/*
* Catroid: An on-device visual programming system for Android devices
* Copyright (C) 2010-2016 The Catrobat Team
* (<http://developer.catrobat.org/credits>)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Affero General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* An additional term exception under section 7 of the GNU Affero
* General Public License, version 3, is available at
* http://developer.catrobat.org/license_additional_term
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Affero General Public License for more details.
*
* You should have received a copy of the GNU Affero General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
package org.catrobat.catroid.test.devices.mindstorms.nxt;
import android.test.AndroidTestCase;
import org.catrobat.catroid.common.bluetooth.ConnectionDataLogger;
import org.catrobat.catroid.devices.mindstorms.MindstormsConnection;
import org.catrobat.catroid.devices.mindstorms.MindstormsConnectionImpl;
import org.catrobat.catroid.devices.mindstorms.nxt.CommandByte;
import org.catrobat.catroid.devices.mindstorms.nxt.CommandType;
import org.catrobat.catroid.devices.mindstorms.nxt.NXTMotor;
public class MotorTest extends AndroidTestCase {
private NXTMotor motor;
private ConnectionDataLogger logger;
private static final byte DIRECT_COMMAND_HEADER = (byte) (CommandType.DIRECT_COMMAND.getByte() | 0x80);
private static final int USED_PORT = 0;
@Override
protected void setUp() throws Exception {
super.setUp();
this.logger = ConnectionDataLogger.createLocalConnectionLogger();
MindstormsConnection mindstormsConnection = new MindstormsConnectionImpl(logger.getConnectionProxy());
mindstormsConnection.init();
this.motor = new NXTMotor(USED_PORT, mindstormsConnection);
}
@Override
protected void tearDown() throws Exception {
logger.disconnectAndDestroy();
super.tearDown();
}
public void testSimpleMotorTest() {
int inputSpeed = 70;
int degrees = 360;
byte motorRegulationSpeed = 0x01;
byte expectedTurnRatio = 100;
motor.move(inputSpeed, degrees);
byte[] setOutputState = this.logger.getNextSentMessage(0, 2);
assertEquals("DIRECT_COMMAND_HEADER check failed, should equals to setOutputState[0]", DIRECT_COMMAND_HEADER, setOutputState[0]);
assertEquals("SET_OUTPUT_STATE check failed, should equals to setOutputState[1]", CommandByte.SET_OUTPUT_STATE.getByte(), setOutputState[1]);
assertEquals("USED_PORT check failed, should equals to setOutputState[2]", USED_PORT, setOutputState[2]);
assertEquals("inputSpeed should equals setOutputState[3]", inputSpeed, setOutputState[3]);
assertEquals("Motor mode should equals to setOutputState[4]",
NXTMotor.MotorMode.BREAK | NXTMotor.MotorMode.ON | NXTMotor.MotorMode.REGULATED, setOutputState[4]);
assertEquals("Motor regulation speed should equals to setOutputSate[5]", motorRegulationSpeed, setOutputState[5]);
assertEquals("Expected turn ratio should euqals to setOutputState[6]", expectedTurnRatio, setOutputState[6]);
assertEquals("Expected Motor Run State should equals to setOutputState[7]", NXTMotor.MotorRunState.RUNNING.getByte(), setOutputState[7]);
checkDegrees(degrees, setOutputState);
}
public void testMotorSpeedOverHundred() {
int inputSpeed = 120;
int expectedSpeed = 100;
int degrees = 360;
byte motorRegulationSpeed = 0x01;
byte expectedTurnRatio = 100;
motor.move(inputSpeed, degrees);
byte[] setOutputState = this.logger.getNextSentMessage(0, 2);
assertEquals("DIRECT_COMMAND_HEADER check failed, should equals to setOutputState[0]", DIRECT_COMMAND_HEADER, setOutputState[0]);
assertEquals("SET_OUTPUT_STATE check failed, should equals to setOutputState[1]", CommandByte.SET_OUTPUT_STATE.getByte(), setOutputState[1]);
assertEquals("USED_PORT check failed, should equals to setOutputState[2]", USED_PORT, setOutputState[2]);
assertEquals("expectedSpeed should equals setOutputState[3]", expectedSpeed, setOutputState[3]);
assertEquals("Motor mode should equals to setOutputState[4]",
NXTMotor.MotorMode.BREAK | NXTMotor.MotorMode.ON | NXTMotor.MotorMode.REGULATED, setOutputState[4]);
assertEquals("Motor regulation speed should equals to setOutputSate[5]", motorRegulationSpeed, setOutputState[5]);
assertEquals("Expected turn ratio should euqals to setOutputState[6]", expectedTurnRatio, setOutputState[6]);
assertEquals("Expected Motor Run State should equals to setOutputState[7]", NXTMotor.MotorRunState.RUNNING.getByte(), setOutputState[7]);
checkDegrees(degrees, setOutputState);
}
public void testMotorWithZeroValues() {
int inputSpeed = 0;
int degrees = 0;
byte motorRegulationSpeed = 0x01;
byte expectedTurnRatio = 100;
motor.move(inputSpeed, degrees);
byte[] setOutputState = this.logger.getNextSentMessage(0, 2);
assertEquals("DIRECT_COMMAND_HEADER check failed, should equals to setOutputState[0]", DIRECT_COMMAND_HEADER, setOutputState[0]);
assertEquals("SET_OUTPUT_STATE check failed, should equals to setOutputState[1]", CommandByte.SET_OUTPUT_STATE.getByte(), setOutputState[1]);
assertEquals("USED_PORT check failed, should equals to setOutputState[2]", USED_PORT, setOutputState[2]);
assertEquals("inputSpeed should equals setOutputState[3]", inputSpeed, setOutputState[3]);
assertEquals("Motor mode should equals to setOutputState[4]",
NXTMotor.MotorMode.BREAK | NXTMotor.MotorMode.ON | NXTMotor.MotorMode.REGULATED, setOutputState[4]);
assertEquals("Motor regulation speed should equals to setOutputSate[5]", motorRegulationSpeed, setOutputState[5]);
assertEquals("Expected turn ratio should euqals to setOutputState[6]", expectedTurnRatio, setOutputState[6]);
assertEquals("Expected Motor Run State should equals to setOutputState[7]", NXTMotor.MotorRunState.RUNNING.getByte(), setOutputState[7]);
checkDegrees(degrees, setOutputState);
}
public void testMotorWithNegativeSpeedOverHundred() {
int inputSpeed = -120;
int expectedSpeed = -100;
int degrees = 360;
byte motorRegulationSpeed = 0x01;
byte expectedTurnRatio = 100;
motor.move(inputSpeed, degrees);
byte[] setOutputState = this.logger.getNextSentMessage(0, 2);
assertEquals("DIRECT_COMMAND_HEADER check failed, should equals to setOutputState[0]", DIRECT_COMMAND_HEADER, setOutputState[0]);
assertEquals("SET_OUTPUT_STATE check failed, should equals to setOutputState[1]", CommandByte.SET_OUTPUT_STATE.getByte(), setOutputState[1]);
assertEquals("USED_PORT check failed, should equals to setOutputState[2]", USED_PORT, setOutputState[2]);
assertEquals("ExpectedSpeed should equals setOutputState[3]", expectedSpeed, setOutputState[3]);
assertEquals("Motor mode should equals to setOutputState[4]",
NXTMotor.MotorMode.BREAK | NXTMotor.MotorMode.ON | NXTMotor.MotorMode.REGULATED, setOutputState[4]);
assertEquals("Motor regulation speed should equals to setOutputSate[5]", motorRegulationSpeed, setOutputState[5]);
assertEquals("Expected turn ratio should euqals to setOutputState[6]", expectedTurnRatio, setOutputState[6]);
assertEquals("Expected Motor Run State should equals to setOutputState[7]", NXTMotor.MotorRunState.RUNNING.getByte(), setOutputState[7]);
checkDegrees(degrees, setOutputState);
}
public void checkDegrees(int degrees, byte[] setOutputState) {
assertEquals("Degree check failed, value should equals to setOutputState[8]", (byte) degrees, setOutputState[8]);
assertEquals("Degree check failed, value should equals to setOutputState[9]", (byte) (degrees >> 8), setOutputState[9]);
}
}