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Add MindstormsSensors TestScript (#169)
- Add Script for TechnicDistanceSensor - Add Script for TechnicColorSensor #161 non-breaking
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test/SharpBrick.PoweredUp.TestScript/Scripts/MindstormsSensorsTestScript.cs
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| 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 MindstormsSensorsTestScript : ITestScript | ||
| { | ||
| public void DefineDeploymentModel(DeploymentModelBuilder builder) | ||
| => builder.AddHub<TechnicMediumHub>(hubBuilder => | ||
| { | ||
| hubBuilder | ||
| .AddDevice<TechnicDistanceSensor>(0) | ||
| .AddDevice<TechnicColorSensor>(1); | ||
| }); | ||
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| public async Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context) | ||
| { | ||
| var distanceSensor = hub.Port(0).GetDevice<TechnicDistanceSensor>(); | ||
| var colorSensor = hub.Port(1).GetDevice<TechnicColorSensor>(); | ||
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| context.Log.LogInformation("Start Testing DistanceSensor"); | ||
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| await TestCase1_TechnicDistanceSensorLightsAsync(context, distanceSensor); | ||
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| await TestCase2_TechnicDistanceSensorLightsBrightnessAsync(context, distanceSensor); | ||
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| await TestCase3_TechnicDistanceSensorShortDistanceAsync(context, distanceSensor); | ||
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| await TestCase4_TechnicDistanceSensorDistanceAsync(context, distanceSensor); | ||
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| context.Log.LogInformation("Start Testing ColorSensor"); | ||
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| await TestCase5_TechnicColorIndexColorSensorAsync(context, colorSensor); | ||
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| await TestCase6_TechnicColorSectorLightsAsync(context, colorSensor); | ||
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| await TestCase7_TechnicColorHsvSensorAsync(context, colorSensor); | ||
| } | ||
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| private async Task TestCase1_TechnicDistanceSensorLightsAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor) | ||
| { | ||
| await distanceSensor.SetEyeLightAsync(leftTop: 100); | ||
| await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Top?"); | ||
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| await distanceSensor.SetEyeLightAsync(rightTop: 100); | ||
| await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Top?"); | ||
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| await distanceSensor.SetEyeLightAsync(leftBottom: 100); | ||
| await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Bottom?"); | ||
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| await distanceSensor.SetEyeLightAsync(rightBottom: 100); | ||
| await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Bottom?"); | ||
| } | ||
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| 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); | ||
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| await Task.Delay(500); | ||
| } | ||
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| await distanceSensor.SetEyeLightAsync(0, 0, 0, 0); | ||
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| await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Did the right side brighten up?"); | ||
| } | ||
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| private async Task TestCase3_TechnicDistanceSensorShortDistanceAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor) | ||
| { | ||
| context.Log.LogInformation("Test 0 at more than 32cm; Test distances between 4 and 32cm for 10s"); | ||
| using var d1 = distanceSensor.ShortOnlyDistanceObservable.Subscribe(x => context.Log.LogInformation($"Distance (short): {x}")); | ||
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| await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexShortOnlyDistance, true); | ||
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| await Task.Delay(10_000); | ||
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| await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexShortOnlyDistance, false); | ||
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| await context.ConfirmAsync("Are the distances measured accurately?"); | ||
| } | ||
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| private async Task TestCase4_TechnicDistanceSensorDistanceAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor) | ||
| { | ||
| context.Log.LogInformation("Test distances between 4 and 250cm for 10s"); | ||
| using var d1 = distanceSensor.DistanceObservable.Subscribe(x => context.Log.LogInformation($"Distance: {x}")); | ||
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| await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, true); | ||
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| await Task.Delay(10_000); | ||
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| await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, false); | ||
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| await context.ConfirmAsync("Are the distances measured accurately?"); | ||
| } | ||
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| private async Task TestCase5_TechnicColorIndexColorSensorAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor) | ||
| { | ||
| context.Log.LogInformation("Testing known Colors"); | ||
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| await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexColor, true, 1); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Black).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Black)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Blue).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Blue)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Teal).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Teal)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Green).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Green)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Yellow).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Yellow)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.Red).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.Red)}"); | ||
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| await colorSensor.ColorObservable.Where(c => c == TechnicColor.White).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] {nameof(TechnicColor.White)}"); | ||
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| await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexColor, false); | ||
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| context.Log.LogInformation("All known colors recognized."); | ||
| } | ||
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| private async Task TestCase6_TechnicColorSectorLightsAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor) | ||
| { | ||
| await colorSensor.SetSectorLightAsync(100, 0, 0); | ||
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| await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 1?"); | ||
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| await colorSensor.SetSectorLightAsync(0, 100, 0); | ||
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| await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 2?"); | ||
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| await colorSensor.SetSectorLightAsync(0, 0, 100); | ||
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| await context.ConfirmAsync("TechnicColorSensor.SetSectorLightAsync: Light on Sector 3?"); | ||
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| await colorSensor.SetSectorLightAsync(0, 0, 0); | ||
| } | ||
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| private async Task TestCase7_TechnicColorHsvSensorAsync(TestScriptExecutionContext context, TechnicColorSensor colorSensor) | ||
| { | ||
| context.Log.LogInformation("Testing HSV"); | ||
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| await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexHSV, true, 1); | ||
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| await colorSensor.HsvObservable.Where(c => (c.hue is > 340 and < 360 || c.hue is > 0 and < 20) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] Reached Significant Red"); | ||
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| await colorSensor.HsvObservable.Where(c => (c.hue is > 100 and < 140) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] Reached Significant Green"); | ||
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| await colorSensor.HsvObservable.Where(c => (c.hue is > 220 and < 260) && c.saturation > 90 && c.value > 90).FirstAsync().GetAwaiter(); | ||
| context.Log.LogInformation($"[OK] Reached Significant Blue"); | ||
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| await colorSensor.SetupNotificationAsync(colorSensor.ModeIndexHSV, false); | ||
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| context.Log.LogInformation("All known colors recognized."); | ||
| } | ||
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| } | ||
| } |
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