public void NewHaltEventTest()
{
goalComs.SetStream(haltInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.Halt);
Assert.IsInstanceOf(typeof(HaltEvent), result);
}
public void NewPickupEventTest()
{
goalComs.SetStream(pickupInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.Pickup);
Assert.IsInstanceOf(typeof(PickupEvent), result);
}
public void NewGoToEventTest()
{
goalComs.SetStream(goToInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
(byte)EventCode.GoTo);
Assert.IsInstanceOf(typeof(GoToEvent), result);
}
/// <summary>
/// Attempts to read incoming data from the server.
/// </summary>
private void ReceiveData()
{
if (!Running)
{
return;
}
byte code = 0;
try
{
code = communicationStream.ReadByte();
if (!Running)
{
return;
}
INaoEvent naoEvent = NaoEventFactory.NewEvent(code);
EventQueue.Nao.Post(naoEvent);
}
catch (InvalidEventCodeException e)
{
Logger.Except(e);
Logger.Log(this, "Invalid event code received: " + code);
INaoEvent failureEvent = new FailureEvent(code);
EventQueue.Goal.Post(failureEvent);
}
catch (Exception e)
{
if (e is InvalidOperationException || e is IOException)
{
Logger.Log(this, "Communication stream got closed.");
communicationStream.Open = false;
}
else
{
Logger.Log(this, "Unexpected exception occurred while processing incoming data: " + e);
}
}
}
public void NewInvalidEventTest()
{
goalComs.SetStream(invalidInputStream);
INaoEvent result = NaoEventFactory.NewEvent(
invalidEventCode);
}
