private void tsmiServerTest_Click(object sender, EventArgs e)
{
iRobot.Data.Struct6 testData = new Struct6();
// Test 1
testData.Wall = 1;
// Test 2
testData.Voltage = 5000;
// Test 3
testData.Current = 5000;
// Test 4
testData.CliffLeft = 1;
// Test 5
testData.CliffFrontLeft = 0;
// Test 6
testData.CliffRight = 1;
// Test 7
testData.CliffFrontRight = 0;
// Test 8
testData.BumpersAndWheelDrops = 1 + 0 + 4 + 0;
testData.BatteryTemperature = 22;
string stringTestData = JsonConvert.SerializeObject(testData);
this.SendTextData(stringTestData);
this.LogMessage("Send test data to the server.");
}
public Struct6 Foo(Struct5 v, ref Valuesa r, byte t, ref byte tr)
{
Struct6 ret = new Struct6();
String values =
v.ToString() + " " +
r.ToString() + " " +
t.ToString() + " " +
tr.ToString() + " " +
".";
if (values != "112 25 216 241 192 138 -21480 225324986 -59" +
"58788304505077400 2658617120903057130 486515128 -9446 8 51 51 .")
{
Console.WriteLine("Struct6 Foo(...): unexpected values: " + values);
Fail(21);
}
r.Randomize();
tr += (byte)Randomizer();
ret.Randomize();
return(ret);
}
/// <summary>
/// On robot message handler.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void robot_OnMesage(object sender, BytesEventArgs e)
{
// Get the data.
byte[] byteData = e.Message;
// Convert it to sensor structure.
Struct6 sensros = iRobot.Utils.ByteArrayToStructure <Struct6>(byteData);
// Dump all the data.
this.sensrosDump = sensros;
// Convert the structure to JSON.
//string serialSensors = JsonConvert.SerializeObject(sensros);
// Send text data to the server.
//this.SendTextData(serialSensors);
// Log the event.
this.LogMessage("Send data to the server.");
// Draw the SCADA.
//this.DrawSCADA();
}
private static void DumpMenus(string fileName)
{
if (File.Exists(fileName))
{
LoadFuncNames(firmConsts.DFR_file);
BinaryReader br = null;
byte[] data;
using (br = new BinaryReader(File.Open(fileName, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)))
{
data = br.ReadBytes((int)br.BaseStream.Length);
}
Queue <long> q = new Queue <long>();
List <long> resolved = new List <long>();
menus = new Dictionary <long, Struct6>();
elements = new Dictionary <long, Struct14>();
resolved.Add(0);
uint addrOffset = firmConsts.Copy_Offset;
foreach (var l in firmConsts.MenuRootList)
{
q.Enqueue(l);
}
while (q.Count > 0)
{
var addr = q.Dequeue();
var ss1 = string.Format("Addr 0x{0:X8}", addr);
var s6 = new Struct6(data, addr, addrOffset);
s6.ReadElements(data);
resolved.Add(addr);
menus.Add(addr, s6);
foreach (var s14 in s6.menu_elements)
{
if (Array.IndexOf(firmConsts.MenuRootList, s14.menu_ptr) != -1)
{
}
if (resolved.Contains(s14.menu_ptr) == false &&
q.Contains(s14.menu_ptr) == false)
{
if (s14.menu_ptr < firmConsts.Copy_To)
{
int az = 0;
}
var ss2 = string.Format("Menu 0x{0:X8} MenuEl 0x{1:X8} SubMenu 0x{2:X8}", addr, s14.mem_loc, s14.menu_ptr);
q.Enqueue(s14.menu_ptr);
}
}
}
using (var sw = new StreamWriter(File.Open(fileName + ".menu.txt", FileMode.Create, FileAccess.Write, FileShare.ReadWrite)))
{
using (var sw2 = new StreamWriter(File.Open(fileName + ".menu_sym.idc", FileMode.Create, FileAccess.Write, FileShare.ReadWrite)))
{
sw2.WriteLine("#include <idc.idc>");
sw2.WriteLine("static MakeMenu(ref, txt, type) {");
sw2.WriteLine("\tMakeNameEx(ref, txt, 0 );");
sw2.WriteLine("\tif( type == 0) {");
sw2.WriteLine("\t\tMakeUnknown(ref, 0x20, 0 );");
sw2.WriteLine("\t\tMakeStructEx(ref, 0x20, \"Menu\");");
sw2.WriteLine("\t} else {");
sw2.WriteLine("\t\tMakeUnknown(ref, 0x10, 0 );");
sw2.WriteLine("\t\tMakeStructEx(ref, 0x10, \"MenuEl\");");
sw2.WriteLine("\t}");
sw2.WriteLine("}");
sw2.WriteLine("static main() {");
sw2.WriteLine(" Message(\"Menu Name: Start\\n\");");
foreach (var l in firmConsts.MenuRootList)
{
MenuDump(sw, sw2, "", l);
}
sw2.WriteLine("\tMessage(\"Menu Name: Done\\n\");");
sw2.WriteLine("}");
}
}
}
}
static public void RunTests(MainApp This)
{
String values;
Struct1 s1 = new Struct1();
Struct2 s2 = new Struct2();
Struct3 s3 = new Struct3();
Struct4 s4 = new Struct4();
Struct5 s5 = new Struct5();
Struct6 s6 = new Struct6();
Struct8 s8 = new Struct8();
Valuesa v = new Valuesa();
float f;
double d;
Object o;
String s;
Enumacek e;
sbyte p1;
byte p2;
short p3;
ushort p4;
int p5;
uint p6;
long p7;
ulong p8;
s1.Randomize();
s2.Randomize();
s3.Randomize();
s4.Randomize();
s5.Randomize();
s6.Randomize();
s8.Randomize();
v.Randomize();
f = (float)Randomizer();
d = (float)Randomizer();
o = This;
s = Randomizer().ToString();
e = Enumacek.Hali;
p1 = (sbyte)Randomizer();
p2 = (byte)Randomizer();
p3 = (short)Randomizer();
p4 = (ushort)Randomizer();
p5 = (int)Randomizer();
p6 = (uint)Randomizer();
p7 = (long)Randomizer();
p8 = (ulong)Randomizer();
// set all fields
This._s1 = s1;
This._s2 = s2;
This._s3 = s3;
This._s4 = s4;
This._s5 = s5;
This._s6 = s6;
This._s8 = s8;
This._v = v;
This._f = f;
This._d = d;
This._o = o;
This._s = s;
This._e = e;
This._p1 = p1;
This._p2 = p2;
This._p3 = p3;
This._p4 = p4;
This._p5 = p5;
This._p6 = p6;
This._p7 = p7;
This._p8 = p8;
values = This.ToString();
if (values !=
"9 104 225 80 57 184 17 160 105 8 65 240 153 88 113 931407168" +
" 201 168 161 144 249 248 209 224 41 20808 639653377 -9016159779942285264" +
" -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.21297372164627E+18" +
" MainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 2046869481" +
" 1703311890815005320 1413371402307118785 .")
{
Console.WriteLine("SetFields: unexpected values: " + values);
Fail(101);
}
Console.WriteLine("Field setters succeeded");
// invoke the methods
p1 = This.Foo(p1);
p2 = This.Foo(p2);
p3 = This.Foo(p3);
p4 = This.Foo(p4);
p5 = This.Foo(p5);
p6 = This.Foo(p6);
p7 = This.Foo(p7);
p8 = This.Foo(p8);
// verify the values of all fields
values =
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "-96 114 -32144 34594 -19884190" +
"08 4093738962 3406623781630010640 2826742804614237570 .")
{
Console.WriteLine("Locals after primitive Invoke: unexpected values: " + values);
Fail(102);
}
s1 = This.Foo(s2, ref s3, p1, ref p1);
s2 = This.Foo(ref s4, s3, p3, ref p3);
s3 = This.Foo(s4, ref s5, p5, ref p5);
s4 = This.Foo(ref s8, s5, p7, ref p7);
s5 = This.Foo(s8, ref v, p2, ref p2);
s6 = This.Foo(s5, ref v, p2, ref p2);
s8 = This.Foo(ref f, v, p4, ref p4);
v = This.Foo(f, ref d, p6, ref p6);
f = This.Foo(ref s1, d, p8, ref p8);
d = This.Foo(ref s2, s1, s, ref s);
// verify the values of all fields
values =
This.ToString();
if (values != "9 104 225 80 57 184 17 160 105 8 65 240 " +
"153 88 113 931407168 201 168 161 144 249 248 209 224 41 20808 639653377 -9016159" +
"779942285264 -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.2129737216" +
"4627E+18 MainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 20468" +
"69481 1703311890815005320 1413371402307118785 .")
{
Console.WriteLine("Fields after Invoke: unexpected values: " + values);
Fail(103);
}
// verify the values of all locals
values =
s1.ToString() + " " +
s2.ToString() + " " +
s3.ToString() + " " +
s4.ToString() + " " +
s5.ToString() + " " +
s6.ToString() + " " +
s8.ToString() + " " +
v.ToString() + " " +
f.ToString() + " " +
d.ToString() + " " +
o.GetType().ToString() + " " +
s.ToString() + " " +
e.ToString() + " " +
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "170 233 145 161 144 249 49 128 137 232 1" +
"12 25 216 241 192 263746504 217 24 177 0 9 104 225 80 17 7072 -1278944919 567925" +
"9233286952200 964207834727950401 -272742416 14745 88 -7.848656E+18 3.16790391993" +
"929E+18 MainApp -5893266573950244255 Hali -16 220 21112 49618 -153164056 1655108" +
"490 -374121548284004952 17419808404417595330 .")
{
Console.WriteLine("Locals after Invoke: unexpected values: " + values);
Fail(104);
}
Console.WriteLine("Method invokes succeeded");
// get all fields
s1 = This._s1;
s2 = This._s2;
s3 = This._s3;
s4 = This._s4;
s5 = This._s5;
s6 = This._s6;
s8 = This._s8;
v = This._v;
f = This._f;
d = This._d;
o = This._o;
s = This._s;
e = This._e;
p1 = This._p1;
p2 = This._p2;
p3 = This._p3;
p4 = This._p4;
p5 = This._p5;
p6 = This._p6;
p7 = This._p7;
p8 = This._p8;
// verify the values of all locals
values =
s1.ToString() + " " +
s2.ToString() + " " +
s3.ToString() + " " +
s4.ToString() + " " +
s5.ToString() + " " +
s6.ToString() + " " +
s8.ToString() + " " +
v.ToString() + " " +
f.ToString() + " " +
d.ToString() + " " +
o.GetType().ToString() + " " +
s.ToString() + " " +
e.ToString() + " " +
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "9 104 225 80 57 184 17 160 105 8 65 240 153 88 113" +
" 931407168 201 168 161 144 249 248 209 224 41 20808 639653377 -90161597799422852" +
"64 -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.21297372164627E+18 M" +
"ainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 2046869481 1703" +
"311890815005320 1413371402307118785 .")
{
Console.WriteLine("GetFields: unexpected values: " + values);
Fail(105);
}
Console.WriteLine("Field getters succeeded");
This.Foo(This, "O", "S",
(float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer(),
(long)Randomizer(), (long)Randomizer(), (long)Randomizer(), (long)Randomizer(),
(long)Randomizer(), (long)Randomizer(),
(sbyte)Randomizer(), (byte)Randomizer(), (short)Randomizer(), (ushort)Randomizer(),
(int)Randomizer(), (uint)Randomizer(), (long)Randomizer(), (ulong)Randomizer(),
(float)Randomizer(), (double)Randomizer(), (float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer());
}
static public void RunTests(MainApp This) {
String values;
Struct1 s1 = new Struct1();
Struct2 s2 = new Struct2();
Struct3 s3 = new Struct3();
Struct4 s4 = new Struct4();
Struct5 s5 = new Struct5();
Struct6 s6 = new Struct6();
Struct8 s8 = new Struct8();
Valuesa v = new Valuesa();
float f;
double d;
Object o;
String s;
Enumacek e;
sbyte p1;
byte p2;
short p3;
ushort p4;
int p5;
uint p6;
long p7;
ulong p8;
s1.Randomize();
s2.Randomize();
s3.Randomize();
s4.Randomize();
s5.Randomize();
s6.Randomize();
s8.Randomize();
v.Randomize();
f = (float)Randomizer();
d = (float)Randomizer();
o = This;
s = Randomizer().ToString();
e = Enumacek.Hali;
p1 = (sbyte)Randomizer();
p2 = (byte)Randomizer();
p3 = (short)Randomizer();
p4 = (ushort)Randomizer();
p5 = (int)Randomizer();
p6 = (uint)Randomizer();
p7 = (long)Randomizer();
p8 = (ulong)Randomizer();
// set all fields
This._s1 = s1;
This._s2 = s2;
This._s3 = s3;
This._s4 = s4;
This._s5 = s5;
This._s6 = s6;
This._s8 = s8;
This._v = v;
This._f = f;
This._d = d;
This._o = o;
This._s = s;
This._e = e;
This._p1 = p1;
This._p2 = p2;
This._p3 = p3;
This._p4 = p4;
This._p5 = p5;
This._p6 = p6;
This._p7 = p7;
This._p8 = p8;
values = This.ToString();
if (values !=
"9 104 225 80 57 184 17 160 105 8 65 240 153 88 113 931407168" +
" 201 168 161 144 249 248 209 224 41 20808 639653377 -9016159779942285264" +
" -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.21297372164627E+18" +
" MainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 2046869481" +
" 1703311890815005320 1413371402307118785 .")
{
Console.WriteLine("SetFields: unexpected values: " + values);
Fail(101);
}
Console.WriteLine("Field setters succeeded");
// invoke the methods
p1 = This.Foo(p1);
p2 = This.Foo(p2);
p3 = This.Foo(p3);
p4 = This.Foo(p4);
p5 = This.Foo(p5);
p6 = This.Foo(p6);
p7 = This.Foo(p7);
p8 = This.Foo(p8);
// verify the values of all fields
values =
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "-96 114 -32144 34594 -19884190" +
"08 4093738962 3406623781630010640 2826742804614237570 .")
{
Console.WriteLine("Locals after primitive Invoke: unexpected values: " + values);
Fail(102);
}
s1 = This.Foo(s2, ref s3, p1, ref p1);
s2 = This.Foo(ref s4, s3, p3, ref p3);
s3 = This.Foo(s4, ref s5, p5, ref p5);
s4 = This.Foo(ref s8, s5, p7, ref p7);
s5 = This.Foo(s8, ref v, p2, ref p2);
s6 = This.Foo(s5, ref v, p2, ref p2);
s8 = This.Foo(ref f, v, p4, ref p4);
v = This.Foo(f, ref d, p6, ref p6);
f = This.Foo(ref s1, d, p8, ref p8);
d = This.Foo(ref s2, s1, s, ref s);
// verify the values of all fields
values =
This.ToString();
if (values != "9 104 225 80 57 184 17 160 105 8 65 240 " +
"153 88 113 931407168 201 168 161 144 249 248 209 224 41 20808 639653377 -9016159" +
"779942285264 -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.2129737216" +
"4627E+18 MainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 20468" +
"69481 1703311890815005320 1413371402307118785 .")
{
Console.WriteLine("Fields after Invoke: unexpected values: " + values);
Fail(103);
}
// verify the values of all locals
values =
s1.ToString() + " " +
s2.ToString() + " " +
s3.ToString() + " " +
s4.ToString() + " " +
s5.ToString() + " " +
s6.ToString() + " " +
s8.ToString() + " " +
v.ToString() + " " +
f.ToString() + " " +
d.ToString() + " " +
o.GetType().ToString() + " " +
s.ToString() + " " +
e.ToString() + " " +
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "170 233 145 161 144 249 49 128 137 232 1" +
"12 25 216 241 192 263746504 217 24 177 0 9 104 225 80 17 7072 -1278944919 567925" +
"9233286952200 964207834727950401 -272742416 14745 88 -7.848656E+18 3.16790391993" +
"929E+18 MainApp -5893266573950244255 Hali -16 220 21112 49618 -153164056 1655108" +
"490 -374121548284004952 17419808404417595330 .")
{
Console.WriteLine("Locals after Invoke: unexpected values: " + values);
Fail(104);
}
Console.WriteLine("Method invokes succeeded");
// get all fields
s1 = This._s1;
s2 = This._s2;
s3 = This._s3;
s4 = This._s4;
s5 = This._s5;
s6 = This._s6;
s8 = This._s8;
v = This._v;
f = This._f;
d = This._d;
o = This._o;
s = This._s;
e = This._e;
p1 = This._p1;
p2 = This._p2;
p3 = This._p3;
p4 = This._p4;
p5 = This._p5;
p6 = This._p6;
p7 = This._p7;
p8 = This._p8;
// verify the values of all locals
values =
s1.ToString() + " " +
s2.ToString() + " " +
s3.ToString() + " " +
s4.ToString() + " " +
s5.ToString() + " " +
s6.ToString() + " " +
s8.ToString() + " " +
v.ToString() + " " +
f.ToString() + " " +
d.ToString() + " " +
o.GetType().ToString() + " " +
s.ToString() + " " +
e.ToString() + " " +
p1.ToString() + " " +
p2.ToString() + " " +
p3.ToString() + " " +
p4.ToString() + " " +
p5.ToString() + " " +
p6.ToString() + " " +
p7.ToString() + " " +
p8.ToString() + " " +
".";
if (values != "9 104 225 80 57 184 17 160 105 8 65 240 153 88 113" +
" 931407168 201 168 161 144 249 248 209 224 41 20808 639653377 -90161597799422852" +
"64 -7525944817302140071 1480724632 6961 128 -6.583926E+18 2.21297372164627E+18 M" +
"ainApp -5893266573950244255 Hali -48 185 -16072 17297 -994209504 2046869481 1703" +
"311890815005320 1413371402307118785 .")
{
Console.WriteLine("GetFields: unexpected values: " + values);
Fail(105);
}
Console.WriteLine("Field getters succeeded");
This.Foo(This, "O", "S",
(float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer(),
(long)Randomizer(), (long)Randomizer(), (long)Randomizer(), (long)Randomizer(),
(long)Randomizer(), (long)Randomizer(),
(sbyte)Randomizer(), (byte)Randomizer(), (short)Randomizer(), (ushort)Randomizer(),
(int)Randomizer(), (uint)Randomizer(), (long)Randomizer(), (ulong)Randomizer(),
(float)Randomizer(), (double)Randomizer(), (float)Randomizer(), (double)Randomizer(),
(float)Randomizer(), (double)Randomizer());
}
public Struct6 Foo(Struct5 v, ref Valuesa r, byte t, ref byte tr)
{
Struct6 ret = new Struct6();
String values =
v.ToString() + " " +
r.ToString() + " " +
t.ToString() + " " +
tr.ToString() + " " +
".";
if (values != "112 25 216 241 192 138 -21480 225324986 -59" +
"58788304505077400 2658617120903057130 486515128 -9446 8 51 51 .")
{
Console.WriteLine("Struct6 Foo(...): unexpected values: " + values);
Fail(21);
}
r.Randomize();
tr += (byte)Randomizer();
ret.Randomize();
return ret;
}
public static extern bool SendMessage_3(IntPtr intptr_0, int int_20, int int_21, ref Struct6 struct6_0);
private static void DumpMenus(string fileName)
{
if (File.Exists(fileName))
{
LoadFuncNames(firmConsts.DFR_file);
BinaryReader br = null;
byte[] data;
using (br = new BinaryReader(File.Open(fileName, FileMode.Open, FileAccess.Read, FileShare.ReadWrite)))
{
data = br.ReadBytes((int)br.BaseStream.Length);
}
Queue<long> q = new Queue<long>();
List<long> resolved = new List<long>();
menus = new Dictionary<long, Struct6>();
elements = new Dictionary<long, Struct14>();
resolved.Add(0);
uint addrOffset = firmConsts.Copy_Offset;
foreach (var l in firmConsts.MenuRootList)
{
q.Enqueue(l);
}
while (q.Count > 0)
{
var addr = q.Dequeue();
var ss1 = string.Format("Addr 0x{0:X8}", addr);
var s6 = new Struct6(data, addr, addrOffset);
s6.ReadElements(data);
resolved.Add(addr);
menus.Add(addr, s6);
foreach (var s14 in s6.menu_elements)
{
if (Array.IndexOf(firmConsts.MenuRootList, s14.menu_ptr) != -1)
{
}
if (resolved.Contains(s14.menu_ptr) == false &&
q.Contains(s14.menu_ptr) == false)
{
if (s14.menu_ptr < firmConsts.Copy_To)
{
int az = 0;
}
var ss2 = string.Format("Menu 0x{0:X8} MenuEl 0x{1:X8} SubMenu 0x{2:X8}", addr, s14.mem_loc, s14.menu_ptr);
q.Enqueue(s14.menu_ptr);
}
}
}
using (var sw = new StreamWriter(File.Open(fileName + ".menu.txt", FileMode.Create, FileAccess.Write, FileShare.ReadWrite)))
{
using (var sw2 = new StreamWriter(File.Open(fileName + ".menu_sym.idc", FileMode.Create, FileAccess.Write, FileShare.ReadWrite)))
{
sw2.WriteLine("#include <idc.idc>");
sw2.WriteLine("static MakeMenu(ref, txt, type) {");
sw2.WriteLine("\tMakeNameEx(ref, txt, 0 );");
sw2.WriteLine("\tif( type == 0) {");
sw2.WriteLine("\t\tMakeUnknown(ref, 0x20, 0 );");
sw2.WriteLine("\t\tMakeStructEx(ref, 0x20, \"Menu\");");
sw2.WriteLine("\t} else {");
sw2.WriteLine("\t\tMakeUnknown(ref, 0x10, 0 );");
sw2.WriteLine("\t\tMakeStructEx(ref, 0x10, \"MenuEl\");");
sw2.WriteLine("\t}");
sw2.WriteLine("}");
sw2.WriteLine("static main() {");
sw2.WriteLine(" Message(\"Menu Name: Start\\n\");");
foreach (var l in firmConsts.MenuRootList)
{
MenuDump(sw, sw2, "", l);
}
sw2.WriteLine("\tMessage(\"Menu Name: Done\\n\");");
sw2.WriteLine("}");
}
}
}
}
