public void TestForMotorControllerDisconnectionWhileInUse()
{
Console.WriteLine("Please ensure that the Motor controller ('mcon') is connected for this test. Press ENTER when ready");
Console.ReadLine();
ArduinoCommsBase motorArduino = new MotorControllerArduino(mLogger);
TestDelegate connectDel = new TestDelegate(delegate() { motorArduino.StartArduinoComms(); });
Assert.DoesNotThrow(connectDel);
Assert.IsTrue(motorArduino.IsConnected);
motorArduino.ToggleHeartbeat(true, 500, 3);
Console.WriteLine(string.Format("Arduino {0} has now been connected. The test will validate behaviour when it is unplugged. Uplug the arduino to continue", motorArduino.ArduinoID));
System.Threading.ManualResetEvent disconnectEvent = new System.Threading.ManualResetEvent(false);
motorArduino.Disconnected += delegate(ArduinoCommsBase ard)
{
disconnectEvent.Set();
};
disconnectEvent.WaitOne();
Assert.IsFalse(motorArduino.IsConnected);
Assert.DoesNotThrow(delegate() { motorArduino.StopArduinoComms(true); });
}
static void Main(string[] args)
{
mTelemetryBroadcastTimer = new Timer(kTelemetryBroadcastPeriod);
mTelemetryBroadcastTimer.AutoReset = true;
mTelemetryBroadcastTimer.Elapsed += OnTelemetryPublishAlarm;
mTelemetryBroadcastTimer.Start();
string fileName = string.Format("Arduino-comms-{0}.txt", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
ProsthesisCore.Utility.Logger logger = new ProsthesisCore.Utility.Logger(fileName, true);
System.DateTime start = System.DateTime.Now;
string telemFileName = string.Format("Arduino-telem-{0}.csv", System.DateTime.Now.ToString("dd MM yyyy HH-mm-ss"));
System.IO.TextWriter writer = new System.IO.StreamWriter(telemFileName);
ArduinoCommsBase.InitializeSerialConnections(logger);
MotorControllerArduino test = new MotorControllerArduino(logger);
writer.WriteLine("Timestamp(ms), Duty Cycle 1, Duty Cycle 2, Pressure 1, pressure 2, P, I, D");
test.TelemetryUpdate += new Action<ProsthesisCore.Telemetry.ProsthesisTelemetry.ProsthesisMotorTelemetry>(delegate(ProsthesisCore.Telemetry.ProsthesisTelemetry.ProsthesisMotorTelemetry obj) {
double ts = (System.DateTime.Now - start).Duration().TotalMilliseconds;
mTelem.MotorTelem = obj;
string telemRow = string.Format("{0},{1},{2},{3},{4},{5},{6},{7},{8},{9}", ts, obj.MotorDutyCycles[1],obj.MotorDutyCycles[0], obj.OutputPressure[1], obj.OutputPressure[0], obj.ProportionalTunings[1], obj.IntegralTunings[1], obj.DifferentialTunings[1], obj.PressureSetPoints[0], obj.PressureSetPoints[1]);
Console.WriteLine(telemRow);
writer.WriteLine(telemRow);
});
bool telemEnable = false;
bool arduinoState = false;
if (test.StartArduinoComms())
{
Console.WriteLine("Press 'x' to exit. 'T' to enable telemetry, 'E' to toggle device state");
ConsoleKey key = ConsoleKey.A;
test.ToggleHeartbeat(true, 1000, 3);
do
{
System.Threading.Thread.Sleep(16);
if (Console.KeyAvailable)
{
key = Console.ReadKey().Key;
if (key == ConsoleKey.T)
{
telemEnable = !telemEnable;
test.TelemetryToggle(telemEnable ? 25 : 0);
}
else if (key == ConsoleKey.E)
{
arduinoState = !arduinoState;
test.ToggleArduinoState(arduinoState);
}
}
}
while (key != ConsoleKey.X && test.IsConnected);
test.StopArduinoComms(true);
}
else
{
Console.WriteLine("Failed to connect to the correct Arduino. Press any key to exit");
do
{
System.Threading.Thread.Sleep(16);
}
while (!Console.KeyAvailable);
}
mTelemetryBroadcastTimer.Start();
writer.Close();
logger.ShutDown();
}
