Added some examples of new API usage. Not all tests are passed.
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package space.kscience.controls.spec
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import kotlinx.coroutines.delay
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import kotlinx.coroutines.test.runTest
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import space.kscience.dataforge.context.Context
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import space.kscience.dataforge.meta.Meta
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import space.kscience.dataforge.meta.double
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import space.kscience.dataforge.meta.int
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import space.kscience.dataforge.names.parseAsName
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import kotlin.test.Test
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import kotlin.test.assertEquals
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import kotlin.test.assertFalse
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import kotlin.test.assertNotNull
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import kotlin.test.assertTrue
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class CompositeControlTest {
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// ---------------------- Device Specifications ----------------------------------
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public object StepperMotorSpec : CompositeControlComponentSpec<StepperMotorDevice>() {
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public val position by intMutable(
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name = "position",
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read = { getPosition() },
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write = { _, value -> setPosition(value) }
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)
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public val maxPosition by int(
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name = "maxPosition",
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read = { maxPosition }
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)
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}
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public object ValveSpec : CompositeControlComponentSpec<ValveDevice>() {
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public val state by booleanMutable(
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read = { getState() },
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write = { _, value -> setState(value) }
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)
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}
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public object PressureChamberSpec : CompositeControlComponentSpec<PressureChamberDevice>() {
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public val pressure by doubleMutable(
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read = { getPressure() },
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write = { _, value -> setPressure(value) }
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)
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}
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public object SyringePumpSpec : CompositeControlComponentSpec<SyringePumpDevice>() {
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public val volume by doubleMutable(
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read = { getVolume() },
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write = { _, value -> setVolume(value) }
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)
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}
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public object ReagentSensorSpec : CompositeControlComponentSpec<ReagentSensorDevice>() {
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public val isPresent by boolean(
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read = { checkReagent() }
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)
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}
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public object NeedleSpec : CompositeControlComponentSpec<NeedleDevice>() {
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public val mode by enumMutable(
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enumValues = NeedleDevice.Mode.entries.toTypedArray(),
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read = { getMode() },
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write = { _, value -> setMode(value) }
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)
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public val position by doubleMutable(
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read = { getPosition() },
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write = { _, value -> setPosition(value) }
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)
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}
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public object ShakerSpec : CompositeControlComponentSpec<ShakerDevice>() {
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public val verticalMotor by childSpec<StepperMotorSpec, StepperMotorDevice>()
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public val horizontalMotor by childSpec<StepperMotorSpec, StepperMotorDevice>()
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}
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public object TransportationSystemSpec : CompositeControlComponentSpec<TransportationSystem>() {
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public val slideMotor by childSpec<StepperMotorSpec, StepperMotorDevice>()
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public val pushMotor by childSpec<StepperMotorSpec, StepperMotorDevice>()
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public val receiveMotor by childSpec<StepperMotorSpec, StepperMotorDevice>()
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}
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public object AnalyzerSpec : CompositeControlComponentSpec<AnalyzerDevice>() {
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public val transportationSystem by childSpec<TransportationSystemSpec, TransportationSystemSpec>()
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public val shakerDevice by childSpec<ShakerSpec, ShakerDevice>()
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public val needleDevice by childSpec<NeedleSpec, NeedleDevice>()
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public val valveV20 by childSpec<ValveSpec, ValveDevice>()
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public val valveV17 by childSpec<ValveSpec, ValveDevice>()
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public val valveV18 by childSpec<ValveSpec, ValveDevice>()
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public val valveV35 by childSpec<ValveSpec, ValveDevice>()
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public val pressureChamberHigh by childSpec<PressureChamberSpec, PressureChamberDevice>()
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public val pressureChamberLow by childSpec<PressureChamberSpec, PressureChamberDevice>()
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public val syringePumpMA100 by childSpec<SyringePumpSpec, SyringePumpDevice>()
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public val syringePumpMA25 by childSpec<SyringePumpSpec, SyringePumpDevice>()
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public val reagentSensor1 by childSpec<ReagentSensorSpec, ReagentSensorDevice>()
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public val reagentSensor2 by childSpec<ReagentSensorSpec, ReagentSensorDevice>()
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public val reagentSensor3 by childSpec<ReagentSensorSpec, ReagentSensorDevice>()
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}
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// ---------------------- Device Implementations ----------------------------------
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// Implementation of Stepper Motor Device
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public class StepperMotorDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<StepperMotorDevice>(StepperMotorSpec, context, meta) {
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private var _position: Int = 0
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public val maxPosition: Int = meta["maxPosition".parseAsName()].int ?: 100
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/**
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* Get current position of the stepper motor.
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* @return Current position as Int
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*/
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public suspend fun getPosition(): Int = _position
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/**
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* Set position of the stepper motor, if position is valid the move will occur.
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* @param value target position as Int
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*/
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public suspend fun setPosition(value: Int) {
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if (value in 0..maxPosition) {
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_position = value
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println("StepperMotorDevice: Moving to position $_position")
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delay(100)
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} else {
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println("StepperMotorDevice: Invalid position $value (max: $maxPosition)")
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}
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}
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}
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// Implementation of Valve Device
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public class ValveDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<ValveDevice>(ValveSpec, context, meta) {
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private var _state: Boolean = false
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/**
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* Get current state of the valve
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* @return true if valve is open, false if closed
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*/
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public suspend fun getState(): Boolean = _state
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/**
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* Set the current state of the valve and print the change.
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* @param value true if valve should be open, false if should be closed
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*/
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public suspend fun setState(value: Boolean) {
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_state = value
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val stateStr = if (_state) "open" else "closed"
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println("ValveDevice: Valve is now $stateStr")
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delay(50)
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}
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/**
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* Simulates clicking the valve.
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*/
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public suspend fun click() {
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println("ValveDevice: Clicking valve...")
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setState(true)
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delay(50)
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setState(false)
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println("ValveDevice: Valve click completed")
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}
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}
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// Implementation of Pressure Chamber Device
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public class PressureChamberDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<PressureChamberDevice>(PressureChamberSpec, context, meta) {
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private var _pressure: Double = 0.0
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/**
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* Get the current pressure in the chamber.
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* @return current pressure as Double
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*/
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public suspend fun getPressure(): Double = _pressure
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/**
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* Set the pressure in the chamber.
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* @param value target pressure as Double
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*/
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public suspend fun setPressure(value: Double) {
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_pressure = value
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println("PressureChamberDevice: Pressure is now $_pressure")
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delay(50)
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}
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}
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// Implementation of Syringe Pump Device
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public class SyringePumpDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<SyringePumpDevice>(SyringePumpSpec, context, meta) {
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private var _volume: Double = 0.0
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public val maxVolume: Double = meta["maxVolume".parseAsName()].double ?: 5.0
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/**
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* Get current volume in the syringe
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* @return volume as Double
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*/
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public suspend fun getVolume(): Double = _volume
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/**
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* Set the current volume in the syringe.
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* @param value the target volume as Double
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*/
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public suspend fun setVolume(value: Double) {
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if (value in 0.0..maxVolume) {
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_volume = value
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println("SyringePumpDevice: Volume is now $_volume ml")
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delay(100)
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} else {
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println("SyringePumpDevice: Invalid volume $value (max: $maxVolume)")
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}
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}
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}
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// Implementation of Reagent Sensor Device
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public class ReagentSensorDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<ReagentSensorDevice>(ReagentSensorSpec, context, meta) {
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/**
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* Checks for reagent presence.
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* @return true if reagent is present.
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*/
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public suspend fun checkReagent(): Boolean {
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println("ReagentSensorDevice: Checking for reagent presence...")
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delay(100) // Simulate detection time
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val isPresent = true // Assume reagent is present
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println("ReagentSensorDevice: Reagent is ${if (isPresent) "present" else "not present"}")
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return isPresent
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}
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}
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// Implementation of Needle Device
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public class NeedleDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<NeedleDevice>(NeedleSpec, context, meta) {
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public enum class Mode { SAMPLING, WASHING }
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private var _mode: Mode = Mode.WASHING
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private var _position: Double = 0.0
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/**
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* Get the current mode of needle.
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* @return current mode of the needle.
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*/
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public suspend fun getMode(): Mode = _mode
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/**
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* Set the mode of the needle
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* @param value the target mode
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*/
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public suspend fun setMode(value: Mode) {
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_mode = value
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println("NeedleDevice: Mode is now $_mode")
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delay(50)
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}
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/**
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* Get current position of the needle
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* @return current position as Double
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*/
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public suspend fun getPosition(): Double = _position
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/**
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* Set the needle position
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* @param value target position as Double
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*/
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public suspend fun setPosition(value: Double) {
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if (value in 0.0..100.0) {
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_position = value
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println("NeedleDevice: Moved to position $_position mm")
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delay(100)
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} else {
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println("NeedleDevice: Invalid position $value mm")
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}
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}
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/**
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* Executes washing process for given duration
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* @param duration time for washing in seconds
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*/
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public suspend fun performWashing(duration: Int) {
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println("NeedleDevice: Washing in progress for $duration seconds")
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delay(duration * 1000L) // Simulate washing (1 second = 1000 ms)
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}
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/**
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* Execute sampling procedure
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*/
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public suspend fun performSampling() {
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println("NeedleDevice: Performing sample intake at position $_position mm")
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delay(500) // Simulate sampling time
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}
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}
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// Implementation of Shaker Device
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public class ShakerDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<ShakerDevice>(ShakerSpec, context, meta) {
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/**
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* Get vertical stepper motor
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*/
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public val verticalMotor by childDevice<StepperMotorDevice>()
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/**
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* Get horizontal stepper motor
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*/
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public val horizontalMotor by childDevice<StepperMotorDevice>()
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/**
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* Shakes the device for given cycles.
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* @param cycles amount of cycles for shaking
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*/
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public suspend fun shake(cycles: Int) {
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println("ShakerDevice: Shaking started, cycles: $cycles")
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repeat(cycles) {
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verticalMotor.setPosition(3)
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verticalMotor.setPosition(1)
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println("ShakerDevice: cycle ${it+1} done")
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}
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println("ShakerDevice: Shaking completed")
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}
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}
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// Implementation of Transportation System
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public class TransportationSystem(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<TransportationSystem>(TransportationSystemSpec, context, meta) {
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/**
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* Get slide stepper motor
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*/
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public val slideMotor by childDevice<StepperMotorDevice>()
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/**
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* Get push stepper motor
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*/
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public val pushMotor by childDevice<StepperMotorDevice>()
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/**
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* Get receive stepper motor
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*/
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public val receiveMotor by childDevice<StepperMotorDevice>()
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}
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// Implementation of Analyzer Device
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public class AnalyzerDevice(
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context: Context,
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meta: Meta = Meta.EMPTY
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) : ConfigurableCompositeControlComponent<AnalyzerDevice>(AnalyzerSpec, context, meta) {
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/**
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* Get transportation system
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*/
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public val transportationSystem by childDevice<TransportationSystem>()
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/**
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* Get shaker device
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*/
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public val shakerDevice by childDevice<ShakerDevice>()
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/**
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* Get needle device
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*/
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public val needleDevice by childDevice<NeedleDevice>()
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/**
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* Get valve V20
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*/
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public val valveV20 by childDevice<ValveDevice>()
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/**
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* Get valve V17
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*/
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public val valveV17 by childDevice<ValveDevice>()
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/**
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* Get valve V18
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*/
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public val valveV18 by childDevice<ValveDevice>()
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/**
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* Get valve V35
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*/
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public val valveV35 by childDevice<ValveDevice>()
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/**
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* Get high pressure chamber
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*/
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public val pressureChamberHigh by childDevice<PressureChamberDevice>()
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/**
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|
* Get low pressure chamber
|
||||||
|
*/
|
||||||
|
public val pressureChamberLow by childDevice<PressureChamberDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get syringe pump MA100
|
||||||
|
*/
|
||||||
|
public val syringePumpMA100 by childDevice<SyringePumpDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get syringe pump MA25
|
||||||
|
*/
|
||||||
|
public val syringePumpMA25 by childDevice<SyringePumpDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get reagent sensor 1
|
||||||
|
*/
|
||||||
|
public val reagentSensor1 by childDevice<ReagentSensorDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get reagent sensor 2
|
||||||
|
*/
|
||||||
|
public val reagentSensor2 by childDevice<ReagentSensorDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Get reagent sensor 3
|
||||||
|
*/
|
||||||
|
public val reagentSensor3 by childDevice<ReagentSensorDevice>()
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulates a process of taking sample from tubes.
|
||||||
|
*/
|
||||||
|
public suspend fun processSample() {
|
||||||
|
println("The beginning of the sampling process")
|
||||||
|
|
||||||
|
// Step 1: Open valve V20 and start taking a sample with a syringe pump MA 100 mcl
|
||||||
|
valveV20.setState(true)
|
||||||
|
syringePumpMA100.setVolume(0.1)
|
||||||
|
delay(500) // Simulating waiting time for liquid collection
|
||||||
|
valveV20.setState(false)
|
||||||
|
|
||||||
|
// Step 2: Open valve V17 and start delivering lysis buffer with syringe pump MA 2.5 ml
|
||||||
|
valveV17.setState(true)
|
||||||
|
syringePumpMA25.setVolume(2.5)
|
||||||
|
delay(500) // Simulate lysis buffer delivery time
|
||||||
|
valveV17.setState(false)
|
||||||
|
|
||||||
|
// Step 3: Cleaning system
|
||||||
|
syringePumpMA100.setVolume(0.0)
|
||||||
|
syringePumpMA25.setVolume(0.0)
|
||||||
|
|
||||||
|
println("The sampling process is completed")
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulates the analyzer calibration procedure.
|
||||||
|
*/
|
||||||
|
public suspend fun calibrate() {
|
||||||
|
println("The beginning of calibration...")
|
||||||
|
|
||||||
|
// Step 1: Calibrate positions of all motors
|
||||||
|
val motors = listOf(
|
||||||
|
transportationSystem.slideMotor,
|
||||||
|
transportationSystem.pushMotor,
|
||||||
|
transportationSystem.receiveMotor,
|
||||||
|
shakerDevice.verticalMotor,
|
||||||
|
shakerDevice.horizontalMotor,
|
||||||
|
|
||||||
|
)
|
||||||
|
|
||||||
|
for (motor in motors) {
|
||||||
|
for (position in 0..motor.maxPosition) {
|
||||||
|
motor.setPosition(position)
|
||||||
|
}
|
||||||
|
motor.setPosition(0)
|
||||||
|
}
|
||||||
|
|
||||||
|
// Step 2: Click all valves and set them to zero position
|
||||||
|
val valves = listOf(valveV20, valveV17, valveV18, valveV35)
|
||||||
|
for (valve in valves) {
|
||||||
|
valve.click()
|
||||||
|
valve.setState(false)
|
||||||
|
}
|
||||||
|
|
||||||
|
// Step 3: Pump up pressure in high pressure chamber
|
||||||
|
pressureChamberHigh.setPressure(2.0)
|
||||||
|
// Step 4: Pump out pressure from low pressure chamber
|
||||||
|
pressureChamberLow.setPressure(-1.0)
|
||||||
|
|
||||||
|
// Step 5: Fill the hydraulic system
|
||||||
|
// 5.1 Check if reagents are present
|
||||||
|
val sensors = listOf(reagentSensor1, reagentSensor2, reagentSensor3)
|
||||||
|
for (sensor in sensors) {
|
||||||
|
sensor.checkReagent()
|
||||||
|
}
|
||||||
|
|
||||||
|
// 5.2 Perform 5 times full pump movement with all syringe pumps
|
||||||
|
val pumps = listOf(syringePumpMA100, syringePumpMA25)
|
||||||
|
for (pump in pumps) {
|
||||||
|
repeat(5) {
|
||||||
|
pump.setVolume(pump.maxVolume)
|
||||||
|
pump.setVolume(0.0)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 5.3 Wash needle at its washing position
|
||||||
|
needleDevice.setPosition(0.0)
|
||||||
|
needleDevice.setMode(NeedleDevice.Mode.WASHING)
|
||||||
|
needleDevice.performWashing(5)
|
||||||
|
|
||||||
|
println("Calibration is completed")
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute recipe 1 - sample tube deliver
|
||||||
|
*/
|
||||||
|
public suspend fun executeRecipe1() {
|
||||||
|
println("Executing recipe 1")
|
||||||
|
|
||||||
|
// Step 1: Move a slide to the next position
|
||||||
|
val currentSlidePosition = transportationSystem.slideMotor.getPosition()
|
||||||
|
transportationSystem.slideMotor.setPosition(currentSlidePosition + 1)
|
||||||
|
println("Moved a slide to position ${currentSlidePosition+1}")
|
||||||
|
|
||||||
|
// Step 2: Capture a tube for mixing
|
||||||
|
println("Capturing tube for mixing")
|
||||||
|
|
||||||
|
// 2.1 - 2.10: Control over a shaker and motors
|
||||||
|
shakerDevice.verticalMotor.setPosition(1)
|
||||||
|
shakerDevice.horizontalMotor.setPosition(1)
|
||||||
|
println("Shaker: vertical - 1, horizontal - 1")
|
||||||
|
|
||||||
|
shakerDevice.horizontalMotor.setPosition(2)
|
||||||
|
println("Shaker: horizontal - 2")
|
||||||
|
|
||||||
|
shakerDevice.verticalMotor.setPosition(2)
|
||||||
|
println("Shaker: vertical - 2")
|
||||||
|
|
||||||
|
// Shake
|
||||||
|
shakerDevice.shake(5)
|
||||||
|
println("Shaker: movement done")
|
||||||
|
|
||||||
|
// Step 3: Sampling and measurement
|
||||||
|
executeSampling()
|
||||||
|
needleDevice.setPosition(0.0)
|
||||||
|
println("Needle moved to its initial position")
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute recipe 2 - Automatic Measurement
|
||||||
|
*/
|
||||||
|
public suspend fun executeRecipe2() {
|
||||||
|
println("Executing Recipe 2 - Automatic Measurement")
|
||||||
|
|
||||||
|
transportationSystem.receiveMotor.setPosition(transportationSystem.receiveMotor.getPosition() + 1)
|
||||||
|
println("Pusher moved to position ${transportationSystem.receiveMotor.getPosition() + 1}")
|
||||||
|
|
||||||
|
//Check for a tray, if missing move again
|
||||||
|
if (!checkTrayInPushSystem()) {
|
||||||
|
println("Tray missing. Trying to move again")
|
||||||
|
transportationSystem.receiveMotor.setPosition(transportationSystem.receiveMotor.getPosition() + 1)
|
||||||
|
} else {
|
||||||
|
executeSampling()
|
||||||
|
}
|
||||||
|
|
||||||
|
// If last position, reset the plate
|
||||||
|
if (transportationSystem.receiveMotor.getPosition() >= transportationSystem.receiveMotor.maxPosition) {
|
||||||
|
println("Plate is complete. Resetting pusher to initial position")
|
||||||
|
transportationSystem.receiveMotor.setPosition(0)
|
||||||
|
}
|
||||||
|
|
||||||
|
println("Recipe 2 execution finished")
|
||||||
|
needleDevice.setPosition(0.0)
|
||||||
|
println("Needle moved to its initial position")
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Execute recipe 3 - Single Measurement
|
||||||
|
*/
|
||||||
|
public suspend fun executeRecipe3() {
|
||||||
|
println("Executing Recipe 3 - Single measurement")
|
||||||
|
executeSampling()
|
||||||
|
println("Recipe 3 completed")
|
||||||
|
needleDevice.setPosition(0.0)
|
||||||
|
println("Needle moved to its initial position")
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulates tray presence check
|
||||||
|
*/
|
||||||
|
private suspend fun checkTrayInPushSystem(): Boolean {
|
||||||
|
println("Checking for a tray in a pushing system")
|
||||||
|
delay(200)
|
||||||
|
return true // Simulate tray presence
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Function to execute sampling process with the needle
|
||||||
|
*/
|
||||||
|
private suspend fun executeSampling() {
|
||||||
|
needleDevice.setMode(NeedleDevice.Mode.SAMPLING)
|
||||||
|
needleDevice.performSampling()
|
||||||
|
needleDevice.setMode(NeedleDevice.Mode.WASHING)
|
||||||
|
needleDevice.performWashing(2)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private fun createTestContext() = Context("test")
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test StepperMotorDevice position setting`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val motor = StepperMotorDevice(context, Meta { "maxPosition" put 500 })
|
||||||
|
|
||||||
|
motor.setPosition(200)
|
||||||
|
assertEquals(200, motor.getPosition(), "Position should be set correctly")
|
||||||
|
|
||||||
|
motor.setPosition(0)
|
||||||
|
assertEquals(0, motor.getPosition(), "Position should be reset to 0")
|
||||||
|
|
||||||
|
motor.setPosition(500)
|
||||||
|
assertEquals(500, motor.getPosition(), "Position should be set to max value")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test StepperMotorDevice invalid position`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val motor = StepperMotorDevice(context, Meta { "maxPosition" put 100 })
|
||||||
|
|
||||||
|
motor.setPosition(200) //Should be outside the range, so not changed
|
||||||
|
assertEquals(0, motor.getPosition(), "Position should not be set for invalid value")
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test ValveDevice state toggling`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val valve = ValveDevice(context)
|
||||||
|
|
||||||
|
assertFalse(valve.getState(), "Initial state should be closed")
|
||||||
|
|
||||||
|
valve.setState(true)
|
||||||
|
assertTrue(valve.getState(), "State should be set to open")
|
||||||
|
|
||||||
|
valve.setState(false)
|
||||||
|
assertFalse(valve.getState(), "State should be set to closed")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test ValveDevice click operation`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val valve = ValveDevice(context)
|
||||||
|
|
||||||
|
assertFalse(valve.getState(), "Initial state should be closed")
|
||||||
|
|
||||||
|
valve.click()
|
||||||
|
assertFalse(valve.getState(), "Valve should be closed after click")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test PressureChamberDevice pressure setting`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val chamber = PressureChamberDevice(context)
|
||||||
|
|
||||||
|
chamber.setPressure(1.5)
|
||||||
|
assertEquals(1.5, chamber.getPressure(), "Pressure should be set correctly")
|
||||||
|
|
||||||
|
chamber.setPressure(0.0)
|
||||||
|
assertEquals(0.0, chamber.getPressure(), "Pressure should be set to 0")
|
||||||
|
|
||||||
|
chamber.setPressure(-1.0)
|
||||||
|
assertEquals(-1.0, chamber.getPressure(), "Pressure should be set to negative value")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test SyringePumpDevice volume setting`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val pump = SyringePumpDevice(context, Meta { "maxVolume" put 10.0 })
|
||||||
|
|
||||||
|
pump.setVolume(3.5)
|
||||||
|
assertEquals(3.5, pump.getVolume(), "Volume should be set correctly")
|
||||||
|
|
||||||
|
pump.setVolume(0.0)
|
||||||
|
assertEquals(0.0, pump.getVolume(), "Volume should be reset to 0")
|
||||||
|
|
||||||
|
pump.setVolume(10.0)
|
||||||
|
assertEquals(10.0, pump.getVolume(), "Volume should be set to max value")
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test SyringePumpDevice invalid volume`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val pump = SyringePumpDevice(context, Meta { "maxVolume" put 5.0 })
|
||||||
|
|
||||||
|
pump.setVolume(10.0)
|
||||||
|
assertEquals(0.0, pump.getVolume(), "Pump volume should not be set for invalid value")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test ReagentSensorDevice checkReagent returns true`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val sensor = ReagentSensorDevice(context)
|
||||||
|
|
||||||
|
assertTrue(sensor.checkReagent(), "Reagent sensor should report presence by default")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test NeedleDevice position and mode setting`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val needle = NeedleDevice(context)
|
||||||
|
|
||||||
|
//Test setting mode
|
||||||
|
needle.setMode(NeedleDevice.Mode.SAMPLING)
|
||||||
|
assertEquals(NeedleDevice.Mode.SAMPLING, needle.getMode(), "Mode should be set to SAMPLING")
|
||||||
|
|
||||||
|
needle.setMode(NeedleDevice.Mode.WASHING)
|
||||||
|
assertEquals(NeedleDevice.Mode.WASHING, needle.getMode(), "Mode should be set to WASHING")
|
||||||
|
|
||||||
|
//Test setting position
|
||||||
|
needle.setPosition(50.0)
|
||||||
|
assertEquals(50.0, needle.getPosition(), "Position should be set correctly")
|
||||||
|
|
||||||
|
needle.setPosition(0.0)
|
||||||
|
assertEquals(0.0, needle.getPosition(), "Position should be set to 0")
|
||||||
|
|
||||||
|
needle.setPosition(100.0)
|
||||||
|
assertEquals(100.0, needle.getPosition(), "Position should be set to max")
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test NeedleDevice invalid position`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val needle = NeedleDevice(context)
|
||||||
|
|
||||||
|
needle.setPosition(200.0)
|
||||||
|
assertEquals(0.0, needle.getPosition(), "Needle position should not be set for invalid value")
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test ShakerDevice shaking`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val shaker = ShakerDevice(context)
|
||||||
|
|
||||||
|
// Access properties to initialize motors and test shaking
|
||||||
|
val verticalMotor = shaker.verticalMotor
|
||||||
|
val horizontalMotor = shaker.horizontalMotor
|
||||||
|
|
||||||
|
shaker.shake(2)
|
||||||
|
val verticalMotorPosition = verticalMotor.getPosition()
|
||||||
|
val horizontalMotorPosition = horizontalMotor.getPosition()
|
||||||
|
|
||||||
|
assertEquals(2,verticalMotorPosition, "Vertical motor position should be set to 2 after shaking")
|
||||||
|
assertEquals(1,horizontalMotorPosition, "Horizontal motor position should be set to 1 after shaking")
|
||||||
|
}
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test TransportationSystem motors existence`() = runTest {
|
||||||
|
val context = createTestContext()
|
||||||
|
val transportationSystem = TransportationSystem(context)
|
||||||
|
|
||||||
|
// Access properties to initialize motors and test existence
|
||||||
|
assertNotNull(transportationSystem.slideMotor, "slideMotor should exist")
|
||||||
|
assertNotNull(transportationSystem.pushMotor, "pushMotor should exist")
|
||||||
|
assertNotNull(transportationSystem.receiveMotor, "receiveMotor should exist")
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
@Test
|
||||||
|
fun `test AnalyzerDevice device access`() = runTest{
|
||||||
|
val context = createTestContext()
|
||||||
|
val analyzer = AnalyzerDevice(context)
|
||||||
|
|
||||||
|
// Access properties to initialize child devices and test existence
|
||||||
|
assertNotNull(analyzer.transportationSystem, "Transportation system should exist")
|
||||||
|
assertNotNull(analyzer.shakerDevice, "Shaker device should exist")
|
||||||
|
assertNotNull(analyzer.needleDevice, "Needle device should exist")
|
||||||
|
assertNotNull(analyzer.valveV20, "Valve V20 should exist")
|
||||||
|
assertNotNull(analyzer.valveV17, "Valve V17 should exist")
|
||||||
|
assertNotNull(analyzer.valveV18, "Valve V18 should exist")
|
||||||
|
assertNotNull(analyzer.valveV35, "Valve V35 should exist")
|
||||||
|
assertNotNull(analyzer.pressureChamberHigh, "High pressure chamber should exist")
|
||||||
|
assertNotNull(analyzer.pressureChamberLow, "Low pressure chamber should exist")
|
||||||
|
assertNotNull(analyzer.syringePumpMA100, "Syringe pump MA100 should exist")
|
||||||
|
assertNotNull(analyzer.syringePumpMA25, "Syringe pump MA25 should exist")
|
||||||
|
assertNotNull(analyzer.reagentSensor1, "Reagent sensor 1 should exist")
|
||||||
|
assertNotNull(analyzer.reagentSensor2, "Reagent sensor 2 should exist")
|
||||||
|
assertNotNull(analyzer.reagentSensor3, "Reagent sensor 3 should exist")
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user