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CaDARacecar: channels to separately control the front light and the rear light #273

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743b6f8
Added a channel to separately control the front light and the rear li…
Sep 20, 2026
beb7bef
fixed flaky unit tests
Sep 20, 2026
2200301
fixed Unit Tests
Sep 22, 2026
c278ea1
Invert SetLights logic and update encoder test
Sep 22, 2026
0a6ff32
fixed typo
Sep 22, 2026
8c7cd21
Refactor light output management in CaDARaceCar
Sep 22, 2026
ba3b416
Refactor light output handling with ExecuteLocked
Sep 22, 2026
ce37db6
refactored ChannelDeviceSelector for CaDA Racecar
Sep 27, 2026
e2181c5
Refactor OutputValuesGroup to include IBitwiseOperators and update Se…
Sep 27, 2026
be7b494
Refactor light output handling in CaDARaceCar to use SetFlag for fron…
Sep 27, 2026
fd0c3bc
fixed to rebase
Sep 27, 2026
ab73c43
Refactor output value handling to use BigInteger
J0EK3R Sep 29, 2026
07dac6d
Use absolute value for light channel flags
Sep 30, 2026
f199569
Refactor Grid: flatten layout and update icons
Sep 30, 2026
b521fbe
Add unit tests for light-flag encoding
Sep 30, 2026
dbeb0a0
add unit tests to test channel-to-bit mapping with device-level light…
Sep 30, 2026
7098ad1
Replace BigInteger with ulong for temps
Oct 1, 2026
5e07c5b
Add Half-based SetFlag unit tests
Oct 1, 2026
ac461f3
Remove CaDARaceCarTests unit tests
Oct 1, 2026
fad7fee
Remove SetFlag and loosen numeric constraints
Oct 3, 2026
408582c
Extend length of _outputValues to 4 to match channels
Oct 3, 2026
106c1e6
fix DRY issue
Oct 3, 2026
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2 changes: 1 addition & 1 deletion BrickController2/BrickController2.Tests/DeviceManagement/CaDA/MessageEncoderFactoryTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ public void Create_WithLength16DeviceData_UsesCorrectDeviceIdAndSequence()
result.Should().NotBeNull()
.And.BeOfType<RaceCarMessageEncoderRev2>();

var encoded = result!.Encode([Half.Zero, Half.Zero, Half.Zero], true);
var encoded = result!.Encode([Half.Zero, Half.Zero, Half.Zero, Half.Zero], true);
encoded.Length.Should().Be(16);
// Verify deviceId is present in output (bytes 3-4)
encoded[3].Should().Be(0xC9);
Expand Down
106 changes: 76 additions & 30 deletions ...ontroller2/BrickController2.Tests/DeviceManagement/CaDA/RaceCarMessageEncoderRev2Tests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,15 +10,15 @@ namespace BrickController2.Tests.DeviceManagement.CaDA;
public class RaceCarMessageEncoderRev2Tests
{
[Theory]
[InlineData(0xB920, 0x4076, 0x32, 0x32, 0xB2)] //AA111120B97640 323200B2A1 CCB892A0
[InlineData(0xb920, 0x4076, 0x32, 0x32, 0xb2)] // aa 11 11 20 b9 76 40 32 32 00 b2 a1 cc b8 92 a0
public void EncodeValues_Connect_ReturnsProperPayload(ushort deviceId, ushort appId,
byte v1, byte v2, byte v4)
{
// arrange
var encoder = Create(deviceId, appId);

// act
var result = encoder.EncodeValues([Zero, Zero, Zero], true);
var result = encoder.EncodeValues([Zero, Zero, Zero, Zero], true);

// assert
result.Length.Should().Be(16);
Expand All @@ -27,24 +27,24 @@ public void EncodeValues_Connect_ReturnsProperPayload(ushort deviceId, ushort ap
0xAA, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x00, v4,
v1, v2, 0b00, v4,
0xA1, 0xCC, 0xB8, 0x92, 0xA0
]);
}

[Theory]
[InlineData(0xB920, 0x42AD, 0x8C, 0x8C, 0x0C)] //BB111120B9AD42 8C8C000C A1CCB892B0
[InlineData(0xB920, 0x5188, 0x76, 0x76, 0xF6)] //BB111120B98851 767600F6 A1CCB892B0
[InlineData(0xB920, 0x4076, 0x53, 0x53, 0xD3)] //BB111120B97640 535300D3 A1CCB892B0
[InlineData(0xC1C9, 0xA4B7, 0xa9, 0xa9, 0x29)] // bb 11 11 c9 c1 b7 a4 a9 a9 00 29 a1 cc b8 92 b0
[InlineData(0xb920, 0x42ad, 0x8c, 0x8c, 0x0c)] // bb 11 11 20 b9 ad 42 8c 8c 00 0c a1 cc b8 92 b0
[InlineData(0xb920, 0x5188, 0x76, 0x76, 0xf6)] // bb 11 11 20 b9 88 51 76 76 00 f6 a1 cc b8 92 b0
[InlineData(0xb920, 0x4076, 0x53, 0x53, 0xd3)] // bb 11 11 20 b9 76 40 53 53 00 d3 a1 cc b8 92 b0
[InlineData(0xc1c9, 0xa4b7, 0xa9, 0xa9, 0x29)] // bb 11 11 c9 c1 b7 a4 a9 a9 00 29 a1 cc b8 92 b0
public void EncodeValues_WithZeroValues_ReturnsProperPayload(ushort deviceId, ushort appId,
byte v1, byte v2, byte v4)
{
// arrange
var encoder = Create(deviceId, appId);

// act
var result = encoder.EncodeValues([Zero, Zero, Zero], false);
var result = encoder.EncodeValues([Zero, Zero, Zero, Zero], false);

// assert
result.Length.Should().Be(16);
Expand All @@ -53,22 +53,22 @@ public void EncodeValues_WithZeroValues_ReturnsProperPayload(ushort deviceId, us
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x00, v4,
v1, v2, 0b00, v4,
0xA1, 0xCC, 0xB8, 0x92, 0xB0
]);
}

[Theory]
[InlineData(0xB920, 0x4076, 0x54, 0x54, 0xD4)] //BB111120B97640 545401D4A1 CCB892B0
[InlineData(0xC1C9, 0xA4B7, 0xaa, 0xaa, 0x2a)] // bb 11 11 c9 c1 b7 a4 aa aa 01 2a a1 cc b8 92 b0
public void EncodeValues_WithZeroValuesAndLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
[InlineData(0xb920, 0x4076, 0x56, 0x56, 0xd6)] // bb 11 11 20 b9 76 40 56 56 03 d6 a1 cc b8 92 b0
[InlineData(0xc1c9, 0xa4b7, 0xac, 0xac, 0x2c)] // bb 11 11 c9 c1 b7 a4 ac ac 03 2c a1 cc b8 92 b0
public void EncodeValues_WithZeroValuesAndFrontLightOnAndRearLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
byte v1, byte v2, byte v4)
{
// arrange
var encoder = Create(deviceId, appId);

// act
var result = encoder.EncodeValues([Zero, Zero, One]);
var result = encoder.EncodeValues([Zero, Zero, One, One]);

// assert
result.Length.Should().Be(16);
Expand All @@ -77,27 +77,27 @@ public void EncodeValues_WithZeroValuesAndLightOn_ReturnsProperPayload(ushort de
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x01, v4,
v1, v2, 0b11, v4,
0xA1, 0xCC, 0xB8, 0x92, 0xB0
]);
}

[Theory]
[InlineData(0xB920, 0x4076, -1.00f, 0x3E, 0xBE, 0xBE, 0x0B)] //BB111120B97640 3EBE01BE0B CCB892B0
[InlineData(0xB920, 0x4076, -0.75f, 0xFE, 0x5E, 0x7E, 0xAB)] //BB111120B97640 FE5E017EAB CCB892B0
[InlineData(0xC1C9, 0xA4B7, -0.75f, 0x4a, 0xea, 0xca, 0xa1)] //bb 11 11 c9 c1 b7 a4 4a ea 01 ca a1 cc b8 92 b0
[InlineData(0xC1C9, 0x2979, -0.75f, 0x9b, 0x3b, 0x1b, 0xab)] //bb 11 11 c9 c1 79 29 9b 3b 01 1b ab cc b8 92 b0
[InlineData(0xB920, 0x4076, 1.000f, 0xAA, 0xD5, 0x2A, 0x78)] //BB111120B97640 AAD5BE0178 CCB892B0
[InlineData(0xC1C9, 0xA4B7, 0.746f, 0x9d, 0xc2, 0x1d, 0x35)] // bb 11 11 c9 c1 b7 a4 9d c2 01 1d 35 cc b8 92 b0
[InlineData(0xC1C9, 0x2979, 0.746f, 0x1b, 0x44, 0x9b, 0x6c)] // bb 11 11 c9 c1 79 29 1b 44 01 9b 6c cc b8 92 b0
public void EncodeValues_WithPartialSteeringAndLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
[InlineData(0xb920, 0x4076, -1.00f, 0x40, 0xc0, 0xc0, 0x0b)] // bb 11 11 20 b9 76 40 40 c0 03 c0 0b cc b8 92 b0
[InlineData(0xb920, 0x4076, -0.75f, 0x00, 0xa0, 0x80, 0xab)] // bb 11 11 20 b9 76 40 00 a0 03 80 ab cc b8 92 b0
[InlineData(0xc1c9, 0xa4b7, -0.75f, 0x4c, 0xec, 0xcc, 0xa1)] // bb 11 11 c9 c1 b7 a4 4c ec 03 cc a1 cc b8 92 b0
[InlineData(0xc1c9, 0x2979, -0.75f, 0x9d, 0x3d, 0x1d, 0xab)] // bb 11 11 c9 c1 79 29 9d 3d 03 1d ab cc b8 92 b0
[InlineData(0xb920, 0x4076, 1.000f, 0xac, 0xd3, 0x2c, 0x78)] // bb 11 11 20 b9 76 40 aa ac d3 03 2c cc b8 92 b0
[InlineData(0xc1c9, 0xa4b7, 0.746f, 0x9f, 0xc0, 0x1f, 0x35)] // bb 11 11 c9 c1 b7 a4 9f c0 03 1f 35 cc b8 92 b0
[InlineData(0xc1c9, 0x2979, 0.746f, 0x1d, 0x42, 0x9d, 0x6c)] // bb 11 11 c9 c1 79 29 1d 42 03 9d 6c cc b8 92 b0
public void EncodeValues_WithPartialSteeringAndFrontLightOnAndRearLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
float value, byte v1, byte v2, byte v4, byte sequence)
{
// arrange
var encoder = Create(deviceId, appId, sequence: (byte)(sequence - 1));

// act
var result = encoder.EncodeValues([Zero, (Half)value, One]);
var result = encoder.EncodeValues([Zero, (Half)value, One, One]);

// assert
result.Length.Should().Be(16);
Expand All @@ -106,21 +106,21 @@ public void EncodeValues_WithPartialSteeringAndLightOn_ReturnsProperPayload(usho
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x01, v4,
v1, v2, 0b11, v4,
sequence, 0xCC, 0xB8, 0x92, 0xB0
]);
}

[Theory]
[InlineData(0xC1C9, 0x2979, 1.000f, 0x4A, 0xCA, 0x4A, 0xFA)] // bb 11 11 c9 c1 79 29 4a ca 01 4a fa cc b8 92 b0
public void EncodeValues_WithPartialSpeedAndLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
[InlineData(0xC1C9, 0x2979, 1.000f, 0x4C, 0xCC, 0x4C, 0xFA)] // bb 11 11 c9 c1 79 29 4a ca 01 4a fa cc b8 92 b0
public void EncodeValues_WithPartialSpeedAndFrontLightOnAndRearLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
float value, byte v1, byte v2, byte v4, byte sequence)
{
// arrange
var encoder = Create(deviceId, appId, sequence: (byte)(sequence - 1));

// act
var result = encoder.EncodeValues([(Half)value, Zero, One]);
var result = encoder.EncodeValues([(Half)value, Zero, One, One]);

// assert
result.Length.Should().Be(16);
Expand All @@ -129,7 +129,7 @@ public void EncodeValues_WithPartialSpeedAndLightOn_ReturnsProperPayload(ushort
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x01, v4,
v1, v2, 0b11, v4,
sequence, 0xCC, 0xB8, 0x92, 0xB0
]);
}
Expand All @@ -143,7 +143,7 @@ public void EncodeValues_WithMiddleFirstChannel_ReturnsProperPayload(ushort devi
var encoder = Create(deviceId, appId, sequence: (byte)(sequence - 1));

// act
var result = encoder.EncodeValues([(Half)value, Zero, Zero]);
var result = encoder.EncodeValues([(Half)value, Zero, Zero, Zero]);

// assert
result.Length.Should().Be(16);
Expand All @@ -152,7 +152,53 @@ public void EncodeValues_WithMiddleFirstChannel_ReturnsProperPayload(ushort devi
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0x00, v4,
v1, v2, 0b00, v4,
sequence, 0xCC, 0xB8, 0x92, 0xB0
]);
}

[Theory]
[InlineData(0xC1C9, 0x2979, 0x4A, 0x4A, 0xCA, 0xFA)] // bb 11 11 c9 c1 79 29 4a 4a 01 ca fa cc b8 92 b0
public void EncodeValues_WithZeroValuesAndFrontLightOnAndRearLightOff_ReturnsProperPayload(ushort deviceId, ushort appId,
byte v1, byte v2, byte v4, byte sequence)
{
// arrange
var encoder = Create(deviceId, appId, sequence: sequence); // speed and steering are zero, so the sequence is not incremented

// act
var result = encoder.EncodeValues([Zero, Zero, One, Zero]);

// assert
result.Length.Should().Be(16);
result.ToArray().Should().BeEquivalentTo(
[
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0b01, v4,
sequence, 0xCC, 0xB8, 0x92, 0xB0
]);
}

[Theory]
[InlineData(0xC1C9, 0x2979, 0x4B, 0x4B, 0xCB, 0xFA)] // bb 11 11 c9 c1 79 29 4b 4b 03 cb fa cc b8 92 b0
public void EncodeValues_WithZeroValuesAndFrontLightOffAndRearLightOn_ReturnsProperPayload(ushort deviceId, ushort appId,
byte v1, byte v2, byte v4, byte sequence)
{
// arrange
var encoder = Create(deviceId, appId, sequence: sequence); // speed and steering are zero, so the sequence is not incremented

// act
var result = encoder.EncodeValues([Zero, Zero, Zero, One]);

// assert
result.Length.Should().Be(16);
result.ToArray().Should().BeEquivalentTo(
[
0xBB, 0x11, 0x11,
(byte)(deviceId & 0xFF), (byte)((deviceId >> 8) & 0xFF),
(byte)(appId & 0xFF), (byte)((appId >> 8) & 0xFF),
v1, v2, 0b10, v4,
sequence, 0xCC, 0xB8, 0x92, 0xB0
]);
}
Expand Down
88 changes: 71 additions & 17 deletions BrickController2/BrickController2.Tests/DeviceManagement/CaDA/RaceCarMessageEncoderTests.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ public void Encode_WithValidInput_ReturnsCorrectLengthAndStaticStructure()
var encoder = Create(0x4032, [0x01, 0x23, 0x40], [0x87, 0x65, 0x43]);

// Act
var result = encoder.Encode([Zero, Zero, Zero]);
var result = encoder.Encode([Zero, Zero, Zero, Zero]);

// Assert
result.Length.Should().Be(16);
Expand All @@ -43,18 +43,74 @@ public void Encode_WithFullLightValue_EncodesAndEncryptsValues()
var encoder = Create(0x4032, [0x01, 0x02, 0x03], [0x04, 0x05, 0x06]);

// Act
var result = encoder.Encode([Zero, Zero, One]);
var result = encoder.Encode([Zero, Zero, One, One]);

// Assert
result.Length.Should().Be(16);
result.Should().EndWith([0xD6, 0xA4, 0x25, 0x89, 0x4E, 0x6D, 0x25, 0x25]);
result.Should().EndWith([
0xD6,
0xA4,
0x25, // [10] ChannelData verticalValue (min= 0x80 (128))
0x89, // [11] ChannelData horizontalValue (min= 0x80 (128))
0x26, // [12] ChannelData lightValue
0x6D, // [13] ChannelData
0x25, // [14] ChannelData
0x25 // [15] ChannelData
]);
}

[Fact]
public void Encode_WithFrontLightValue_EncodesAndEncryptsValues()
{
// Arrange
var encoder = Create(0x4032, [0x01, 0x02, 0x03], [0x04, 0x05, 0x06]);

// Act
var result = encoder.Encode([Zero, Zero, One, Zero]);

// Assert
result.Length.Should().Be(16);
result.Should().EndWith([
0xD6,
0xA4,
0x25, // [10] ChannelData verticalValue (min= 0x80 (128))
0x89, // [11] ChannelData horizontalValue (min= 0x80 (128))
0x24, // [12] ChannelData lightValue
0x6D, // [13] ChannelData
0x25, // [14] ChannelData
0x25 // [15] ChannelData
]);
}

[Fact]
public void Encode_WithRearLightValue_EncodesAndEncryptsValues()
{
// Arrange
var encoder = Create(0x4032, [0x01, 0x02, 0x03], [0x04, 0x05, 0x06]);

// Act
var result = encoder.Encode([Zero, Zero, Zero, One]);

// Assert
result.Length.Should().Be(16);
result.Should().EndWith([
0xD6,
0xA4,
0x25, // [10] ChannelData verticalValue (min= 0x80 (128))
0x89, // [11] ChannelData horizontalValue (min= 0x80 (128))
0x27, // [12] ChannelData lightValue
0x6D, // [13] ChannelData
0x25, // [14] ChannelData
0x25 // [15] ChannelData
]);
}

[Theory]
[InlineData(0)]
[InlineData(1)]
[InlineData(2)]
[InlineData(4)]
[InlineData(3)]
[InlineData(5)]
[InlineData(10)]
public void Encode_WithInvalidValueCount_ThrowsArgumentException(int count)
{
Expand All @@ -76,7 +132,7 @@ public void EncodeValues_WithZeros_ShouldEncodeCorrectly()
// Arrange
var encoder = Create(0xABCD, [0x01, 0x02, 0x03], [0x04, 0x05, 0x06]);
// Act
var result = encoder.EncodeValues([Zero, Zero, Zero]);
var result = encoder.EncodeValues([Zero, Zero, Zero, Zero]);
// Assert
result.Length.Should().Be(8);
result.ToArray().Should().Equal(
Expand All @@ -85,45 +141,43 @@ public void EncodeValues_WithZeros_ShouldEncodeCorrectly()
0xAB, // [9] ChannelData random
0x80, // [10] ChannelData verticalValue (min= 0x80 (128))
0x80, // [11] ChannelData horizontalValue (min= 0x80 (128))
0x80, // [12] ChannelData lightValue
0x00, // [12] ChannelData lightValue
0x00, // [13] ChannelData
0x00, // [14] ChannelData
0x00, // [15] ChannelData
]);
}

[Theory]
[InlineData(-2.0f, 1.0f, 1.0f)] // Out of range speed
[InlineData(-1.0f, 2.0f, 1.0f)] // Out of range steering
[InlineData(-1.0f, 1.0f, 2.0f)] // Out of range light
public void Encode_WithOutOfRangeValues_ClampsTo0xFF(float speed, float steering, float light)
[InlineData(-2.0f, 1.0f)] // Out of range speed
[InlineData(-1.0f, 2.0f)] // Out of range steering
public void Encode_WithOutOfRangeValues_ClampsTo0xFF(float speed, float steering)
{
// Arrange
var encoder = Create();
// Act
var result = encoder.EncodeValues([(Half)speed, (Half)steering, (Half)light]);
var result = encoder.EncodeValues([(Half)speed, (Half)steering, Zero, Zero]);
// Assert
result.ToArray().Should().EndWith(
[
0xFF, // [10] ChannelData verticalValue (min= 0x80 (128))
0xFF, // [11] ChannelData horizontalValue (min= 0x80 (128))
0xFF, // [12] ChannelData lightValue
0x00, // [12] ChannelData lightValue
0x00, // [13] ChannelData
0x00, // [14] ChannelData
0x00, // [15] ChannelData
]);
}

[Theory]
[InlineData(2.0f, -1.0f, -1.0f)] // Out of range speed
[InlineData(1.0f, -2.0f, -1.0f)] // Out of range steering
[InlineData(1.0f, -1.0f, -2.0f)] // Out of range light
public void Encode_WithOutOfRangeValues_ClampsTo0x00(float speed, float steering, float light)
[InlineData(2.0f, -1.0f)] // Out of range speed
[InlineData(1.0f, -2.0f)] // Out of range steering
public void Encode_WithOutOfRangeValues_ClampsTo0x00(float speed, float steering)
{
// Arrange
var encoder = Create();
// Act
var result = encoder.EncodeValues([(Half)speed, (Half)steering, (Half)light]);
var result = encoder.EncodeValues([(Half)speed, (Half)steering, Zero, Zero]);
// Assert
result.ToArray().Should().EndWith(
[
Expand Down
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