Add unit tests for CaDA RaceCar rev1 and rev2 datagram encoding

BrickController2/BrickController2.Tests/DeviceManagement/CaDA/CaDADatagramTestsBase.cs

@@ -0,0 +1,43 @@
+using BrickController2.DeviceManagement;
+using BrickController2.DeviceManagement.CaDA;
+using BrickController2.PlatformServices.BluetoothLE;
+using Moq;
+using System;
+
+namespace BrickController2.Tests.DeviceManagement.CaDA;
+
+public abstract class CaDADatagramTestsBase
+{
+    protected const byte AppIdentifier1 = 0x61; // This is the first byte of a randomly chosen AppIdentifier for unit testing
+    protected const byte AppIdentifier2 = 0x62; // This is the second byte of a randomly chosen AppIdentifier for unit testing
+    protected const byte AppIdentifier3 = 0x63; // This is the third byte of a randomly chosen AppIdentifier for unit testing
+
+    protected static readonly byte[] AppIdentifier = [AppIdentifier1, AppIdentifier2, AppIdentifier3];
+
+    /// <summary>
+    /// This class is a test implementation of the ICaDAPlatformService interface that simulates the behavior of the TryGetRfPayload method for testing purposes.
+    /// It always returns true and sets the rfPayload to the rawData provided.
+    /// </summary>
+    protected class TestCaDAPlatformService : ICaDAPlatformService
+    {
+        public bool TryGetRfPayload(byte[] rawData, out byte[] rfPayload)
+        {
+            rfPayload = rawData;
+            return true; // Simulate success
+        }
+    }
+
+    protected readonly Mock<IBluetoothLEService> _bluetoothLEService = new(MockBehavior.Strict);
+    protected readonly Mock<ICaDADeviceManager> _manager = new(MockBehavior.Strict);
+    protected readonly TestCaDAPlatformService _cadaPlatformService = new();
+    internal readonly Mock<IDeviceRepository> _deviceRepository = new(MockBehavior.Strict);
+    protected readonly MessageEncoderFactory _messageEncoderFactory;
+    protected readonly Mock<Random> _random = new(MockBehavior.Strict);
+
+    protected CaDADatagramTestsBase()
+    {
+        _manager.Setup(x => x.GetAppId()).Returns(AppIdentifier);
+        _random.Setup(x => x.Next(ushort.MinValue, ushort.MaxValue)).Returns(0); // mock random number generation to always return 0 for testing
+        _messageEncoderFactory = new MessageEncoderFactory(_manager.Object, _cadaPlatformService, _random.Object);
+    }
+}

BrickController2/BrickController2.Tests/DeviceManagement/CaDA/CaDARaceCarRev1DatagramTests.cs

@@ -0,0 +1,205 @@
+using BrickController2.DeviceManagement.CaDA;
+using FluentAssertions;
+using System;
+using Xunit;
+
+namespace BrickController2.Tests.DeviceManagement.CaDA;
+
+public sealed class CaDARaceCarRev1DatagramTests : CaDADatagramTestsBase
+{
+    private const byte PayloadIdentifier1 = 0x75;
+    private const byte PayloadIdentifier2 = 0x13;
+    private const byte MockedRandomValue1 = 0xf4;
+    private const byte MockedRandomValue2 = 0xf4;
+
+    /// <summary>
+    /// This test checks that the payload identifiers are correctly set in the connect datagram for each device address.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef })]
+    [InlineData(new byte[] { 0x12, 0x34, 0x56 })]
+    public void TryGetTelegram_ConnectDatagram_PayloadIdentifier(byte[] deviceAddress)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        device.TryGetTelegram(true, out byte[] payload).Should().BeTrue();
+        payload[0].Should().Be(PayloadIdentifier1);
+        payload[1].Should().Be(PayloadIdentifier2);
+    }
+
+    /// <summary>
+    /// This test checks that the AppIdentifier is correctly included in the connect datagram payload for each device address.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef })]
+    [InlineData(new byte[] { 0x12, 0x34, 0x35 })]
+    public void TryGetTelegram_ConnectDatagram_AppIdentifier(byte[] deviceAddress)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        device.TryGetTelegram(true, out byte[] payload).Should().BeTrue();
+        payload[5].Should().Be(AppIdentifier1);
+        payload[6].Should().Be(AppIdentifier2);
+        payload[7].Should().Be(AppIdentifier3);
+    }
+
+    /// <summary>
+    /// This test checks that the payload identifiers are correctly set in the connect datagram for each device address.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef })]
+    [InlineData(new byte[] { 0x12, 0x34, 0x35 })]
+    public void TryGetTelegram_CommandDatagram_PayloadIdentifier(byte[] deviceAddress)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        device.TryGetTelegram(false, out byte[] payload).Should().BeTrue();
+        payload[0].Should().Be(PayloadIdentifier1);
+        payload[1].Should().Be(PayloadIdentifier2);
+    }
+
+    /// <summary>
+    /// This test checks that the AppIdentifier is correctly included in the connect datagram payload for each device address.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef })]
+    [InlineData(new byte[] { 0x12, 0x34, 0x35 })]
+    public void TryGetTelegram_CommandDatagram_AppIdentifier(byte[] deviceAddress)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        device.TryGetTelegram(false, out byte[] payload).Should().BeTrue();
+        payload[5].Should().Be(AppIdentifier1);
+        payload[6].Should().Be(AppIdentifier2);
+        payload[7].Should().Be(AppIdentifier3);
+    }
+
+    /// <summary>
+    /// Tests that setting an illegal channel index throws an ArgumentOutOfRangeException.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef })]
+    [InlineData(new byte[] { 0x12, 0x34, 0x35 })]
+    public void TryGetTelegram_CommandDatagram_SetIllegalChannel(byte[] deviceAddress)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        Action action = () => device.SetOutput(device.NumberOfChannels, 0);
+
+        action.Should().Throw<ArgumentOutOfRangeException>();
+    }
+
+    /// <summary>
+    /// This test checks that the command datagram payload is correctly constructed based on the set output values for multiple devices, ensuring that each device's payload is independent of the others.
+    /// </summary>
+    [Fact]
+    public void TryGetTelegram_CommandDatagram_InstanceInteraction()
+    {
+        byte[] deviceAddress1 = [0xab, 0xcd, 0xef];
+        byte[] scanData1 = [0x00, 0x00, 0x00, 0x00, deviceAddress1[0], deviceAddress1[1], deviceAddress1[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device1 = new CaDARaceCar("CaDARaceCar1", BitConverter.ToString(deviceAddress1).ToLower(), scanData1, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        float[] setValues1 = [1.0f, 1.0f, 0.0f];
+        byte[] expectedPayload1 = [
+            PayloadIdentifier1, PayloadIdentifier2,
+            deviceAddress1[0], deviceAddress1[1], deviceAddress1[2],
+            AppIdentifier1, AppIdentifier2, AppIdentifier3,
+            MockedRandomValue1, MockedRandomValue2, // mocked random values
+            0xc9, 0x1a, 0x21, 0xc9, 0xc9, 0xc9];
+
+        byte[] deviceAddress2 = [0x12, 0x34, 0x56];
+        byte[] scanData2 = [0x00, 0x00, 0x00, 0x00, deviceAddress2[0], deviceAddress2[1], deviceAddress2[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device2 = new CaDARaceCar("CaDARaceCar2", BitConverter.ToString(deviceAddress2).ToLower(), scanData2, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        float[] setValues2 = [-1.0f, -1.0f, 0.0f];
+        byte[] expectedPayload2 = [
+            PayloadIdentifier1, PayloadIdentifier2,
+            deviceAddress2[0], deviceAddress2[1], deviceAddress2[2],
+            AppIdentifier1, AppIdentifier2, AppIdentifier3,
+            MockedRandomValue1, MockedRandomValue2, // mocked random values
+            0x1a, 0xc9, 0x21, 0xc9, 0xc9, 0xc9];
+
+        byte[] deviceAddress3 = [0x78, 0x90, 0xab];
+        byte[] scanData3 = [0x00, 0x00, 0x00, 0x00, deviceAddress3[0], deviceAddress3[1], deviceAddress3[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+
+        CaDARaceCar device3 = new CaDARaceCar("CaDARaceCar3", BitConverter.ToString(deviceAddress3).ToLower(), scanData3, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        float[] setValues3 = [1.0f, -1.0f, 1.0f];
+        byte[] expectedPayload3 = [
+            PayloadIdentifier1, PayloadIdentifier2,
+            deviceAddress3[0], deviceAddress3[1], deviceAddress3[2],
+            AppIdentifier1, AppIdentifier2, AppIdentifier3,
+            MockedRandomValue1, MockedRandomValue2, // mocked random values
+            0xc9, 0xc9, 0x1a, 0xc9, 0xc9, 0xc9];
+
+        // Set the output values for the device
+        for (int i = 0; i < device1.NumberOfChannels; i++)
+        {
+            device1.SetOutput(i, setValues1[i]);
+            device2.SetOutput(i, setValues2[i]);
+            device3.SetOutput(i, setValues3[i]);
+        }
+
+        // Get the command datagram payload
+        device1.TryGetTelegram(false, out byte[] payload1).Should().BeTrue();
+        device2.TryGetTelegram(false, out byte[] payload2).Should().BeTrue();
+        device3.TryGetTelegram(false, out byte[] payload3).Should().BeTrue();
+
+        payload1.Should().BeEquivalentTo(expectedPayload1);
+        payload2.Should().BeEquivalentTo(expectedPayload2);
+        payload3.Should().BeEquivalentTo(expectedPayload3);
+    }
+
+    /// <summary>
+    /// This test checks that the command datagram payload is correctly constructed based on the set output values for each device address.
+    /// </summary>
+    /// <param name="deviceAddress">The address of the device to test.</param>
+    /// <param name="setValues">The set values for each channel.</param>
+    /// <param name="expectedPayload">The expected payload for the command datagram.</param>
+    [Theory]
+    [InlineData(new byte[] { 0xab, 0xcd, 0xef }, new float[] { 0.0f, 0.0f, 0.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x21, 0x21, 0x21, 0xc9, 0xc9, 0xc9 })]      // all channels neutral
+    [InlineData(new byte[] { 0xcd, 0xef, 0xab }, new float[] { 1.0f, 0.0f, 0.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0xc9, 0x21, 0x21, 0xc9, 0xc9, 0xc9 })]      // channel 1 maximum, others neutral
+    [InlineData(new byte[] { 0xef, 0xab, 0xcd }, new float[] { 0.0f, 1.0f, 0.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x21, 0x1a, 0x21, 0xc9, 0xc9, 0xc9 })]      // channel 2 maximum, others neutral
+    [InlineData(new byte[] { 0x11, 0x22, 0x33 }, new float[] { 0.0f, 0.0f, 1.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x21, 0x21, 0x1a, 0xc9, 0xc9, 0xc9 })]      // channel 3 maximum, others neutral
+    [InlineData(new byte[] { 0x22, 0x33, 0x44 }, new float[] { -1.0f, 0.0f, 0.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x1a, 0x21, 0x21, 0xc9, 0xc9, 0xc9 })]     // channel 1 minimum, others neutral
+    [InlineData(new byte[] { 0x33, 0x44, 0x55 }, new float[] { 0.0f, -1.0f, 0.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x21, 0xc9, 0x21, 0xc9, 0xc9, 0xc9 })]     // channel 2 minimum, others neutral
+    [InlineData(new byte[] { 0x44, 0x55, 0x66 }, new float[] { 0.0f, 0.0f, -1.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x21, 0x21, 0xc9, 0xc9, 0xc9, 0xc9 })]     // channel 3 minimum, others neutral
+    [InlineData(new byte[] { 0x55, 0x66, 0x77 }, new float[] { 9.0f, 9.0f, 9.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0xc9, 0x1a, 0x1a, 0xc9, 0xc9, 0xc9 })]     // all channels above maximum, should be clamped to maximum
+    [InlineData(new byte[] { 0x66, 0x77, 0x88 }, new float[] { -9.0f, -9.0f, -9.0f }, new byte[] { PayloadIdentifier1, PayloadIdentifier2, 0x00, 0x00, 0x00, AppIdentifier1, AppIdentifier2, AppIdentifier3, MockedRandomValue1, MockedRandomValue2, 0x1a, 0xc9, 0xc9, 0xc9, 0xc9, 0xc9 })]  // all channels below minimum, should be clamped to minimum
+    public void TryGetTelegram_CommandDatagram_Payload(byte[] deviceAddress, float[] setValues, byte[] expectedPayload)
+    {
+        byte[] scanData = [0x00, 0x00, 0x00, 0x00, deviceAddress[0], deviceAddress[1], deviceAddress[2], AppIdentifier1, AppIdentifier2, AppIdentifier3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00];
+        CaDARaceCar device = new CaDARaceCar("CaDARaceCar", BitConverter.ToString(deviceAddress).ToLower(), scanData, _deviceRepository.Object, _bluetoothLEService.Object, _messageEncoderFactory);
+
+        deviceAddress.CopyTo(expectedPayload, 2); // Copy device address to expectedPayload at index 2
+
+        // Set the output values for the device
+        for (int i = 0; i < device.NumberOfChannels; i++)
+        {
+            device.SetOutput(i, setValues[i]);
+        }
+
+        // Get the command datagram payload
+        device.TryGetTelegram(false, out byte[] payload).Should().BeTrue();
+
+        // Check that the payload matches the expected values
+        payload.Should().BeEquivalentTo(expectedPayload);
+    }
+}