public void PLCSafetyInterlockStatusEnumTest()
{
//GetFromByte Tests
Assert.AreEqual(PLCSafetyInterlockStatusEnum.UNDEFINED, PLCSafetyInterlockStatusConversionHelper.GetFromByte(0x0));
Assert.AreEqual(PLCSafetyInterlockStatusEnum.LOCKED, PLCSafetyInterlockStatusConversionHelper.GetFromByte(0x1));
Assert.AreEqual(PLCSafetyInterlockStatusEnum.UNLOCKED, PLCSafetyInterlockStatusConversionHelper.GetFromByte(0x2));
//ConvertToByte Tests
Assert.AreEqual(0x0, PLCSafetyInterlockStatusConversionHelper.ConvertToByte(PLCSafetyInterlockStatusEnum.UNDEFINED));
Assert.AreEqual(0x1, PLCSafetyInterlockStatusConversionHelper.ConvertToByte(PLCSafetyInterlockStatusEnum.LOCKED));
Assert.AreEqual(0x2, PLCSafetyInterlockStatusConversionHelper.ConvertToByte(PLCSafetyInterlockStatusEnum.UNLOCKED));
}
public bool ProcessRequest(NetworkStream ActiveClientStream, byte[] query)
{
int ExpectedSize = query[0] + (256 * query[1]);
if (query.Length != ExpectedSize)
{
throw new ArgumentException(
"ScaleModelPLCDriverController read a package specifying a size [" + ExpectedSize.ToString() + "], but the actual size was different [" + query.Length + "]."
);
}
byte CommandQueryTypeAndExpectedResponseStatus = query[2];
byte CommandQueryTypeByte = (byte)(CommandQueryTypeAndExpectedResponseStatus & 0x3F);
byte ExpectedResponseStatusByte = (byte)(CommandQueryTypeAndExpectedResponseStatus >> 6);
PLCCommandAndQueryTypeEnum CommandQueryTypeEnum = PLCCommandAndQueryTypeConversionHelper.GetFromByte(CommandQueryTypeByte);
PLCCommandResponseExpectationEnum ExpectedResponseStatusEnum = PLCCommandResponseExpectationConversionHelper.GetFromByte(ExpectedResponseStatusByte);
byte[] FinalResponseContainer;
if (ExpectedResponseStatusEnum == PLCCommandResponseExpectationEnum.FULL_RESPONSE)
{
FinalResponseContainer = new byte[]
{
0x13, 0x0,
0x0,
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0
};
switch (CommandQueryTypeEnum)
{
case PLCCommandAndQueryTypeEnum.TEST_CONNECTION:
{
FinalResponseContainer[3] = 0x1;
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_AZEL_POSITIONS:
{
double TestAzimuth = 180.0;
double TestElevation = 42.0;
Array.Copy(BitConverter.GetBytes(TestAzimuth), 0, FinalResponseContainer, 3, 8);
Array.Copy(BitConverter.GetBytes(TestElevation), 0, FinalResponseContainer, 11, 8);
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_LIMIT_SWITCH_STATUSES:
{
PLCLimitSwitchStatusEnum StatusAzimuthUnderRotation = PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusAzimuthOverRotation = PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusElevationUnderRotation = PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusElevationOverRotation = PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
int PacketSum =
PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusElevationOverRotation)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusElevationUnderRotation) * 0x4)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusAzimuthOverRotation) * 0x10)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusAzimuthUnderRotation) * 0x40)
;
FinalResponseContainer[3] = (byte)PacketSum;
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_SAFETY_INTERLOCK_STATUS:
{
FinalResponseContainer[3] = PLCSafetyInterlockStatusConversionHelper.ConvertToByte(PLCSafetyInterlockStatusEnum.LOCKED);
FinalResponseContainer[2] = 0x1;
break;
}
default:
{
throw new ArgumentException("Invalid PLCCommandAndQueryTypeEnum value seen while expecting a response: " + CommandQueryTypeEnum.ToString());
}
}
}
else if (ExpectedResponseStatusEnum == PLCCommandResponseExpectationEnum.MINOR_RESPONSE)
{
FinalResponseContainer = new byte[]
{
0x3, 0x0, 0x0
};
switch (CommandQueryTypeEnum)
{
case PLCCommandAndQueryTypeEnum.CANCEL_ACTIVE_OBJECTIVE_AZEL_POSITION:
case PLCCommandAndQueryTypeEnum.SHUTDOWN:
case PLCCommandAndQueryTypeEnum.CALIBRATE:
{
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.SET_OBJECTIVE_AZEL_POSITION:
{
double NextAZ, NextEL;
try
{
NextAZ = BitConverter.ToDouble(query, 3);
NextEL = BitConverter.ToDouble(query, 11);
}
catch (Exception e)
{
if ((e is ArgumentException) || (e is ArgumentNullException) || (e is ArgumentOutOfRangeException))
{
// This error code means that the data could not be converted into a double-precision floating point
FinalResponseContainer[2] = 0x2;
break;
}
else
{
// Unexpected exception
throw e;
}
}
if ((NextAZ < 0) || (NextAZ > 360))
{
// This error code means that the objective azimuth position is invalid
FinalResponseContainer[2] = 0x3;
break;
}
if ((NextEL < 0) || (NextEL > 90))
{
// This error code means that the objective elevation position is invalid
FinalResponseContainer[2] = 0x4;
break;
}
// Otherwise, this is valid
// TODO: Perform task(s) to set objective orientation!
FinalResponseContainer[2] = 0x1;
break;
}
default:
{
throw new ArgumentException("Invalid PLCCommandAndQueryTypeEnum value seen while NOT expecting a response: " + CommandQueryTypeEnum.ToString());
}
}
}
else
{
throw new ArgumentException("Invalid PLCCommandResponseExpectationEnum value seen while processing client request in ScaleModelPLCDriver: " + ExpectedResponseStatusEnum.ToString());
}
return(AttemptToWriteDataToServer(ActiveClientStream, FinalResponseContainer));
}
public bool ProcessRequest(NetworkStream ActiveClientStream, byte[] query)
{
int ExpectedSize = query[0] + (256 * query[1]);
if (query.Length != ExpectedSize)
{
throw new ArgumentException(
"TestPLCDriverController read a package specifying a size [" + ExpectedSize.ToString() + "], but the actual size was different [" + query.Length + "]."
);
}
byte CommandQueryTypeAndExpectedResponseStatus = query[2];
byte CommandQueryTypeByte = (byte)(CommandQueryTypeAndExpectedResponseStatus & 0x3F);
byte ExpectedResponseStatusByte = (byte)(CommandQueryTypeAndExpectedResponseStatus >> 6);
PLCCommandAndQueryTypeEnum CommandQueryTypeEnum = PLCCommandAndQueryTypeConversionHelper.GetFromByte(CommandQueryTypeByte);
PLCCommandResponseExpectationEnum ExpectedResponseStatusEnum = PLCCommandResponseExpectationConversionHelper.GetFromByte(ExpectedResponseStatusByte);
byte[] FinalResponseContainer;
if (ExpectedResponseStatusEnum == PLCCommandResponseExpectationEnum.FULL_RESPONSE)
{
FinalResponseContainer = new byte[]
{
0x13, 0x0,
0x0,
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0
};
switch (CommandQueryTypeEnum)
{
case PLCCommandAndQueryTypeEnum.TEST_CONNECTION:
{
FinalResponseContainer[3] = 0x1;
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_AZEL_POSITIONS:
{
Array.Copy(BitConverter.GetBytes(CurrentOrientation.Azimuth), 0, FinalResponseContainer, 3, 8);
Array.Copy(BitConverter.GetBytes(CurrentOrientation.Elevation), 0, FinalResponseContainer, 11, 8);
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_LIMIT_SWITCH_STATUSES:
{
double CurrentAZ = CurrentOrientation.Azimuth;
double CurrentEL = CurrentOrientation.Elevation;
double ThresholdAZ = MiscellaneousHardwareConstants.LIMIT_SWITCH_AZ_THRESHOLD_DEGREES;
double ThresholdEL = MiscellaneousHardwareConstants.LIMIT_SWITCH_EL_THRESHOLD_DEGREES;
// Subtracting out those 2 degrees is because of our actual rotational limits of (-2 : 362) and (-2 : 92) degrees in azimuth and elevation respectively
PLCLimitSwitchStatusEnum StatusAzimuthUnderRotation = (CurrentAZ < (ThresholdAZ - 2.0)) ? PLCLimitSwitchStatusEnum.WITHIN_WARNING_LIMITS : PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusAzimuthOverRotation = (CurrentAZ > (360 + ThresholdAZ - 2.0)) ? PLCLimitSwitchStatusEnum.WITHIN_WARNING_LIMITS : PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusElevationUnderRotation = (CurrentEL < (ThresholdEL - 2.0)) ? PLCLimitSwitchStatusEnum.WITHIN_WARNING_LIMITS : PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
PLCLimitSwitchStatusEnum StatusElevationOverRotation = (CurrentEL > (90 + ThresholdEL - 2.0)) ? PLCLimitSwitchStatusEnum.WITHIN_WARNING_LIMITS : PLCLimitSwitchStatusEnum.WITHIN_SAFE_LIMITS;
int PacketSum =
PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusElevationOverRotation)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusElevationUnderRotation) * 0x4)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusAzimuthOverRotation) * 0x10)
+ (PLCLimitSwitchStatusConversionHelper.ConvertToByte(StatusAzimuthUnderRotation) * 0x40)
;
FinalResponseContainer[3] = (byte)PacketSum;
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.GET_CURRENT_SAFETY_INTERLOCK_STATUS:
{
FinalResponseContainer[3] = PLCSafetyInterlockStatusConversionHelper.ConvertToByte(PLCSafetyInterlockStatusEnum.LOCKED);
FinalResponseContainer[2] = 0x1;
break;
}
default:
{
throw new ArgumentException("Invalid PLCCommandAndQueryTypeEnum value seen while expecting a response: " + CommandQueryTypeEnum.ToString());
}
}
}
else if (ExpectedResponseStatusEnum == PLCCommandResponseExpectationEnum.MINOR_RESPONSE)
{
FinalResponseContainer = new byte[]
{
0x3, 0x0, 0x0
};
switch (CommandQueryTypeEnum)
{
case PLCCommandAndQueryTypeEnum.CANCEL_ACTIVE_OBJECTIVE_AZEL_POSITION:
case PLCCommandAndQueryTypeEnum.SHUTDOWN:
case PLCCommandAndQueryTypeEnum.CALIBRATE:
{
FinalResponseContainer[2] = 0x1;
break;
}
case PLCCommandAndQueryTypeEnum.SET_OBJECTIVE_AZEL_POSITION:
{
double NextAZ, NextEL;
try
{
NextAZ = BitConverter.ToDouble(query, 3);
NextEL = BitConverter.ToDouble(query, 11);
}
catch (Exception e)
{
if ((e is ArgumentException) || (e is ArgumentNullException) || (e is ArgumentOutOfRangeException))
{
// This error code means that the data could not be converted into a double-precision floating point
FinalResponseContainer[2] = 0x2;
break;
}
else
{
// Unexpected exception
throw e;
}
}
if ((NextAZ < 0) || (NextAZ > 360))
{
// This error code means that the objective azimuth position is invalid
FinalResponseContainer[2] = 0x3;
break;
}
if ((NextEL < 0) || (NextEL > 90))
{
// This error code means that the objective elevation position is invalid
FinalResponseContainer[2] = 0x4;
break;
}
// Otherwise, this is valid
CurrentOrientation = new Orientation(NextAZ, NextEL);
logger.Info("[TestPLCDriver] Setting current orientation to {" + CurrentOrientation.Azimuth.ToString() + ", " + CurrentOrientation.Elevation.ToString() + "}");
FinalResponseContainer[2] = 0x1;
break;
}
default:
{
throw new ArgumentException("Invalid PLCCommandAndQueryTypeEnum value seen while NOT expecting a response: " + CommandQueryTypeEnum.ToString());
}
}
}
else
{
throw new ArgumentException("Invalid PLCCommandResponseExpectationEnum value seen while processing client request in ScaleModelPLCDriver: " + ExpectedResponseStatusEnum.ToString());
}
return(AttemptToWriteDataToServer(ActiveClientStream, FinalResponseContainer));
}
