public void CreateSessionWithOpenConnection()
{
var connection = new MockSerialConnection();
connection.Open();
var session = new ArduinoSession(connection);
Assert.AreEqual(true, connection.IsOpen);
}
public void RequestFirmware()
{
const int majorVersion = 5;
const int minorVersion = 1;
const string Name = "Arduïno Firmata";
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
session.RequestFirmware();
Assert.AreEqual(1, _messagesReceived.Count, "Message event error");
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.FirmwareResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <Firmware>));
var firmware = (Firmware)message.Value;
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
public void ClearSession()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.Clear();
session.Dispose();
}
public void GetBoardAnalogMappingAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x69, 0xF7 }, 0xF0, 0x6A);
connection.EnqueueResponse(0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x7F, 0x7F);
connection.EnqueueResponse(0xF7);
BoardAnalogMapping mapping = session.GetBoardAnalogMappingAsync().Result;
Assert.AreEqual(6, mapping.PinMappings.Length);
Assert.AreEqual(0, mapping.PinMappings[0].PinNumber);
Assert.AreEqual(0, mapping.PinMappings[0].Channel);
Assert.AreEqual(1, mapping.PinMappings[1].PinNumber);
Assert.AreEqual(1, mapping.PinMappings[1].Channel);
Assert.AreEqual(2, mapping.PinMappings[2].PinNumber);
Assert.AreEqual(2, mapping.PinMappings[2].Channel);
Assert.AreEqual(3, mapping.PinMappings[3].PinNumber);
Assert.AreEqual(3, mapping.PinMappings[3].Channel);
Assert.AreEqual(4, mapping.PinMappings[4].PinNumber);
Assert.AreEqual(4, mapping.PinMappings[4].Channel);
Assert.AreEqual(5, mapping.PinMappings[5].PinNumber);
Assert.AreEqual(5, mapping.PinMappings[5].Channel);
}
public void Write_NullString()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write(null);
}
public void Write_NoArgument()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write();
}
public void Dispose()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.Dispose();
}
public void TimeOut_SetNegative()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.TimeOut = -2;
}
public void Write_EmptyString()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write(string.Empty);
}
public void TimeOutReached()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.TimeOut = 1;
// TODO: verder uitwerken.
}
public void Write()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
connection.EnqueueStringRequest("Test!");
session.Write("Test!");
}
public void GetBoardCapability()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO/I2C, 0/1/2/3/4/6
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(0, 1, 1, 1, 3, 10, 6, 1, 0x7F);
connection.EnqueueResponse(0xF7);
BoardCapability capability = session.GetBoardCapability();
Assert.AreEqual(1, capability.Pins.Length);
Assert.AreEqual(0, capability.Pins[0].PinNumber);
Assert.AreEqual(true, capability.Pins[0].DigitalInput);
Assert.AreEqual(true, capability.Pins[0].DigitalOutput);
Assert.AreEqual(true, capability.Pins[0].Pwm);
Assert.AreEqual(10, capability.Pins[0].PwmResolution);
Assert.AreEqual(true, capability.Pins[0].I2C);
Assert.AreEqual(false, capability.Pins[0].Analog);
Assert.AreEqual(0, capability.Pins[0].AnalogResolution);
Assert.AreEqual(false, capability.Pins[0].Servo);
Assert.AreEqual(0, capability.Pins[0].ServoResolution);
}
public void CreateSessionWithClosedConnection()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
Assert.AreEqual(true, connection.IsOpen);
}
public void SetDigitalPort_PortNumber_Is0_Pins_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, 0);
}
public void SetDigitalPort_PortNumber_Is15_Pins_Is255()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x9F, 0x7F, 0x01 });
session.SetDigitalPort(15, 255);
}
public void SetDigitalReportMode_PortNumber_Is1_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD1, 0x01 });
session.SetDigitalReportMode(1, true);
}
public void SetDigitalReportMode_PortNumber_Is0_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD0, 0x00 });
session.SetDigitalReportMode(0, false);
}
public void SetDigitalPin_Level_Is0_PinNumber_Argument_Is16()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x6F, 0x10, 0x00, 0x00, 0xF7);
session.SetDigitalPin(16, 0);
}
public void SetAnalogReportMode_Channel_Is15_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xCF, 0x00 });
session.SetAnalogReportMode(15, false);
}
public void SetSamplingInterval_Interval_Is0x3FFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x7A, 0x7F, 0x7F, 0xF7 });
session.SetSamplingInterval(0x3FFF);
}
public void ConfigureServo_MinPulse_Is0x4000()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(0, 0x4000, 0);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is15()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xEF, 0x00, 0x00 });
session.SetDigitalPin(15, 0);
}
public void SetDigitalPort_Pins_Argument_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, -1);
}
public void TimeOut_GetAndSet()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
Assert.AreEqual(-1, session.TimeOut);
session.TimeOut = 7;
Assert.AreEqual(7, session.TimeOut);
}
public void WriteI2C_SlaveAddress_Parameter_Is127()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x7F, 0x00, 0x11, 0x00, 0x22, 0x00, 0x33, 0x00, 0x44, 0x00, 0x7F, 0x01, 0xF7);
session.WriteI2C(127, 0x11, 0x22, 0x33, 0x44, 0xFF);
}
public void WriteI2C_SlaveAddress_Parameter_Is0x3FF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x7F, 0x27, 0x7F, 0x01, 0xF7);
session.WriteI2C(0x3FF, 255);
}
public void SetI2CReadInterval_Interval_Is0x3FFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x78, 0x7F, 0x7F, 0xF7 });
session.SetI2CReadInterval(0x3FFF);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is0_Level_Argument_Is0xFFFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6F, 0x00, 0x7F, 0x7F, 0x03, 0xF7 });
session.SetDigitalPin(0, 0xFFFF);
}
public void StopI2CReading()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x00, 0x18, 0xF7);
session.StopI2CReading();
}
public void WriteI2C_SlaveAddress_Parameter_Is0x3FF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x7F, 0x27, 0x7F, 0x01, 0xF7);
session.WriteI2C(0x3FF, 255);
}
public void ConfigureServo_MaxPulse_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF7 });
session.ConfigureServo(15, 0, -1);
}
public void SetI2CReadInterval_Interval_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x78, 0x00, 0x00, 0xF7 });
session.SetI2CReadInterval(0);
}
public void WriteI2C_SlaveAddress_Parameter_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x02, 0x21, 0xF7);
session.WriteI2C(-1);
}
public void WriteI2C_SlaveAddress_Parameter_Is127()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x7F, 0x00, 0x11, 0x00, 0x22, 0x00, 0x33, 0x00, 0x44, 0x00, 0x7F, 0x01, 0xF7);
session.WriteI2C(127, 0x11, 0x22, 0x33, 0x44, 0xFF);
}
public void ConfigureServo_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(128, 0, 0);
}
public void SendStringData_NullString()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x71, 0xF7);
session.SendStringData(null);
}
public void SetAnalogReportMode_Channel_Is0_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xC0, 0x01 });
session.SetAnalogReportMode(0, true);
}
public void SetDigitalPinMode_SetPin127ToAnalog()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x7F, (byte)PinMode.AnalogInput });
session.SetDigitalPinMode(127, PinMode.AnalogInput);
}
public void ReadI2CContinous_WithSlaveRegister()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequest(0xF0, 0x76, 0x45, 0x10, 0x07, 0x0C, 0x7F, 0x01, 0xF7);
session.ReadI2CContinuous(0x45, 0x0607, 255);
}
public void SetDigitalPinMode_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalInput });
session.SetDigitalPinMode(128, PinMode.DigitalInput);
}
public void SetDigitalPinMode_SetPin0ToDigitalOutput()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalOutput });
session.SetDigitalPinMode(0, PinMode.DigitalOutput);
}
public void GetProtocolVersionAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF9 }, new byte[] { 0xF9, 2, 3 });
ProtocolVersion version = session.GetProtocolVersionAsync().Result;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
Assert.AreEqual(1, _messagesReceived.Count);
}
public void ResetBoard()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xFF }, new byte[] { 0xF9, 2, 3 });
session.ResetBoard();
Assert.AreEqual(1, _messagesReceived.Count);
FirmataMessage message = _messagesReceived.Dequeue();
Assert.AreEqual(MessageType.ProtocolVersion, message.Type);
var version = (ProtocolVersion)message.Value;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
}
//[TestMethod] // Verdacht
public async Task RequestBufferOverflow()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var tasks = new List<Task<string>>(100);
for (int x = 0; x < 100; x++)
tasks.Add(session.ReadAsync());
Thread.Sleep(250);
connection.MockReceiveDelayed(new string('*', 100));
await Task.WhenAll(tasks);
foreach (Task<string> t in tasks)
{
Assert.AreEqual("*", t.Result);
}
}
public async Task ReceivedStringBufferOverflow()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = Task.Run(() =>
{
string data = session.Read(1000);
}
);
connection.MockReceiveDelayed(new string('*', 3000));
await t;
}
//[TestMethod]
//[ExpectedException(typeof(TimeoutException))]
public async Task Read_WithTimeout()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection, 550);
var t = Task.Run(() =>
{
string data = session.Read(6);
Assert.AreEqual("Hello!", data);
}
);
await t;
}
public async Task Read_StringBlock()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = Task.Run(() =>
{
string data = session.Read(6);
Assert.AreEqual("Hello!", data);
}
);
connection.MockReceiveDelayed("Hello!!!");
await t;
}
public async Task ReadLine_CarriageReturnPlusLinefeed()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.NewLine = "\r\n";
var t = Task.Run(() =>
{
string data = session.ReadLine();
Assert.AreEqual("A line.", data);
data = session.ReadLine();
Assert.AreEqual("Second line.", data);
}
);
connection.MockReceiveDelayed("A line." + session.NewLine + "Second line." + session.NewLine);
await t;
}
public async Task Read_NegativeLength()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = Task.Run(() =>
{
string data = session.Read(-1);
}
);
connection.MockReceiveDelayed("Hello!!!");
await t;
}
public async Task ReadTo_EmptyString()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = Task.Run(() =>
{
string data = session.ReadTo(';');
Assert.AreEqual(string.Empty, data);
}
);
connection.MockReceiveDelayed(";");
await t;
}
public void Write_NullString()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write(null);
}
public async Task ReadAsync_Length_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = session.ReadAsync(-1);
connection.MockReceiveDelayed("Test");
string data = await t;
}
public async Task ReadAsync_4Characters()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = session.ReadAsync(4);
connection.MockReceiveDelayed("Test");
string data = await t;
Assert.AreEqual("Test", data);
}
public async Task ReadLineAsync()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = session.ReadLineAsync();
connection.MockReceiveDelayed("Test" + session.NewLine);
string data = await t;
Assert.AreEqual("Test", data);
}
public async Task ReadToAsync()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = session.ReadToAsync(',');
connection.MockReceiveDelayed("alpha,beta,gamma");
string data = await t;
Assert.AreEqual("alpha", data);
}
public void Write_NoArgument()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write();
}
public void TimeOut_SetNegative()
{
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
session.TimeOut = -2;
}
public async Task ReadTo()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
var t = Task.Run(() =>
{
string data = session.ReadTo('.');
Assert.AreEqual("A line", data);
}
);
connection.MockReceiveDelayed("A line.");
await t;
}
public void Dispose_OnOpenConnection()
{
var connection = new MockSerialConnection();
connection.Open();
var session = new ArduinoSession(connection);
session.Dispose();
}
public void Write_EmptyString()
{
var connection = new MockSerialConnection();
var session = CreateSerialSession(connection);
session.Write(string.Empty);
}
