示例#1
0
 public void CNCRMsgToolCmdConstructorTest()
 {
     bool toolOn = false; // TODO: Initialize to an appropriate value
     CNCRMsgToolCmd target = new CNCRMsgToolCmd(toolOn);
     Assert.AreEqual(CNCRMSG_TYPE.TOOL_CMD, target.getMessageType());
     Assert.AreEqual(0x70, target.getMsgTypeByte());
     Assert.AreEqual(toolOn, target.isToolOn());
 }
示例#2
0
 public void isToolOnTest_On()
 {
     bool toolOn = true;
     CNCRMsgToolCmd target = new CNCRMsgToolCmd(toolOn);
     bool expected = true;
     bool actual;
     actual = target.isToolOn();
     Assert.AreEqual(expected, actual);
 }
示例#3
0
        //TODO: Should this be in CNCRMessage?
        //TODO: getMsgFromBytes: Generate more test cases for this function, preferable edge cases.
        /// <summary>
        /// Returns the message contained in the passed in byte array.
        /// </summary>
        /// <param name="msgBytes">Array of bytes containing a CNCRMessage</param>
        /// <returns>The message contained in the bytes.</returns>
        public static CNCRMessage getMsgFromBytes(byte[] msgBytes)
        {
            // Byte 0 should be
            CNCRMSG_TYPE msgType = (CNCRMSG_TYPE)Enum.ToObject(typeof(CNCRMSG_TYPE), (msgBytes[0] & 0xF0) >> 4);
            int          msgLen  = getMsgLenFromType(msgType);

            // Validate the message length.
            if (msgLen != msgBytes.Length)
            {
                throw new RankException("MsgCommandAcknowledge is "
                                        + CNCRConstants.MSG_LEN_CMD_ACK + " not "
                                        + msgBytes.Length + " bytes long.");
            }

            // Build the correct message.
            CNCRMessage resultMsg;

            switch (msgType)
            {
            case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
                resultMsg = new CNCRMsgCmdAck(msgBytes);
                break;

            case CNCRMSG_TYPE.E_STOP:
                resultMsg = new CNCRMsgEStop();
                break;

            case CNCRMSG_TYPE.MOVE:
                resultMsg = new CNCRMsgMove(msgBytes);
                break;

            case CNCRMSG_TYPE.PING:
                resultMsg = new CNCRMsgPing();
                break;

            case CNCRMSG_TYPE.REQUEST_COMMAND:
                resultMsg = new CNCRMsgRequestCommands(msgBytes);
                break;

            case CNCRMSG_TYPE.SET_SPEED:
                resultMsg = new CNCRMsgSetSpeed(msgBytes);
                break;

            case CNCRMSG_TYPE.START_QUEUE:
                resultMsg = new CNCRMsgStartQueue(msgBytes);
                break;

            case CNCRMSG_TYPE.TOOL_CMD:
                resultMsg = new CNCRMsgToolCmd(msgBytes);
                break;

            default:
                throw new FormatException("getMsgFromBytes: Unknown message type");
            }
            return(resultMsg);
        }
示例#4
0
 public void toSerialTest_ToolOff()
 {
     bool toolOn = false;
     CNCRMsgToolCmd target = new CNCRMsgToolCmd(toolOn);
     byte[] expected = { 0x71, 0x71 };
     byte[] actual;
     actual = target.toSerial();
     Assert.AreEqual(expected.Length, actual.Length);
     Assert.AreEqual(expected[0], actual[0]);
     Assert.AreEqual(expected[1], actual[1]);
 }
示例#5
0
        //TODO: Should this be in CNCRMessage?
        //TODO: getMsgFromBytes: Generate more test cases for this function, preferable edge cases.
        /// <summary>
        /// Returns the message contained in the passed in byte array.
        /// </summary>
        /// <param name="msgBytes">Array of bytes containing a CNCRMessage</param>
        /// <returns>The message contained in the bytes.</returns>
        public static CNCRMessage getMsgFromBytes(byte[] msgBytes)
        {
            // Byte 0 should be
            CNCRMSG_TYPE msgType = (CNCRMSG_TYPE)Enum.ToObject(typeof(CNCRMSG_TYPE), (msgBytes[0] & 0xF0) >> 4);
            int msgLen = getMsgLenFromType(msgType);

            // Validate the message length.
            if (msgLen != msgBytes.Length)
                throw new RankException("MsgCommandAcknowledge is "
                    + CNCRConstants.MSG_LEN_CMD_ACK + " not "
                    + msgBytes.Length + " bytes long.");

            // Build the correct message.
            CNCRMessage resultMsg;
            switch (msgType)
            {
                case CNCRMSG_TYPE.CMD_ACKNOWLEDGE:
                    resultMsg = new CNCRMsgCmdAck(msgBytes);
                    break;
                case CNCRMSG_TYPE.E_STOP:
                    resultMsg = new CNCRMsgEStop();
                    break;
                case CNCRMSG_TYPE.MOVE:
                    resultMsg = new CNCRMsgMove(msgBytes);
                    break;
                case CNCRMSG_TYPE.PING:
                    resultMsg = new CNCRMsgPing();
                    break;
                case CNCRMSG_TYPE.REQUEST_COMMAND:
                    resultMsg = new CNCRMsgRequestCommands(msgBytes);
                    break;
                case CNCRMSG_TYPE.SET_SPEED:
                    resultMsg = new CNCRMsgSetSpeed(msgBytes);
                    break;
                case CNCRMSG_TYPE.START_QUEUE:
                    resultMsg = new CNCRMsgStartQueue(msgBytes);
                    break;
                case CNCRMSG_TYPE.TOOL_CMD:
                    resultMsg = new CNCRMsgToolCmd(msgBytes);
                    break;
                default:
                    throw new FormatException("getMsgFromBytes: Unknown message type");
            }
            return resultMsg;
        }
示例#6
0
        private void btnSndMsg_Click(object sender, EventArgs e)
        {
            /*
            int discarded = 0;
            byte[] bytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
            lblDbgOut.Text = "";
            for (int i = 0; i < bytes.Length; i++)
            {
                lblDbgOut.Text += bytes[i].ToString() + " ";
            }//*/

            byte[] sendBytes = {0};
            CNCRMessage sendMsg = null;
            switch (cmbMsgs.SelectedIndex)
            {
                case 0:
                    int discarded = 0;
                    sendBytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
                    break;
                case 1:
                    sendMsg = new CNCRMsgPing();
                    sendBytes = sendMsg.toSerial();
                    break;
                case 2:
                    sendMsg = new CNCRMsgCmdAck(false, 127);
                    sendBytes = sendMsg.toSerial();
                    break;
                case 3:
                    sendMsg = new CNCRMsgEStop();
                    sendBytes = sendMsg.toSerial();
                    break;
                case 4:
                    sendMsg = new CNCRMsgRequestCommands(128);
                    sendBytes = sendMsg.toSerial();
                    break;
                case 5:
                    sendMsg = new CNCRMsgStartQueue(false);
                    sendBytes = sendMsg.toSerial();
                    break;
                case 6:
                    sendMsg = new CNCRMsgSetSpeed(true, true, false, 40000);
                    sendBytes = sendMsg.toSerial();
                    break;
                case 7:
                    sendMsg = new CNCRMsgMove(Int16.MinValue, Int16.MaxValue, 0);
                    sendBytes = sendMsg.toSerial();
                    break;
                case 8:
                    sendMsg = new CNCRMsgToolCmd(true);
                    sendBytes = sendMsg.toSerial();
                    break;
            }
            rtbTraffic.AppendText(CNCRTools.BytesToHex(sendBytes) + "\n");
            if (sendMsg == null)
                commCmd.SendBytes(sendBytes);
            else
                commCmd.SendMsg(sendMsg);
        }
示例#7
0
        private void btnSndMsg_Click(object sender, EventArgs e)
        {
            /*
             * int discarded = 0;
             * byte[] bytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
             * lblDbgOut.Text = "";
             * for (int i = 0; i < bytes.Length; i++)
             * {
             *  lblDbgOut.Text += bytes[i].ToString() + " ";
             * }//*/

            byte[]      sendBytes = { 0 };
            CNCRMessage sendMsg   = null;

            switch (cmbMsgs.SelectedIndex)
            {
            case 0:
                int discarded = 0;
                sendBytes = CNCRTools.GetBytes(txtHex.Text, out discarded);
                break;

            case 1:
                sendMsg   = new CNCRMsgPing();
                sendBytes = sendMsg.toSerial();
                break;

            case 2:
                sendMsg   = new CNCRMsgCmdAck(false, 127);
                sendBytes = sendMsg.toSerial();
                break;

            case 3:
                sendMsg   = new CNCRMsgEStop();
                sendBytes = sendMsg.toSerial();
                break;

            case 4:
                sendMsg   = new CNCRMsgRequestCommands(128);
                sendBytes = sendMsg.toSerial();
                break;

            case 5:
                sendMsg   = new CNCRMsgStartQueue(false);
                sendBytes = sendMsg.toSerial();
                break;

            case 6:
                sendMsg   = new CNCRMsgSetSpeed(true, true, false, 40000);
                sendBytes = sendMsg.toSerial();
                break;

            case 7:
                sendMsg   = new CNCRMsgMove(Int16.MinValue, Int16.MaxValue, 0);
                sendBytes = sendMsg.toSerial();
                break;

            case 8:
                sendMsg   = new CNCRMsgToolCmd(true);
                sendBytes = sendMsg.toSerial();
                break;
            }
            rtbTraffic.AppendText(CNCRTools.BytesToHex(sendBytes) + "\n");
            if (sendMsg == null)
            {
                commCmd.SendBytes(sendBytes);
            }
            else
            {
                commCmd.SendMsg(sendMsg);
            }
        }