Browse Source
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1219 f9c3cf11-9bcb-44bc-f272-b75c42450872master
mandrolic
14 years ago
21 changed files with 331 additions and 26 deletions
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using ArducopterConfigurator.PresentationModels; |
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using NUnit.Framework; |
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namespace ArducopterConfiguratorTest |
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{ |
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[TestFixture] |
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public class AltitudeHoldVmTest |
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{ |
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private FakeComms _fakeComms; |
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private AltitudeHoldConfigVm _vm; |
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[SetUp] |
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public void Setup() |
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{ |
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_fakeComms = new FakeComms(); |
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_vm = new AltitudeHoldConfigVm(_fakeComms); |
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} |
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[Test] |
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public void UpdateStringSentIsCorrect() |
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{ |
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_vm.P = 1.0F; |
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_vm.I = 2.0F; |
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_vm.D = 3.0F; |
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_vm.UpdateCommand.Execute(null); |
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Assert.AreEqual(1, _fakeComms.SentItems.Count); |
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Assert.AreEqual("E1;3;2", _fakeComms.SentItems[0]); |
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} |
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[Test] |
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// For whatever reason, for Altitude the properties are sent in P, D ,I |
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// order, but received in P,I,D order |
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public void UpdateStringReceivedPopulatesValuesCorrectly() |
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{ |
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_fakeComms.FireLineRecieve("F1;2;3"); |
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Assert.AreEqual(1f, _vm.P); |
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Assert.AreEqual(2f, _vm.I); |
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Assert.AreEqual(3f, _vm.D); |
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} |
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} |
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} |
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<?xml version="1.0" encoding="utf-8"?> |
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<Project ToolsVersion="3.5" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003"> |
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<PropertyGroup> |
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<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration> |
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<Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform> |
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<ProductVersion>9.0.30729</ProductVersion> |
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<SchemaVersion>2.0</SchemaVersion> |
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<ProjectGuid>{36B62E9F-668C-45BF-AD72-CFF0C0A65898}</ProjectGuid> |
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<OutputType>Library</OutputType> |
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<AppDesignerFolder>Properties</AppDesignerFolder> |
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<RootNamespace>ArducopterConfiguratorTest</RootNamespace> |
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<AssemblyName>ArducopterConfiguratorTest</AssemblyName> |
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<TargetFrameworkVersion>v2.0</TargetFrameworkVersion> |
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<FileAlignment>512</FileAlignment> |
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</PropertyGroup> |
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<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' "> |
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<DebugSymbols>true</DebugSymbols> |
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<DebugType>full</DebugType> |
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<Optimize>false</Optimize> |
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<OutputPath>bin\Debug\</OutputPath> |
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<DefineConstants>DEBUG;TRACE</DefineConstants> |
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<ErrorReport>prompt</ErrorReport> |
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<WarningLevel>4</WarningLevel> |
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</PropertyGroup> |
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<PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' "> |
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<DebugType>pdbonly</DebugType> |
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<Optimize>true</Optimize> |
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<OutputPath>bin\Release\</OutputPath> |
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<DefineConstants>TRACE</DefineConstants> |
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<ErrorReport>prompt</ErrorReport> |
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<WarningLevel>4</WarningLevel> |
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</PropertyGroup> |
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<ItemGroup> |
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<Reference Include="nunit.framework, Version=2.5.9.10348, Culture=neutral, PublicKeyToken=96d09a1eb7f44a77, processorArchitecture=MSIL"> |
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<SpecificVersion>False</SpecificVersion> |
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<HintPath>..\Lib3\nunit.framework.dll</HintPath> |
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</Reference> |
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<Reference Include="System" /> |
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<Reference Include="System.Data" /> |
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<Reference Include="System.Xml" /> |
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</ItemGroup> |
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<ItemGroup> |
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<Compile Include="AltitudeHoldVmTest.cs" /> |
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<Compile Include="MainVmTests.cs" /> |
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<Compile Include="MotorCommandsVmTest.cs" /> |
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<Compile Include="Properties\AssemblyInfo.cs" /> |
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</ItemGroup> |
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<ItemGroup> |
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<ProjectReference Include="..\ArducopterConfigurator.csproj"> |
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<Project>{AF26391C-7E45-4401-8984-96139A67FF31}</Project> |
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<Name>ArducopterConfigurator</Name> |
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</ProjectReference> |
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</ItemGroup> |
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<Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" /> |
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<!-- To modify your build process, add your task inside one of the targets below and uncomment it. |
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Other similar extension points exist, see Microsoft.Common.targets. |
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<Target Name="BeforeBuild"> |
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</Target> |
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<Target Name="AfterBuild"> |
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</Target> |
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--> |
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</Project> |
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using System; |
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using System.Collections.Generic; |
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using System.Text; |
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using ArducopterConfigurator; |
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using ArducopterConfigurator.PresentationModels; |
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using NUnit.Framework; |
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namespace ArducopterConfiguratorTest |
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{ |
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internal class FakeComms : IComms |
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{ |
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public event Action<string> LineOfDataReceived; |
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public string CommPort { get; set; } |
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public List<string> SentItems = new List<string>(); |
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public void Send(string send) |
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{ |
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SentItems.Add(send); |
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} |
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public bool Connect() |
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{ |
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return true; |
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} |
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public bool DisConnect() |
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{ |
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return true; |
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} |
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public void FireLineRecieve(string s) |
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{ |
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if (LineOfDataReceived != null) |
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LineOfDataReceived(s); |
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} |
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} |
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[TestFixture] |
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public class MainVmTests |
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{ |
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private FakeComms _fakeComms; |
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private MainVm _vm; |
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[SetUp] |
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public void Setup() |
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{ |
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_fakeComms = new FakeComms(); |
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_vm = new MainVm(_fakeComms); |
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} |
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[Test] |
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public void StateInitiallyDisconnected() |
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{ |
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Assert.AreEqual(MainVm.SessionStates.Disconnected,_vm.ConnectionState); |
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} |
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} |
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[TestFixture] |
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public class StableModeConfigVmTest |
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{ |
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private FakeComms _fakeComms; |
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private StableModeConfigVm _vm; |
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[SetUp] |
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public void Setup() |
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{ |
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_fakeComms = new FakeComms(); |
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_vm = new StableModeConfigVm(_fakeComms); |
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} |
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[Test] |
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public void UpdateStringSentIsCorrect() |
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{ |
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_vm.PitchP = 1.0F; |
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_vm.PitchI = 2.0F; |
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_vm.PitchD = 3.0F; |
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_vm.RollP = 5.0F; |
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_vm.RollI = 6.0F; |
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_vm.RollD = 7.0F; |
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_vm.YawP = 8.0F; |
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_vm.YawI = 9.0F; |
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_vm.YawD = 10.0F; |
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_vm.MagnetometerEnable = true; |
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_vm.KPrate = 4.0F; |
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_vm.UpdateCommand.Execute(null); |
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Assert.AreEqual(1,_fakeComms.SentItems.Count); |
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//A[KP Quad Roll];[KI Quad Roll];[KP RATE ROLL]; |
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// [KP Quad Pitch];[KI Quad Pitch];[KP RATE PITCH]; |
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// [KP Quad Yaw];[KI Quad Yaw];[KP Rate Yaw]; |
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// [KP Rate];[Magneto] |
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Assert.AreEqual("A5;6;7;1;2;3;8;9;10;4;1", _fakeComms.SentItems[0]); |
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} |
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[Test] |
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public void UpdateStringReceivedPopulatesValuesCorrectly() |
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{ |
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_fakeComms.FireLineRecieve("B5;6;7;1;2;3;8;9;10;4;1"); |
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Assert.AreEqual(1.0f,_vm.PitchP); |
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Assert.AreEqual(2f,_vm.PitchI); |
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Assert.AreEqual(3f,_vm.PitchD); |
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Assert.AreEqual(5f,_vm.RollP); |
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Assert.AreEqual(6f,_vm.RollI); |
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Assert.AreEqual(7f,_vm.RollD); |
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Assert.AreEqual(8f,_vm.YawP); |
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Assert.AreEqual(9f,_vm.YawI); |
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Assert.AreEqual(10f,_vm.YawD); |
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Assert.AreEqual(1f,_vm.MagnetometerEnable); |
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Assert.AreEqual(4f,_vm.KPrate); |
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} |
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} |
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} |
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@ -0,0 +1,23 @@
@@ -0,0 +1,23 @@
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using ArducopterConfigurator.PresentationModels; |
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using NUnit.Framework; |
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|
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namespace ArducopterConfiguratorTest |
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{ |
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[TestFixture] |
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public class MotorCommandsVmTest |
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{ |
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private FakeComms _fakeComms; |
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private MotorCommandsVm _vm; |
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[SetUp] |
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public void Setup() |
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{ |
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_fakeComms = new FakeComms(); |
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_vm = new MotorCommandsVm(_fakeComms); |
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} |
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} |
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} |
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@ -0,0 +1,36 @@
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using System.Reflection; |
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using System.Runtime.CompilerServices; |
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using System.Runtime.InteropServices; |
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|
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// General Information about an assembly is controlled through the following |
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// set of attributes. Change these attribute values to modify the information |
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// associated with an assembly. |
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[assembly: AssemblyTitle("ArducopterConfiguratorTest")] |
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[assembly: AssemblyDescription("")] |
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[assembly: AssemblyConfiguration("")] |
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[assembly: AssemblyCompany("TOSHIBA")] |
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[assembly: AssemblyProduct("ArducopterConfiguratorTest")] |
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[assembly: AssemblyCopyright("Copyright © TOSHIBA 2010")] |
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[assembly: AssemblyTrademark("")] |
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[assembly: AssemblyCulture("")] |
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// Setting ComVisible to false makes the types in this assembly not visible |
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// to COM components. If you need to access a type in this assembly from |
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// COM, set the ComVisible attribute to true on that type. |
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[assembly: ComVisible(false)] |
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|
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// The following GUID is for the ID of the typelib if this project is exposed to COM |
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[assembly: Guid("19d172a3-8241-459a-bee7-3318a20fce16")] |
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|
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// Version information for an assembly consists of the following four values: |
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// |
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// Major Version |
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// Minor Version |
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// Build Number |
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// Revision |
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// |
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// You can specify all the values or you can default the Build and Revision Numbers |
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// by using the '*' as shown below: |
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// [assembly: AssemblyVersion("1.0.*")] |
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[assembly: AssemblyVersion("1.0.0.0")] |
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[assembly: AssemblyFileVersion("1.0.0.0")] |
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