public void VoltageConverter_CanConvertToPhysical_ReturnProperDouble()
{
// Arrange & Act
var result = VoltageConverter.GetPhysical(1000);
//Assert
Assert.IsType <double>(result);
Assert.Equal(53.8d, result, 1);
}
public void VoltageConverter_CanConvertToBit_ReturnProperShort()
{
// Arrange & Act
var result = VoltageConverter.GetBit(53.8d);
//Assert
Assert.IsType <short>(result);
Assert.Equal(1000, result);
}
private void ExtendedTexBbox_OnEnterPressed(object sender, KeyEventArgs e)
{
var textBox = (ExtendedTexBbox)sender;
//this is needed to force update RAW only view textboxes
var binding = textBox.GetBindingExpression(TextBox.TextProperty);
binding?.UpdateSource();
object sendingValue;
switch (textBox.ECommand)
{
case ESenderCommand.CriticalVoltageAlarm:
case ESenderCommand.VoltageAlarm:
sendingValue = VoltageConverter.GetBit(Convert.ToDouble(textBox.Text));
break;
case ESenderCommand.CurrentLeftAlarm:
case ESenderCommand.CurrentRightAlarm:
sendingValue = CurrentConverter.GetBit(Convert.ToDouble(textBox.Text));
break;
case ESenderCommand.CriticalTemperatureAlarm:
case ESenderCommand.TemperatureAlarm:
sendingValue = TemperatureConverter.GetBit(Convert.ToDouble(textBox.Text));
break;
default:
sendingValue = 0;
break;
}
TextBoxEnterPressed?.Invoke(sender, new SendingTextBoxEventArgs {
Value = sendingValue.ToString()
});
}
public string GetMeasurementString(SignalUnit unit, int channel)
{
if (Oscilloscope.Channels [channel].VoltsPerDivision != VoltsPerDivision.VdivNone)
{
if (Oscilloscope.Channels [channel].Samples.Overflow)
{
return("Overflow");
}
else
{
switch (unit)
{
case SignalUnit.dBGain:
return(DecibelConverter.ToString(Oscilloscope.DBGain()));
case SignalUnit.dBm:
return(DecibelConverter.ToString(Oscilloscope.Channels [channel].DBm()));
case SignalUnit.RMS:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].Vrms()));
case SignalUnit.TRMS:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].VTrms()));
case SignalUnit.Vdc:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].Vdc()));
case SignalUnit.VMax:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].Vmax()));
case SignalUnit.VMin:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].Vmin()));
case SignalUnit.Vptp:
return(VoltageConverter.ToString(Oscilloscope.Channels [channel].Vptp()));
case SignalUnit.WRMS16:
return(WattConverter.ToString(Oscilloscope.Channels [channel].Wrms16()));
case SignalUnit.WRMS2:
return(WattConverter.ToString(Oscilloscope.Channels [channel].Wrms2()));
case SignalUnit.WRMS32:
return(WattConverter.ToString(Oscilloscope.Channels [channel].Wrms32()));
case SignalUnit.WRMS4:
return(WattConverter.ToString(Oscilloscope.Channels [channel].Wrms4()));
case SignalUnit.WRMS8:
return(WattConverter.ToString(Oscilloscope.Channels [channel].Wrms8()));
default:
return("?");
}
}
}
else
{
return("--");
}
}
public string GetMarkerMeasurementString(MarkerUnit unit)
{
if (_ScopeView.Markers.Count != 0)
{
switch (unit)
{
case MarkerUnit.dt:
return(TimeConverter.ToString(MarkerDataCalculator.CalculateTime(Oscilloscope.TimeBase, _ScopeView.Markers [(int)MarkerID.XMarker1], _ScopeView.Markers [(int)MarkerID.XMarker2], _ScopeView.Grid), 2));
case MarkerUnit.Frequency:
return(FrequencyConverter.ToString(MarkerDataCalculator.CalculateFrequency(Oscilloscope.TimeBase, _ScopeView.Markers [(int)MarkerID.XMarker1], _ScopeView.Markers [(int)MarkerID.XMarker2], _ScopeView.Grid)));
case MarkerUnit.dV1:
return(Oscilloscope.Channels [0].VoltsPerDivision == VoltsPerDivision.VdivNone ? "--" : VoltageConverter.ToString(MarkerDataCalculator.CalculateDV(Oscilloscope.Channels [0].VoltsPerDivision, Oscilloscope.Channels [0].AttenuationFactor, _ScopeView.Markers [(int)MarkerID.YMarker1], _ScopeView.Markers [(int)MarkerID.YMarker2], _ScopeView.Grid)));
case MarkerUnit.dV2:
return(Oscilloscope.Channels [1].VoltsPerDivision == VoltsPerDivision.VdivNone ? "--" : VoltageConverter.ToString(MarkerDataCalculator.CalculateDV(Oscilloscope.Channels [1].VoltsPerDivision, Oscilloscope.Channels [0].AttenuationFactor, _ScopeView.Markers [(int)MarkerID.YMarker1], _ScopeView.Markers [(int)MarkerID.YMarker2], _ScopeView.Grid)));
default:
return("?");
}
}
else
{
return("?");
}
}
public void Parse(IReceiveMessage message)
{
try
{
var payload = (byte[])message.Payload;
switch (message.Command)
{
case EReceiverCommand.KeepAlive:
KeepAliveReceived?.Invoke(this, EventArgs.Empty);
Debug.WriteLine("Keep alive recieved");
break;
case EReceiverCommand.FeedbackSpeedCurrent:
{
var leftRawCurrent = BitConverter.ToInt16(payload, 2);
var leftRawVelocity = BitConverter.ToInt16(payload, 0);
var rightRawCurrent = BitConverter.ToInt16(payload, 6);
var rightRawVelocity = BitConverter.ToInt16(payload, 4);
var parsed = new MessageParsedEventArgs
{
LeftMotor = new SpeedCurrentFeedbackModel
{
Velocity = VelocityConverter.GetPhysical(leftRawVelocity),
RawVelocity = leftRawVelocity,
Current = CurrentConverter.GetPhysical(leftRawCurrent),
RawCurrent = leftRawCurrent
},
RightMotor = new SpeedCurrentFeedbackModel
{
Velocity = VelocityConverter.GetPhysical(rightRawVelocity),
RawVelocity = rightRawVelocity,
Current = CurrentConverter.GetPhysical(rightRawCurrent),
RawCurrent = rightRawCurrent
}
};
SpeedCurrentFeedbackReceived?.Invoke(this, parsed);
}
break;
case EReceiverCommand.FeedbackVoltageTemperature:
{
var parsed = new MessageParsedEventArgs
{
VoltageTemperatureFeedbackModel = new VoltageTemperatureFeedbackModel
{
Voltage = VoltageConverter.GetPhysical(BitConverter.ToUInt16(payload, 0)),
Temperature = TemperatureConverter.GetPhysical(BitConverter.ToUInt16(payload, 2)),
}
};
VoltageTemperatureFeedbackReceived?.Invoke(this, parsed);
}
break;
#region Alarms
case EReceiverCommand.VoltageAlarm:
_parameters.Alarms.VoltageAlarm = VoltageConverter.GetPhysical(BitConverter.ToUInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.CriticalVoltageAlarm:
_parameters.Alarms.CriticalVoltageAlarm = VoltageConverter.GetPhysical(BitConverter.ToUInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.TemperatureAlarm:
_parameters.Alarms.TemperatureAlarm = TemperatureConverter.GetPhysical(BitConverter.ToUInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.CriticalTemperatureAlarm:
_parameters.Alarms.CriticalTemperatureAlarm = TemperatureConverter.GetPhysical(BitConverter.ToUInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.CurrentLeftAlarm:
_parameters.Alarms.LeftCurrentAlarm = CurrentConverter.GetPhysical(BitConverter.ToInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.CurrentRightAlarm:
_parameters.Alarms.RightCurrentAlarm = CurrentConverter.GetPhysical(BitConverter.ToInt16(payload, 0));
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
#endregion
#region PID parameters
case EReceiverCommand.PidKp_1:
_parameters.PidLeft.Kp = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidKi_1:
_parameters.PidLeft.Ki = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidKd_1:
_parameters.PidLeft.Kd = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidIntegralLimit_1:
_parameters.PidLeft.IntegralLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidClamping_1:
_parameters.PidLeft.OutputLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidDeadband_1:
_parameters.PidLeft.Deadband = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidPeriod_1:
_parameters.PidLeft.Period = BitConverter.ToUInt16(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidKp_2:
_parameters.PidRight.Kp = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidKi_2:
_parameters.PidRight.Ki = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidKd_2:
_parameters.PidRight.Kd = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidIntegralLimit_2:
_parameters.PidRight.IntegralLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidClamping_2:
_parameters.PidRight.OutputLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidDeadband_2:
_parameters.PidRight.Deadband = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.PidPeriod_2:
_parameters.PidRight.Period = BitConverter.ToUInt16(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
#endregion PID parameters
#region Fuzzy parameters
case EReceiverCommand.FuzzyKp_1:
_parameters.FuzzyLeft.Kp = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyKi_1:
_parameters.FuzzyLeft.Ki = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyKd_1:
_parameters.FuzzyLeft.Kd = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyIntegralLimit_1:
_parameters.FuzzyLeft.IntegralLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyClamping_1:
_parameters.FuzzyLeft.OutputLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyDeadband_1:
_parameters.FuzzyLeft.Deadband = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyPeriod_1:
_parameters.FuzzyLeft.Period = BitConverter.ToUInt16(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyKp_2:
_parameters.FuzzyRight.Kp = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyKi_2:
_parameters.FuzzyRight.Ki = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyKd_2:
_parameters.FuzzyRight.Kd = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyIntegralLimit_2:
_parameters.FuzzyRight.IntegralLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyClamping_2:
_parameters.FuzzyRight.OutputLimit = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyDeadband_2:
_parameters.FuzzyRight.Deadband = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.FuzzyPeriod_2:
_parameters.FuzzyRight.Period = BitConverter.ToUInt16(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
#endregion Fuzzy parameters
#region Encoder parameters
case EReceiverCommand.EncoderFilterCoef_1:
_parameters.EncoderLeft.LowPassFilterCoeff = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderFilterCoef_2:
_parameters.EncoderRight.LowPassFilterCoeff = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderScaleCoef_1:
_parameters.EncoderLeft.ScaleCoeff = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderScaleCoef_2:
_parameters.EncoderRight.ScaleCoeff = BitConverter.ToSingle(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderIsReversed_1:
_parameters.EncoderLeft.IsReversed = BitConverter.ToBoolean(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderIsReversed_2:
_parameters.EncoderRight.IsReversed = BitConverter.ToBoolean(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderIsFilterEnabled_1:
_parameters.EncoderLeft.IsFilterEnabled = BitConverter.ToBoolean(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EncoderIsFilterEnabled_2:
_parameters.EncoderRight.IsFilterEnabled = BitConverter.ToBoolean(payload, 0);
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
#endregion Encoder parameters
case EReceiverCommand.ControlType:
_parameters.ControlType = payload[0];
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.RegenerativeBreaking:
_parameters.UseRegenerativeBreaking = payload[0] != 0;
ParametersReceived?.Invoke(this, new MessageParsedEventArgs {
Parameters = _parameters
});
break;
case EReceiverCommand.EepromSaved:
Debug.WriteLine("Saved");
break;
case EReceiverCommand.TX_MovementEnabled:
Debug.WriteLine("Enabled");
break;
case EReceiverCommand.TX_MovementDisabled:
Debug.WriteLine("Disabled");
break;
default:
throw new NotImplementedException();
}
}
catch (Exception e)
{
Logger.Error(e.Message);
ParsingErrorOccured?.Invoke(this, new MessageParsingErrorEventArgs(e));
}
}