public void TestPLCCommandAndQueryTypeEnumHelper()
{
Assert.AreEqual(0x0, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_undefined));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.UNDEFINED, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x0));
Assert.AreEqual(0x1, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_test_connection));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.TEST_CONNECTION, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x1));
Assert.AreEqual(0x2, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_get_current_azel_positions));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.GET_CURRENT_AZEL_POSITIONS, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x2));
Assert.AreEqual(0x3, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_get_current_limit_switch_statuses));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.GET_CURRENT_LIMIT_SWITCH_STATUSES, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x3));
Assert.AreEqual(0x4, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_get_current_safety_interlock_status));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.GET_CURRENT_SAFETY_INTERLOCK_STATUS, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x4));
Assert.AreEqual(0x5, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_cancel_active_objective_azel_position));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.CANCEL_ACTIVE_OBJECTIVE_AZEL_POSITION, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x5));
Assert.AreEqual(0x6, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_shutdown));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.SHUTDOWN, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x6));
Assert.AreEqual(0x7, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_calibrate));
Assert.AreEqual(PLCCommandAndQueryTypeEnum.CALIBRATE, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x7));
//Assert.AreEqual(0x8, PLCCommandAndQueryTypeConversionHelper.ConvertToByte(_input_set_objective_azel_position));
//the above test fails becasue the falue of _input_set_objective_azel_position is set to 0xb but their testing it against 0x8
//i don't intend to use the comand and querrie schema the previous team set up because it is not compatable with the modbus that the plc uses
//thus i am leaving this test failing (jacob minor)
//Assert.AreEqual(PLCCommandAndQueryTypeEnum.SET_OBJECTIVE_AZEL_POSITION, PLCCommandAndQueryTypeConversionHelper.GetFromByte(0x8));
}
public byte[] RequestMessageSend(PLCCommandAndQueryTypeEnum MessageType, params object[] MessageParameters)
{
byte[] NetOutgoingMessage =
{
0x13, 0x0,
PLCCommandAndQueryTypeConversionHelper.ConvertToByte(MessageType),
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0
};
PLCCommandResponseExpectationEnum ResponseExpectationValue;
switch (MessageType)
{
case PLCCommandAndQueryTypeEnum.TEST_CONNECTION:
case PLCCommandAndQueryTypeEnum.GET_CURRENT_AZEL_POSITIONS:
case PLCCommandAndQueryTypeEnum.GET_CURRENT_LIMIT_SWITCH_STATUSES:
case PLCCommandAndQueryTypeEnum.GET_CURRENT_SAFETY_INTERLOCK_STATUS:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.FULL_RESPONSE;
break;
}
case PLCCommandAndQueryTypeEnum.CANCEL_ACTIVE_OBJECTIVE_AZEL_POSITION:
case PLCCommandAndQueryTypeEnum.SHUTDOWN:
case PLCCommandAndQueryTypeEnum.CALIBRATE:
case PLCCommandAndQueryTypeEnum.CONTROLLED_STOP:
case PLCCommandAndQueryTypeEnum.IMMEDIATE_STOP:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.MINOR_RESPONSE;
break;
}
case PLCCommandAndQueryTypeEnum.SET_CONFIGURATION:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.MINOR_RESPONSE;
int StartSpeedAzimuth = (int)MessageParameters[0];
int StartSpeedElevation = (int)MessageParameters[1];
int HomeTimeoutAzimuth = (int)MessageParameters[2];
int HomeTimeoutElevation = (int)MessageParameters[3];
NetOutgoingMessage[3] = 0x84;
NetOutgoingMessage[4] = 0x00;
NetOutgoingMessage[5] = 0x00;
NetOutgoingMessage[6] = 0x00;
NetOutgoingMessage[7] = 0x0;
NetOutgoingMessage[8] = (byte)(StartSpeedAzimuth / 0xFFFF);
NetOutgoingMessage[9] = (byte)((StartSpeedAzimuth >> 8) & 0xFF);
NetOutgoingMessage[10] = (byte)(StartSpeedAzimuth & 0xFF);
NetOutgoingMessage[11] = 0x0;
NetOutgoingMessage[12] = (byte)(StartSpeedElevation / 0xFFFF);
NetOutgoingMessage[13] = (byte)((StartSpeedElevation >> 8) & 0xFF);
NetOutgoingMessage[14] = (byte)(StartSpeedElevation & 0xFF);
NetOutgoingMessage[15] = (byte)(HomeTimeoutAzimuth >> 8);
NetOutgoingMessage[16] = (byte)(HomeTimeoutAzimuth & 0xFF);
NetOutgoingMessage[17] = (byte)(HomeTimeoutElevation >> 8);
NetOutgoingMessage[18] = (byte)(HomeTimeoutElevation & 0xFF);
break;
}
case PLCCommandAndQueryTypeEnum.SET_OBJECTIVE_AZEL_POSITION:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.MINOR_RESPONSE;
Orientation ObjectiveOrientation = (Orientation)MessageParameters[0];
Array.Copy(BitConverter.GetBytes(ObjectiveOrientation.Azimuth), 0, NetOutgoingMessage, 3, 8);
Array.Copy(BitConverter.GetBytes(ObjectiveOrientation.Elevation), 0, NetOutgoingMessage, 11, 8);
break;
}
case PLCCommandAndQueryTypeEnum.START_JOG_MOVEMENT:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.MINOR_RESPONSE;
RadioTelescopeAxisEnum AxisEnum = (RadioTelescopeAxisEnum)MessageParameters[0];
int AxisJogSpeed = (int)MessageParameters[1];
bool JogClockwise = (bool)MessageParameters[2];
switch (AxisEnum)
{
case RadioTelescopeAxisEnum.AZIMUTH:
{
NetOutgoingMessage[3] = 0x1;
break;
}
case RadioTelescopeAxisEnum.ELEVATION:
{
NetOutgoingMessage[3] = 0x2;
break;
}
default:
{
throw new ArgumentException("Invalid RadioTelescopeAxisEnum value seen while preparing jog movement bytes: " + AxisEnum.ToString());
}
}
NetOutgoingMessage[4] = 0x0;
NetOutgoingMessage[5] = (byte)(AxisJogSpeed / 0xFFFF);
NetOutgoingMessage[6] = (byte)((AxisJogSpeed >> 8) & 0xFF);
NetOutgoingMessage[7] = (byte)(AxisJogSpeed & 0xFF);
NetOutgoingMessage[8] = (byte)(JogClockwise ? 0x1 : 0x2);
break;
}
case PLCCommandAndQueryTypeEnum.TRANSLATE_AZEL_POSITION:
{
ResponseExpectationValue = PLCCommandResponseExpectationEnum.MINOR_RESPONSE;
RadioTelescopeAxisEnum AxisEnum = (RadioTelescopeAxisEnum)MessageParameters[0];
int AxisJogSpeed = (int)MessageParameters[1];
int position = (int)MessageParameters[2];
switch (AxisEnum)
{
case RadioTelescopeAxisEnum.AZIMUTH:
{
NetOutgoingMessage[3] = 0x1;
break;
}
case RadioTelescopeAxisEnum.ELEVATION:
{
NetOutgoingMessage[3] = 0x2;
break;
}
default:
{
throw new ArgumentException("Invalid RadioTelescopeAxisEnum value seen while preparing relative movement bytes: " + AxisEnum.ToString());
}
}
NetOutgoingMessage[4] = 0x0;
NetOutgoingMessage[5] = (byte)(AxisJogSpeed / 0xFFFF);
NetOutgoingMessage[6] = (byte)((AxisJogSpeed >> 8) & 0xFF);
NetOutgoingMessage[7] = (byte)(AxisJogSpeed & 0xFF);
if (position > 0)
{
NetOutgoingMessage[8] = 0x0;
NetOutgoingMessage[9] = (byte)(position / 0xFFFF);
NetOutgoingMessage[10] = (byte)((position >> 8) & 0xFF);
NetOutgoingMessage[11] = (byte)(position & 0xFF);
}
else
{
NetOutgoingMessage[8] = 0xFF;
NetOutgoingMessage[9] = (byte)((position / 0xFFFF) - 1);
NetOutgoingMessage[10] = (byte)((position >> 8) & 0xFF);
NetOutgoingMessage[11] = (byte)(position & 0xFF);
}
break;
}
default:
{
throw new ArgumentException("Illegal PLCCommandAndQueryTypeEnum value: " + MessageType.ToString());
}
}
NetOutgoingMessage[2] += (byte)(PLCCommandResponseExpectationConversionHelper.ConvertToByte(ResponseExpectationValue) * 0x40);
// This is the expected response size of anything from the PLC (simulated or real), minor or full response.
// See the TCP/IP packet contents google sheets file describing this under Wiki Documentation -> Control Room in the shared GDrive
byte ExpectedResponseSize = (ResponseExpectationValue == PLCCommandResponseExpectationEnum.FULL_RESPONSE) ? (byte)0x13 : (byte)0x3;
return(SendMessageWithResponse(NetOutgoingMessage, ExpectedResponseSize));
}