public void GetBytesFromInt_Functions_Correctly()
{
for (int i = 0; i < Math.Pow(2, 14); i++)
{
byte lsb, msb;
BitHelper.IntToBytes(i, out lsb, out msb);
var bytes = BitHelper.GetBytesFromInt(i).ToArray();
Assert.AreEqual(bytes, new byte[] { lsb, msb });
}
// 1011010101011001 -> B559 -> 46425
var newBytes = BitHelper.GetBytesFromInt(46425).ToArray();
Assert.AreEqual(newBytes[0], 0xB559 & 0x7f);
Assert.AreEqual(newBytes[1], 0xB559 >> 7 & 0x7f);
Assert.AreEqual(newBytes[2], 0xB559 >> 14 & 0x7f);
}
public override byte[] CreateMessage(SamplingIntervalMessage message)
{
if (message == null)
{
throw new MessageCreatorException("This is not a valid Sampling Interval Message");
}
var bytes = new List <byte>()
{
MessageConstants.SYSEX_START,
SysexCommands.SAMPLING_INTERVAL,
};
bytes.AddRange(BitHelper.GetBytesFromInt(message.Interval));
bytes.Add(MessageConstants.SYSEX_END);
return(bytes.ToArray());
}
public override byte[] CreateMessage(ExtendedAnalogMessage message)
{
if (message == null)
{
throw new MessageCreatorException("This is not an Extended Analog message");
}
if (message.Pin > MessageConstants.MAX_PINS)
{
throw new MessageCreatorException("Pin should be less than " + MessageConstants.MAX_PINS);
}
var bytes = new List <byte> {
MessageConstants.SYSEX_START, SysexCommands.EXTENDED_ANALOG, message.Pin
};
bytes.AddRange(BitHelper.GetBytesFromInt(message.Value));
bytes.Add(MessageConstants.SYSEX_END);
return(bytes.ToArray());
}
public override byte[] CreateMessage(ServoConfigMessage message)
{
if (message == null)
{
throw new MessageCreatorException("This is not a valid Servo Config Message");
}
var bytes = new List <byte>
{
MessageConstants.SYSEX_START,
SysexCommands.SERVO_CONFIG,
message.Pin
};
bytes.AddRange(BitHelper.GetBytesFromInt(message.MinPulse));
bytes.AddRange(BitHelper.GetBytesFromInt(message.MaxPulse));
bytes.AddRange(BitHelper.GetBytesFromInt(message.Angle));
bytes.Add(MessageConstants.SYSEX_END);
return(bytes.ToArray());
}