public void DataArrayAddGetBits()
{
ProtocolArray array = new ProtocolArray();
array.SetBits(0, 10, 421);
array.SetBits(0, 10, 751);
array.SetBits(0, 10, 637);
array.SetBits(0, 2, 3);
Assert.AreEqual(32, array.Position);
array.Position = 0;
Assert.AreEqual(array.GetBits(0, 4), (uint)5);
Assert.AreEqual(array.GetBits(0, 4), (uint)10);
Assert.AreEqual(array.GetBits(0, 4), (uint)13);
Assert.AreEqual(array.GetBits(0, 4), (uint)11);
Assert.AreEqual(array.GetBits(0, 4), (uint)11);
Assert.AreEqual(array.GetBits(0, 4), (uint)13);
Assert.AreEqual(array.GetBits(0, 4), (uint)7);
Assert.AreEqual(array.GetBits(0, 4), (uint)14);
array.Position = 0;
Assert.AreEqual(array.GetBits(0, 10), (uint)421);
Assert.AreEqual(array.GetBits(0, 10), (uint)751);
Assert.AreEqual(array.GetBits(0, 10), (uint)637);
Assert.AreEqual(array.GetBits(0, 2), (uint)3);
Assert.AreEqual(array[0], 165);
Assert.AreEqual(array[1], 189);
Assert.AreEqual(array[2], 219);
Assert.AreEqual(array[3], 231);
}
public void DataArrayAddMultipleBitsCorrectRange2()
{
ProtocolArray array = new ProtocolArray();
array.SetBits(0, 1, 1);
array.SetBits(0, 5, 20);
Assert.AreEqual(41, BitConverter.ToInt32(array.Data, 0));
}
public void DataArrayPositionAfterAddWithOffSetTest()
{
ProtocolArray array = new ProtocolArray();
array.SetBits(1, 4, 123456);
Assert.AreEqual(4, array.Position);
}
public virtual void UpdateVelocityRequest(ProtocolArray requestData)
{
int speed = Velocity;
speed = ((Math.Abs(speed) & 0xFF) << 1 | -(Math.Sign(speed) >> 1)) << 1 | (Enabled.ToInt() & 0x01);
requestData.SetBits(1, 10, (uint)speed);
}
public void DataArrayAddBitsRangeOverflow()
{
uint value = 16;
ProtocolArray array = new ProtocolArray();
array.SetBits(0, 4, value);
Assert.AreNotEqual(value, BitConverter.ToInt32(array.Data, 0));
}
public void DataArrayAddBitsCorrectRange()
{
uint value = 15;
ProtocolArray array = new ProtocolArray();
array.SetBits(0, 4, value);
Assert.AreEqual(value, BitConverter.ToUInt32(array.Data, 0));
}
public override TimeSpan?InitializeSensorRequest(ProtocolArray requestData)
{
TimeSpan?result = base.InitializeSensorRequest(requestData);
//I2C setup
if (SensorType == SensorType.I2C || SensorType == SensorType.I2C_9V || SensorType == SensorType.ULTRASONIC_CONT)
{
requestData.SetBits(3, 8, Speed);
requestData.SetBits(3, 3, (uint)(I2CData.Count > 8 ? 8 : (I2CData.Count < 1 ? 1 : I2CData.Count)) - 1);
foreach (I2CData device in I2CData)
{
requestData.SetBits(3, 7, (uint)(device.Address >> 1));
requestData.SetBits(3, 2, (uint)device.Setting);
if ((device.Setting & Const.BIT_I2C_SAME) == Const.BIT_I2C_SAME)
{
requestData.SetBits(3, 4, (uint)device.WriteBytes);
requestData.SetBits(3, 4, (uint)device.ReadBytes);
for (int out_byte = 0; out_byte < device.WriteBytes; out_byte++)
{
requestData.SetBits(3, 8, (uint)device.WriteData[out_byte]);
}
}
}
}
return(result);
}
public void DataArraySetGetSingleBitTest()
{
ProtocolArray array = new ProtocolArray(8);
array.SetBits(0, 1, 1);
Assert.AreEqual(1, BitConverter.ToInt32(array.Data, 0));
array.Position = 0;
Assert.AreEqual(1, (int)array.GetBits(0, 1));
}
public virtual void UpdateEncoderRequest(ProtocolArray requestData)
{
if (EncoderOffset != 0)
{
if (0 == encoderOffsetCache)
{
encoderOffsetBits = ProtocolArray.SignificantBits((uint)Math.Abs(EncoderOffset));
encoderOffsetMask = (byte)((encoderOffsetBits << 1) + 1);
encoderOffsetBits++;
encoderOffsetCache = (Math.Abs(EncoderOffset) << 1) | -(Math.Sign(EncoderOffset) >> 1); //odd numbers are negative speed/backward direction
}
requestData.SetBits(1, 6, encoderOffsetMask);
requestData.SetBits(1, encoderOffsetBits, (uint)encoderOffsetCache);
}
else
{
requestData.SetBits(1, 1, 0);
}
}
public override void UpdateSensorRequest(ProtocolArray requestData)
{
base.UpdateSensorRequest(requestData);
int arduinoPort = (int)SensorPort.ArduinoPort();
if ((SensorType == SensorType.I2C) ||
(SensorType == SensorType.I2C_9V) ||
(SensorType == SensorType.ULTRASONIC_CONT))
{
foreach (I2CData device in I2CData)
{
if ((device.Setting & Const.BIT_I2C_SAME) != Const.BIT_I2C_SAME)
{
requestData.SetBits(1, 4, (uint)device.WriteBytes);
requestData.SetBits(1, 4, (uint)device.ReadBytes);
for (int out_byte = 0; out_byte < device.WriteBytes; out_byte++)
{
requestData.SetBits(1, 8, (uint)device.WriteData[out_byte]);
}
}
}
}
}
public void DataArrayAddMultipleBitsCorrectRange()
{
//byte offset = 3;
for (byte offset = 1; offset < 16; offset++)
{
UInt64 result = 0;
ProtocolArray array = new ProtocolArray();
for (int i = 0; i < 8; i++)
{
array.SetBits(0, offset, 1);
//array.AddBits(0, 0, offset, 1);
result += ((ulong)1 << (offset * i));
Assert.AreEqual(result, BitConverter.ToUInt64(array.Data, 0), string.Format("Failed at offset {0} in step {1}", offset, i));
}
}
}