public void BrickUpdater_0E_00_Update_Test_001()
{
var Command = new Command_0E_00();
Command.ResData = new byte[8];
Command.ResData[4] = 0x00;
Command.ResData[5] = 0x01;
Command.ResData[6] = 0x02;
Command.ResData[7] = 0x03;
var Updater = new BrickUpdater_0E_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.AreEqual(Ev3Device.INPORT.INPORT_1, Brick.SensorDevice(0).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_2, Brick.SensorDevice(1).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_3, Brick.SensorDevice(2).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_4, Brick.SensorDevice(3).ConnectedPort);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(0).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC,
Brick.SensorDevice(1).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(2).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_TOUCH,
Brick.SensorDevice(3).DeviceType);
Assert.IsFalse(Brick.SensorDevice(0).IsConnected);
Assert.IsTrue(Brick.SensorDevice(1).IsConnected);
Assert.IsTrue(Brick.SensorDevice(2).IsConnected);
Assert.IsTrue(Brick.SensorDevice(3).IsConnected);
}
public void BrickUpdater_10_01_Update_Test_002()
{
var Command = new Command_10_01();
Command.ResData = new byte[12];
Command.ResData[4] = 0x01;
Command.ResData[5] = 0x01;
Command.ResData[6] = 0x01;
Command.ResData[7] = 0x02;
Command.ResData[8] = 0x01;
Command.ResData[9] = 0x03;
Command.ResData[10] = 0x01;
Command.ResData[11] = 0x04;
var Updater = new BrickUpdater_10_01();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.IsTrue(Brick.MotorDevice(0).IsConnected);
Assert.IsTrue(Brick.MotorDevice(1).IsConnected);
Assert.IsTrue(Brick.MotorDevice(2).IsConnected);
Assert.IsTrue(Brick.MotorDevice(3).IsConnected);
Assert.AreEqual(1, Brick.MotorDevice(0).Power);
Assert.AreEqual(2, Brick.MotorDevice(1).Power);
Assert.AreEqual(3, Brick.MotorDevice(2).Power);
Assert.AreEqual(4, Brick.MotorDevice(3).Power);
}
public void BrickDataUpdater_UpdateMotorViewModel_Test_010()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice1 = new Ev3MotorDevice();
var MotorDevice2 = new Ev3MotorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
}
MotorDevice1.Power = 13;
MotorDevice2.Power = 23;
Brick.MotorDeviceArray[2] = MotorDevice1;
Brick.MotorDeviceArray[3] = MotorDevice2;
Updater.UpdateMotorViewModel(ViewModel);
Assert.IsFalse(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsTrue(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.AreEqual(13, ViewModel.MotorViewModelArray[2].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[2].CurrentOutputUnit);
Assert.IsTrue(ViewModel.MotorViewModelArray[3].IsConnected);
Assert.AreEqual(23, ViewModel.MotorViewModelArray[3].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[3].CurrentOutputUnit);
}
public void BrickDataUpdater_UpdateSensorViewModel_Test_004()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var SensorDevice = new Ev3SensorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.SensorViewModelArray[index] = new Ev3SensorDeviceViewModel();
}
SensorDevice.ConnectedPort = Ev3Device.INPORT.INPORT_4;
SensorDevice.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC;
SensorDevice.Value1 = 10;
SensorDevice.Value2 = 11;
SensorDevice.Value3 = 12;
Brick.SensorDeviceArray[3] = SensorDevice;
Updater.UpdateSensorViewModel(ViewModel);
Assert.IsFalse(ViewModel.SensorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[2].IsConnected);
Assert.IsTrue(ViewModel.SensorViewModelArray[3].IsConnected);
Assert.AreEqual("PORT_4", ViewModel.SensorViewModelArray[3].PortName);
Assert.AreEqual("ULTRASONIC", ViewModel.SensorViewModelArray[3].DeviceName);
Assert.AreEqual(10, ViewModel.SensorViewModelArray[3].SensorValue1);
Assert.AreEqual(11, ViewModel.SensorViewModelArray[3].SensorValue2);
Assert.AreEqual(12, ViewModel.SensorViewModelArray[3].SensorValue3);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue1Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue2Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[3].SensorValue3Unit);
}
public void BrickUpdater_0C_00_Update_Test_002()
{
var Command = new Command_0C_00();
Command.ResData = new byte[8];
Command.ResData[4] = 0xFE;
Command.ResData[5] = 0xFF;
Command.ResData[6] = 0x04;
Command.ResData[7] = 0x00;
var Updater = new BrickUpdater_0C_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.AreEqual(Ev3Device.OUTPORT.OUTPORT_A, Brick.MotorDevice(0).ConnectedPort);
Assert.AreEqual(Ev3Device.OUTPORT.OUTPORT_B, Brick.MotorDevice(1).ConnectedPort);
Assert.AreEqual(Ev3Device.OUTPORT.OUTPORT_C, Brick.MotorDevice(2).ConnectedPort);
Assert.AreEqual(Ev3Device.OUTPORT.OUTPORT_D, Brick.MotorDevice(3).ConnectedPort);
Assert.AreEqual(DEVICE_TYPE.MOTOR_DEVICE_UNKNOWN, Brick.MotorDevice(0).DeviceType);
Assert.AreEqual(DEVICE_TYPE.MOTOR_DEVICE_UNKNOWN, Brick.MotorDevice(1).DeviceType);
Assert.AreEqual(DEVICE_TYPE.MOTOR_DEVICE_UNKNOWN, Brick.MotorDevice(2).DeviceType);
Assert.AreEqual("PORT_A", Brick.MotorDevice(0).Port);
Assert.AreEqual("PORT_B", Brick.MotorDevice(1).Port);
Assert.AreEqual("PORT_C", Brick.MotorDevice(2).Port);
Assert.AreEqual("Unknown", Brick.MotorDevice(0).Device);
Assert.AreEqual("Unknown", Brick.MotorDevice(1).Device);
Assert.AreEqual("Unknown", Brick.MotorDevice(2).Device);
Assert.IsFalse(Brick.MotorDevice(0).IsConnected);
Assert.IsFalse(Brick.MotorDevice(1).IsConnected);
Assert.IsFalse(Brick.MotorDevice(2).IsConnected);
}
public void BrickUpdater_0E_00_Update_Test_002()
{
var Command = new Command_0E_00();
Command.ResData = new byte[8];
Command.ResData[4] = 0x04;
Command.ResData[5] = 0x05;
Command.ResData[6] = 0x06;
Command.ResData[7] = 0xFF;
var Updater = new BrickUpdater_0E_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.AreEqual(Ev3Device.INPORT.INPORT_1, Brick.SensorDevice(0).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_2, Brick.SensorDevice(1).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_3, Brick.SensorDevice(2).ConnectedPort);
Assert.AreEqual(Ev3Device.INPORT.INPORT_4, Brick.SensorDevice(3).ConnectedPort);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR,
Brick.SensorDevice(0).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_HT_NXT_ACCEL,
Brick.SensorDevice(1).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NXT_TEMP,
Brick.SensorDevice(2).DeviceType);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_UNKNOWN,
Brick.SensorDevice(3).DeviceType);
Assert.IsTrue(Brick.SensorDevice(0).IsConnected);
Assert.IsTrue(Brick.SensorDevice(1).IsConnected);
Assert.IsTrue(Brick.SensorDevice(2).IsConnected);
Assert.IsFalse(Brick.SensorDevice(3).IsConnected);
}
public void BrickUpdater_50_00_Update_Test_005()
{
var Command = new Command_50_00();
Command.ResData = new byte[11];
Command.ResData[4] = 0x02;
Command.ResData[5] = 0x00;
Command.ResData[6] = 0x00;
Command.ResData[7] = 0x00;
Command.ResData[8] = 0x01;
Command.ResData[9] = 0xFF;
Command.ResData[10] = 0x7F;
var Updater = new BrickUpdater_50_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.IsTrue(Brick.SensorDevice(0).IsConnected);
Assert.AreEqual((Ev3SensorDevice.INPORT) 0, Brick.SensorDevice(0).ConnectedPort);
Assert.AreEqual(0x0000, Brick.SensorDevice(0).Value1);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(0).DeviceType);
Assert.AreEqual((Ev3SensorDevice.INPORT) 1, Brick.SensorDevice(1).ConnectedPort);
Assert.AreEqual(0x7FFF, Brick.SensorDevice(1).Value1);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(1).DeviceType);
}
public void EV3Brick_SensorDevice_Test_004()
{
var Brick = Ev3Brick.GetInstance();
var SensorDevice = Brick.SensorDevice(4);
Assert.IsNull(SensorDevice);
}
public void BrickDataUpdater_UpdateMotorViewModel_Test_003()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice = new Ev3MotorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
}
MotorDevice.ConnectedPort = Ev3Device.OUTPORT.OUTPORT_C;
MotorDevice.DeviceType = Ev3MotorDevice.DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR;
MotorDevice.Power = 12;
Brick.MotorDeviceArray[2] = MotorDevice;
Updater.UpdateMotorViewModel(ViewModel);
Assert.IsFalse(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsTrue(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.AreEqual("PORT_C", ViewModel.MotorViewModelArray[2].PortName);
Assert.AreEqual("LARGE MOTOR", ViewModel.MotorViewModelArray[2].DeviceName);
Assert.AreEqual(12, ViewModel.MotorViewModelArray[2].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[2].CurrentOutputUnit);
Assert.IsFalse(ViewModel.MotorViewModelArray[3].IsConnected);
}
public void BrickUpdater_20_00_Update_Test_007()
{
var Command = new Command_20_00();
Command.ResData = new byte[11];
Command.ResData[4] = 0x02;
Command.ResData[5] = 0x00;
Command.ResData[6] = 0x55;
Command.ResData[7] = 0xAA;
Command.ResData[8] = 0x03;
Command.ResData[9] = 0x55;
Command.ResData[10] = 0x66;
var Updater = new BrickUpdater_20_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.IsTrue(Brick.SensorDevice(0).IsConnected);
Assert.AreEqual((Ev3Device.INPORT) 0x00, (Brick.SensorDevice(0).ConnectedPort));
Assert.AreEqual(0xAA55, (Brick.SensorDevice(0).Value1));
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC,
Brick.SensorDevice(0).DeviceType);
Assert.IsFalse(Brick.SensorDevice(1).IsConnected);
Assert.IsFalse(Brick.SensorDevice(2).IsConnected);
Assert.IsTrue(Brick.SensorDevice(3).IsConnected);
Assert.AreEqual((Ev3Device.INPORT) 0x03, (Brick.SensorDevice(3).ConnectedPort));
Assert.AreEqual(0x6655, (Brick.SensorDevice(3).Value1));
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC,
Brick.SensorDevice(3).DeviceType);
}
public void ConnectStateChangedCallback(object sender, EventArgs e)
{
Console.WriteLine("Connection State chagned.");
if (e is ConnectStateChangedEventArgs)
{
var Arg = e as ConnectStateChangedEventArgs;
if (Arg.NewValue.State.Equals(ConnectionState.Connected))
{
Ev3Brick.ResetInstance();
this.UpdateTimer.Interval = 50;
this.UpdateTimer.Elapsed += UpdateTimerEvent;
this.UpdateTimer.Start();
}
else if (Arg.NewValue.State.Equals(ConnectionState.Disconnected))
{
try
{
this.UpdateTimer.Stop();
this.UpdateTimer.Elapsed -= this.UpdateTimerEvent;
this.UpdateTimer.Elapsed += this.ResetTimerEvent;
this.UpdateTimer.Interval = 100;
this.UpdateTimer.Start();
Ev3Brick.ResetInstance();
}
catch (NullReferenceException ex)
{
Console.WriteLine(ex.Message);
Console.WriteLine("Timer has not been started.");
}
}
}
}
public void BrickUpdater_20_01_Update_Test_018()
{
var Command = new Command_20_01();
Command.ResData = new byte[9];
Command.ResData[4] = 0x02;
Command.ResData[5] = 0x02;
Command.ResData[6] = 0x00;
Command.ResData[7] = 0x03;
Command.ResData[8] = 0x01;
var Updater = new BrickUpdater_20_01();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.IsFalse(Brick.SensorDevice(0).IsConnected);
Assert.IsFalse(Brick.SensorDevice(1).IsConnected);
Assert.IsTrue(Brick.SensorDevice(2).IsConnected);
Assert.AreEqual((Ev3Device.INPORT) 2, Brick.SensorDevice(2).ConnectedPort);
Assert.AreEqual(0x00, Brick.SensorDevice(2).Value2);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC,
Brick.SensorDevice(2).DeviceType);
Assert.IsTrue(Brick.SensorDevice(3).IsConnected);
Assert.AreEqual((Ev3Device.INPORT) 3, Brick.SensorDevice(3).ConnectedPort);
Assert.AreEqual(0x01, Brick.SensorDevice(3).Value2);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_ULTRASONIC,
Brick.SensorDevice(2).DeviceType);
}
public void Ev3PortViewModel_DataSendAndReceivedFinishedCallback_Test_007()
{
var Command = new Command_10_00();
Command.ResData = new byte[12];
Command.ResData[0] = Command.Res;
Command.ResData[1] = Command.SubRes;
Command.ResData[2] = 0x00;
Command.ResData[3] = 0x08;
Command.ResData[4] = 0x01;
Command.ResData[5] = 0x10;
Command.ResData[6] = 0x00;
Command.ResData[7] = 0x03;
Command.ResData[8] = 0x00;
Command.ResData[9] = 0x01;
Command.ResData[10] = 0x01;
Command.ResData[11] = 0x20;
var Args = new NotifySendReceiveDataEventArgs(Command);
this.TestVM.DataSendAndReceivedFinishedCallback(this, Args);
Assert.IsTrue(Ev3Brick.GetInstance().MotorDevice(0).IsConnected);
Assert.AreEqual(0x10, Ev3Brick.GetInstance().MotorDevice(0).Power);
Assert.IsFalse(Ev3Brick.GetInstance().MotorDevice(1).IsConnected);
Assert.IsFalse(Ev3Brick.GetInstance().MotorDevice(2).IsConnected);
Assert.IsTrue(Ev3Brick.GetInstance().MotorDevice(3).IsConnected);
Assert.AreEqual(0x20, Ev3Brick.GetInstance().MotorDevice(3).Power);
}
public void Ev3PortViewModel_DataSendAndReceivedFinishedCallback_Test_006()
{
var Command = new Command_0E_00();
Command.ResData = new byte[8];
Command.ResData[0] = Command.Res;
Command.ResData[1] = Command.SubRes;
Command.ResData[2] = 0x00;
Command.ResData[3] = 0x04;
Command.ResData[4] = 0x00;
Command.ResData[5] = 0x01;
Command.ResData[6] = 0x02;
Command.ResData[7] = 0x03;
var Args = new NotifySendReceiveDataEventArgs(Command);
this.TestVM.DataSendAndReceivedFinishedCallback(this, Args);
Assert.AreEqual((Ev3SensorDevice.DEVICE_TYPE) 0x00,
Ev3Brick.GetInstance().SensorDevice(0).DeviceType);
Assert.AreEqual((Ev3SensorDevice.DEVICE_TYPE) 0x01,
Ev3Brick.GetInstance().SensorDevice(1).DeviceType);
Assert.AreEqual((Ev3SensorDevice.DEVICE_TYPE) 0x02,
Ev3Brick.GetInstance().SensorDevice(2).DeviceType);
Assert.AreEqual((Ev3SensorDevice.DEVICE_TYPE) 0x03,
Ev3Brick.GetInstance().SensorDevice(3).DeviceType);
}
public void BrickUpdater_50_00_Update_Test_005()
{
var Command = new Command_50_01();
Command.ResData = new byte[11];
Command.ResData[4] = 0x02;
Command.ResData[5] = 0x03;
Command.ResData[6] = 0x00;
Command.ResData[7] = 0x80;
Command.ResData[8] = 0x02;
Command.ResData[9] = 0xAA;
Command.ResData[10] = 0x55;
var Updater = new BrickUpdater_50_01();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.IsTrue(Brick.SensorDevice(3).IsConnected);
Assert.AreEqual((Ev3SensorDevice.INPORT) 3, Brick.SensorDevice(3).ConnectedPort);
Assert.AreEqual(-32768, Brick.SensorDevice(3).Value2);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(3).DeviceType);
Assert.IsTrue(Brick.SensorDevice(2).IsConnected);
Assert.AreEqual((Ev3SensorDevice.INPORT) 2, Brick.SensorDevice(2).ConnectedPort);
Assert.AreEqual(0x55AA, Brick.SensorDevice(2).Value2);
Assert.AreEqual(Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(2).DeviceType);
}
public void EV3Brick_MotorDevice_Test_004()
{
var Brick = Ev3Brick.GetInstance();
var Device = Brick.MotorDevice(4);
Assert.IsNull(Device);
}
public void EV3Brick_MotorDevice_Test_002()
{
var Brick = Ev3Brick.GetInstance();
var Device = Brick.MotorDevice(3);
Assert.AreEqual(0, Device.Power);
Assert.AreEqual(0, Device.Counts);
}
public void EV3Brick_SensorDevice_Test_002()
{
var Brick = Ev3Brick.GetInstance();
var SensorDevice = Brick.SensorDevice(3);
Assert.AreEqual(0, SensorDevice.Value1);
Assert.AreEqual(0, SensorDevice.Value2);
Assert.AreEqual(0, SensorDevice.Value3);
}
/// <summary>
/// Update command param, steering output value.
/// </summary>
/// <param name="CommandParam">CommandParam object contains Steering value to set.</param>
public override void UpdateCmdData(ICommandParam CommandParam = null)
{
if (null == CommandParam)
{
var Brick = Ev3Brick.GetInstance();
int Steer = Brick.Output.Steering;
CommandParam = new CommandParam_16_00(Steer);
}
this.SetUp(CommandParam);
}
/// <summary>
/// Update command param, motor output.
/// </summary>
/// <param name="CommandParam"></param>
public override void UpdateCmdData(ICommandParam CommandParam = null)
{
if (null == CommandParam)
{
var Brick = Ev3Brick.GetInstance();
byte Output = Convert.ToByte(Math.Abs(Brick.Output.MotorOutput));
byte Direction = (byte)(Brick.Output.MotorOutput > 0 ? 1 : 0);
CommandParam = new CommandParam_12_00(Output, Direction);
}
this.SetUp(CommandParam);
}
public async Task <string> ConnectBrick()
{
try
{
await Ev3Brick.ConnectAsync();
return("Brick Connected");
}
catch (Exception ex)
{
throw new Exception(ex.Message);
}
}
public void BrickUpdater_06_00_Update_Test_005()
{
var Command = new Command_06_00();
Command.ResData = new byte[5];
Command.ResData[4] = 0x04;
var Brick = Ev3Brick.GetInstance();
var Updater = new BrickUpdater_06_00();
Updater.Update(Command, Brick);
Assert.AreEqual(SafeState.SAFE_STATE.SAFE_STATE_UNKNOWN, Brick.State.State);
Assert.AreEqual("ERROR", Brick.State.StateName);
}
public void BrickUpdater_F0_00_Update_Test_005()
{
var Command = new Command_F0_00();
Command.ResData = new byte[16];
Command.ResData[0] = 0xF1;
Command.ResData[1] = 0x00;
Command.ResData[2] = 0x00;
Command.ResData[3] = 0x0C;
Command.ResData[4] = 0x50;
Command.ResData[5] = 0x04;
Command.ResData[6] = 0x02;
Command.ResData[7] = 0x03;
Command.ResData[8] = 0x04;
Command.ResData[9] = 0x05;
Command.ResData[10] = 0x00;
Command.ResData[11] = 0x00;
Command.ResData[12] = 0x00;
Command.ResData[13] = 0x00;
Command.ResData[14] = 0x00;
Command.ResData[15] = 0x00;
var Brick = Ev3Brick.GetInstance();
var Updater = new BrickUpdater_F0_00();
Updater.Update(Command, Brick);
ushort ExpectedAngle = 0x0302;
ushort ExpectedApeed = 0x0504;
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_GYRO,
Brick.SensorDevice(0).DeviceType);
Assert.IsTrue(Brick.SensorDevice(0).IsConnected);
Assert.AreEqual((int)((short)ExpectedAngle), Brick.SensorDevice(0).Value1);
Assert.AreEqual((int)((short)ExpectedApeed), Brick.SensorDevice(0).Value2);
Assert.AreEqual(0, Brick.SensorDevice(0).Value3);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(1).DeviceType);
Assert.IsFalse(Brick.SensorDevice(1).IsConnected);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(2).DeviceType);
Assert.IsFalse(Brick.SensorDevice(2).IsConnected);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(3).DeviceType);
Assert.IsFalse(Brick.SensorDevice(3).IsConnected);
}
public void BrickUpdater_F0_00_Update_Test_003()
{
var Command = new Command_F0_00();
Command.ResData = new byte[15];
Command.ResData[0] = 0xF1;
Command.ResData[1] = 0x00;
Command.ResData[2] = 0x00;
Command.ResData[3] = 0x0B;
Command.ResData[4] = 0x30;
Command.ResData[5] = 0x03;
Command.ResData[6] = 0xAA;
Command.ResData[7] = 0x07;
Command.ResData[8] = 0x55;
Command.ResData[9] = 0x00;
Command.ResData[10] = 0x00;
Command.ResData[11] = 0x00;
Command.ResData[12] = 0x00;
Command.ResData[13] = 0x00;
Command.ResData[14] = 0x00;
var Brick = Ev3Brick.GetInstance();
var Updater = new BrickUpdater_F0_00();
Updater.Update(Command, Brick);
ushort ExpectedAmbient = 0xAA;
ushort ExpectedReflect = 0x55;
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR,
Brick.SensorDevice(0).DeviceType);
Assert.IsTrue(Brick.SensorDevice(0).IsConnected);
Assert.AreEqual((int)((short)(ExpectedAmbient)), Brick.SensorDevice(0).Value1);
Assert.AreEqual(7, Brick.SensorDevice(0).Value2);
Assert.AreEqual((int)((short)(ExpectedReflect)), Brick.SensorDevice(0).Value3);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(1).DeviceType);
Assert.IsFalse(Brick.SensorDevice(1).IsConnected);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(2).DeviceType);
Assert.IsFalse(Brick.SensorDevice(2).IsConnected);
Assert.AreEqual(
Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_NO_DEVICE,
Brick.SensorDevice(3).DeviceType);
Assert.IsFalse(Brick.SensorDevice(3).IsConnected);
}
public void BrickUpdater_02_00_Update_Test_002()
{
var Command = new Command_04_00();
Command.ResData = new byte[6];
Command.ResData[4] = 0xAA;
Command.ResData[5] = 0x55;
var Updater = new BrickUpdater_02_00();
var Brick = Ev3Brick.GetInstance();
Updater.Update(Command, Brick);
Assert.AreEqual(0x00, Brick.Version.Major);
Assert.AreEqual(0x00, Brick.Version.Minor);
}
public void EV3Brick_MotorDevice_Test_001()
{
var Brick = Ev3Brick.GetInstance();
var Device = Brick.MotorDevice(0);
Assert.AreEqual(0, Device.Power);
Assert.AreEqual(0, Device.Counts);
Device.Power = 1;
Device.Counts = 2;
var SensorDevice2 = Brick.SensorDevice(0);
Assert.AreEqual(1, Device.Power);
Assert.AreEqual(2, Device.Counts);
}
public void BrickDataUpdater_UpdateViewModel_Test_001()
{
var Updater = new BrickDataUpdater();
var ViewModel = new Ev3ControllerMainViewModel();
var MotorDevice = new Ev3MotorDevice();
var SensorDevice = new Ev3SensorDevice();
var Brick = Ev3Brick.GetInstance();
for (int index = 0; index < 4; index++)
{
ViewModel.MotorViewModelArray[index] = new Ev3MotorDeviceViewModel();
ViewModel.SensorViewModelArray[index] = new Ev3SensorDeviceViewModel();
}
MotorDevice.ConnectedPort = Ev3Device.OUTPORT.OUTPORT_A;
MotorDevice.DeviceType = Ev3MotorDevice.DEVICE_TYPE.MOTOR_DEVICE_LARGE_MOTOR;
MotorDevice.Power = 10;
Brick.MotorDeviceArray[0] = MotorDevice;
SensorDevice.ConnectedPort = Ev3Device.INPORT.INPORT_1;
SensorDevice.DeviceType = Ev3SensorDevice.DEVICE_TYPE.SENSOR_DEVICE_COLOR;
SensorDevice.Value1 = 10;
SensorDevice.Value2 = 11;
SensorDevice.Value3 = 12;
Brick.SensorDeviceArray[0] = SensorDevice;
Updater.UpdateViewModel(ViewModel);
Assert.IsTrue(ViewModel.MotorViewModelArray[0].IsConnected);
Assert.AreEqual("PORT_A", ViewModel.MotorViewModelArray[0].PortName);
Assert.AreEqual("LARGE MOTOR", ViewModel.MotorViewModelArray[0].DeviceName);
Assert.AreEqual(10, ViewModel.MotorViewModelArray[0].CurrentOutput);
Assert.AreEqual("%", ViewModel.MotorViewModelArray[0].CurrentOutputUnit);
Assert.IsFalse(ViewModel.MotorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[2].IsConnected);
Assert.IsFalse(ViewModel.MotorViewModelArray[3].IsConnected);
Assert.IsTrue(ViewModel.SensorViewModelArray[0].IsConnected);
Assert.AreEqual("PORT_1", ViewModel.SensorViewModelArray[0].PortName);
Assert.AreEqual("COLOR", ViewModel.SensorViewModelArray[0].DeviceName);
Assert.AreEqual(10, ViewModel.SensorViewModelArray[0].SensorValue1);
Assert.AreEqual(11, ViewModel.SensorViewModelArray[0].SensorValue2);
Assert.AreEqual(12, ViewModel.SensorViewModelArray[0].SensorValue3);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue1Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue2Unit);
Assert.AreEqual("", ViewModel.SensorViewModelArray[0].SensorValue3Unit);
Assert.IsFalse(ViewModel.SensorViewModelArray[1].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[2].IsConnected);
Assert.IsFalse(ViewModel.SensorViewModelArray[3].IsConnected);
}
public void Ev3PortViewModel_DataSendAndReceivedFinishedCallback_Test_015()
{
var Command = new Command_A0_00();
Command.ResData = new byte[5];
Command.ResData[0] = Command.Res;
Command.ResData[1] = Command.SubRes;
Command.ResData[2] = 0x00;
Command.ResData[3] = 0x01;
Command.ResData[4] = 0x03;
var Args = new NotifySendReceiveDataEventArgs(Command);
this.TestVM.DataSendAndReceivedFinishedCallback(this, Args);
Assert.AreEqual((SafeState.SAFE_STATE) 0x03, Ev3Brick.GetInstance().State.State);
}
public void BrickUpdater_04_00_Update_Test_004()
{
var Command = new Command_04_00();
Command.ResData = new byte[8];
Command.ResData[4] = 0xFF;
Command.ResData[5] = 0x7F;
Command.ResData[6] = 0x00;
Command.ResData[7] = 0x00;
var Brick = Ev3Brick.GetInstance();
var Updater = new BrickUpdater_04_00();
Updater.Update(Command, Brick);
Assert.AreEqual(32767, Brick.Battery.Voltage);
Assert.AreEqual(0, Brick.Battery.Current);
}
public void BrickUpdater_04_00_Update_Test_001()
{
var Command = new Command_04_00();
Command.ResData = new byte[8];
Command.ResData[4] = 0x01;
Command.ResData[5] = 0x02;
Command.ResData[6] = 0x03;
Command.ResData[7] = 0x04;
var Brick = Ev3Brick.GetInstance();
var Updater = new BrickUpdater_04_00();
Updater.Update(Command, Brick);
Assert.AreEqual(0x0201, Brick.Battery.Voltage);
Assert.AreEqual(0x0403, Brick.Battery.Current);
}
