public void TestTotalPinCountSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 10;
var pins = new List <MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.TotalPinCount, "Total pin count on device was not communicated properly");
}
public void TestAnalogOffsetSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int expectedOffset = 6;
var pins = new List<MockPin>();
// We setup the board to have 10 total pins
// on the 6th pin we start inserting analog pins
for (uint i = 0; i < 10; i++)
{
var pin = new MockPin(i);
if (i >= expectedOffset)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.ANALOG, 1));
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
// Assert
Assert.AreEqual(expectedOffset, deviceUnderTest.DeviceHardwareProfile.AnalogOffset, "Total analog pin count on device was not communicated properly");
}
public void TestDigitalPinSetModeSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var expectedPinMode = PinMode.INPUT;
byte pinUnderTest = 0;
var pin = new MockPin(0);
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.INPUT, 1));
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.PULLUP, 1));
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.OUTPUT, 1));
var board = new MockBoard(new List <MockPin>()
{
pin
});
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
deviceUnderTest.pinMode(pinUnderTest, expectedPinMode);
var actualPinMode = deviceUnderTest.getPinMode(pinUnderTest);
// Assert
Assert.AreEqual(expectedPinMode, actualPinMode, "Pin mode was not set properly in cache");
Assert.AreEqual(expectedPinMode, board.Pins[pinUnderTest].CurrentMode, "Pin mode was communicated to board properly");
}
public void TestDigitalPinSetModeSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var expectedPinMode = PinMode.INPUT;
byte pinUnderTest = 0;
var pin = new MockPin(0);
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.INPUT, 1));
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.PULLUP, 1));
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.OUTPUT, 1));
var board = new MockBoard(new List<MockPin>() { pin });
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
deviceUnderTest.pinMode(pinUnderTest, expectedPinMode);
var actualPinMode = deviceUnderTest.getPinMode(pinUnderTest);
// Assert
Assert.AreEqual(expectedPinMode, actualPinMode, "Pin mode was not set properly in cache");
Assert.AreEqual(expectedPinMode, board.Pins[pinUnderTest].CurrentMode, "Pin mode was communicated to board properly");
}
public RemoteDevice CreateDeviceUnderTestAndConnect(MockBoard board)
{
// setup and start connection events
RemoteDevice device = null;
mockFirmataStream = new MockStream(board);
device = new RemoteDevice(mockFirmataStream);
device.DeviceReady += OnDeviceReady;
device.DeviceConnectionFailed += OnConnectionFailed;
mockFirmataStream.begin(0, SerialConfig.SERIAL_8N1);
// Wait for connection
DateTime timeout = DateTime.UtcNow.AddMilliseconds(10000);
System.Threading.SpinWait.SpinUntil(() => (
timeout <= DateTime.UtcNow ||
mockFirmataStream.connectionReady() ||
this.DeviceState == DeviceState.Ready
));
foreach(var pin in board.Pins)
{
pin.CurrentValueChanged += Pin_CurrentValueChanged;
}
return device;
}
public async Task TestDigitalPinReadValueSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var pinMode = PinMode.INPUT;
byte pinUnderTest = 0;
PinState expectedPinState = PinState.HIGH;
var pin = new MockPin(pinUnderTest);
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.INPUT, 1));
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.PULLUP, 1));
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.OUTPUT, 1));
var board = new MockBoard(new List<MockPin>() { pin });
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
deviceUnderTest.pinMode(pinUnderTest, pinMode);
board.Pins[pinUnderTest].CurrentValue = (ushort)expectedPinState;
// Wait for the mock board to report the state change
await Task.Delay(100);
var actualPinState = deviceUnderTest.digitalRead(pinUnderTest);
// Assert
Assert.AreEqual(expectedPinState, actualPinState, "Pin state was incorrect");
}
public void TestAnalogPinCountSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 10;
var pins = new List<MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.ANALOG, 1));
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.AnalogPinCount, "Total analog pin count on device was not communicated properly");
}
public void TestAnalogPinSetModeSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var expectedPinMode = PinMode.ANALOG;
var pin = new MockPin(0);
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.ANALOG, 1));
var board = new MockBoard(new List <MockPin>()
{
pin
});
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
deviceUnderTest.pinMode("A0", PinMode.ANALOG);
// Assert
Assert.AreEqual(expectedPinMode, deviceUnderTest.getPinMode("A0"), "Pin mode was not set properly");
}
public void TestAnalogOffsetSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int expectedOffset = 6;
var pins = new List <MockPin>();
// We setup the board to have 10 total pins
// on the 6th pin we start inserting analog pins
for (uint i = 0; i < 10; i++)
{
var pin = new MockPin(i);
if (i >= expectedOffset)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.ANALOG, 1));
}
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
// Assert
Assert.AreEqual(expectedOffset, deviceUnderTest.DeviceHardwareProfile.AnalogOffset, "Total analog pin count on device was not communicated properly");
}
public void TestPinCapabilityNoneSupportedSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 1;
var pins = new List <MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.TotalPinCount, "Total pin count on device was not communicated properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isAnalogSupported(0), "isAnalogSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalInputSupported(0), "isDigitalInputSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalInputPullupSupported(0), "isDigitalInputPullupSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalOutputSupported(0), "isDigitalOutputSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isI2cSupported(0), "isI2cSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isPwmSupported(0), "isPwmSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isServoSupported(0), "isServoSupported did not get set properly");
}
public RemoteDevice CreateDeviceUnderTestAndConnect(MockBoard board)
{
// setup and start connection events
RemoteDevice device = null;
mockFirmataStream = new MockStream(board);
device = new RemoteDevice(mockFirmataStream);
device.DeviceReady += OnDeviceReady;
device.DeviceConnectionFailed += OnConnectionFailed;
mockFirmataStream.begin(0, SerialConfig.SERIAL_8N1);
// Wait for connection
DateTime timeout = DateTime.UtcNow.AddMilliseconds(10000);
System.Threading.SpinWait.SpinUntil(() => (
timeout <= DateTime.UtcNow ||
mockFirmataStream.connectionReady() ||
this.DeviceState == DeviceState.Ready
));
foreach (var pin in board.Pins)
{
pin.CurrentValueChanged += Pin_CurrentValueChanged;
}
return(device);
}
public MockStream(MockBoard board)
{
this.Board = board;
this.ConnectionReady = true;
this.BufferSize = 100;
this.ResponseBuffer = new List<UInt16>();
this.ActiveReadBuffer = new List<UInt16>();
this.LastFlushedReadBuffer = new List<UInt16>();
}
public MockStream(MockBoard board)
{
this.Board = board;
this.ConnectionReady = true;
this.BufferSize = 100;
this.ResponseBuffer = new List <UInt16>();
this.ActiveReadBuffer = new List <UInt16>();
this.LastFlushedReadBuffer = new List <UInt16>();
}
private static List <UInt16> prepareCapabilityResponseMessage(MockBoard board)
{
var message = new List <UInt16>();
message.Add((ushort)Command.START_SYSEX);
message.Add((ushort)SysexCommand.CAPABILITY_RESPONSE);
foreach (var pin in board.Pins)
{
foreach (var mode in pin.SupportedModes)
{
message.Add((ushort)mode.Key);
message.Add(mode.Value);
}
message.Add(127);
}
message.Add((ushort)Command.END_SYSEX);
return(message);
}
public async Task TestDigitalPinReadValueSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var pinMode = PinMode.INPUT;
byte pinUnderTest = 0;
PinState expectedPinState = PinState.HIGH;
var pin = new MockPin(pinUnderTest);
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.INPUT, 1));
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.PULLUP, 1));
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.OUTPUT, 1));
var board = new MockBoard(new List <MockPin>()
{
pin
});
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
deviceUnderTest.pinMode(pinUnderTest, pinMode);
board.Pins[pinUnderTest].CurrentValue = (ushort)expectedPinState;
// Wait for the mock board to report the state change
await Task.Delay(100);
var actualPinState = deviceUnderTest.digitalRead(pinUnderTest);
// Assert
Assert.AreEqual(expectedPinState, actualPinState, "Pin state was incorrect");
}
public void TestAnalogPinSetModeSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
var expectedPinMode = PinMode.ANALOG;
var pin = new MockPin(0);
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.ANALOG, 1));
var board = new MockBoard(new List<MockPin>() { pin });
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
deviceUnderTest.pinMode("A0", PinMode.ANALOG);
// Assert
Assert.AreEqual(expectedPinMode, deviceUnderTest.getPinMode("A0"), "Pin mode was not set properly");
}
public void TestPinCapabilityNoneSupportedSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 1;
var pins = new List<MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.TotalPinCount, "Total pin count on device was not communicated properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isAnalogSupported(0), "isAnalogSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalInputSupported(0), "isDigitalInputSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalInputPullupSupported(0), "isDigitalInputPullupSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isDigitalOutputSupported(0), "isDigitalOutputSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isI2cSupported(0), "isI2cSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isPwmSupported(0), "isPwmSupported did not get set properly");
Assert.IsFalse(deviceUnderTest.DeviceHardwareProfile.isServoSupported(0), "isServoSupported did not get set properly");
}
public void TestPinArraysProperlyPopulatedSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 10;
int totalExpectedAnalogPins = 1;
int totalExpectedDigitalPins = 2;
int totalExpectedI2cPins = 3;
int totalExpectedPwmPins = 4;
int totalExpectedServoPins = 5;
// Since we only have 5 pins with capabilities the left over will be disabled
int totalExpectedDisabledPins = totalExpectedPins - totalExpectedServoPins;
var pins = new List<MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
if (i < totalExpectedAnalogPins)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.ANALOG, 1));
if (i < totalExpectedDigitalPins)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.OUTPUT, 1));
if (i < totalExpectedI2cPins)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.I2C, 1));
if (i < totalExpectedPwmPins)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.PWM, 1));
if (i < totalExpectedServoPins)
pin.SupportedModes.Add(new KeyValuePair<PinMode, ushort>(PinMode.SERVO, 1));
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return deviceHelper.DeviceState == DeviceState.Ready; }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.TotalPinCount, "Total pin count on device was not communicated properly");
Assert.AreEqual(totalExpectedAnalogPins, deviceUnderTest.DeviceHardwareProfile.AnalogPins.Count(), "Analog pins were not correctly enumerated");
Assert.AreEqual(totalExpectedDigitalPins, deviceUnderTest.DeviceHardwareProfile.DigitalPins.Count(), "Digital pins were not correctly enumerated");
Assert.AreEqual(totalExpectedDisabledPins, deviceUnderTest.DeviceHardwareProfile.DisabledPins.Count(), "Disabled pins were not correctly enumerated");
Assert.AreEqual(totalExpectedI2cPins, deviceUnderTest.DeviceHardwareProfile.I2cPins.Count(), "I2c pins were not correctly enumerated");
Assert.AreEqual(totalExpectedPwmPins, deviceUnderTest.DeviceHardwareProfile.PwmPins.Count(), "Pwm pins were not correctly enumerated");
Assert.AreEqual(totalExpectedServoPins, deviceUnderTest.DeviceHardwareProfile.ServoPins.Count(), "Servo pins were not correctly enumerated");
}
private static List<UInt16> prepareCapabilityResponseMessage(MockBoard board)
{
var message = new List<UInt16>();
message.Add((ushort)Command.START_SYSEX);
message.Add((ushort)SysexCommand.CAPABILITY_RESPONSE);
foreach (var pin in board.Pins)
{
foreach (var mode in pin.SupportedModes)
{
message.Add((ushort)mode.Key);
message.Add(mode.Value);
}
message.Add(127);
}
message.Add((ushort)Command.END_SYSEX);
return message;
}
public void TestPinArraysProperlyPopulatedSuccess()
{
// Arrange
RemoteDevice deviceUnderTest = null;
RemoteDeviceHelper deviceHelper = new RemoteDeviceHelper();
int totalExpectedPins = 10;
int totalExpectedAnalogPins = 1;
int totalExpectedDigitalPins = 2;
int totalExpectedI2cPins = 3;
int totalExpectedPwmPins = 4;
int totalExpectedServoPins = 5;
// Since we only have 5 pins with capabilities the left over will be disabled
int totalExpectedDisabledPins = totalExpectedPins - totalExpectedServoPins;
var pins = new List <MockPin>();
for (uint i = 0; i < totalExpectedPins; i++)
{
var pin = new MockPin(i);
if (i < totalExpectedAnalogPins)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.ANALOG, 1));
}
if (i < totalExpectedDigitalPins)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.OUTPUT, 1));
}
if (i < totalExpectedI2cPins)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.I2C, 1));
}
if (i < totalExpectedPwmPins)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.PWM, 1));
}
if (i < totalExpectedServoPins)
{
pin.SupportedModes.Add(new KeyValuePair <PinMode, ushort>(PinMode.SERVO, 1));
}
pins.Add(pin);
}
var board = new MockBoard(pins);
// Act
deviceUnderTest = deviceHelper.CreateDeviceUnderTestAndConnect(board);
// Wait until the mock board is ready
SpinWait.SpinUntil(() => { return(deviceHelper.DeviceState == DeviceState.Ready); }, 100000);
// Assert
Assert.AreEqual(totalExpectedPins, deviceUnderTest.DeviceHardwareProfile.TotalPinCount, "Total pin count on device was not communicated properly");
Assert.AreEqual(totalExpectedAnalogPins, deviceUnderTest.DeviceHardwareProfile.AnalogPins.Count(), "Analog pins were not correctly enumerated");
Assert.AreEqual(totalExpectedDigitalPins, deviceUnderTest.DeviceHardwareProfile.DigitalPins.Count(), "Digital pins were not correctly enumerated");
Assert.AreEqual(totalExpectedDisabledPins, deviceUnderTest.DeviceHardwareProfile.DisabledPins.Count(), "Disabled pins were not correctly enumerated");
Assert.AreEqual(totalExpectedI2cPins, deviceUnderTest.DeviceHardwareProfile.I2cPins.Count(), "I2c pins were not correctly enumerated");
Assert.AreEqual(totalExpectedPwmPins, deviceUnderTest.DeviceHardwareProfile.PwmPins.Count(), "Pwm pins were not correctly enumerated");
Assert.AreEqual(totalExpectedServoPins, deviceUnderTest.DeviceHardwareProfile.ServoPins.Count(), "Servo pins were not correctly enumerated");
}