Merge pull request #4 from crane-hiromu/feature/refactor

Add action types
crane-hiromu · Sep 24, 2022 · 5c5eff3 · 5c5eff3
2 parents b104fdb + bd3f48b
commit 5c5eff3
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Showing 6 changed files with 83 additions and 48 deletions.
diff --git a/Sources/DroidKit/Core/DroidOperator.swift b/Sources/DroidKit/Core/DroidOperator.swift
@@ -23,7 +23,8 @@ public protocol DroidOperatorProtocol: AnyObject {
     func go(at speed: Double) async throws
     func back(at speed: Double) async throws
     func turn(by degree: Double) async throws
-    func stop(_ type: DroidWheel) async throws
+    func stop() async throws
+    func endTurn() async throws
     func changeLEDColor(to color: UIColor) async throws
     func playSound(_ type: DroidSound) async throws
     func wait(for seconds: Double) async throws
@@ -80,27 +81,33 @@ extension DroidOperator: DroidOperatorProtocol {
 
     /// move forward
     public func go(at speed: Double) async throws {
-        let payload = [DroidWheel.move.rawValue, DroidWheelOption.go(speed: speed).value]
+        let payload = [DroidWheel.move.rawValue, DroidWheelMovementAction.go(speed: speed).value]
         try await action(command: .moveWheel, payload: payload)
     }
 
     /// move back
     public func back(at speed: Double) async throws {
-        let payload = [DroidWheel.move.rawValue, DroidWheelOption.back(speed: speed).value]
+        let payload = [DroidWheel.move.rawValue, DroidWheelMovementAction.back(speed: speed).value]
         try await action(command: .moveWheel, payload: payload)
     }
 
     /// turn towards
     /// - right: 0~90
     /// - left: 90~180
     public func turn(by degree: Double) async throws {
-        let payload = [DroidWheel.turn.rawValue, DroidWheelOption.turn(degree: degree).value]
+        let payload = [DroidWheel.turn.rawValue, DroidWheelTurnAction.turn(degree: degree).value]
         try await action(command: .moveWheel, payload: payload)
     }
 
     /// stop moving
-    public func stop(_ type: DroidWheel) async throws {
-        let payload = [type.rawValue, DroidWheelOption.end.value]
+    public func stop() async throws {
+        let payload = [DroidWheel.move.rawValue, DroidWheelMovementAction.end.value]
+        try await action(command: .moveWheel, payload: payload)
+    }
+
+    /// reset  wheel degree
+    public func endTurn() async throws {
+        let payload = [DroidWheel.turn.rawValue, DroidWheelTurnAction.end.value]
         try await action(command: .moveWheel, payload: payload)
     }
 

diff --git a/Sources/DroidKit/Model/DroidWheel.swift b/Sources/DroidKit/Model/DroidWheel.swift
@@ -11,13 +11,18 @@ import Foundation
 public enum DroidWheel: UInt8 {
     case turn = 1
     case move = 2
+    static let endValue: UInt8 = 128
 }
 
-// MARK: - Wheel Option Type
-public enum DroidWheelOption {
+// MARK: - Action Protocol
+protocol DroidWheelAction {
+    var value: UInt8 { get }
+}
+
+// MARK: - Movement Action Type
+public enum DroidWheelMovementAction: DroidWheelAction {
     case go(speed: Double)
     case back(speed: Double)
-    case turn(degree: Double)
     case end
 
     public var value: UInt8 {
@@ -38,6 +43,19 @@ public enum DroidWheelOption {
             /// canvert value
             return UInt8(128 - round(Double(128) * result))
 
+        case .end:
+            return DroidWheel.endValue
+        }
+    }
+}
+
+// MARK: - Turn Action Type
+public enum DroidWheelTurnAction: DroidWheelAction {
+    case turn(degree: Double)
+    case end
+
+    public var value: UInt8 {
+        switch self {
         case .turn(let degree):
             /// if degree is less than 0, no calculation
             guard 0 < degree else { return 0 }
@@ -47,7 +65,7 @@ public enum DroidWheelOption {
             return UInt8(round(result / Double(180) * Double(255)))
 
         case .end:
-            return 128
+            return DroidWheel.endValue
         }
     }
 }
diff --git a/Sources/DroidKit/View/DroidKitDebugView.swift b/Sources/DroidKit/View/DroidKitDebugView.swift
@@ -96,12 +96,12 @@ private extension DroidKitDebugView {
                 DroidKitActionButton(title: "Go") {
                     try await droidOperator.go(at: speed)
                     try await droidOperator.wait(for: duration)
-                    try await droidOperator.stop(.move)
+                    try await droidOperator.stop()
                 }
                 DroidKitActionButton(title: "Back") {
                     try await droidOperator.back(at: speed)
                     try await droidOperator.wait(for: duration)
-                    try await droidOperator.stop(.move)
+                    try await droidOperator.stop()
                 }
             }
         }
@@ -121,7 +121,7 @@ private extension DroidKitDebugView {
                     try await droidOperator.turn(by: degree)
                 }
                 DroidKitActionButton(title: "Reset") {
-                    try await droidOperator.stop(.turn)
+                    try await droidOperator.endTurn()
                 }
             }
             .padding(.bottom, 16)

diff --git a/Tests/DroidKitTests/Core/DroidOperatorTest.swift b/Tests/DroidKitTests/Core/DroidOperatorTest.swift
@@ -69,7 +69,7 @@ final class DroidOperatorTest: XCTestCase {
     func testStop() async throws {
         let droidConnectorMock = DroidConnectorMock()
         let droidOperator = DroidOperator(connector: droidConnectorMock)
-        try await droidOperator.stop(.move)
+        try await droidOperator.stop()
 
         XCTAssertTrue(droidConnectorMock.writeValueCalled)
     }

diff --git a/Tests/DroidKitTests/Model/DroidWheelActionTest.swift b/Tests/DroidKitTests/Model/DroidWheelActionTest.swift
@@ -0,0 +1,44 @@
+//
+//  DroidWheelActionTest.swift
+//  
+//
+//  Created by h.crane on 2022/09/18.
+//
+
+import Foundation
+import XCTest
+@testable import DroidKit
+
+// MARK: - Test
+final class DroidWheelActionTest: XCTestCase {
+
+    func testMovementActionValue() {
+        XCTContext.runActivity(named: "case .go") { _ in
+            XCTAssertEqual(DroidWheelMovementAction.go(speed: -1).value, 0)
+            XCTAssertEqual(DroidWheelMovementAction.go(speed: 0.5).value, 191)
+            XCTAssertEqual(DroidWheelMovementAction.go(speed: 2).value, 255)
+        }
+
+        XCTContext.runActivity(named: "case .back") { _ in
+            XCTAssertEqual(DroidWheelMovementAction.back(speed: -1).value, 0)
+            XCTAssertEqual(DroidWheelMovementAction.back(speed: 0.5).value, 64)
+            XCTAssertEqual(DroidWheelMovementAction.back(speed: 2).value, 0)
+        }
+
+        XCTContext.runActivity(named: "case .end") { _ in
+            XCTAssertEqual(DroidWheelMovementAction.end.value, 128)
+        }
+    }
+
+    func testTurnActionValue() {
+        XCTContext.runActivity(named: "case .turn") { _ in
+            XCTAssertEqual(DroidWheelTurnAction.turn(degree: -1).value, 0)
+            XCTAssertEqual(DroidWheelTurnAction.turn(degree: 90).value, 128)
+            XCTAssertEqual(DroidWheelTurnAction.turn(degree: 181).value, 255)
+        }
+
+        XCTContext.runActivity(named: "case .end") { _ in
+            XCTAssertEqual(DroidWheelTurnAction.end.value, 128)
+        }
+    }
+}
diff --git a/Tests/DroidKitTests/Model/DroidWheelOptionTest.swift b/Tests/DroidKitTests/Model/DroidWheelOptionTest.swift