Add message classes

Add tests for messages

Author: rday

Build/RobotController/Index/Debug/iphonesimulator9.1-x86_64/RobotController.xcindex/db.xcindexdb

@@ -21,6 +21,7 @@
 		A2D937061C0554AA0004FECF /* ytcpsocket.swift in Sources */ = {isa = PBXBuildFile; fileRef = A2D937011C0554AA0004FECF /* ytcpsocket.swift */; };
 		A2D937071C0554AA0004FECF /* yudpsocket.c in Sources */ = {isa = PBXBuildFile; fileRef = A2D937021C0554AA0004FECF /* yudpsocket.c */; };
 		A2D937081C0554AA0004FECF /* yudpsocket.swift in Sources */ = {isa = PBXBuildFile; fileRef = A2D937031C0554AA0004FECF /* yudpsocket.swift */; };
+		A2D9370A1C072F460004FECF /* Message.swift in Sources */ = {isa = PBXBuildFile; fileRef = A2D937091C072F460004FECF /* Message.swift */; };
 /* End PBXBuildFile section */
 
 /* Begin PBXContainerItemProxy section */
@@ -62,6 +63,7 @@
 		A2D937011C0554AA0004FECF /* ytcpsocket.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = ytcpsocket.swift; sourceTree = "<group>"; };
 		A2D937021C0554AA0004FECF /* yudpsocket.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = yudpsocket.c; sourceTree = "<group>"; };
 		A2D937031C0554AA0004FECF /* yudpsocket.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = yudpsocket.swift; sourceTree = "<group>"; };
+		A2D937091C072F460004FECF /* Message.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; path = Message.swift; sourceTree = "<group>"; };
 /* End PBXFileReference section */
 
 /* Begin PBXFrameworksBuildPhase section */
@@ -126,6 +128,7 @@
 				A2D936CE1C054BD40004FECF /* Info.plist */,
 				A2D936F01C054EAB0004FECF /* Robot.swift */,
 				A2D936FE1C0554A90004FECF /* RobotController-Bridging-Header.h */,
+				A2D937091C072F460004FECF /* Message.swift */,
 			);
 			path = RobotController;
 			sourceTree = "<group>";
@@ -289,6 +292,7 @@
 				A2D937041C0554AA0004FECF /* ysocket.swift in Sources */,
 				A2D937051C0554AA0004FECF /* ytcpsocket.c in Sources */,
 				A2D937081C0554AA0004FECF /* yudpsocket.swift in Sources */,
+				A2D9370A1C072F460004FECF /* Message.swift in Sources */,
 				A2D937061C0554AA0004FECF /* ytcpsocket.swift in Sources */,
 				A2D936C31C054BD40004FECF /* FirstViewController.swift in Sources */,
 			);

Build/RobotController/Index/Debug/iphonesimulator9.1-x86_64/RobotController.xcindex/db.xcindexdb-shm

@@ -0,0 +1,74 @@
+//
+//  Message.swift
+//  RobotController
+//
+//  Created by ryan day on 11/26/15.
+//  Copyright © 2015 Curious. All rights reserved.
+//
+
+import Foundation
+
+enum MessageTyoe {
+    case AddServo, RotateType, RotateServo, ClearServo
+}
+
+class Message {
+    let SOM:UInt8 = 0xf0
+    let EOM:UInt8 = 0xf1
+
+    func serialize() -> [UInt8] {
+        return []
+    }
+}
+
+class AddServoMessage : Message {
+    let mesageType:UInt8 = 1
+    let size:UInt8 = 2
+    var _servoType: UInt8
+    var _gpio: UInt8
+
+    init(gpio: UInt8, servoType: UInt8) {
+        _servoType = servoType
+        _gpio = gpio
+    }
+
+    func setInverse() {
+        _servoType |= 0x80
+    }
+
+    override func serialize() -> [UInt8]{
+        return [SOM, size, _servoType, _gpio, EOM]
+    }
+}
+
+class RotateServoTypeMessage : Message {
+    let mesageType:UInt8 = 2
+    let size:UInt8 = 4
+    var _mask: UInt8
+    var _pulseWidth: UInt16
+    
+    init(mask: UInt8, pulseWidth: UInt16) {
+        _mask = mask
+        _pulseWidth = pulseWidth
+    }
+    
+    override func serialize() -> [UInt8]{
+        return [SOM, size, _mask, UInt8(_pulseWidth >> 8), UInt8(_pulseWidth & 0xff), EOM]
+    }
+}
+
+class RotateServoMessage : Message {
+    let mesageType:UInt8 = 3
+    let size:UInt8 = 4
+    var gpio: UInt8
+    var pulseWidth: UInt16
+    
+    init(_gpio: UInt8, _pulseWidth: UInt16) {
+        gpio = _gpio
+        pulseWidth = _pulseWidth
+    }
+    
+    override func serialize() -> [UInt8]{
+        return [SOM, size, gpio, UInt8(pulseWidth >> 8), UInt8(pulseWidth), EOM]
+    }
+}

Build/RobotController/Index/Debug/iphonesimulator9.1-x86_64/RobotController.xcindex/db.xcindexdb-wal

@@ -21,11 +21,25 @@ class RobotControllerTests: XCTestCase {
         super.tearDown()
     }
 
-    func testExample() {
+    func testAddServoMessage() {
         // This is an example of a functional test case.
         // Use XCTAssert and related functions to verify your tests produce the correct results.
+        let msg = AddServoMessage(gpio: 12, servoType: 1)
+        
+        XCTAssert(msg.serialize() == [0xf0, 0x02, 0x01, 0x0c, 0xf1])
+        
+        msg.setInverse()
+        XCTAssert(msg.serialize() == [0xf0, 0x02, 0x81, 0x0c, 0xf1])
     }
-    
+
+    func testRotateServoMessage() {
+        // This is an example of a functional test case.
+        // Use XCTAssert and related functions to verify your tests produce the correct results.
+        let msg = RotateServoTypeMessage(mask: 0x01, pulseWidth: 2000)
+
+        XCTAssert(msg.serialize() == [0xf0, 0x04, 0x01, 0x07, 0xd0, 0xf1])
+    }
+
     func testPerformanceExample() {
         // This is an example of a performance test case.
         self.measureBlock {

RobotController.xcodeproj/project.pbxproj

@@ -18,7 +18,11 @@ class RobotControllerUITests: XCTestCase {
         // In UI tests it is usually best to stop immediately when a failure occurs.
         continueAfterFailure = false
         // UI tests must launch the application that they test. Doing this in setup will make sure it happens for each test method.
-        XCUIApplication().launch()
+        if #available(iOS 9.0, *) {
+            XCUIApplication().launch()
+        } else {
+            // Fallback on earlier versions
+        }
 
         // In UI tests it’s important to set the initial state - such as interface orientation - required for your tests before they run. The setUp method is a good place to do this.
     }