public void gainsmessageasync_test()
{
SerialPort port = new SerialPort("COM7", 250000, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
using (FlightComputerInterface fcInt = new FlightComputerInterface(portInterface))
{
fcInt.Open();
port.DiscardInBuffer();
port.DiscardOutBuffer();
FlightComputerTelemetryMessage gains = null;
for (int i = 0; i < 1000; i++)
{
gains = (FlightComputerTelemetryMessage) fcInt.Receive();
Assert.IsTrue(gains.LateralInnerLoopGain == 1.1f);
Assert.IsTrue(gains.LongitudeInnerLoopGain == 1.2f);
Assert.IsTrue(gains.PitchAngularVelocityGain == 1.3f);
Assert.IsTrue(gains.RollAngularVelocityGain == 1.4f);
Assert.IsTrue(gains.XAntiWindupGain == 1.5f);
Assert.IsTrue(gains.XDerivativeGain == 1.6f);
Assert.IsTrue(gains.XIntegralGain == 1.7f);
Assert.IsTrue(gains.XProportionalGain == 1.8f);
Assert.IsTrue(gains.YAntiWindupGain == 1.9f);
Assert.IsTrue(gains.YawAntiWindupGain == 1.0f);
Assert.IsTrue(gains.YawDerivativeGain == 1.11f);
Assert.IsTrue(gains.YawIntegralGain == 1.12f);
Assert.IsTrue(gains.YawProportionalGain == 1.13f);
Assert.IsTrue(gains.YDerivativeGain == 1.14f);
Assert.IsTrue(gains.YIntegralGain == 1.15f);
Assert.IsTrue(gains.YProportionalGain == 1.16f);
Assert.IsTrue(gains.ZAntiWindupGain == 1.17f);
Assert.IsTrue(gains.ZDerivativeGain == 1.18f);
Assert.IsTrue(gains.ZIntegralGain == 1.19f);
Assert.IsTrue(gains.ZProportionalGain == i);
Debug.WriteLine(i);
fcInt.Transmit(gains);
}
gains = (FlightComputerTelemetryMessage) fcInt.Receive();
Assert.IsTrue(gains.ZProportionalGain == 12);
}
}
public void newmsgformat_test()
{
SerialPort port = new SerialPort("COM7", 57600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
using (FlightComputerInterface fcInt = new FlightComputerInterface(portInterface))
{
fcInt.Open();
SensorDataMessage sensorData = (SensorDataMessage)fcInt.Receive();
Assert.IsTrue(sensorData.MsgType == 4);
Assert.IsTrue(sensorData.PitchAngularVelocityRadsPerSecond == 3.14f);
Assert.IsTrue(sensorData.PressureMillibars == 44.313f);
Assert.IsTrue(sensorData.RollAngularVelocityRadsPerSecond == 4422.1f);
Assert.IsTrue(sensorData.XAccelFrdMss == 33.33f);
Assert.IsTrue(sensorData.XEcefCm == 331);
Assert.IsTrue(sensorData.XMagFrd == 22.2f);
fcInt.Transmit(sensorData);
sensorData = (SensorDataMessage)fcInt.Receive();
Assert.IsTrue(sensorData.PressureMillibars == 12);
}
}
public void TestSystemTelemetryTransmitAndReceive()
{
//SerialPort port = new SerialPort("COM7", 250000, Parity.None, 8, StopBits.One);
SerialPort port = new SerialPort("COM7", 57600, Parity.None, 8, StopBits.One);
//SerialPort port = new SerialPort("COM12", 57600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
using (FlightComputerInterface fcInt = new FlightComputerInterface(portInterface))
{
fcInt.Open();
port.DiscardInBuffer();
GroundControlStationModel model = new GroundControlStationModel();
FlightComputerTelemetryMessage telemetry = (FlightComputerTelemetryMessage)fcInt.Receive();
telemetry.UpdateModel(model);
Assert.IsTrue(telemetry.MsgType == 2);
Assert.IsTrue(model.ChecksumErrors == 2);
//Assert.IsTrue(model.MagYaw == 2.22f);
Assert.IsTrue(model.Timeouts == 2);
Assert.IsTrue(model.UnrecognizedMsgTypes == 2);
// Assert.IsTrue(model.YawControl == 2.22f);
Assert.IsTrue(model.YawDerivativeError == 2.22f);
Assert.IsTrue(model.YawIntegral == 2.22f);
Assert.IsTrue(model.YawProportional == 2.22f);
Assert.IsTrue(model.YawVelocityRadsPerSecond == 2.22f);
//Assert.IsTrue(model.AltitudeMetersAgl == 4.46f);
Assert.IsTrue(model.LateralControl == 2.22f);
Assert.IsTrue(model.MainRotorCollectiveControl == 2.22f);
//Assert.IsTrue(model.YawControl == -3.22f);//negative because in update model we make it negative.
Assert.IsTrue(model.XProportional == 4.22f);
Assert.IsTrue(model.YProportional == 1.22f);
Assert.IsTrue(model.ZProportional == 6.22f);
Assert.IsTrue(model.ZIntegral == 8.22f);
Assert.IsTrue(model.ZNEDLocalFrame == 9.22f);
Assert.IsTrue(model.XNEDLocalFrame == 19.22f);
Assert.IsTrue(model.YNEDLocalFrame == 21.33f);
Assert.IsTrue(model.XVEcefCms == 42);
Assert.IsTrue(model.YVEcefCms == 12);
Assert.IsTrue(model.ZVEcefCms == 32);
fcInt.Transmit(telemetry);
DateTime startTime = DateTime.Now;
telemetry = (FlightComputerTelemetryMessage) fcInt.Receive();
telemetry.UpdateModel(model);
Assert.IsTrue(model.PressureMillibars == 12);
DateTime endTime = DateTime.Now;
Trace.WriteLine("Time ms: " + endTime.Subtract(startTime).Milliseconds);
// Assert.IsTrue(false, "Time ms: " + endTime.Subtract(startTime).Milliseconds);
}
}
public void gainsmessage_test()
{
SerialPort port = new SerialPort("COM7", 57600, Parity.None, 8, StopBits.One);
SerialPortInterface portInterface = new SerialPortInterface(port);
using (FlightComputerInterface fcInt = new FlightComputerInterface(portInterface))
{
fcInt.Open();
GainsMessage gains = (GainsMessage)fcInt.Receive();
Assert.IsTrue(gains.LateralInnerLoopGain == 1.1f);
Assert.IsTrue(gains.LongitudeInnerLoopGain == 1.2f);
Assert.IsTrue(gains.PitchAngularVelocityGain == 1.3f);
Assert.IsTrue(gains.RollAngularVelocityGain == 1.4f);
Assert.IsTrue(gains.XAntiWindupGain == 1.5f);
Assert.IsTrue(gains.XDerivativeGain == 1.6f);
Assert.IsTrue(gains.XIntegralGain == 1.7f);
Assert.IsTrue(gains.XProportionalGain == 1.8f);
Assert.IsTrue(gains.YAntiWindupGain == 1.9f);
Assert.IsTrue(gains.YawAntiWindupGain == 1.0f);
Assert.IsTrue(gains.YawDerivativeGain == 1.11f);
Assert.IsTrue(gains.YawIntegralGain == 1.12f);
Assert.IsTrue(gains.YawProportionalGain == 1.13f);
Assert.IsTrue(gains.YDerivativeGain == 1.14f);
Assert.IsTrue(gains.YIntegralGain == 1.15f);
Assert.IsTrue(gains.YProportionalGain == 1.16f);
Assert.IsTrue(gains.ZAntiWindupGain == 1.17f);
Assert.IsTrue(gains.ZDerivativeGain == 1.18f);
Assert.IsTrue(gains.ZIntegralGain == 1.19f);
Assert.IsTrue(gains.ZProportionalGain == 1.20f);
fcInt.Transmit(gains);
gains = (GainsMessage)fcInt.Receive();
Assert.IsTrue(gains.ZProportionalGain == 12);
}
}