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);
}
private void DeliverMessage(IFirmataMessage message)
{
_messageHeader._processMessage = null;
lock (_messageHeader._receivedMessageList)
{
if (_messageHeader._receivedMessageList.Count >= MessageHeader.MaxQueuelength)
{
throw new OverflowException(global::Arduino.Firmata.Messages.OverflowEx_MsgBufferFull);
}
// Remove all unprocessed and timed-out messages.
while (_messageHeader._receivedMessageList.Count > 0 &&
((DateTime.UtcNow - _messageHeader._receivedMessageList.First.Value.Time).TotalMilliseconds > _messageHeader.TimeOut))
{
_messageHeader._receivedMessageList.RemoveFirst();
}
_messageHeader._receivedMessageList.AddLast(message);
Monitor.PulseAll(_messageHeader._receivedMessageList);
}
_messageHeader._arduinoSession.OnMessageReceivedHandler(new FirmataMessageEventArgs(message));
//if (MessageReceived != null && message.Type != MessageType.I2CReply)
// MessageReceived(this, new FirmataMessageEventArgs(message));
}
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);
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.ProtocolVersion, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <ProtocolVersion>));
var version = (ProtocolVersion)message.Value;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
}
public void RequestBoardAnalogMapping()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x69, 0xF7 }, 0xF0, 0x6A);
connection.EnqueueResponse(0x0F);
connection.EnqueueResponse(0xF7);
session.RequestBoardAnalogMapping();
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.AnalogMappingResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <BoardAnalogMapping>));
BoardAnalogMapping mapping = (BoardAnalogMapping)message.Value;
Assert.AreEqual(1, mapping.PinMappings.Length);
Assert.AreEqual(0, mapping.PinMappings[0].PinNumber);
Assert.AreEqual(15, mapping.PinMappings[0].Channel);
}
public void RequestPinState()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x01, 0xF7 }, 0xF0, 0x6E);
// Pin 1 Digital Output mode, value = 0
connection.EnqueueResponse(0x01, 0x01, 0x00);
connection.EnqueueResponse(0xF7);
session.RequestPinState(1);
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.PinStateResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <PinState>));
PinState state = (PinState)message.Value;
Assert.AreEqual(1, state.PinNumber);
Assert.AreEqual(PinMode.DigitalOutput, state.Mode);
Assert.AreEqual(0, state.Value);
}
public void RequestBoardCapability()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO, 0/1/2/3/4
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(2, 8, 0x7F);
connection.EnqueueResponse(0, 127, 1, 127, 0x7F);
connection.EnqueueResponse(0xF7);
session.RequestBoardCapability();
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.CapabilityResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <BoardCapability>));
BoardCapability capability = (BoardCapability)message.Value;
Assert.AreEqual(2, capability.Pins.Length);
Assert.AreEqual(0, capability.Pins[0].PinNumber);
Assert.AreEqual(false, capability.Pins[0].DigitalInput);
Assert.AreEqual(false, capability.Pins[0].DigitalOutput);
Assert.AreEqual(true, capability.Pins[0].Analog);
Assert.AreEqual(8, capability.Pins[0].AnalogResolution);
Assert.AreEqual(false, capability.Pins[0].Pwm);
Assert.AreEqual(0, capability.Pins[0].PwmResolution);
Assert.AreEqual(false, capability.Pins[0].Servo);
Assert.AreEqual(0, capability.Pins[0].ServoResolution);
Assert.AreEqual(1, capability.Pins[1].PinNumber);
Assert.AreEqual(true, capability.Pins[1].DigitalInput);
Assert.AreEqual(true, capability.Pins[1].DigitalOutput);
Assert.AreEqual(false, capability.Pins[1].Analog);
Assert.AreEqual(0, capability.Pins[1].AnalogResolution);
Assert.AreEqual(false, capability.Pins[1].Pwm);
Assert.AreEqual(0, capability.Pins[1].PwmResolution);
Assert.AreEqual(false, capability.Pins[1].Servo);
Assert.AreEqual(0, capability.Pins[1].ServoResolution);
}
internal FirmataMessageEventArgs(IFirmataMessage value)
{
Value = value;
}
