public void TestProcessMessage_TestInvalidAzElArgs_ElOutOfRange()
{
string command = "1.0 | ORIENTATION_MOVE | AZ 50 | EL 500 | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.ValidationError);
}
public void TestProcessMessage_TestValidStopRT()
{
string command = "1.0 | STOP_RT | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(ParseTCPCommandResultEnum.Success, result.parseTCPCommandResultEnum);
Assert.AreEqual(MovementResult.Success, mvmtResult.movementResult);
}
public void TestProcessMessage_SetOverrideRemGate_RemovesGateOverride()
{
string command = "1.0 | SET_OVERRIDE | MAIN_GATE | FALSE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsFalse(RtController.overrides.overrideGate);
}
public void TestProcessMessage_SetOverrideRemWeather_RemovesWeatherOverride()
{
string command = "1.0 | SET_OVERRIDE | WEATHER_STATION | FALSE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsFalse(ControlRoom.weatherStationOverride);
}
public void TestProcessMessage_SetOverrideRemElMotTemp_RemovesElMotTempOverride()
{
string command = "1.0 | SET_OVERRIDE | ELEVATION_MOT_TEMP | FALSE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsFalse(RtController.overrides.overrideElevatMotTemp);
}
public void TestProcessMessage_SetOverrideSetAzMotTemp_SetsAzMotTempOverride()
{
string command = "1.0 | SET_OVERRIDE | AZIMUTH_MOT_TEMP | TRUE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsTrue(RtController.overrides.overrideAzimuthMotTemp);
}
public void TestProcessMessage_SetOverrideSetElProx0_SetsElProx0Override()
{
string command = "1.0 | SET_OVERRIDE | ELEVATION_LIMIT_0 | TRUE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsTrue(RtController.overrides.overrideElevatProx0);
}
public void TestProcessMessage_SetOverrideSetCounterbalanceAcc_SetsCounterbalanceOverride()
{
string command = "1.0 | SET_OVERRIDE | CB_ACC | TRUE | 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
Assert.AreEqual(mvmtResult.movementResult, MovementResult.Success);
Assert.IsTrue(RtController.overrides.overrideCounterbalanceAccelerometer);
}
public void TestProcessMessage_SensorInit_RebootsSensorNetworkWithNewInit()
{
// Create and start SensorNetwork
RadioTelescope.SensorNetworkServer.StartSensorMonitoringRoutine();
// Build command to disable all sensors and set the timeouts to specific values
byte expectedDisabled = 0;
int expectedDataTimeout = 6;
int expectedInitTimeout = 5;
string command = "1.0 | SENSOR_INIT | " +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDisabled}," +
$"{expectedDataTimeout}," +
$"{expectedInitTimeout}" + "| 12:00:00";
ParseTCPCommandResult result = (ParseTCPCommandResult)PrivListener.Invoke("ParseRLString", command);
ExecuteTCPCommandResult mvmtResult = (ExecuteTCPCommandResult)PrivListener.Invoke("ExecuteRLCommand", new object[] { result.parsedString });
byte[] resultInitBytes = RadioTelescope.SensorNetworkServer.InitializationClient.SensorNetworkConfig.GetSensorInitAsBytes();
int resultDataTimeout = RadioTelescope.SensorNetworkServer.InitializationClient.SensorNetworkConfig.TimeoutDataRetrieval / 1000; // ms to seconds
int resultInitTimeout = RadioTelescope.SensorNetworkServer.InitializationClient.SensorNetworkConfig.TimeoutInitialization / 1000; // ms to seconds
Assert.AreEqual(result.parseTCPCommandResultEnum, ParseTCPCommandResultEnum.Success);
// Verify the init values are as expected
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.ElevationTemp]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.AzimuthTemp]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.ElevationEncoder]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.AzimuthEncoder]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.AzimuthAccelerometer]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.ElevationEncoder]);
Assert.AreEqual(expectedDisabled, resultInitBytes[(int)SensorInitializationEnum.CounterbalanceAccelerometer]);
// Verify init values are as expected
Assert.AreEqual(expectedDataTimeout, resultDataTimeout);
Assert.AreEqual(expectedInitTimeout, resultInitTimeout);
// Bring down the server and delete config
RadioTelescope.SensorNetworkServer.EndSensorMonitoringRoutine();
}
public void TCPMonitoringRoutine()
{
// Buffer for reading data
Byte[] bytes = new Byte[512];
String data = null;
// Enter the listening loop.
while (KeepTCPMonitoringThreadAlive)
{
if (waitingForConn)
{
logger.Debug(Utilities.GetTimeStamp() + ": Waiting for a connection... ");
waitingForConn = false;
}
// Place each command in its own asynchronous thread so that we can run commands in parallel
if (server.Pending())
{
waitingForConn = true;
new Thread(() =>
{
TcpClient client = server.AcceptTcpClient();
logger.Debug(Utilities.GetTimeStamp() + ": TCP Client connected!");
data = null;
// Get a stream object for reading and writing
NetworkStream stream = client.GetStream();
int i;
// Loop to receive all the data sent by the client.
if ((i = readFromStream(stream, bytes)) != 0)
{
// Translate data bytes to ASCII string.
data = Encoding.ASCII.GetString(bytes, 0, i);
logger.Debug(Utilities.GetTimeStamp() + ": Received: " + data);
// Process the data sent by the client.
data = data.ToUpper();
string myWriteBuffer = null;
// Inform mobile command received
writeBackToClient("Received command: " + data, stream);
// if processing the data fails, report an error message
ParseTCPCommandResult parsedTCPCommandResult = ParseRLString(data);
if (parsedTCPCommandResult.parseTCPCommandResultEnum != ParseTCPCommandResultEnum.Success)
{
// send back a failure response
logger.Info("Parsing command failed with ERROR: " + parsedTCPCommandResult.errorMessage);
myWriteBuffer = "Parsing command failed with error: " + parsedTCPCommandResult.errorMessage;
writeBackToClient(myWriteBuffer, stream);
}
// else the parsing was successful, attempt to run the command
else
{
// if script inform which script is running, else just command type
if (parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE] == "SCRIPT")
{
logger.Debug(Utilities.GetTimeStamp() + ": Successfully parsed command " + data + ". Beginning requested movement " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE] + " " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.SCRIPT_NAME] + "...");
string startedCommandMsg = "Successfully parsed command " + data + ". Beginning requested movement " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE] + " " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.SCRIPT_NAME] + "...";
writeBackToClient(startedCommandMsg, stream);
// writeback eta to client
int estMoveTime = ScriptETA(parsedTCPCommandResult.parsedString[TCPCommunicationConstants.SCRIPT_NAME]);
logger.Info("Script " + parsedTCPCommandResult.parsedString[TCPCommunicationConstants.SCRIPT_NAME] +
" has an estimated time of " + estMoveTime + " ms");
writeBackToClient(("Script " + parsedTCPCommandResult.parsedString[TCPCommunicationConstants.SCRIPT_NAME] +
" has an estimated time of " + estMoveTime + " ms"), stream);
}
else
{
logger.Debug(Utilities.GetTimeStamp() + ": Successfully parsed command " + data + ". Beginning requested movement " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE] + "...");
string startedCommandMsg = "Successfully parsed command " + data + ". Beginning requested movement " +
parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE] + "...";
writeBackToClient(startedCommandMsg, stream);
switch (parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE])
{
case "ORIENTATION_MOVE":
try
{
// Attempt to parse double values
double azAbs = Double.Parse(parsedTCPCommandResult.parsedString[TCPCommunicationConstants.ORIENTATION_MOVE_AZ]);
double elAbs = Double.Parse(parsedTCPCommandResult.parsedString[TCPCommunicationConstants.ORIENTATION_MOVE_EL]);
int mvmtTimeAbs = AbsoluteMovementETA(new Orientation(azAbs, elAbs));
writeBackToClient("ORIENTATION_MOVE TO AZ " + azAbs + " and EL " + elAbs + " has an estimated time of " + mvmtTimeAbs + " ms", stream);
}
catch (Exception e)
{
writeBackToClient("An exception occurred attempting to parse AZ and/or EL values: " + e.Message, stream);
}
break;
case "RELATIVE_MOVE":
try
{
// Attempt to parse double values
double azRelative = Double.Parse(parsedTCPCommandResult.parsedString[TCPCommunicationConstants.RELATIVE_MOVE_AZ]);
double elRelative = Double.Parse(parsedTCPCommandResult.parsedString[TCPCommunicationConstants.RELATIVE_MOVE_EL]);
int mvmtTimeRelative = RelativeMovementETA(new Orientation(azRelative, elRelative));
writeBackToClient("RELATIVE_MOVE BY AZ " + azRelative + " and EL " + elRelative + " has an estimated time of " +
mvmtTimeRelative + " ms", stream);
}
catch (Exception e)
{
writeBackToClient("An exception occurred attempting to parse AZ and/or EL values: " + e.Message, stream);
}
break;
default:
break;
}
}
// Now that we have finished parsing our command, execute it since it has been determined to be valid
ExecuteTCPCommandResult executeTCPCommandResult = ExecuteRLCommand(parsedTCPCommandResult.parsedString);
// inform user of the result of command
if (executeTCPCommandResult.movementResult != MovementResult.Success)
{
logger.Debug(Utilities.GetTimeStamp() + ": Command " + data + " failed with error: " + executeTCPCommandResult.errorMessage);
myWriteBuffer = "Command " + data + " failed with error: " + executeTCPCommandResult.errorMessage;
writeBackToClient(myWriteBuffer, stream);
}
else
{
switch (parsedTCPCommandResult.parsedString[TCPCommunicationConstants.COMMAND_TYPE])
{
// we write back different in the case of a request command. Otherwise, the default is just successfully completing a command
case "REQUEST":
switch (parsedTCPCommandResult.parsedString[TCPCommunicationConstants.REQUEST_TYPE])
{
case "MVMT_DATA":
writeBackToClient(executeTCPCommandResult.errorMessage, stream);
logger.Debug(Utilities.GetTimeStamp() + ": " + executeTCPCommandResult.errorMessage);
break;
}
break;
default:
logger.Debug(Utilities.GetTimeStamp() + ": SUCCESSFULLY COMPLETED COMMAND: " + data);
// send back a success response -- finished command
myWriteBuffer = "SUCCESSFULLY COMPLETED COMMAND: " + data;
writeBackToClient(myWriteBuffer, stream);
break;
}
}
}
// Shutdown and end connection
client.Close();
client.Dispose();
stream.Close();
stream.Dispose();
}
}).Start(); // begin our worker thread to execute our TCP command
}
}
}