public void testLM() throws Exception {
IM im = new IM();
assertEquals(9, im.POINTS_PER_SECOND);
assertEquals(im.maxDistance, im.position);
im.maxDistance = 10.1;
im.minDistance = 9.1;
im.errorVariance = 0.0;
im.errorMean = 0.0;
im.position = im.maxDistance;
im.speed = 1.0;
im.moving = true;
assertEquals("00010.10m\n", im.genDistance());
int i = 0;
while (true) {
im.doStep();
i++;
if (im.position <= im.minDistance) break;
assertEquals(im.maxDistance - i * im.speed / im.POINTS_PER_SECOND, im.position, 0.00000001);
}
assertEquals(false, im.moving);
assertEquals(im.minDistance, im.position);
// --- check maxDistance ---
im.position = im.maxDistance - 0.0001;
im.speed = -1.0;
im.moving = true;
im.doStep();
assertEquals(false, im.moving);
assertEquals(im.maxDistance, im.position);
im.unbind();
im = new IM();
im.unbind();
}
public void testSLM() throws Exception {
IM im = new IM();
SLM slm = new SLM();
assertEquals(100, slm.prepareRange(1.0));
assertEquals(slm.MAX_RANGE, slm.prepareRange(Double.POSITIVE_INFINITY));
boolean save = slm.binaryMode;
slm.binaryMode = true;
slm.createPointsBuf();
assertEquals(-1, slm.lastBufPos);
for (int range = 0; range <= slm.MAX_RANGE; range++) {
slm.lastBufPos = -1;
slm.putPointToBuf(range, 0, 0);
slm.pointsBuf[2] = (byte) (range % 256);
assertEquals(range / 256, toInt(slm.pointsBuf[1]));
assertEquals(range % 256, toInt(slm.pointsBuf[2]));
int rr = toInt(slm.pointsBuf[1]) * 256 + toInt(slm.pointsBuf[2]);
assertEquals(range, rr);
}
slm.binaryMode = save;
slm.lastBufPos = -1;
assertEquals(0.0, slm.errorMean);
assertEquals(0.0, slm.errorVariance);
assertEquals(0.0, slm.zeroPerCircle);
assertEquals(false, slm.hundr);
im.moving = true;
for (int i = 0; i < 10; i++) {
im.doStep();
String distance = im.genDistance();
im.sendDistanceToAll(distance);
Thread.sleep(10);
assertEquals(distance, IM.FormatDistance(slm.distance));
}
VolumeMock volume = new VolumeMock("127.0.0.1", slm.slmport);
String cmd[][] = {
{"H", "REPLIES ON"},
{"X", "*BINARY"},
{"?", "*MDA072"},
{"J", "v3.1d - Oct 12 2007"},
{"C", "*A00000"},
{"I00010", "*D00010"},
{"FE1543", "*F01543"},
{"FT", "*Tenth"},
{"S", "*STARTD"},
{"A", "*Lasron"}
};
for (int i = 0; i < cmd.length; i++) {
volume.Send(cmd[i][0] + "\n");
// slm.readProcessPacket();
assertEquals(cmd[i][1], volume.Recieve());
}
}
