public void CNCRMsgCmdAckConstructorTest1()
{
byte[] msgBytes = { 0x12, 0xFF, 0xED };
CNCRMsgCmdAck target = new CNCRMsgCmdAck(msgBytes);
Assert.AreEqual(true, target.getError());
Assert.AreEqual(127, target.getFirmware());
}
public void CNCRMsgCmdAckConstructorTest_ErrBadFW()
{
bool isError = true;
byte firmware = 128;
CNCRMsgCmdAck target = new CNCRMsgCmdAck(isError, firmware);
Assert.AreEqual(isError, target.getError());
Assert.AreEqual(firmware, target.getFirmware());
}
//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 toSerialTest()
{
CNCRMsgCmdAck target = new CNCRMsgCmdAck(true, 127);
byte[] expected = { 0x12, 0xFF, 0xED };
byte[] actual;
actual = target.toSerial();
for (int i = 0; i < expected.Length; i++)
{
Assert.AreEqual<byte>(expected[i], actual[i]);
}
}
public void getFirmwareTest()
{
CNCRMsgCmdAck target = new CNCRMsgCmdAck(true, 127); // TODO: Initialize to an appropriate value
byte expected = 127; // TODO: Initialize to an appropriate value
byte actual;
actual = target.getFirmware();
Assert.AreEqual<byte>(expected, actual);
}
public void getErrorTest()
{
CNCRMsgCmdAck target = new CNCRMsgCmdAck(true, 127); // TODO: Initialize to an appropriate value
bool expected = true; // TODO: Initialize to an appropriate value
bool actual;
actual = target.getError();
Assert.AreEqual(expected, actual);
}
public void CNCRMsgCmdAckConstructorTest_valid()
{
bool isError = false;
byte firmware = 0;
CNCRMsgCmdAck target = new CNCRMsgCmdAck(isError, firmware);
Assert.AreEqual(isError, target.getError());
Assert.AreEqual(firmware, target.getFirmware());
}
//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 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);
}
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);
}
}
/// <summary>
/// Takes the passed in message and performs the nessessary actions
/// required by that message.
/// </summary>
/// <param name="msg">Message to act on.</param>
public void actOnMessage(object msgObj)
{
CNCRMessage msg = (CNCRMessage)msgObj;
if (msg == null)
throw new ArgumentNullException();
switch (msg.getMessageType())
{
case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
if (((CNCRMsgCmdAck)msg).getError())
{
// if error, resend last message
CNCRMessage lastMsg = getLastMessage();
lastMsg.setPriority(CNCRMSG_PRIORITY.HIGH);
commPriorityQueueEnqueue(lastMsg);
}
else
{
// if not error, clear "Waiting for Ack"
setWaitingOnAck(false);
}
launchProcessQueues();
break;
case CNCRMSG_TYPE.E_STOP:
// Send Ack.
CNCRMessage ack = new CNCRMsgCmdAck(false, 0);
ack.setPriority(CNCRMSG_PRIORITY.MEDIUM); // TODO: what about the E-stop Ack.
commPriorityQueueEnqueue(ack);
// Set the "Stop Sending Messages variable"
setEStopActive(true);
break;
case CNCRMSG_TYPE.REQUEST_COMMAND:
// Send Ack.
CNCRMessage ack2 = new CNCRMsgCmdAck(false, 0);
ack2.setPriority(CNCRMSG_PRIORITY.MEDIUM);
commPriorityQueueEnqueue(ack2);
// Set the "Send Commands" variable to the # of messages.
CNCRMsgRequestCommands msgRC = (CNCRMsgRequestCommands)msg;
setNumCmdsToSend(msgRC.getCommandCount() + getNumCmdsToSend());
// If it is not already started, kick off the "SendMessages" method.
launchProcessQueues();
break;
case CNCRMSG_TYPE.MOVE:
case CNCRMSG_TYPE.PING:
case CNCRMSG_TYPE.SET_SPEED:
case CNCRMSG_TYPE.START_QUEUE:
case CNCRMSG_TYPE.TOOL_CMD:
// We should not be receiving any of these messages.
DisplayData("Received a valid message that should not have " +
"been sent by the router. " + msg.ToString() + "\n");
break;
default:
throw new ArgumentException("CNCRMessage has an invalid type");
}
}
/// <summary>
/// Takes the passed in message and performs the nessessary actions
/// required by that message.
/// </summary>
/// <param name="msg">Message to act on.</param>
public void actOnMessage(object msgObj)
{
CNCRMessage msg = (CNCRMessage)msgObj;
if (msg == null)
{
throw new ArgumentNullException();
}
switch (msg.getMessageType())
{
case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
if (((CNCRMsgCmdAck)msg).getError())
{
// if error, resend last message
CNCRMessage lastMsg = getLastMessage();
lastMsg.setPriority(CNCRMSG_PRIORITY.HIGH);
commPriorityQueueEnqueue(lastMsg);
}
else
{
// if not error, clear "Waiting for Ack"
setWaitingOnAck(false);
}
launchProcessQueues();
break;
case CNCRMSG_TYPE.E_STOP:
// Send Ack.
CNCRMessage ack = new CNCRMsgCmdAck(false, 0);
ack.setPriority(CNCRMSG_PRIORITY.MEDIUM); // TODO: what about the E-stop Ack.
commPriorityQueueEnqueue(ack);
// Set the "Stop Sending Messages variable"
setEStopActive(true);
break;
case CNCRMSG_TYPE.REQUEST_COMMAND:
// Send Ack.
CNCRMessage ack2 = new CNCRMsgCmdAck(false, 0);
ack2.setPriority(CNCRMSG_PRIORITY.MEDIUM);
commPriorityQueueEnqueue(ack2);
// Set the "Send Commands" variable to the # of messages.
CNCRMsgRequestCommands msgRC = (CNCRMsgRequestCommands)msg;
setNumCmdsToSend(msgRC.getCommandCount() + getNumCmdsToSend());
// If it is not already started, kick off the "SendMessages" method.
launchProcessQueues();
break;
case CNCRMSG_TYPE.MOVE:
case CNCRMSG_TYPE.PING:
case CNCRMSG_TYPE.SET_SPEED:
case CNCRMSG_TYPE.START_QUEUE:
case CNCRMSG_TYPE.TOOL_CMD:
// We should not be receiving any of these messages.
DisplayData("Received a valid message that should not have " +
"been sent by the router. " + msg.ToString() + "\n");
break;
default:
throw new ArgumentException("CNCRMessage has an invalid type");
}
}
