public void BuildsWithSimplePayload()
{
var responseBuilder = new SpheroResponseBuilder();
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xff); // SOP1
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xff); // SOP2
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xab); // Response
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0x21); // Sequence
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0x05); // Length of payload + checksum
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xa1); // payload
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xa2); // payload
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xa3); // payload
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xa4); // payload
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xa4); // inverted checksum
AssertOKAndComplete(responseBuilder);
}
public void ThrowsExceptionWithInvalidCheckSum()
{
var responseBuilder = new SpheroResponseBuilder();
responseBuilder.Add(0xff); // SOP1
responseBuilder.Add(0xff); // SOP2
responseBuilder.Add(0xab); // Response
responseBuilder.Add(0x21); // Sequence
responseBuilder.Add(0x05); // Length of payload + checksum
responseBuilder.Add(0xa1); // payload
responseBuilder.Add(0xa2); // payload
responseBuilder.Add(0xa3); // payload
responseBuilder.Add(0xa4); // payload
// deliberately corrupt checksum
responseBuilder.Add(0xd8); // inverted checksum
Assert.Fail("We should throw an exception before here");
}
public void BuildsWithEmptyPayload()
{
var responseBuilder = new SpheroResponseBuilder();
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xff); // SOP1
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xff); // SOP2
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0x01); // Response
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0x31); // Sequence
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0x01); // Length of payload + checksum
AssertOKButNotComplete(responseBuilder);
responseBuilder.Add(0xcc); // inverted checksum
AssertOKAndComplete(responseBuilder);
}
public void ThrowsExceptionWithInvalidHeader2()
{
var responseBuilder = new SpheroResponseBuilder();
responseBuilder.Add(0xff); // SOP1
responseBuilder.Add(0xfd); // SOP2
Assert.Fail("We should throw an exception before here");
}
private static void AssertOKAndComplete(SpheroResponseBuilder responseBuilder)
{
Assert.IsTrue(responseBuilder.IsComplete);
Assert.IsFalse(responseBuilder.IsErrored);
}
private SpheroResponse ReceiveResponse()
{
var builder = new SpheroResponseBuilder();
while (true)
{
byte x;
try
{
var task = _streamSpheroWrapper.ReceiveByte();
task.Start();
x = task.Result;
}
catch (AggregateException exception)
{
throw exception.InnerException;
}
builder.Add(x);
if (builder.IsErrored)
{
throw new SpheroPluginException("Error reading packet {0}", builder.CurrentState);
}
if (builder.IsComplete)
{
return builder.Response;
}
}
}
private async Task<SpheroResponse> ReceiveResponse()
{
var builder = new SpheroResponseBuilder();
while (true)
{
var x = await _streamSpheroWrapper.ReceiveByte();
builder.Add(x);
if (builder.IsErrored)
{
throw new SpheroPluginException("Error reading packet {0}", builder.CurrentState);
}
if (builder.IsComplete)
{
return builder.Response;
}
}
}
