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Configurator.Net: Added further NUnit tests 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1226 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
mandrolic 2010-12-22 06:42:16 +00:00
parent f75c7b47ff
commit 3911f4e6cd
6 changed files with 184 additions and 97 deletions
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2
Configurator/Configurator.Net/PresentationModels/AcroModeConfigVm.cs
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@ -24,7 +24,7 @@ namespace ArducopterConfigurator.PresentationModels
UpdateCommand = new DelegateCommand(_ => UpdateValues());
}
public float TransmitterFactor { get; private set; }
public float TransmitterFactor { get; set; }
public ICommand RefreshCommand { get; private set; }

86
Configurator/Configurator.Net/Test/AcroModeConfigVmTest.cs Normal file
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@ -0,0 +1,86 @@
using ArducopterConfigurator.PresentationModels;
using NUnit.Framework;
namespace ArducopterConfiguratorTest
{
[TestFixture]
public class AcroModeConfigVmTest : VmTestBase<AcroModeConfigVm>
{
[SetUp]
public void Setup()
{
sampleLineOfData = "1.950,0.100,0.200,1.950,0.300,0.400,3.200,0.500,0.600,0.320";
getCommand = "P";
setCommand = "O";
_fakeComms = new FakeComms();
_vm = new AcroModeConfigVm(_fakeComms);
}
[Test]
public void UpdateStringSentIsCorrect()
{
_vm.PitchP = 1.0F;
_vm.PitchI = 2.0F;
_vm.PitchD = 3.0F;
_vm.RollP = 5.0F;
_vm.RollI = 6.0F;
_vm.RollD = 7.0F;
_vm.YawP = 8.0F;
_vm.YawI = 9.0F;
_vm.YawD = 10.0F;
_vm.TransmitterFactor = 4.0F;
_vm.UpdateCommand.Execute(null);
Assert.AreEqual(1, _fakeComms.SentItems.Count);
Assert.AreEqual("O5;6;7;1;2;3;8;9;10;4", _fakeComms.SentItems[0]);
}
}
[TestFixture]
public class AltitudeHoldVmTest : VmTestBase<AltitudeHoldConfigVm>
{
[SetUp]
public void Setup()
{
sampleLineOfData = "0.800,0.200,0.300";
getCommand = "F";
setCommand = "E";
_fakeComms = new FakeComms();
_vm = new AltitudeHoldConfigVm(_fakeComms);
}
[Test]
public void UpdateStringSentIsCorrect()
{
_vm.P = 1.0F;
_vm.I = 2.0F;
_vm.D = 3.0F;
_vm.UpdateCommand.Execute(null);
Assert.AreEqual(1, _fakeComms.SentItems.Count);
Assert.AreEqual("E1;3;2", _fakeComms.SentItems[0]);
}
[Test]
// For whatever reason, for Altitude the properties are sent in P, D ,I
// order, but received in P,I,D order
public void UpdateStringReceivedPopulatesValuesCorrectly()
{
_vm.Activate();
_fakeComms.FireLineRecieve(sampleLineOfData);
Assert.AreEqual(0.8f, _vm.P);
Assert.AreEqual(0.2f, _vm.I);
Assert.AreEqual(0.3f, _vm.D);
}
}
}

56
Configurator/Configurator.Net/Test/AltitudeHoldVmTest.cs
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@ -1,48 +1,44 @@
using ArducopterConfigurator.PresentationModels;
using ArducopterConfigurator;
using NUnit.Framework;
namespace ArducopterConfiguratorTest
{
[TestFixture]
public class AltitudeHoldVmTest
public abstract class VmTestBase<T> where T : MonitorVm
{
private FakeComms _fakeComms;
private AltitudeHoldConfigVm _vm;
[SetUp]
public void Setup()
{
_fakeComms = new FakeComms();
_vm = new AltitudeHoldConfigVm(_fakeComms);
}
protected T _vm;
protected FakeComms _fakeComms;
protected string sampleLineOfData;
protected string getCommand;
protected string setCommand;
[Test]
public void UpdateStringSentIsCorrect()
public void ActivateSendsCorrectCommand()
{
_vm.P = 1.0F;
_vm.I = 2.0F;
_vm.D = 3.0F;
_vm.UpdateCommand.Execute(null);
_vm.Activate();
Assert.AreEqual(1, _fakeComms.SentItems.Count);
Assert.AreEqual("E1;3;2", _fakeComms.SentItems[0]);
Assert.AreEqual(getCommand, _fakeComms.SentItems[0]);
}
[Test]
// For whatever reason, for Altitude the properties are sent in P, D ,I
// order, but received in P,I,D order
public void UpdateStringReceivedPopulatesValuesCorrectly()
public void ReceivedDataIgnoredWhenNotActive()
{
_fakeComms.FireLineRecieve("F1;2;3");
bool inpcFired = false;
_vm.PropertyChanged += delegate { inpcFired = true; };
Assert.AreEqual(1f, _vm.P);
Assert.AreEqual(2f, _vm.I);
Assert.AreEqual(3f, _vm.D);
_fakeComms.FireLineRecieve(sampleLineOfData);
Assert.False(inpcFired);
}
[Test]
public void UpdateStringReceivedPopulatesValues()
{
bool inpcFired = false;
_vm.PropertyChanged += delegate { inpcFired = true; };
_vm.Activate();
_fakeComms.FireLineRecieve(sampleLineOfData);
Assert.True(inpcFired);
}
}
}
}

2
Configurator/Configurator.Net/Test/ArducopterConfiguratorTest.csproj
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@ -40,10 +40,12 @@
<Reference Include="System.Xml" />
</ItemGroup>
<ItemGroup>
<Compile Include="AcroModeConfigVmTest.cs" />
<Compile Include="AltitudeHoldVmTest.cs" />
<Compile Include="MainVmTests.cs" />
<Compile Include="MotorCommandsVmTest.cs" />
<Compile Include="Properties\AssemblyInfo.cs" />
<Compile Include="StableModeConfigVmTest.cs" />
</ItemGroup>
<ItemGroup>
<ProjectReference Include="..\ArducopterConfigurator.csproj">

69
Configurator/Configurator.Net/Test/MainVmTests.cs
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@ -7,7 +7,7 @@ using NUnit.Framework;
namespace ArducopterConfiguratorTest
{
internal class FakeComms : IComms
public class FakeComms : IComms
{
public event Action<string> LineOfDataReceived;
public string CommPort { get; set; }
@ -51,73 +51,10 @@ namespace ArducopterConfiguratorTest
[Test]
public void StateInitiallyDisconnected()
{
Assert.AreEqual(MainVm.SessionStates.Disconnected,_vm.ConnectionState);
}
}
[TestFixture]
public class StableModeConfigVmTest
{
private FakeComms _fakeComms;
private StableModeConfigVm _vm;
[SetUp]
public void Setup()
{
_fakeComms = new FakeComms();
_vm = new StableModeConfigVm(_fakeComms);
}
[Test]
public void UpdateStringSentIsCorrect()
{
_vm.PitchP = 1.0F;
_vm.PitchI = 2.0F;
_vm.PitchD = 3.0F;
_vm.RollP = 5.0F;
_vm.RollI = 6.0F;
_vm.RollD = 7.0F;
_vm.YawP = 8.0F;
_vm.YawI = 9.0F;
_vm.YawD = 10.0F;
_vm.MagnetometerEnable = true;
_vm.KPrate = 4.0F;
_vm.UpdateCommand.Execute(null);
Assert.AreEqual(1,_fakeComms.SentItems.Count);
//A[KP Quad Roll];[KI Quad Roll];[KP RATE ROLL];
// [KP Quad Pitch];[KI Quad Pitch];[KP RATE PITCH];
// [KP Quad Yaw];[KI Quad Yaw];[KP Rate Yaw];
// [KP Rate];[Magneto]
Assert.AreEqual("A5;6;7;1;2;3;8;9;10;4;1", _fakeComms.SentItems[0]);
}
[Test]
public void UpdateStringReceivedPopulatesValuesCorrectly()
{
_fakeComms.FireLineRecieve("B5;6;7;1;2;3;8;9;10;4;1");
Assert.AreEqual(1.0f,_vm.PitchP);
Assert.AreEqual(2f,_vm.PitchI);
Assert.AreEqual(3f,_vm.PitchD);
Assert.AreEqual(5f,_vm.RollP);
Assert.AreEqual(6f,_vm.RollI);
Assert.AreEqual(7f,_vm.RollD);
Assert.AreEqual(8f,_vm.YawP);
Assert.AreEqual(9f,_vm.YawI);
Assert.AreEqual(10f,_vm.YawD);
Assert.AreEqual(1f,_vm.MagnetometerEnable);
Assert.AreEqual(4f,_vm.KPrate);
Assert.AreEqual(MainVm.SessionStates.Disconnected, _vm.ConnectionState);
}
}
}

66
Configurator/Configurator.Net/Test/StableModeConfigVmTest.cs Normal file
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@ -0,0 +1,66 @@
using ArducopterConfigurator.PresentationModels;
using NUnit.Framework;
namespace ArducopterConfiguratorTest
{
[TestFixture]
public class StableModeConfigVmTest : VmTestBase<StableModeConfigVm>
{
[SetUp]
public void Setup()
{
sampleLineOfData = "1.950,0.100,0.200,1.950,0.300,0.400,3.200,0.500,0.600,0.320,1.00";
getCommand = "B";
setCommand = "A";
_fakeComms = new FakeComms();
_vm = new StableModeConfigVm(_fakeComms);
}
[Test]
public void UpdateStringSentIsCorrect()
{
_vm.PitchP = 1.0F;
_vm.PitchI = 2.0F;
_vm.PitchD = 3.0F;
_vm.RollP = 5.0F;
_vm.RollI = 6.0F;
_vm.RollD = 7.0F;
_vm.YawP = 8.0F;
_vm.YawI = 9.0F;
_vm.YawD = 10.0F;
_vm.MagnetometerEnable = true;
_vm.KPrate = 4.0F;
_vm.UpdateCommand.Execute(null);
Assert.AreEqual(1, _fakeComms.SentItems.Count);
//A[KP Quad Roll];[KI Quad Roll];[KP RATE ROLL];
// [KP Quad Pitch];[KI Quad Pitch];[KP RATE PITCH];
// [KP Quad Yaw];[KI Quad Yaw];[KP Rate Yaw];
// [KP Rate];[Magneto]
Assert.AreEqual("A5;6;7;1;2;3;8;9;10;4;1", _fakeComms.SentItems[0]);
}
[Test]
public void UpdateStringReceivedPopulatesValuesCorrectly()
{
_fakeComms.FireLineRecieve("B5;6;7;1;2;3;8;9;10;4;1");
Assert.AreEqual(1.0f, _vm.PitchP);
Assert.AreEqual(2f, _vm.PitchI);
Assert.AreEqual(3f, _vm.PitchD);
Assert.AreEqual(5f, _vm.RollP);
Assert.AreEqual(6f, _vm.RollI);
Assert.AreEqual(7f, _vm.RollD);
Assert.AreEqual(8f, _vm.YawP);
Assert.AreEqual(9f, _vm.YawI);
Assert.AreEqual(10f, _vm.YawD);
Assert.AreEqual(1f, _vm.MagnetometerEnable);
Assert.AreEqual(4f, _vm.KPrate);
}
}
}