public void IOIOImpl_ToggleLED()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
// we'll add the handler state on top of the default handlers so we don't have to peek into impl
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
LOG.Debug("Setup Complete");
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
DigitalOutputSpec ledSpec = new DigitalOutputSpec(Spec.LED_PIN);
// SHOULD USE THE FACTORY instead of this lame ...
IDigitalOutputConfigureCommand confDigitalOut = new DigitalOutputConfigureCommand(
ledSpec);
IDigitalOutputValueSetCommand turnItOn = new DigitalOutputSetValueCommand(ledSpec, true);
IDigitalOutputValueSetCommand turnItOff = new DigitalOutputSetValueCommand(ledSpec, false);
ourImpl.PostMessage(confDigitalOut);
for (int i = 0; i < 8; i++)
{
System.Threading.Thread.Sleep(150);
ourImpl.PostMessage(turnItOn);
System.Threading.Thread.Sleep(150);
ourImpl.PostMessage(turnItOff);
}
// this test can fail if we can't connect to the device but otherwise no way to read pin 1 values
Assert.IsTrue(true, "there is no status to check");
}
/// <summary>
/// ripped form unit tests
/// </summary>
/// <param name="ourImpl_"></param>
private void ConfigureCompass()
{
ITwiMasterConfigureCommand startCommand = CommandFactory_.CreateTwiConfigure(0, TwiMasterRate.RATE_400KHz, false);
OurImpl_.PostMessage(startCommand);
System.Threading.Thread.Sleep(50);
TwiDef_ = startCommand.TwiDef;
LOG.Debug("Ask for Who Am I");
// send the whoami command - we expect the id to be Gyro_WhoAmI_ID
byte[] ReadWhoAmiRegisterData = new byte[] { L3G4200DConstants.Gyro_WhoAmI_Register };
ITwiMasterSendDataCommand startupCommand1 = CommandFactory_.CreateTwiSendData(TwiDef_, L3G4200DConstants.GyroSlaveAddress1, false, ReadWhoAmiRegisterData, 1);
OurImpl_.PostMessage(startupCommand1);
System.Threading.Thread.Sleep(50);
// should check for Gyro_WhoAmI_ID_L3G4200D !
// Enable x, y, z and turn off power down
// auto increment registers
byte ControlRegisterAutoIncrement = L3G4200DConstants.Gyro_CTRL_REG1 |= Convert.ToByte(0x80);
byte[] RegisterConfigurationData = new byte[] { ControlRegisterAutoIncrement,
Convert.ToByte("00001111", 2),
Convert.ToByte("00000000", 2),
Convert.ToByte("00000000", 2),
(byte)(0x80 | L3G4200DConstants.Gyro_Range_DPS_2000), //Dont override values
//Enable High pass filter
Convert.ToByte("00000000", 2) };
LOG.Debug("Updating Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X") + ":" + RegisterConfigurationData);
ITwiMasterSendDataCommand ConfigureRegisters = CommandFactory_.CreateTwiSendData(TwiDef_, L3G4200DConstants.GyroSlaveAddress1, false, RegisterConfigurationData, 0);
OurImpl_.PostMessage(ConfigureRegisters);
}
public void IOIOImpl_DigitaLoopbackOut31In32()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
LOG.Debug("Setup Complete");
// we'll add the handler state on top of the default handlers so we don't have to peek into impl
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
// SHOULD USE THE FACTORY instead of this lame ...
IDigitalOutputConfigureCommand confDigitalOut =
new DigitalOutputConfigureCommand(new DigitalOutputSpec(31));
IDigitalInputConfigureCommand configDigitalIn =
new DigitalInputConfigureCommand(new DigitalInputSpec(32, DigitalInputSpecMode.PULL_UP), true);
IDigitalOutputValueSetCommand turnItOn = new DigitalOutputSetValueCommand(new DigitalOutputSpec(31), true);
IDigitalOutputValueSetCommand turnItOff = new DigitalOutputSetValueCommand(new DigitalOutputSpec(31), false);
ourImpl.PostMessage(confDigitalOut);
ourImpl.PostMessage(configDigitalIn);
for (int i = 0; i < 8; i++)
{
System.Threading.Thread.Sleep(100);
ourImpl.PostMessage(turnItOn);
System.Threading.Thread.Sleep(100);
ourImpl.PostMessage(turnItOff);
}
System.Threading.Thread.Sleep(100);
IEnumerable <IMessageFromIOIO> digitalMessagesIn = this.CapturedSingleQueueAllType_;
int changeCount =
digitalMessagesIn.OfType <IReportDigitalInStatusFrom>().Where(m => m.Pin == 32).Count();
Assert.AreEqual(1 + (2 * 8), changeCount, "trying to figure out how many changes we'd see");
}
private void ConfigurePwm(IOIOMessageCommandFactory commandFactory)
{
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(SERVO_PIN, DigitalOutputSpecMode.NORMAL);
IPwmOutputConfigureCommand createPwm = commandFactory.CreatePwmOutputConfigure(pwmPinSpec, 100);
OurImpl_.PostMessage(createPwm);
// message post fills in pin def so pick that up. runs in a thread so wait until command completes
// have to capture the PwmDef to get the frequencey
while (createPwm.PwmDef.Frequency < 0)
{
System.Threading.Thread.Sleep(10);
}
this.ServoPinDef_ = createPwm.PwmDef;
// value should match minimum of the slider
IPwmOutputUpdatePulseWidthCommand command =
new IOIOMessageCommandFactory().CreatePwmPulseWithOutputUpdate(this.ServoPinDef_, 600.0f);
OurImpl_.PostMessage(command);
}
public void TwiI2CTest_L3G4200D_Integration()
{
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
// create our custom I2C result observer and add it to the default set
ObserverI2cResultTest observer = new ObserverI2cResultTest();
this.CreateCaptureLogHandlerSet();
// we'll inject our observers on top of the default handlers so we don't have to peek into impl
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn, new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_,
observer
});
LOG.Debug("Setup Complete");
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
ourImpl.SoftReset();
System.Threading.Thread.Sleep(100);
IOIOMessageCommandFactory factory = new IOIOMessageCommandFactory();
ITwiMasterConfigureCommand startCommand = factory.CreateTwiConfigure(0, TwiMasterRate.RATE_400KHz, false);
ourImpl.PostMessage(startCommand);
System.Threading.Thread.Sleep(50);
TwiSpec twiDef = startCommand.TwiDef;
LOG.Debug("Ask for Who Am I");
// send the whoami command - we expect the id to be Gyro_WhoAmI_ID
byte[] ReadWhoAmiRegisterData = new byte[] { L3G4200DConstants.Gyro_WhoAmI_Register };
ITwiMasterSendDataCommand startupCommand1 = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadWhoAmiRegisterData, 1);
ourImpl.PostMessage(startupCommand1);
System.Threading.Thread.Sleep(50);
// should check for Gyro_WhoAmI_ID_L3G4200D !
// Enable x, y, z and turn off power down
// auto increment registers
byte ControlRegisterAutoIncrement = L3G4200DConstants.Gyro_CTRL_REG1 |= Convert.ToByte(0x80);
byte[] RegisterConfigurationData = new byte[] { ControlRegisterAutoIncrement,
Convert.ToByte("00001111", 2),
Convert.ToByte("00000000", 2),
Convert.ToByte("00000000", 2),
L3G4200DConstants.Gyro_Range_DPS_2000,
//Enable High pass filter
Convert.ToByte("00000000", 2) };
LOG.Debug("Updating Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X") + ":" + RegisterConfigurationData);
ITwiMasterSendDataCommand ConfigureRegisters = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, RegisterConfigurationData, 0);
ourImpl.PostMessage(ConfigureRegisters);
LOG.Debug("Reading Registers starting with " + L3G4200DConstants.Gyro_CTRL_REG1.ToString("X"));
byte[] ReadRegisterControl = new byte[] { ControlRegisterAutoIncrement };
ITwiMasterSendDataCommand ReadRegistersCommand = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadRegisterControl, 5);
ourImpl.PostMessage(ReadRegistersCommand);
System.Threading.Thread.Sleep(50);
// clear the list
observer.allEvents = new ConcurrentQueue <II2cResultFrom>();
// Read back the current values -- could wait for int to go high but can't see it....
// Top most bit in address turns on auto inc. That is weirder than usual i2c
// Who thought that there should be no bitwise byte operators but then came up with |= ?
// never get more than allowableOutstanding behind
// on my machine it takes 15msec to receive a message after sending
int allowableOutstanding = 10;
int numReps = 50;
int count = 0;
int maxWaitCount = 50;
for (int i = 1; i <= numReps; i++)
{
LOG.Debug("Send read-only command retreive xyz with auto increment sendCount: " + i);
observer.LastResult_ = null;
byte[] ReadFromFirstOutRegisterWithAutoInc = new byte[] { L3G4200DConstants.Gyro_First_Out_Register |= Convert.ToByte(0x80) };
ITwiMasterSendDataCommand ReadXYZ = factory.CreateTwiSendData(twiDef, L3G4200DConstants.GyroSlaveAddress1, false, ReadFromFirstOutRegisterWithAutoInc, 6);
ourImpl.PostMessage(ReadXYZ);
count = 0;
while (count <= maxWaitCount && i > observer.allEvents.Count + allowableOutstanding)
{
// waiting for some reply
LOG.Debug("waiting: sendCount:" + i + ", observCount:" + observer.allEvents.Count);
System.Threading.Thread.Sleep(5);
count++;
}
if (count >= maxWaitCount)
{
Assert.Fail("waitedCount:" + count + " while trying to send");
}
}
// this is only needed if maxWaitCount > 0
count = 0;
while (count < maxWaitCount && numReps > observer.allEvents.Count)
{
LOG.Debug("i:" + numReps + ",count:" + observer.allEvents.Count);
System.Threading.Thread.Sleep(10);
count++;
}
if (count >= maxWaitCount)
{
Assert.Fail("waited " + count + " while trying to receive");
}
System.Threading.Thread.Sleep(50);
LOG.Debug("Close Gyroscope");
ITwiMasterCloseCommand closeCommand = factory.CreateTwiClose(twiDef);
ourImpl.PostMessage(closeCommand);
System.Threading.Thread.Sleep(100);
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured (all):" + this.CapturedSingleQueueAllType_.Count());
// expect 6 + number of reports we requested
LOG.Debug("Captured (i2c):" + observer.allEvents.Count);
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
public void TwiI2CTest_JEELabsExpander_Integration()
{
int ExpectedReceiveCount = 0;
int TwiVirtualDevice = 0;
// slave address is 7 bits, ExpanderPlug uses 0x20, 0x21, 0x22 0x23 based on jumpers
int JeeExpanderAddress = 0x20;
byte RegisterIoDir = 0x00;
byte RegisterIPol = 0x01; // input polarity
byte RegisterGpIntEna = 0x02;
byte RegisterDefVal = 0x03;
byte RegisterIntCon = 0x04;
byte RegisterIoCon = 0x05; // controls auto increment for read
byte RegisterGppu = 0x06;
byte RegisterIntf = 0x07;
byte RegisterIntCap = 0x08;
byte RegisterGpio = 0x09; // Port values. Writing modifes the OLat
byte RegisterOLat = 0x0a; // Output Latch
// all ouitput and inverted
byte[] ConfigureAllOutput = new Byte[] { RegisterIoDir, 0x00 };
byte[] ReadRegisterIoDir = new Byte[] { RegisterIoDir };
byte[] ReadRegisterOutputLatch = new Byte[] { RegisterOLat };
byte[] WriteAllHigh = new Byte[] { RegisterGpio, 0xFF };
byte[] WriteAllLow = new Byte[] { RegisterGpio, 0x00 };
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
LOG.Debug("Setup Complete");
// we'll add the handler state on top of the default handlers so we don't have to peek into impl
ExpectedReceiveCount++;
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
LOG.Debug("Configuring TWI");
IOIOMessageCommandFactory factory = new IOIOMessageCommandFactory();
ITwiMasterConfigureCommand startCommand = factory.CreateTwiConfigure(TwiVirtualDevice, TwiMasterRate.RATE_400KHz, false);
ourImpl.PostMessage(startCommand);
ExpectedReceiveCount += 2; // HandleI2cOpen HandleI2cReportTxStatus
System.Threading.Thread.Sleep(50);
TwiSpec twiDef = startCommand.TwiDef;
LOG.Debug("Reading Initial Register Status");
ITwiMasterSendDataCommand readInitalRegisterState = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterIoDir, 11);
ourImpl.PostMessage(readInitalRegisterState);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Configuring port direction as all output ");
ITwiMasterSendDataCommand configureDirectionCommand = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ConfigureAllOutput, 0);
ourImpl.PostMessage(configureDirectionCommand);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Reading Post-config Register Status");
ITwiMasterSendDataCommand readPostConfigRegisterState = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterIoDir, 11);
ourImpl.PostMessage(readPostConfigRegisterState);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
// not really safe to reuse commands because you don't know if they are modified
ITwiMasterSendDataCommand commandHigh = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, WriteAllHigh, 0);
ITwiMasterSendDataCommand commandLow = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, WriteAllLow, 0);
ITwiMasterSendDataCommand queryOLat = factory.CreateTwiSendData(twiDef, JeeExpanderAddress, false, ReadRegisterOutputLatch, 1);
for (int i = 0; i < 2; i++)
{
LOG.Debug("Post Low");
ourImpl.PostMessage(commandLow);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(150);
LOG.Debug("Check Are Latches Low");
ourImpl.PostMessage(queryOLat);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
LOG.Debug("Post High");
ourImpl.PostMessage(commandHigh);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(150);
LOG.Debug("Check Are Latches High");
ourImpl.PostMessage(queryOLat);
ExpectedReceiveCount++; // I2cResultFrom
System.Threading.Thread.Sleep(50);
}
ITwiMasterCloseCommand closeCommand = factory.CreateTwiClose(twiDef);
ourImpl.PostMessage(closeCommand);
ExpectedReceiveCount++; // HandleI2cClose
System.Threading.Thread.Sleep(100);
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured:" + +this.CapturedSingleQueueAllType_.Count() + " Expected:" + ExpectedReceiveCount);
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command!
// should verify results of the latch checks.!
// instead do this lame test!
Assert.AreEqual(ExpectedReceiveCount, this.CapturedSingleQueueAllType_.Count(),
"This test will fail if you do not have a JeeNodes port expander at I2C address " + JeeExpanderAddress
+ " on Twi " + TwiVirtualDevice);
}
public void UartTest_BigBufferOut31In32()
{
//// TODO should use the hardware from the captured connection
IOIOConnection ourConn = this.CreateGoodSerialConnection(false);
this.CreateCaptureLogHandlerSet();
// MUST use IOIOImpl to get "send" notifications for buffer management
// add our own handler so we don't have to grovel around in there
IOIO ourImpl = CreateIOIOImplAndConnect(ourConn,
new List <IObserverIOIO>()
{
this.CapturedConnectionState_, this.CapturedSingleQueueAllType_, this.CapturedLogs_
});
LOG.Debug("Setup Complete");
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
UartConfigureCommand commandCreate = new UartConfigureCommand(
new DigitalInputSpec(32), new DigitalOutputSpec(31), 19200, UartParity.NONE, UartStopBits.ONE);
ourImpl.PostMessage(commandCreate);
System.Threading.Thread.Sleep(10);
// create byte buffer
// only 64 can be sent in a single message
StringBuilder builder = new StringBuilder();
int numBlock10 = 3;
for (int i = 0; i < numBlock10; i++)
{
builder.Append("0123456789");
}
string helloWorld = builder.ToString();
// should overrun the internal buffer to make sure observer flow control is working
// buffer is 256 so cnt=4 means get one buffer update : cnt=7 means more than one full buffer
char hack = 'A';
int numBufferSend = 10;
for (int i = 0; i < numBufferSend; i++)
{
byte[] helloWorldBytes = System.Text.Encoding.ASCII.GetBytes(helloWorld + hack);
LOG.Debug("Sending long string " + i + ":" + helloWorldBytes.Length);
UartSendDataCommand commandSend = new UartSendDataCommand(commandCreate.UartDef, helloWorldBytes);
ourImpl.PostMessage(commandSend);
hack++;
System.Threading.Thread.Sleep(50);
}
// message posts will possibly block if IOIO UART ran out of buffer space
// but it may still run before all data sent from IOIO buffers to the UART pins
// really node for this since we wait for UART close
System.Threading.Thread.Sleep(300);
LOG.Debug("Closing Uart");
UartCloseCommand commandClose = new UartCloseCommand(commandCreate.UartDef);
ourImpl.PostMessage(commandClose);
// either sleep for some time
//System.Threading.Thread.Sleep(5000);
// or wait until we get the close ack
int maxTimeMsec = 5000;
while (this.CapturedSingleQueueAllType_.OfType <IUartCloseFrom>().Count() == 0)
{
Assert.IsTrue(maxTimeMsec > 0, "Did not receive IUartCloseFrom in the expected amount of time");
System.Threading.Thread.Sleep(10);
maxTimeMsec -= 10;
}
Assert.AreEqual(1, this.CapturedSingleQueueAllType_.OfType <IUartOpenFrom>().Count(), "didn't get IUartOpenFrom");
// we should have counted bytes, count is first buffer size + each update at the 130 mark
int expectedNumberTxMessages = 1 + ((numBufferSend * numBlock10 * 10) / 130);
Assert.AreEqual(expectedNumberTxMessages, this.CapturedSingleQueueAllType_.OfType <IUartReportTxStatusFrom>().Count(), "didn't get IUartReportTXStatusFrom");
int expectedDataPacketsReceived = (numBlock10 * 10 + 1) * numBufferSend;
IEnumerable <IUartDataFrom> readValues = this.CapturedSingleQueueAllType_.OfType <IUartDataFrom>();
Assert.AreEqual(expectedDataPacketsReceived, readValues.Count(), "Didn't find the number of expected IUartFrom: " + readValues.Count());
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured " + +this.CapturedSingleQueueAllType_.Count());
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
Assert.AreEqual(1, this.CapturedSingleQueueAllType_.OfType <IUartCloseFrom>().Count());
// should verify close command in the Resource manager
// We get back one packet for each character sent that was looped back + uart open, TX buffer status uart close
int expectedNumDataPackets = expectedDataPacketsReceived;
Assert.AreEqual(1 + expectedNumberTxMessages + expectedNumDataPackets + 1, this.CapturedSingleQueueAllType_.OfType <IUartFrom>().Count());
}