//TODO: Should this be in CNCRMessage?
//TODO: getMsgFromBytes: Generate more test cases for this function, preferable edge cases.
/// <summary>
/// Returns the message contained in the passed in byte array.
/// </summary>
/// <param name="msgBytes">Array of bytes containing a CNCRMessage</param>
/// <returns>The message contained in the bytes.</returns>
public static CNCRMessage getMsgFromBytes(byte[] msgBytes)
{
// Byte 0 should be
CNCRMSG_TYPE msgType = (CNCRMSG_TYPE)Enum.ToObject(typeof(CNCRMSG_TYPE), (msgBytes[0] & 0xF0) >> 4);
int msgLen = getMsgLenFromType(msgType);
// Validate the message length.
if (msgLen != msgBytes.Length)
{
throw new RankException("MsgCommandAcknowledge is "
+ CNCRConstants.MSG_LEN_CMD_ACK + " not "
+ msgBytes.Length + " bytes long.");
}
// Build the correct message.
CNCRMessage resultMsg;
switch (msgType)
{
case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
resultMsg = new CNCRMsgCmdAck(msgBytes);
break;
case CNCRMSG_TYPE.E_STOP:
resultMsg = new CNCRMsgEStop();
break;
case CNCRMSG_TYPE.MOVE:
resultMsg = new CNCRMsgMove(msgBytes);
break;
case CNCRMSG_TYPE.PING:
resultMsg = new CNCRMsgPing();
break;
case CNCRMSG_TYPE.REQUEST_COMMAND:
resultMsg = new CNCRMsgRequestCommands(msgBytes);
break;
case CNCRMSG_TYPE.SET_SPEED:
resultMsg = new CNCRMsgSetSpeed(msgBytes);
break;
case CNCRMSG_TYPE.START_QUEUE:
resultMsg = new CNCRMsgStartQueue(msgBytes);
break;
case CNCRMSG_TYPE.TOOL_CMD:
resultMsg = new CNCRMsgToolCmd(msgBytes);
break;
default:
throw new FormatException("getMsgFromBytes: Unknown message type");
}
return(resultMsg);
}
public void CNCRMsgMoveConstructorTest1()
{
byte[] msgBytes = { 0x60, 0x81, 0x00, 0x00, 0x7E, 0xFF, 0x06, 0x5F, 0x5A, 0x03, 0x60 };
CNCRMsgMove target = new CNCRMsgMove(msgBytes);
Assert.AreEqual <CNCRMSG_TYPE>(CNCRMSG_TYPE.MOVE, target.getMessageType());
Assert.AreEqual<byte>(0x60, target.getMsgTypeByte());
Assert.AreEqual<short>(-32768, target.getX());
Assert.AreEqual<short>(32767, target.getY());
Assert.AreEqual<short>(24155, target.getZ());
}
public void CNCRMsgMoveConstructorTest()
{
//-32768, 32767, 24155
short X = -32768; // TODO: Initialize to an appropriate value
short Y = 32767; // TODO: Initialize to an appropriate value
short Z = 24155; // TODO: Initialize to an appropriate value
CNCRMsgMove target = new CNCRMsgMove(X, Y, Z);
Assert.AreEqual<CNCRMSG_TYPE>(CNCRMSG_TYPE.MOVE, target.getMessageType());
Assert.AreEqual<byte>(0x60, target.getMsgTypeByte());
Assert.AreEqual<short>(-32768, target.getX());
Assert.AreEqual<short>(32767, target.getY());
Assert.AreEqual<short>(24155, target.getZ());
}
private void sendShortMove(CNCRMsgMove msg, bool isXY)
{
float fSpeed;
// To be safe, set the speed to 30.0 mm/min
UInt16 uSpeed = CNCRConstants.DEFAULT_Z_FEEDRATE;
if (isXY)
{
if (!float.TryParse(txtXYFeedrate.Text, out fSpeed))
{
fSpeed = CNCRConstants.DEFAULT_XY_FEEDRATE / 10;
}
}
else
{
if (!float.TryParse(txtZFeedrate.Text, out fSpeed))
{
fSpeed = CNCRConstants.DEFAULT_Z_FEEDRATE / 10;
}
}
try
{
uSpeed = Convert.ToUInt16(fSpeed);
}
catch (Exception ex)
{
// eat my shorts.
}
//commCmd.PortName = cmbRouterPort.SelectedItem.ToString();
// Enque the "startQueue" in the priority queue.
commCmd.commPriorityQueueEnqueue(new CNCRMsgStartQueue(false));
commCmd.commCommandQueueEnqueue(new CNCRMsgSetSpeed(uSpeed));
commCmd.commCommandQueueEnqueue(msg);
commCmd.commCommandQueueEnqueue(new CNCRMsgStartQueue(true));
commCmd.launchProcessQueues();
}
//TODO: Should this be in CNCRMessage?
//TODO: getMsgFromBytes: Generate more test cases for this function, preferable edge cases.
/// <summary>
/// Returns the message contained in the passed in byte array.
/// </summary>
/// <param name="msgBytes">Array of bytes containing a CNCRMessage</param>
/// <returns>The message contained in the bytes.</returns>
public static CNCRMessage getMsgFromBytes(byte[] msgBytes)
{
// Byte 0 should be
CNCRMSG_TYPE msgType = (CNCRMSG_TYPE)Enum.ToObject(typeof(CNCRMSG_TYPE), (msgBytes[0] & 0xF0) >> 4);
int msgLen = getMsgLenFromType(msgType);
// Validate the message length.
if (msgLen != msgBytes.Length)
throw new RankException("MsgCommandAcknowledge is "
+ CNCRConstants.MSG_LEN_CMD_ACK + " not "
+ msgBytes.Length + " bytes long.");
// Build the correct message.
CNCRMessage resultMsg;
switch (msgType)
{
case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
resultMsg = new CNCRMsgCmdAck(msgBytes);
break;
case CNCRMSG_TYPE.E_STOP:
resultMsg = new CNCRMsgEStop();
break;
case CNCRMSG_TYPE.MOVE:
resultMsg = new CNCRMsgMove(msgBytes);
break;
case CNCRMSG_TYPE.PING:
resultMsg = new CNCRMsgPing();
break;
case CNCRMSG_TYPE.REQUEST_COMMAND:
resultMsg = new CNCRMsgRequestCommands(msgBytes);
break;
case CNCRMSG_TYPE.SET_SPEED:
resultMsg = new CNCRMsgSetSpeed(msgBytes);
break;
case CNCRMSG_TYPE.START_QUEUE:
resultMsg = new CNCRMsgStartQueue(msgBytes);
break;
case CNCRMSG_TYPE.TOOL_CMD:
resultMsg = new CNCRMsgToolCmd(msgBytes);
break;
default:
throw new FormatException("getMsgFromBytes: Unknown message type");
}
return resultMsg;
}
private void sendShortMove(CNCRMsgMove msg, bool isXY)
{
float fSpeed;
// To be safe, set the speed to 30.0 mm/min
UInt16 uSpeed = CNCRConstants.DEFAULT_Z_FEEDRATE;
if (isXY)
{
if (!float.TryParse(txtXYFeedrate.Text, out fSpeed))
fSpeed = CNCRConstants.DEFAULT_XY_FEEDRATE / 10;
}
else
{
if (!float.TryParse(txtZFeedrate.Text, out fSpeed))
fSpeed = CNCRConstants.DEFAULT_Z_FEEDRATE / 10;
}
try
{
uSpeed = Convert.ToUInt16(fSpeed);
}
catch (Exception ex)
{
// eat my shorts.
}
//commCmd.PortName = cmbRouterPort.SelectedItem.ToString();
// Enque the "startQueue" in the priority queue.
commCmd.commPriorityQueueEnqueue(new CNCRMsgStartQueue(false));
commCmd.commCommandQueueEnqueue(new CNCRMsgSetSpeed(uSpeed));
commCmd.commCommandQueueEnqueue(msg);
commCmd.commCommandQueueEnqueue(new CNCRMsgStartQueue(true));
commCmd.launchProcessQueues();
}
private void btnSndMsg_Click(object sender, EventArgs e)
{
/*
int discarded = 0;
byte[] bytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
lblDbgOut.Text = "";
for (int i = 0; i < bytes.Length; i++)
{
lblDbgOut.Text += bytes[i].ToString() + " ";
}//*/
byte[] sendBytes = {0};
CNCRMessage sendMsg = null;
switch (cmbMsgs.SelectedIndex)
{
case 0:
int discarded = 0;
sendBytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
break;
case 1:
sendMsg = new CNCRMsgPing();
sendBytes = sendMsg.toSerial();
break;
case 2:
sendMsg = new CNCRMsgCmdAck(false, 127);
sendBytes = sendMsg.toSerial();
break;
case 3:
sendMsg = new CNCRMsgEStop();
sendBytes = sendMsg.toSerial();
break;
case 4:
sendMsg = new CNCRMsgRequestCommands(128);
sendBytes = sendMsg.toSerial();
break;
case 5:
sendMsg = new CNCRMsgStartQueue(false);
sendBytes = sendMsg.toSerial();
break;
case 6:
sendMsg = new CNCRMsgSetSpeed(true, true, false, 40000);
sendBytes = sendMsg.toSerial();
break;
case 7:
sendMsg = new CNCRMsgMove(Int16.MinValue, Int16.MaxValue, 0);
sendBytes = sendMsg.toSerial();
break;
case 8:
sendMsg = new CNCRMsgToolCmd(true);
sendBytes = sendMsg.toSerial();
break;
}
rtbTraffic.AppendText(CNCRTools.BytesToHex(sendBytes) + "\n");
if (sendMsg == null)
commCmd.SendBytes(sendBytes);
else
commCmd.SendMsg(sendMsg);
}
public void getXTest()
{
CNCRMsgMove target = new CNCRMsgMove(-32768, 32767, 24155);
short expected = -32768;
short actual;
actual = target.getX();
Assert.AreEqual<short>(expected, actual);
}
public void toSerialTest()
{
CNCRMsgMove target = new CNCRMsgMove(-32768, 32767, 24155);
byte[] expected = {0x60, 0x81, 0x00, 0x00, 0x7E, 0xFF, 0x06, 0x5F, 0x5A, 0x03, 0x60};
byte[] actual;
actual = target.toSerial();
Assert.AreEqual(expected.Length, actual.Length);
for (int i = 0; i < expected.Length; i++)
{
Assert.AreEqual<byte>(expected[i], actual[i], "Byte " + i);
}
}
private void btnSndMsg_Click(object sender, EventArgs e)
{
/*
* int discarded = 0;
* byte[] bytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
* lblDbgOut.Text = "";
* for (int i = 0; i < bytes.Length; i++)
* {
* lblDbgOut.Text += bytes[i].ToString() + " ";
* }//*/
byte[] sendBytes = { 0 };
CNCRMessage sendMsg = null;
switch (cmbMsgs.SelectedIndex)
{
case 0:
int discarded = 0;
sendBytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
break;
case 1:
sendMsg = new CNCRMsgPing();
sendBytes = sendMsg.toSerial();
break;
case 2:
sendMsg = new CNCRMsgCmdAck(false, 127);
sendBytes = sendMsg.toSerial();
break;
case 3:
sendMsg = new CNCRMsgEStop();
sendBytes = sendMsg.toSerial();
break;
case 4:
sendMsg = new CNCRMsgRequestCommands(128);
sendBytes = sendMsg.toSerial();
break;
case 5:
sendMsg = new CNCRMsgStartQueue(false);
sendBytes = sendMsg.toSerial();
break;
case 6:
sendMsg = new CNCRMsgSetSpeed(true, true, false, 40000);
sendBytes = sendMsg.toSerial();
break;
case 7:
sendMsg = new CNCRMsgMove(Int16.MinValue, Int16.MaxValue, 0);
sendBytes = sendMsg.toSerial();
break;
case 8:
sendMsg = new CNCRMsgToolCmd(true);
sendBytes = sendMsg.toSerial();
break;
}
rtbTraffic.AppendText(CNCRTools.BytesToHex(sendBytes) + "\n");
if (sendMsg == null)
{
commCmd.SendBytes(sendBytes);
}
else
{
commCmd.SendMsg(sendMsg);
}
}
