private void SendBytes(StateMachine state, IEnumerable<byte> bytes)
{
foreach (byte b in bytes)
{
state.SerialManager(b);
}
}
public void TestAck()
{
StateMachine state = new StateMachine(null);
SendBytes(state, new byte[] { KFlyCommand.SYNC });
Assert.AreEqual(StateMachine.State.ReceivingCommand, state.CurrentState);
Assert.AreEqual(false, state.Ack);
SendBytes(state, new byte[] { (byte)((byte)KFlyCommandType.Ping | KFlyCommand.ACK_BIT) });
Assert.AreEqual(StateMachine.State.ReceivingSize, state.CurrentState);
Assert.AreEqual(true, state.Ack, "Ack should be set to true now");
}
public void TestSuccessfulStates()
{
StateMachine state = new StateMachine(null);
//New machine should be in waitforsync state:
Assert.AreEqual(StateMachine.State.WaitingForSYNC, state.CurrentState);
//Send sync
SendBytes(state, new byte[] { KFlyCommand.SYNC });
//Should be in receive command state
Assert.AreEqual(StateMachine.State.ReceivingCommand, state.CurrentState);
//Send command
SendBytes(state, new byte[] { (byte)KFlyCommandType.DebugMessage });
//Should be in receive size
Assert.AreEqual(StateMachine.State.ReceivingSize, state.CurrentState);
//Send size ()
SendBytes(state, new byte[] { 0x05});
//Should be in receive CRC8 state
Assert.AreEqual(StateMachine.State.ReceivingCRC8, state.CurrentState);
//Send crc8
byte crc8 = CRC8.GenerateCRC(new List<byte>(new byte[] {
KFlyCommand.SYNC, (byte)KFlyCommandType.DebugMessage, 0x05 }));
SendBytes(state, new byte[] { crc8 });
//Should be in receive data state
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
//Send 5 "random" bytes
SendBytes(state, new byte[] { 0x01, 0x02, 0x03, 0x04, 0x05 });
//Should be in receive crc16 state
Assert.AreEqual(StateMachine.State.ReceivingCRC16, state.CurrentState);
//Send crc16
int crc16 = CRC_CCITT.GenerateCRC(new List<byte>(new byte[] { 0x01, 0x02, 0x03, 0x04, 0x05 }));
SendBytes(state, new byte[] { (byte)(crc16>>8), (byte)crc16 });
//Should be in receive sync state again
Assert.AreEqual(StateMachine.State.WaitingForSYNC, state.CurrentState);
}
public void TestReSync()
{
StateMachine state = new StateMachine(null);
SendBytes(state, new byte[] { KFlyCommand.SYNC });
SendBytes(state, new byte[] { (byte)KFlyCommandType.DebugMessage });
SendBytes(state, new byte[] { 0x05 });
byte crc8 = CRC8.GenerateCRC(new List<byte>(new byte[] {
KFlyCommand.SYNC, (byte)KFlyCommandType.DebugMessage, 0x05 }));
SendBytes(state, new byte[] { crc8 });
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
//Send 3 "random" bytes
SendBytes(state, new byte[] { 0x01, 0x02, 0x03 });
//Here something goes wrong and we resync
SendBytes(state, new byte[] { KFlyCommand.SYNC });
SendBytes(state, new byte[] { (byte)KFlyCommandType.DebugMessage });
SendBytes(state, new byte[] { 0x05 });
SendBytes(state, new byte[] { crc8 });
//Should be in receive data state again
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
}
public void Initialize()
{
State = new StateMachine(this);
}
public void Cleanup()
{
State = null;
}
public void TestSyncLikeData()
{
StateMachine state = new StateMachine(null);
SendBytes(state, new byte[] { KFlyCommand.SYNC });
SendBytes(state, new byte[] { (byte)KFlyCommandType.DebugMessage });
SendBytes(state, new byte[] { 0x05 });
byte crc8 = CRC8.GenerateCRC(new List<byte>(new byte[] {
KFlyCommand.SYNC, (byte)KFlyCommandType.DebugMessage, 0x05 }));
SendBytes(state, new byte[] { crc8 });
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
//Send "4" bytes where the 4:th byte is the same as sync so its sent double
SendBytes(state, new byte[] { 0x01, 0x02, 0x03, KFlyCommand.SYNC, KFlyCommand.SYNC});
//Should still wait for the 5:th byte
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
SendBytes(state, new byte[] { 0x05 });
Assert.AreEqual(StateMachine.State.ReceivingCRC16, state.CurrentState);
}
private void SendBytes(StateMachine state, byte[] bytes)
{
foreach (byte b in bytes)
{
state.SerialManager(b);
}
}
public void TestSyncLikeSize()
{
StateMachine state = new StateMachine(null);
SendBytes(state, new byte[] { KFlyCommand.SYNC });
SendBytes(state, new byte[] { (byte)KFlyCommandType.DebugMessage });
SendBytes(state, new byte[] { KFlyCommand.SYNC, KFlyCommand.SYNC });
byte crc8 = CRC8.GenerateCRC(new List<byte>(new byte[] {
KFlyCommand.SYNC, (byte)KFlyCommandType.DebugMessage, KFlyCommand.SYNC }));
SendBytes(state, new byte[] { crc8 });
Assert.AreEqual(StateMachine.State.ReceivingData, state.CurrentState);
}