public void CanReadStatusPacketForSensorData()
{
List<byte> receivedData = new List<byte>
{
0xFF, //bytes indicate the start of the packet
0xFF, //bytes indicate the start of the packet
0x05, //ID
0x0A, //length
0x00, //Error
0x7F, //Present Position(L)
0x02, //Present Position(H)
0x04, //Present Speed(L)
0x04, //Present Speed(H)
0x05, //Present Load(L)
0x04, //Present Load(H)
0x7B, //Present Voltage
0x26, //Present Temperature
0xBD //Checksum
};
StatusPacket statusPacket = new StatusPacket(receivedData);
Assert.AreEqual(0xFF, statusPacket.StartByte1);
Assert.AreEqual(0xFF, statusPacket.StartByte2);
Assert.AreEqual(0x05, statusPacket.ServoId);
Assert.AreEqual(0x0A, statusPacket.LengthOfResult);
Assert.AreEqual(0x00, statusPacket.Error);
Assert.AreEqual(37.39, statusPacket.Position, 0.01);
Assert.AreEqual(1028, statusPacket.Speed);
Assert.AreEqual(Direction.Clockwise, statusPacket.LoadDirection);
Assert.AreEqual(5, statusPacket.Load);
Assert.AreEqual(12.3, statusPacket.Voltage);
Assert.AreEqual(38, statusPacket.Temperature);
Assert.AreEqual(new byte[] { 0x7F, 0x02, 0x04, 0x04, 0x05, 0x04, 0x7B, 0x26 }, statusPacket.Parameters);
Assert.AreEqual(0xBD, statusPacket.CheckSum);
Assert.AreEqual(receivedData, statusPacket.ReceivedData);
}
public void CanReadStatusPacketForTemperature()
{
List<byte> corectResult = new List<byte> { 0XFF, 0XFF, 0X01, 0X03, 0X00, 0X20, 0XDB };
StatusPacket statusPacket = new StatusPacket(corectResult);
Assert.AreEqual(0xFF, statusPacket.StartByte1);
Assert.AreEqual(0xFF, statusPacket.StartByte2);
Assert.AreEqual(0x01, statusPacket.ServoId);
Assert.AreEqual(0x03, statusPacket.LengthOfResult);
Assert.AreEqual(0x00, statusPacket.Error);
Assert.That(statusPacket.Parameters, Is.EquivalentTo(new List<byte> { 0x20 }));
Assert.AreEqual(0xDB, statusPacket.CheckSum);
Assert.AreEqual(corectResult, statusPacket.ReceivedData);
}
public void CanReadStatusPacketForPresentLoad()
{
List<byte> corectResult = new List<byte> { 0xFF, 0xFF, 0x05, 0x04, 0x00, 0x00, 0x00, 0xF6 };
StatusPacket statusPacket = new StatusPacket(corectResult);
Assert.AreEqual(0xFF, statusPacket.StartByte1);
Assert.AreEqual(0xFF, statusPacket.StartByte2);
Assert.AreEqual(0x05, statusPacket.ServoId);
Assert.AreEqual(0x04, statusPacket.LengthOfResult);
Assert.AreEqual(0x00, statusPacket.Error);
Assert.That(statusPacket.Parameters, Is.EquivalentTo(new byte[] {0x00, 0x00}));
Assert.AreEqual(0xF6, statusPacket.CheckSum);
Assert.AreEqual(corectResult, statusPacket.ReceivedData);
}