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| Original file line number | Diff line number | Diff line change |
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| using System.Threading.Tasks; | ||
| using SharpBrick.PoweredUp.Deployment; | ||
|
|
||
| namespace SharpBrick.PoweredUp.TestScript | ||
| { | ||
| public interface ITestScript | ||
| { | ||
| void DefineDeploymentModel(DeploymentModelBuilder builder); | ||
| Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,91 @@ | ||
| using System; | ||
| using System.Collections.Generic; | ||
| using System.Threading.Tasks; | ||
| using Microsoft.Extensions.DependencyInjection; | ||
| using Microsoft.Extensions.Logging; | ||
| using SharpBrick.PoweredUp.Deployment; | ||
| using SharpBrick.PoweredUp.Hubs; | ||
|
|
||
| namespace SharpBrick.PoweredUp.TestScript | ||
| { | ||
| class Program | ||
| { | ||
| 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(); | ||
|
|
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| var host = serviceProvider.GetService<PoweredUpHost>(); | ||
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| IEnumerable<ITestScript> scripts = new ITestScript[] { | ||
| new TechnicMotorTestScript<TechnicLargeLinearMotor>(), | ||
| }; | ||
|
|
||
| var context = new TestScriptExecutionContext(serviceProvider.GetService<ILogger<TestScriptExecutionContext>>()); | ||
|
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| foreach (var script in scripts) | ||
| { | ||
| // Test Script | ||
| context.Log.LogInformation($"Execute Script {script.GetType().Name}"); | ||
|
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| // build deployment model | ||
| var model = BbuildDeploymentModel(script); | ||
| PrintModel(context, model); | ||
|
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| // Accept to execute Test Script | ||
| var executeTest = await context.ConfirmAsync("> Confirm to execute Test Script"); | ||
|
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| if (executeTest) | ||
| { | ||
| context.Log.LogInformation("> Discovering & Connecting Hub"); | ||
| var hubType = HubFactory.GetTypeFromSystemType(model.Hubs[0].HubType ?? throw new InvalidOperationException("Specify the hub type in the test script.")); | ||
| using var hub = await host.DiscoverAsync(hubType); | ||
| await hub.ConnectAsync(); | ||
|
|
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| context.Log.LogInformation("> Verifying Deployment Model (fix it if necessary)"); | ||
| await hub.VerifyDeploymentModelAsync(model); | ||
|
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| context.Log.LogInformation("> Start Test Script"); | ||
| await script.ExecuteScriptAsync(hub, context); | ||
|
|
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| context.Log.LogInformation("> Switch Off Hub"); | ||
| await hub.SwitchOffAsync(); | ||
| } | ||
| else | ||
| { | ||
| context.Log.LogWarning($"> User decided not to execute Test Script"); | ||
| } | ||
| } | ||
|
|
||
| } | ||
|
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| private static void PrintModel(TestScriptExecutionContext context, DeploymentModel model) | ||
| { | ||
| context.Log.LogInformation($"> Deployment Model of Test Script"); | ||
|
|
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| foreach (var hub in model.Hubs) | ||
| { | ||
| context.Log.LogInformation($" > Hub: {hub.HubType}"); | ||
|
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| foreach (var device in hub.Devices) | ||
| { | ||
| context.Log.LogInformation($" > Device: {device.DeviceType} @ {device.PortId}"); | ||
| } | ||
| } | ||
| } | ||
|
|
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| private static DeploymentModel BbuildDeploymentModel(ITestScript script) | ||
| { | ||
| var builder = new DeploymentModelBuilder(); | ||
| script.DefineDeploymentModel(builder); | ||
| var model = builder.Build(); | ||
| return model; | ||
| } | ||
| } | ||
| } |
18 changes: 18 additions & 0 deletions
18
test/SharpBrick.PoweredUp.TestScript/SharpBrick.PoweredUp.TestScript.csproj
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| <Project Sdk="Microsoft.NET.Sdk"> | ||
|
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| <PropertyGroup> | ||
| <OutputType>Exe</OutputType> | ||
| <TargetFramework>net5.0-windows10.0.19041.0</TargetFramework> | ||
| </PropertyGroup> | ||
|
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| <ItemGroup> | ||
| <ProjectReference Include="..\..\src\SharpBrick.PoweredUp\SharpBrick.PoweredUp.csproj" /> | ||
| <ProjectReference Include="..\..\src\SharpBrick.PoweredUp.WinRT\SharpBrick.PoweredUp.WinRT.csproj" /> | ||
| </ItemGroup> | ||
|
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| <ItemGroup> | ||
| <PackageReference Include="Microsoft.Extensions.Logging" Version="5.0.0" /> | ||
| <PackageReference Include="Microsoft.Extensions.Logging.Console" Version="5.0.0" /> | ||
| </ItemGroup> | ||
|
|
||
| </Project> |
181 changes: 181 additions & 0 deletions
181
test/SharpBrick.PoweredUp.TestScript/TechnicMotorTestScript.cs
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,181 @@ | ||
| using System; | ||
| using System.Reactive.Linq; | ||
| using System.Threading.Tasks; | ||
| using Microsoft.Extensions.Logging; | ||
| using SharpBrick.PoweredUp.Deployment; | ||
|
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||
| namespace SharpBrick.PoweredUp.TestScript | ||
| { | ||
| public class TechnicMotorTestScript<TTechnicMotor> : ITestScript where TTechnicMotor : AbsoluteMotor, IPoweredUpDevice | ||
| { | ||
| public void DefineDeploymentModel(DeploymentModelBuilder builder) | ||
| => builder.AddHub<TechnicMediumHub>(hubBuilder => | ||
| { | ||
| hubBuilder.AddDevice<TTechnicMotor>(0); | ||
| }); | ||
|
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| public async Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context) | ||
| { | ||
| var motor = hub.Port(0).GetDevice<TTechnicMotor>(); | ||
|
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| await motor.GotoRealZeroAsync(); | ||
| await Task.Delay(2000); | ||
| await motor.SetZeroAsync(); | ||
|
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| // 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); | ||
|
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| await context.ConfirmAsync("AbsoluteMotor.GotoRealZeroAsync: Is in zero position? Adjust Beam to 0°?"); | ||
|
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| await TestCase1_TachoMotorPositionByDegreesAsync(context, motor); | ||
|
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| await TestCase2_TachoMotorExplicitPositionAsync(context, motor); | ||
|
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| await TestCase3_TachoMotorHighSpeedAndFloatingAsync(context, motor); | ||
|
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| await TestCase4_TachoMotorPositiveNegativeSpeedForTimeAsync(context, motor); | ||
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| await TestCase5_TachoMotorAccelerationAsync(context, motor); | ||
|
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| await TestCase6_BasicMotorAsync(context, motor); | ||
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| await TestCase7_InputAsync(context, motor); | ||
| } | ||
|
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| private static async Task TestCase1_TachoMotorPositionByDegreesAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: Testing positioning by degress"); | ||
|
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| await motor.StartSpeedForDegreesAsync(45, 10, 100); | ||
| await Task.Delay(2000); | ||
| context.Assert(motor.AbsolutePosition, 42, 48); | ||
| context.Assert(motor.Position, 42, 48); | ||
|
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| await motor.StartSpeedForDegreesAsync(45, 10, 100); | ||
| await Task.Delay(2000); | ||
| context.Assert(motor.AbsolutePosition, 87, 93); | ||
| context.Assert(motor.Position, 87, 93); | ||
|
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| await motor.StartSpeedForDegreesAsync(45, 10, 100); | ||
| await Task.Delay(2000); | ||
| context.Assert(motor.AbsolutePosition, 132, 138); | ||
| context.Assert(motor.Position, 132, 138); | ||
|
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| await motor.StartSpeedForDegreesAsync(45, 10, 100); | ||
| await Task.Delay(2000); | ||
| context.Assert(Math.Abs(motor.AbsolutePosition), 177, 180); | ||
| context.Assert(motor.Position, 177, 183); | ||
|
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| await context.ConfirmAsync("TachoMotor.StartSpeedForDegreesAsync: Has moved 40 times CW each by 45°?"); | ||
| } | ||
|
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| private static async Task TestCase2_TachoMotorExplicitPositionAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: Testing explicit position from TachoMotor.SetZero"); | ||
|
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| await motor.GotoPositionAsync(360, 10, 100); | ||
| await Task.Delay(2000); | ||
| context.Assert(motor.AbsolutePosition, -3, 3); | ||
| context.Assert(motor.Position, 357, 363); | ||
|
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| await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved CW to zero position?"); | ||
|
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| await motor.GotoPositionAsync(810, 10, 100); | ||
| await Task.Delay(4000); | ||
| context.Assert(motor.AbsolutePosition, 87, 93); | ||
| context.Assert(motor.Position, 807, 813); | ||
|
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| await context.ConfirmAsync("TachoMotor.GotoPositionAsync: Motor has moved CW by 360° + 90° and is exaclty 90° off zero?"); | ||
| } | ||
|
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| private static async Task TestCase3_TachoMotorHighSpeedAndFloatingAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: High different Speed and Floating"); | ||
|
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| await motor.StartSpeedForDegreesAsync(810, -100, 100, SpecialSpeed.Float); | ||
| await Task.Delay(2000); | ||
|
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| await context.ConfirmAsync("TachoMotor.StartSpeedForDegreesAsync: High speed CCW turn with floating end state?"); | ||
|
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| await ResetToZeroAsync(context, motor, 2000); | ||
| } | ||
|
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| private static async Task TestCase4_TachoMotorPositiveNegativeSpeedForTimeAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: Positive and Negative Speeds and for Time"); | ||
|
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| await motor.StartSpeedForTimeAsync(1000, 10, 100); | ||
| await Task.Delay(2000); | ||
|
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| await context.ConfirmAsync("TachoMotor.StartSpeedForTimeAsync: CW for 1s?"); | ||
|
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| await motor.StartSpeedForTimeAsync(1000, -10, 100); | ||
| await Task.Delay(2000); | ||
|
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| await context.ConfirmAsync("TachoMotor.StartSpeedForTimeAsync: CCW for 1s?"); | ||
|
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| await ResetToZeroAsync(context, motor, 3000); | ||
| } | ||
|
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| private static async Task TestCase5_TachoMotorAccelerationAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: Acceleration Profiles"); | ||
|
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| await motor.SetAccelerationTimeAsync(500); | ||
| await motor.SetDecelerationTimeAsync(500); | ||
|
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| await motor.StartSpeedForTimeAsync(2000, 50, 100, SpecialSpeed.Brake, SpeedProfiles.AccelerationProfile | SpeedProfiles.DecelerationProfile); | ||
| await Task.Delay(4000); | ||
|
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| await context.ConfirmAsync("TachoMotor.SetAccelerationTimeAsync: CW 0.5s each slow start and end?"); | ||
|
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| await ResetToZeroAsync(context, motor, 20_000); | ||
| } | ||
|
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| private static async Task TestCase6_BasicMotorAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("TachoMotor: Start Speed & Power"); | ||
|
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| await motor.StartPowerAsync(100); | ||
| await Task.Delay(1000); | ||
| await motor.StopByBrakeAsync(); | ||
| await motor.StartPowerAsync(-100); | ||
| await Task.Delay(1000); | ||
| await motor.StopByFloatAsync(); | ||
|
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| await context.ConfirmAsync("TachoMotor.StartPowerAsync: CW for 1s, brake, CCW for 1s, floating?"); | ||
|
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| await ResetToZeroAsync(context, motor, 3000); | ||
| } | ||
|
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| private async Task TestCase7_InputAsync(TestScriptExecutionContext context, TTechnicMotor motor) | ||
| { | ||
| context.Log.LogInformation("AbsoluteMotor: Input on Absolute and relative Position"); | ||
|
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| context.Log.LogInformation("Turn 90° clockwise"); | ||
|
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| await motor.AbsolutePositionObservable.Where(x => x.SI > 85 && x.SI < 95).FirstAsync().GetAwaiter(); | ||
|
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| context.Log.LogInformation("Turn 180° counter-clockwise"); | ||
|
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| await motor.AbsolutePositionObservable.Where(x => x.SI < -85 && x.SI > -95).FirstAsync().GetAwaiter(); | ||
|
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| context.Log.LogInformation("Turn 90° counter-clockwise"); | ||
|
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| await motor.PositionObservable.Where(x => x.SI < -175 && x.SI > -185).FirstAsync().GetAwaiter(); | ||
| } | ||
|
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| 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); | ||
|
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| await context.ConfirmAsync("TachoMotor.GotoPositionAsync: has moved to zero position?"); | ||
| } | ||
| } | ||
| } |
47 changes: 47 additions & 0 deletions
47
test/SharpBrick.PoweredUp.TestScript/TestScriptExecutionContext.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| using System; | ||
| using System.Threading.Tasks; | ||
| using Microsoft.Extensions.Logging; | ||
|
|
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| namespace SharpBrick.PoweredUp.TestScript | ||
| { | ||
| public class TestScriptExecutionContext | ||
| { | ||
| public TestScriptExecutionContext(ILogger log) | ||
| { | ||
| Log = log ?? throw new ArgumentNullException(nameof(log)); | ||
| } | ||
|
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| public ILogger Log { get; } | ||
| public Hub CurrentHub { get; set; } | ||
|
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| public async Task<bool> ConfirmAsync(string question) | ||
| { | ||
| Console.Write(question + " (Y/n)"); | ||
|
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| var confirm = Console.ReadLine().Trim().ToUpperInvariant() != "N"; | ||
|
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| if (confirm) | ||
| { | ||
| Log.LogInformation($"[OK] by User: {question}"); | ||
| } | ||
| else | ||
| { | ||
| Log.LogError($"[FAIL] by User {question}"); | ||
| } | ||
|
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| return confirm; | ||
| } | ||
|
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| public void Assert(int value, int min, int max) | ||
| { | ||
| if (value >= min && value <= max) | ||
| { | ||
| Log.LogInformation($"[OK] by Assert within expectations: {min} <= {value} <= {max}"); | ||
| } | ||
| else | ||
| { | ||
| Log.LogError($"[FAIL] by Assert outside expectations: {min} <= {value} <= {max}"); | ||
| } | ||
| } | ||
| } | ||
| } |