public void TestArduinoStateToggles()
{
ArduinoCommsBase motorArduino = new MotorControllerArduino(mLogger);
TestDelegate connectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Uninitialized);
Assert.DoesNotThrow(connectDel);
Assert.DoesNotThrow(delegate() { motorArduino.ToggleArduinoState(false); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disabled);
Assert.DoesNotThrow(delegate() { motorArduino.ToggleArduinoState(true); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Active);
Assert.IsTrue(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
Assert.IsFalse(motorArduino.IsConnected);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disconnected);
}
public void TestForMotorControllerDisconnectionWhileInUse()
{
Console.WriteLine("Please ensure that the Motor controller ('mcon') is connected for this test. Press ENTER when ready");
Console.ReadLine();
ArduinoCommsBase motorArduino = new MotorControllerArduino(mLogger);
TestDelegate connectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.DoesNotThrow(connectDel);
Assert.IsTrue(motorArduino.IsConnected);
motorArduino.ToggleHeartbeat(true, 500, 3);
Console.WriteLine(string.Format("Arduino {0} has now been connected. The test will validate behaviour when it is unplugged. Uplug the arduino to continue", motorArduino.ArduinoID));
System.Threading.ManualResetEvent disconnectEvent = new System.Threading.ManualResetEvent(false);
motorArduino.Disconnected += delegate(ArduinoCommsBase ard)
{
disconnectEvent.Set();
};
disconnectEvent.WaitOne();
Assert.IsFalse(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
}
public void TestForArduinoConnection()
{
ArduinoCommsBase motorArduino = new MotorControllerArduino(mLogger);
TestDelegate connectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.DoesNotThrow(connectDel);
Assert.IsTrue(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
Assert.IsFalse(motorArduino.IsConnected);
}
public void TestArduinoEnumeration()
{
ArduinoCommsBase motorArduino = new MotorControllerArduino(mLogger);
ArduinoCommsBase sensorArduino = new SensorNodeArduino(mLogger);
TestDelegate sensorConnectDel = new TestDelegate(delegate() { sensorArduino.StartArduinoComms(); });
TestDelegate motorConnectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.DoesNotThrow(motorConnectDel);
Assert.DoesNotThrow(sensorConnectDel);
Assert.IsTrue(sensorArduino.IsConnected);
Assert.IsTrue(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
Assert.DoesNotThrow(delegate() { sensorArduino.StopArduinoComms(true); });
Assert.IsFalse(motorArduino.IsConnected);
Assert.IsFalse(sensorArduino.IsConnected);
}
public void TestArduinoTelemetryToggles()
{
MotorControllerArduino motorArduino = new MotorControllerArduino(mLogger);
TestDelegate connectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Uninitialized);
Assert.DoesNotThrow(connectDel);
Assert.IsFalse(motorArduino.TelemetryActive);
Assert.DoesNotThrow(delegate() { motorArduino.ToggleArduinoState(false); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsFalse(motorArduino.TelemetryActive);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disabled);
Assert.DoesNotThrow(delegate() { motorArduino.ToggleArduinoState(true); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Active);
long telemetryCount = 0;
motorArduino.TelemetryUpdate += delegate(ProsthesisCore.Telemetry.ProsthesisTelemetry.ProsthesisMotorTelemetry telem)
{
telemetryCount++;
};
const float cFastestTelemMS = 50;
int fastestTelem = int.MaxValue;
//Test at successively smaller telemetry periods. Find out where the arduino falls over, if at all
for (int i = 1000; i >= cFastestTelemMS; i /= 2)
{
fastestTelem = i;
Console.WriteLine(string.Format("Attemping to receive 10 seconds of telemetry at a period of {0}ms", i));
telemetryCount = 0;
Assert.DoesNotThrow(delegate() { motorArduino.TelemetryToggle(i); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsTrue(motorArduino.TelemetryActive);
System.Threading.Thread.Sleep(10000);
Assert.DoesNotThrow(delegate() { motorArduino.TelemetryToggle(0); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsFalse(motorArduino.TelemetryActive);
//Telemetry timing isn't a hard realtime component. We'll take receiving 95% of what we asked for as a pass
bool passed = (float)telemetryCount * 0.95f <= 10.0f * 1000.0f / (float)i;
if (passed || i > 50)
{
Assert.IsTrue(passed);
}
else
{
Console.Write(string.Format("Arduino failed to produce telemetry at {0}ms", i));
break;
}
}
//Attempting 30 minutes at fastest allowed telem
Console.WriteLine(string.Format("Attemping to receive 30 minutes of telemetry at a period of {0}ms with the device enabled", fastestTelem));
telemetryCount = 0;
Assert.DoesNotThrow(delegate() { motorArduino.TelemetryToggle(fastestTelem); });
Assert.DoesNotThrow(delegate() { motorArduino.ToggleArduinoState(true); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsTrue(motorArduino.TelemetryActive);
//30 minute sleep
Console.WriteLine("\nSystem will now perform a 30 minute soak test to count telemetry packets at the fastest recorded rate. Press ENTER to run this test and any other key to skip it");
bool doSoak = Console.ReadKey().Key == ConsoleKey.Enter;
if (doSoak)
{
System.Threading.Thread.Sleep(30 * 60 * 1000);
//Telemetry timing isn't a hard realtime component. We'll take receiving 95% of what we asked for as a pass
bool passedSoak = (float)telemetryCount * 0.95f <= 1800.0f * 1000.0f / (float)fastestTelem;
Assert.IsTrue(passedSoak);
Assert.DoesNotThrow(delegate() { motorArduino.TelemetryToggle(0); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsFalse(motorArduino.TelemetryActive);
Assert.DoesNotThrow(delegate() { motorArduino.TelemetryToggle(0); });
//Wait 100ms for the message to cycle
System.Threading.Thread.Sleep(100);
Assert.IsFalse(motorArduino.TelemetryActive);
}
Assert.IsTrue(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
Assert.IsFalse(motorArduino.IsConnected);
Assert.IsFalse(motorArduino.TelemetryActive);
Assert.AreEqual(motorArduino.ArduinoState, ProsthesisCore.Telemetry.ProsthesisTelemetry.DeviceState.Disconnected);
if (fastestTelem > cFastestTelemMS)
{
Assert.Inconclusive();
}
}
static void Main(string[] args)
{
mTelemetryBroadcastTimer = new Timer(kTelemetryBroadcastPeriod);
mTelemetryBroadcastTimer.AutoReset = true;
mTelemetryBroadcastTimer.Elapsed += OnTelemetryPublishAlarm;
mTelemetryBroadcastTimer.Start();
string fileName = string.Format("Arduino-comms-{0}.txt", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
ProsthesisCore.Utility.Logger logger = new ProsthesisCore.Utility.Logger(fileName, true);
System.DateTime start = System.DateTime.Now;
string telemFileName = string.Format("Arduino-telem-{0}.csv", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
System.IO.TextWriter writer = new System.IO.StreamWriter(telemFileName);
ArduinoCommsBase.InitializeSerialConnections(logger);
MotorControllerArduino test = new MotorControllerArduino(logger);
writer.WriteLine("Timestamp(ms), Duty Cycle 1, Duty Cycle 2, Pressure 1, pressure 2, P, I, D");
test.TelemetryUpdate += new Action <ProsthesisCore.Telemetry.ProsthesisTelemetry.ProsthesisMotorTelemetry>(delegate(ProsthesisCore.Telemetry.ProsthesisTelemetry.ProsthesisMotorTelemetry obj) {
double ts = (System.DateTime.Now - start).Duration().TotalMilliseconds;
mTelem.MotorTelem = obj;
string telemRow = string.Format("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9}", ts, obj.MotorDutyCycles[1], obj.MotorDutyCycles[0], obj.OutputPressure[1], obj.OutputPressure[0], obj.ProportionalTunings[1], obj.IntegralTunings[1], obj.DifferentialTunings[1], obj.PressureSetPoints[0], obj.PressureSetPoints[1]);
Console.WriteLine(telemRow);
writer.WriteLine(telemRow);
});
bool telemEnable = false;
bool arduinoState = false;
if (test.StartArduinoComms())
{
Console.WriteLine("Press 'x' to exit. 'T' to enable telemetry, 'E' to toggle device state");
ConsoleKey key = ConsoleKey.A;
test.ToggleHeartbeat(true, 1000, 3);
do
{
System.Threading.Thread.Sleep(16);
if (Console.KeyAvailable)
{
key = Console.ReadKey().Key;
if (key == ConsoleKey.T)
{
telemEnable = !telemEnable;
test.TelemetryToggle(telemEnable ? 25 : 0);
}
else if (key == ConsoleKey.E)
{
arduinoState = !arduinoState;
test.ToggleArduinoState(arduinoState);
}
}
}while (key != ConsoleKey.X && test.IsConnected);
test.StopArduinoComms(true);
}
else
{
Console.WriteLine("Failed to connect to the correct Arduino. Press any key to exit");
do
{
System.Threading.Thread.Sleep(16);
}while (!Console.KeyAvailable);
}
mTelemetryBroadcastTimer.Start();
writer.Close();
logger.ShutDown();
}
