public void GetBoardCapability()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO/I2C, 0/1/2/3/4/6
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(0, 1, 1, 1, 3, 10, 6, 1, 0x7F);
connection.EnqueueResponse(0xF7);
BoardCapability capability = session.GetBoardCapability();
Assert.AreEqual(1, capability.Pins.Length);
Assert.AreEqual(0, capability.Pins[0].PinNumber);
Assert.AreEqual(true, capability.Pins[0].DigitalInput);
Assert.AreEqual(true, capability.Pins[0].DigitalOutput);
Assert.AreEqual(true, capability.Pins[0].Pwm);
Assert.AreEqual(10, capability.Pins[0].PwmResolution);
Assert.AreEqual(true, capability.Pins[0].I2C);
Assert.AreEqual(false, capability.Pins[0].Analog);
Assert.AreEqual(0, capability.Pins[0].AnalogResolution);
Assert.AreEqual(false, capability.Pins[0].Servo);
Assert.AreEqual(0, capability.Pins[0].ServoResolution);
}
public void GetBoardAnalogMappingAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x69, 0xF7 }, 0xF0, 0x6A);
connection.EnqueueResponse(0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x7F, 0x7F);
connection.EnqueueResponse(0xF7);
BoardAnalogMapping mapping = session.GetBoardAnalogMappingAsync().Result;
Assert.AreEqual(6, mapping.PinMappings.Length);
Assert.AreEqual(0, mapping.PinMappings[0].PinNumber);
Assert.AreEqual(0, mapping.PinMappings[0].Channel);
Assert.AreEqual(1, mapping.PinMappings[1].PinNumber);
Assert.AreEqual(1, mapping.PinMappings[1].Channel);
Assert.AreEqual(2, mapping.PinMappings[2].PinNumber);
Assert.AreEqual(2, mapping.PinMappings[2].Channel);
Assert.AreEqual(3, mapping.PinMappings[3].PinNumber);
Assert.AreEqual(3, mapping.PinMappings[3].Channel);
Assert.AreEqual(4, mapping.PinMappings[4].PinNumber);
Assert.AreEqual(4, mapping.PinMappings[4].Channel);
Assert.AreEqual(5, mapping.PinMappings[5].PinNumber);
Assert.AreEqual(5, mapping.PinMappings[5].Channel);
}
public void RequestFirmware()
{
const int majorVersion = 5;
const int minorVersion = 1;
const string Name = "Arduïno Firmata";
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
session.RequestFirmware();
Assert.AreEqual(1, _messagesReceived.Count, "Message event error");
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.FirmwareResponse, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <Firmware>));
var firmware = (Firmware)message.Value;
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
public void ConfigureServo_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(128, 0, 0);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is15()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xEF, 0x00, 0x00 });
session.SetDigitalPin(15, 0);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is0_Level_Argument_Is0xFFFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6F, 0x00, 0x7F, 0x7F, 0x03, 0xF7 });
session.SetDigitalPin(0, 0xFFFF);
}
public void SetDigitalPort_Pins_Argument_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, -1);
}
public void SetDigitalPort_PortNumber_Is15_Pins_Is255()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x9F, 0x7F, 0x01 });
session.SetDigitalPort(15, 255);
}
public void SetDigitalReportMode_PortNumber_Is0_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD0, 0x00 });
session.SetDigitalReportMode(0, false);
}
public void SetDigitalReportMode_PortNumber_Is1_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD1, 0x01 });
session.SetDigitalReportMode(1, true);
}
public void SetAnalogReportMode_Channel_Is0_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xC0, 0x01 });
session.SetAnalogReportMode(0, true);
}
public void SetAnalogReportMode_Channel_Is15_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xCF, 0x00 });
session.SetAnalogReportMode(15, false);
}
public void SetSamplingInterval_Interval_Is0x3FFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x7A, 0x7F, 0x7F, 0xF7 });
session.SetSamplingInterval(0x3FFF);
}
public void SetDigitalPinMode_SetPin0ToDigitalOutput()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalOutput });
session.SetDigitalPinMode(0, PinMode.DigitalOutput);
}
public void SetDigitalPort_PortNumber_Is0_Pins_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, 0);
}
public void SetDigitalPinMode_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalInput });
session.SetDigitalPinMode(128, PinMode.DigitalInput);
}
public void SetDigitalPinMode_SetPin127ToAnalog()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x7F, (byte)PinMode.AnalogInput });
session.SetDigitalPinMode(127, PinMode.AnalogInput);
}
public void ConfigureServo_MaxPulse_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF7 });
session.ConfigureServo(15, 0, -1);
}
public void SetI2CReadInterval_Interval_Is0x3FFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x78, 0x7F, 0x7F, 0xF7 });
session.SetI2CReadInterval(0x3FFF);
}
public void ConfigureServo_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(128, 0, 0);
}
public void ConfigureServo_MinPulse_Is0x4000()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(0, 0x4000, 0);
}
public void ConfigureServo_MaxPulse_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00, 0xF7 });
session.ConfigureServo(15, 0, -1);
}
public void ConfigureServo_MinPulse_Is0x4000()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x00, 0x00, 0x00, 0x00, 0x00 });
session.ConfigureServo(0, 0x4000, 0);
}
public void ConfigureServo_MinPulse_EQ_MaxPulse()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x01, 0x01, 0x02, 0x01, 0x02, 0xF7 });
session.ConfigureServo(1, 257, 257);
}
public void SetI2CReadInterval_Interval_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x78, 0x00, 0x00, 0xF7 });
session.SetI2CReadInterval(0);
}
public void GetProtocolVersionAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF9 }, new byte[] { 0xF9, 2, 3 });
ProtocolVersion version = session.GetProtocolVersionAsync().Result;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
Assert.AreEqual(1, _messagesReceived.Count);
}
public void GetProtocolVersionAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF9 }, new byte[] { 0xF9, 2, 3 });
ProtocolVersion version = session.GetProtocolVersionAsync().Result;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
Assert.AreEqual(1, _messagesReceived.Count);
}
public void GetPinState_PinNumber_Argument_Is128()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x00, 0xF7 }, 0xF0, 0x6E);
// Pin 0 analog mode, value = 1023
connection.EnqueueResponse(0x00, 0x02, 0x7F, 0x07);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(128);
}
public void ResetBoard()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xFF }, new byte[] { 0xF9, 2, 3 });
session.ResetBoard();
Assert.AreEqual(1, _messagesReceived.Count);
FirmataMessage message = _messagesReceived.Dequeue();
Assert.AreEqual(MessageType.ProtocolVersion, message.Type);
var version = (ProtocolVersion)message.Value;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
}
public void GetPinState_PinNumber_Argument_Is127_Returned_Pin0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x7F, 0xF7 }, 0xF0, 0x6E);
// Pin 0 analog mode, value = 1023
connection.EnqueueResponse(0x00, 0x02, 0x7F, 0x07);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(127);
Assert.AreEqual(0, state.PinNumber);
Assert.AreEqual(PinMode.AnalogInput, state.Mode);
Assert.AreEqual(1023U, state.Value);
}
public void GetPinState_PinNumber_Argument_Is127()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x7F, 0xF7 }, 0xF0, 0x6E);
// Pin 127 PWM mode, value = 256
connection.EnqueueResponse(0x7F, 0x03, 0x00, 0x02);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(127);
Assert.AreEqual(127, state.PinNumber);
Assert.AreEqual(PinMode.PwmOutput, state.Mode);
Assert.AreEqual(256U, state.Value);
}
public void GetPinStateAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x05, 0xF7 }, 0xF0, 0x6E);
// Pin 5 Digital Input mode, value = 1
connection.EnqueueResponse(0x05, 0x00, 0x01);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinStateAsync(5).Result;
Assert.AreEqual(5, state.PinNumber);
Assert.AreEqual(PinMode.DigitalInput, state.Mode);
Assert.AreEqual(1U, state.Value);
}
public void GetBoardCapabilityAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
// DIGITAL INPUT/DIGITAL OUTPUT/ANALOG/PWM/SERVO, 0/1/2/3/4
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6B, 0xF7 }, 0xF0, 0x6C);
connection.EnqueueResponse(2, 8, 0x7F);
connection.EnqueueResponse(0, 1, 1, 1, 0x7F);
connection.EnqueueResponse(1, 1, 3, 7, 4, 7, 0x7F);
connection.EnqueueResponse(0xF7);
BoardCapability capability = session.GetBoardCapabilityAsync().Result;
Assert.AreEqual(3, capability.PinCapabilities.Length);
Assert.AreEqual(0, capability.PinCapabilities[0].PinNumber);
Assert.AreEqual(false, capability.PinCapabilities[0].DigitalInput);
Assert.AreEqual(false, capability.PinCapabilities[0].DigitalOutput);
Assert.AreEqual(true, capability.PinCapabilities[0].Analog);
Assert.AreEqual(8, capability.PinCapabilities[0].AnalogResolution);
Assert.AreEqual(false, capability.PinCapabilities[0].Pwm);
Assert.AreEqual(0, capability.PinCapabilities[0].PwmResolution);
Assert.AreEqual(false, capability.PinCapabilities[0].Servo);
Assert.AreEqual(0, capability.PinCapabilities[0].ServoResolution);
Assert.AreEqual(1, capability.PinCapabilities[1].PinNumber);
Assert.AreEqual(true, capability.PinCapabilities[1].DigitalInput);
Assert.AreEqual(true, capability.PinCapabilities[1].DigitalOutput);
Assert.AreEqual(false, capability.PinCapabilities[1].Analog);
Assert.AreEqual(0, capability.PinCapabilities[1].AnalogResolution);
Assert.AreEqual(false, capability.PinCapabilities[1].Pwm);
Assert.AreEqual(0, capability.PinCapabilities[1].PwmResolution);
Assert.AreEqual(false, capability.PinCapabilities[1].Servo);
Assert.AreEqual(0, capability.PinCapabilities[1].ServoResolution);
Assert.AreEqual(2, capability.PinCapabilities[2].PinNumber);
Assert.AreEqual(false, capability.PinCapabilities[2].DigitalInput);
Assert.AreEqual(true, capability.PinCapabilities[2].DigitalOutput);
Assert.AreEqual(false, capability.PinCapabilities[2].Analog);
Assert.AreEqual(0, capability.PinCapabilities[2].AnalogResolution);
Assert.AreEqual(true, capability.PinCapabilities[2].Pwm);
Assert.AreEqual(7, capability.PinCapabilities[2].PwmResolution);
Assert.AreEqual(true, capability.PinCapabilities[2].Servo);
Assert.AreEqual(7, capability.PinCapabilities[2].ServoResolution);
}
public void ResetBoard()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xFF }, new byte[] { 0xF9, 2, 3 });
session.ResetBoard();
Assert.AreEqual(1, _messagesReceived.Count);
FirmataMessage message = _messagesReceived.Dequeue();
Assert.AreEqual(MessageType.ProtocolVersion, message.Type);
var version = (ProtocolVersion)message.Value;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
}
public void RequestProtocolVersion()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF9 }, new byte[] { 0xF9, 2, 3 });
session.RequestProtocolVersion();
Assert.AreEqual(1, _messagesReceived.Count, "Message event error");
IFirmataMessage message = _messagesReceived.Dequeue();
//Assert.AreEqual(MessageType.ProtocolVersion, message.Type);
Assert.IsInstanceOfType(message, typeof(FirmataMessage <ProtocolVersion>));
var version = (ProtocolVersion)message.Value;
Assert.AreEqual(2, version.Major);
Assert.AreEqual(3, version.Minor);
}
public void GetFirmware()
{
const int majorVersion = 3;
const int minorVersion = 7;
const string Name = "Arduino Firmata";
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
Firmware firmware = session.GetFirmware();
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
public void SetDigitalPort_PortNumber_Is0_Pins_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, 0);
}
public void AnalogStateReceived_Channel_LsbMsbOrder()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
int eventHits = 0;
session.AnalogStateReceived += (o, e) =>
{
Assert.AreEqual(1, e.Value.Channel);
Assert.AreEqual(0x1345, e.Value.Level);
eventHits++;
};
session.DigitalStateReceived += (o, e) =>
{
Assert.Fail("Analog Message Digital processed.");
};
connection.EnqueueRequestAndResponse(new byte[] { 0xC0, 0x01 }, 0xE1, 0x45, 0x26);
session.SetAnalogReportMode(0, true);
Assert.AreEqual(1, eventHits, "DigitalStateReceived event not hit once.");
}
public void GetPinState_PinNumber_Argument_Is128()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x00, 0xF7 }, 0xF0, 0x6E);
// Pin 0 analog mode, value = 1023
connection.EnqueueResponse(0x00, 0x02, 0x7F, 0x07);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(128);
}
public void GetPinState_PinNumber_Argument_Is127()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x7F, 0xF7 }, 0xF0, 0x6E);
// Pin 127 PWM mode, value = 256
connection.EnqueueResponse(0x7F, 0x03, 0x00, 0x02);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(127);
Assert.AreEqual(127, state.PinNumber);
Assert.AreEqual(PinMode.PwmOutput, state.Mode);
Assert.AreEqual(256U, state.Value);
}
public void RequestPinState()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x01, 0xF7 }, 0xF0, 0x6E);
// Pin 1 Digital Output mode, value = 0
connection.EnqueueResponse(0x01, 0x01, 0x00);
connection.EnqueueResponse(0xF7);
session.RequestPinState(1);
FirmataMessage message = _messagesReceived.Dequeue();
Assert.AreEqual(MessageType.PinStateResponse, message.Type);
PinState state = (PinState)message.Value;
Assert.AreEqual(1, state.PinNumber);
Assert.AreEqual(PinMode.DigitalOutput, state.Mode);
Assert.AreEqual(0, state.Value);
}
public void SetDigitalPinMode_SetPin0ToDigitalOutput()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalOutput });
session.SetDigitalPinMode(0, PinMode.DigitalOutput);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is15()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xEF, 0x00, 0x00 });
session.SetDigitalPin(15, 0);
}
public void SetAnalogReportMode_Channel_Is0_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xC0, 0x01 });
session.SetAnalogReportMode(0, true);
}
public void SetAnalogReportMode_Channel_Is15_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xCF, 0x00 });
session.SetAnalogReportMode(15, false);
}
public void SetSamplingInterval_Interval_Is0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x7A, 0x00, 0x00, 0xF7 });
session.SetSamplingInterval(0);
}
public void GetFirmware()
{
const int majorVersion = 3;
const int minorVersion = 7;
const string Name = "Arduino Firmata";
var connection = new MockSerialConnection();
var session = new ArduinoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 }, new byte[] { 0xF0, 0x79, majorVersion, minorVersion });
connection.EnqueueResponse(Name.To14BitIso());
connection.EnqueueResponse(0xF7);
Firmware firmware = session.GetFirmware();
Assert.AreEqual(firmware.MajorVersion, majorVersion);
Assert.AreEqual(firmware.MinorVersion, minorVersion);
Assert.AreEqual(firmware.Name, Name);
}
public void SetDigitalPort_Pins_Argument_IsNegative()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x90, 0x00, 0x00 });
session.SetDigitalPort(0, -1);
}
public void SetDigitalPin_Level_PinNumber_Argument_Is0_Level_Argument_Is0xFFFF()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6F, 0x00, 0x7F, 0x7F, 0x03, 0xF7 });
session.SetDigitalPin(0, 0xFFFF);
}
public void SetDigitalReportMode_PortNumber_Is0_Disable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD0, 0x00 });
session.SetDigitalReportMode(0, false);
}
public void SetDigitalPinMode_SetPin127ToAnalog()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x7F, (byte)PinMode.AnalogInput });
session.SetDigitalPinMode(127, PinMode.AnalogInput);
}
public void MixedOrderResponses()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection, 3);
// We get first ProtocolVersion response and then FirmwareResponse
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x79, 0xF7 },
new byte[]
{
0xF9, 0x02, 0x04, 0xF0,
0x79,
0x01, 0x03,
0x74, 0x00, 0x65, 0x00, 0x73, 0x00, 0x74, 0x00,
0xF7
});
var f = session.GetFirmware();
Assert.AreEqual(1, f.MajorVersion);
Assert.AreEqual(3, f.MinorVersion);
Assert.AreEqual("test", f.Name);
}
public void SetDigitalPinMode_PinNumber_Is128()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF4, 0x00, (byte)PinMode.DigitalInput });
session.SetDigitalPinMode(128, PinMode.DigitalInput);
}
public void ConfigureServo_MinPulse_EQ_MaxPulse()
{
var connection = new MockSerialConnection();
var session = CreateServoSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x70, 0x01, 0x01, 0x02, 0x01, 0x02, 0xF7 });
session.ConfigureServo(1, 257, 257);
}
public void GetPinStateAsync()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x05, 0xF7 }, 0xF0, 0x6E);
// Pin 5 Digital Input mode, value = 1
connection.EnqueueResponse(0x05, 0x00, 0x01);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinStateAsync(5).Result;
Assert.AreEqual(5, state.PinNumber);
Assert.AreEqual(PinMode.DigitalInput, state.Mode);
Assert.AreEqual(1U, state.Value);
}
public void RequestBoardAnalogMapping()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x69, 0xF7 }, 0xF0, 0x6A);
connection.EnqueueResponse(0x0F);
connection.EnqueueResponse(0xF7);
session.RequestBoardAnalogMapping();
FirmataMessage message = _messagesReceived.Dequeue();
Assert.AreEqual(MessageType.AnalogMappingResponse, message.Type);
BoardAnalogMapping mapping = (BoardAnalogMapping)message.Value;
Assert.AreEqual(1, mapping.PinMappings.Length);
Assert.AreEqual(0, mapping.PinMappings[0].PinNumber);
Assert.AreEqual(15, mapping.PinMappings[0].Channel);
}
public void GetPinState_PinNumber_Argument_Is127_Returned_Pin0()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xF0, 0x6D, 0x7F, 0xF7 }, 0xF0, 0x6E);
// Pin 0 analog mode, value = 1023
connection.EnqueueResponse(0x00, 0x02, 0x7F, 0x07);
connection.EnqueueResponse(0xF7);
PinState state = session.GetPinState(127);
Assert.AreEqual(0, state.PinNumber);
Assert.AreEqual(PinMode.AnalogInput, state.Mode);
Assert.AreEqual(1023U, state.Value);
}
public void SetDigitalReportMode_PortNumber_Is1_Enable()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0xD1, 0x01 });
session.SetDigitalReportMode(1, true);
}
public void SetDigitalPort_PortNumber_Is15_Pins_Is255()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
connection.EnqueueRequestAndResponse(new byte[] { 0x9F, 0x7F, 0x01 });
session.SetDigitalPort(15, 255);
}
public void DigitalStateReceived_MaxValues()
{
var connection = new MockSerialConnection();
var session = CreateFirmataSession(connection);
int eventHits = 0;
session.AnalogStateReceived += (o, e) =>
{
Assert.Fail("Digital Message Analog processed.");
};
session.DigitalStateReceived += (o, e) =>
{
Assert.AreEqual(15, e.Value.Port);
Assert.AreEqual(255, e.Value.Pins);
eventHits++;
};
connection.EnqueueRequestAndResponse(new byte[] { 0xDF, 0x01 }, 0x9F, 0x7F, 0x01);
session.SetDigitalReportMode(15, true);
Assert.AreEqual(1, eventHits, "DigitalStateReceived event not hit once.");
}