInformation("> Verifying Deployment Model (fix it if necessary)");
await hub.VerifyDeploymentModelAsync(model);
context.Log.LogInformation("> Start Test Script");
await script.ExecuteScriptAsync(hub, context);
context.Log.LogInformation("> Switch Off Hub");
await hub.SwitchOffAsync();
}
else
{
context.Log.LogWarning($"> User decided not to execute Test Script");
}
}
}
private static async Task ResetToZeroAsync(TestScriptExecutionContext context, TTechnicMotor motor, int expectedTime)
{
await motor.GotoPositionAsync(0, 10, 100);
await Task.Delay(expectedTime);
context.Assert(motor.AbsolutePosition, -3, 3);
context.Assert(motor.Position, -3, 3);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved to zero position?");
}
private static async Task TestCase3_TachoMotorHighSpeedAndFloatingAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: High different Speed and Floating");
await motor.StartSpeedForDegreesAsync(810, -100, 100, SpecialSpeed.Float);
await Task.Delay(2000);
await context.ConfirmAsync("TachoMotor.StartSpeedForDegreesAsync: High speed CCW turn with floating end state?");
await ResetToZeroAsync(context, motor, 2000);
}
private async Task TestCase4_TechnicDistanceSensorDistanceAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor)
{
context.Log.LogInformation("Test distances between 4 and 250cm for 10s");
using var d1 = distanceSensor.DistanceObservable.Subscribe(x => context.Log.LogInformation($"Distance: {x}"));
await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, true);
await Task.Delay(10_000);
await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, false);
await context.ConfirmAsync("Are the distances measured accurately?");
}
private static void PrintModel(TestScriptExecutionContext context, DeploymentModel model)
{
context.Log.LogInformation($"> Deployment Model of Test Script");
foreach (var hub in model.Hubs)
{
context.Log.LogInformation($" > Hub: {hub.HubType}");
foreach (var device in hub.Devices)
{
context.Log.LogInformation($" > Device: {device.DeviceType} @ {device.PortId}");
}
}
}
private async Task TestCase2_TechnicDistanceSensorLightsBrightnessAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor)
{
// play with the eye lights (0-100)
for (byte idx = 0; idx < 100; idx += 5)
{
await distanceSensor.SetEyeLightAsync(0b0000_0000, idx, 0b0110_0100, idx);
await Task.Delay(500);
}
await distanceSensor.SetEyeLightAsync(0, 0, 0, 0);
await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Did the right side brighten up?");
}
private static async Task TestCase5_TachoMotorAccelerationAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Acceleration Profiles");
await motor.SetAccelerationTimeAsync(500);
await motor.SetDecelerationTimeAsync(500);
await motor.StartSpeedForTimeAsync(2000, 50, 100, SpecialSpeed.Brake, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile);
await Task.Delay(4000);
await context.ConfirmAsync("TachoMotor.SetAccelerationTimeAsync: CW 0.5s each slow start and end?");
await ResetToZeroAsync(context, motor, 20_000);
}
private async Task TestCase6_TechnicColorSectorLightsAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor)
{
await colorSensor.SetSectorLightAsync(100, 0, 0);
await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 1?");
await colorSensor.SetSectorLightAsync(0, 100, 0);
await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 2?");
await colorSensor.SetSectorLightAsync(0, 0, 100);
await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 3?");
await colorSensor.SetSectorLightAsync(0, 0, 0);
}
private async Task TestCase7_InputAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("AbsoluteMotor: Input on Absolute and relative Position");
context.Log.LogInformation("Turn 90° clockwise");
await motor.AbsolutePositionObservable.Where(x => x.SI > 85 && x.SI < 95).FirstAsync().GetAwaiter();
context.Log.LogInformation("Turn 180° counter-clockwise");
await motor.AbsolutePositionObservable.Where(x => x.SI <-85 && x.SI> -95).FirstAsync().GetAwaiter();
context.Log.LogInformation("Turn 90° counter-clockwise");
await motor.PositionObservable.Where(x => x.SI <-175 && x.SI> -185).FirstAsync().GetAwaiter();
}
private async Task TestCase1_TechnicDistanceSensorLightsAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor)
{
await distanceSensor.SetEyeLightAsync(leftTop : 100);
await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Top?");
await distanceSensor.SetEyeLightAsync(rightTop : 100);
await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Top?");
await distanceSensor.SetEyeLightAsync(leftBottom : 100);
await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Bottom?");
await distanceSensor.SetEyeLightAsync(rightBottom : 100);
await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Bottom?");
}
private static async Task TestCase6_BasicMotorAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Start Speed & Power");
await motor.StartPowerAsync(100);
await Task.Delay(1000);
await motor.StopByBrakeAsync();
await motor.StartPowerAsync(-100);
await Task.Delay(1000);
await motor.StopByFloatAsync();
await context.ConfirmAsync("TachoMotor.StartPowerAsync: CW for 1s, brake, CCW for 1s, floating?");
await ResetToZeroAsync(context, motor, 3000);
}
private async Task TestCase5_TechnicColorIndexColorSensorAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor)
{
context.Log.LogInformation("Testing known Colors");
await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexColor, true, 1);
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Black).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Black)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Blue).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Blue)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Teal).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Teal)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Green).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Green)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Yellow).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Yellow)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.Red).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.Red)}");
await colorSensor.ColorObservable.Where(c => c == TechnicColor.White).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] {nameof(TechnicColor.White)}");
await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexColor, false);
context.Log.LogInformation("All known colors recognized.");
}
private static async Task TestCase2_TachoMotorExplicitPositionAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Testing explicit position from TachoMotor.SetZero");
await motor.GotoPositionAsync(360, 10, 100);
await Task.Delay(2000);
context.Assert(motor.AbsolutePosition, -3, 3);
context.Assert(motor.Position, 357, 363);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved CW to zero position?");
await motor.GotoPositionAsync(810, 10, 100);
await Task.Delay(4000);
context.Assert(motor.AbsolutePosition, 87, 93);
context.Assert(motor.Position, 807, 813);
await context.ConfirmAsync("TachoMotor.GotoPositionAsync: Motor has moved CW by 360° + 90° and is exaclty 90° off zero?");
}
public async Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context)
{
var distanceSensor = hub.Port(0).GetDevice <TechnicDistanceSensor>();
var colorSensor = hub.Port(1).GetDevice <TechnicColorSensor>();
context.Log.LogInformation("Start Testing DistanceSensor");
await TestCase1_TechnicDistanceSensorLightsAsync(context, distanceSensor);
await TestCase2_TechnicDistanceSensorLightsBrightnessAsync(context, distanceSensor);
await TestCase3_TechnicDistanceSensorShortDistanceAsync(context, distanceSensor);
await TestCase4_TechnicDistanceSensorDistanceAsync(context, distanceSensor);
context.Log.LogInformation("Start Testing ColorSensor");
await TestCase5_TechnicColorIndexColorSensorAsync(context, colorSensor);
await TestCase6_TechnicColorSectorLightsAsync(context, colorSensor);
await TestCase7_TechnicColorHsvSensorAsync(context, colorSensor);
}
private async Task TestCase7_TechnicColorHsvSensorAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor)
{
context.Log.LogInformation("Testing HSV");
await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexHSV, true, 1);
await colorSensor.HsvObservable.Where(c => (c.hue is > 340 and < 360 || c.hue is > 0 and < 20) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] Reached Significant Red");
await colorSensor.HsvObservable.Where(c => (c.hue is > 100 and < 140) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] Reached Significant Green");
await colorSensor.HsvObservable.Where(c => (c.hue is > 220 and < 260) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter();
context.Log.LogInformation($"[OK] Reached Significant Blue");
await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexHSV, false);
context.Log.LogInformation("All known colors recognized.");
}
static async Task Main(string[] args)
{
var configuration = new ConfigurationBuilder()
.SetBasePath(Environment.CurrentDirectory)
.AddJsonFile("poweredup.json", true)
.AddCommandLine(args)
.Build();
var serviceCollection = new ServiceCollection()
.AddLogging(builder =>
{
builder.AddConsole();
})
.AddPoweredUp();
var bluetoothAdapter = configuration["BluetoothAdapter"] ?? "WinRT";
#if WINDOWS
if (bluetoothAdapter == "WinRT")
{
serviceCollection.AddWinRTBluetooth();
}
#endif
#if NET5_0_OR_GREATER
if (bluetoothAdapter == "BlueGigaBLE")
{
// config for "COMPortName" and "TraceDebug" (either via command line or poweredup.json)
serviceCollection.AddBlueGigaBLEBluetooth(configuration);
}
#endif
var serviceProvider = serviceCollection.BuildServiceProvider();
var host = serviceProvider.GetService <PoweredUpHost>();
IEnumerable <ITestScript> scripts = new ITestScript[] {
new TechnicMotorTestScript <TechnicLargeLinearMotor>(),
new MindstormsSensorsTestScript(),
};
var context = new TestScriptExecutionContext(serviceProvider.GetService <ILogger <TestScriptExecutionContext> >());
foreach (var script in scripts)
{
// Test Script
context.Log.LogInformation($"Execute Script {script.GetType().Name}");
// build deployment model
var model = BbuildDeploymentModel(script);
PrintModel(context, model);
// Accept to execute Test Script
var executeTest = await context.ConfirmAsync("> Confirm to execute Test Script");
if (executeTest)
{
context.Log.LogInformation("> Discovering & Connecting Hub");
var hubType = HubFactory.GetTypeFromSystemType(model.Hubs[0].HubType ?? throw new InvalidOperationException("Specify the hub type in the test script."));
using var hub = await host.DiscoverAsync(hubType);
await hub.ConnectAsync();
context.Log.LogInformation("> Verifying Deployment Model (fix it if necessary)");
await hub.VerifyDeploymentModelAsync(model);
context.Log.LogInformation("> Start Test Script");
await script.ExecuteScriptAsync(hub, context);
context.Log.LogInformation("> Switch Off Hub");
await hub.SwitchOffAsync();
}
else
{
context.Log.LogWarning($"> User decided not to execute Test Script");
}
}
}
private static async Task TestCase4_TachoMotorPositiveNegativeSpeedForTimeAsync(TestScriptExecutionContext context, TTechnicMotor motor)
{
context.Log.LogInformation("TachoMotor: Positive and Negative Speeds and for Time");
await motor.StartSpeedForTimeAsync(1000, 10, 100);
await Task.Delay(2000);
await context.ConfirmAsync("TachoMotor.StartSpeedForTimeAsync: CW for 1s?");
await motor.StartSpeedForTimeAsync(1000, -10, 100);
await Task.Delay(2000);
await context.ConfirmAsync("TachoMotor.StartSpeedForTimeAsync: CCW for 1s?");
await ResetToZeroAsync(context, motor, 3000);
}
