Add MindstormsSensorsTestScript

- Add Distance Sensor

#161 non-breaking

src/SharpBrick.PoweredUp/Devices/TechnicDistanceSensor.cs

@@ -23,9 +23,9 @@ public class TechnicDistanceSensor : Device, IPoweredUpDevice
         public short Distance => _distlMode.SI;
         public IObservable<short> DistanceObservable => _distlMode.Observable.Select(x => x.SI);
         public short ShortOnlyDistance => _distsMode.SI;
-        public IObservable<short> DistsObservable => _distsMode.Observable.Select(x => x.SI);
-        public short SingleDistanceMeasurementResult => _singlMode.SI;
-        public IObservable<short> SinglObservable => _singlMode.Observable.Select(x => x.SI);
+        public IObservable<short> ShortOnlyDistanceObservable => _distsMode.Observable.Select(x => x.SI);
+        public short Single => _singlMode.SI;
+        public IObservable<short> SingleObservable => _singlMode.Observable.Select(x => x.SI);
 
         public TechnicDistanceSensor()
         { }
@@ -39,7 +39,7 @@ public TechnicDistanceSensor(ILegoWirelessProtocol protocol, byte hubId, byte po
 
             ObserveForPropertyChanged(_distlMode.Observable, nameof(Distance));
             ObserveForPropertyChanged(_distsMode.Observable, nameof(ShortOnlyDistance));
-            ObserveForPropertyChanged(_singlMode.Observable, nameof(SingleDistanceMeasurementResult));
+            ObserveForPropertyChanged(_singlMode.Observable, nameof(Single));
         }
 
         public Task SetEyeLightAsync(byte leftTop = 0x00, byte rightTop = 0x00, byte leftBottom = 0x00, byte rightBottom = 0x00)

test/SharpBrick.PoweredUp.TestScript/Program.cs

@@ -25,6 +25,7 @@ static async Task Main(string[] args)
 
             IEnumerable<ITestScript> scripts = new ITestScript[] {
                 new TechnicMotorTestScript<TechnicLargeLinearMotor>(),
+                new MindstormsSensorsTestScript(),
             };
 
             var context = new TestScriptExecutionContext(serviceProvider.GetService<ILogger<TestScriptExecutionContext>>());

test/SharpBrick.PoweredUp.TestScript/Scripts/MindstormsSensorsTestScript.cs

@@ -0,0 +1,91 @@
+using System;
+using System.Reactive.Linq;
+using System.Threading.Tasks;
+using Microsoft.Extensions.Logging;
+using SharpBrick.PoweredUp.Deployment;
+
+namespace SharpBrick.PoweredUp.TestScript
+{
+    public class MindstormsSensorsTestScript : ITestScript
+    {
+        public void DefineDeploymentModel(DeploymentModelBuilder builder)
+            => builder.AddHub<TechnicMediumHub>(hubBuilder =>
+            {
+                hubBuilder
+                    .AddDevice<TechnicDistanceSensor>(0)
+                    .AddDevice<TechnicColorSensor>(1);
+            });
+
+        public async Task ExecuteScriptAsync(Hub hub, TestScriptExecutionContext context)
+        {
+            var distanceSensor = hub.Port(0).GetDevice<TechnicDistanceSensor>();
+            var colorSensor = hub.Port(1).GetDevice<TechnicColorSensor>();
+
+            context.Log.LogInformation("Start Testing DistanceSensor");
+
+            await TestCase1_TechnicDistanceSensorLightsAsync(context, distanceSensor);
+
+            await TestCase2_TechnicDistanceSensorLightsBrightnessAsync(context, distanceSensor);
+
+            await TestCase3_TechnicDistanceSensorShortDistanceAsync(context, distanceSensor);
+
+            await TestCase4_TechnicDistanceSensorDistanceAsync(context, distanceSensor);
+        }
+
+        private async Task TestCase1_TechnicDistanceSensorLightsAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor)
+        {
+            await distanceSensor.SetEyeLightAsync(leftTop: 100);
+            await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Top?");
+
+            await distanceSensor.SetEyeLightAsync(rightTop: 100);
+            await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Top?");
+
+            await distanceSensor.SetEyeLightAsync(leftBottom: 100);
+            await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Left Bottom?");
+
+            await distanceSensor.SetEyeLightAsync(rightBottom: 100);
+            await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Light Right Bottom?");
+        }
+
+        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);
+
+                await Task.Delay(500);
+            }
+
+            await context.ConfirmAsync("TechnicDistanceSensor.SetEyeLightAsync: Did the right side brighten up?");
+        }
+
+        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($"Distance (short): {x}"));
+
+            await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexShortOnlyDistance, true);
+
+            await Task.Delay(10_000);
+
+            await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexShortOnlyDistance, false);
+
+            await context.ConfirmAsync("Are the distances measured accurately?");
+        }
+
+        private async Task TestCase4_TechnicDistanceSensorDistanceAsync(TestScriptExecutionContext context, TechnicDistanceSensor distanceSensor)
+        {
+            context.Log.LogInformation("Test distances between 4 and 250cm for 10s");
+            using var d1 = distanceSensor.DistanceObservable.Subscribe(x => context.Log.LogInformation($"Distance: {x}"));
+
+            await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, true);
+
+            await Task.Delay(10_000);
+
+            await distanceSensor.SetupNotificationAsync(distanceSensor.ModeIndexDistance, false);
+
+            await context.ConfirmAsync("Are the distances measured accurately?");
+        }
+    }
+}