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Add tests for localization feature #1337

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Add tests for localization feature #1337

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0b1fefa
Add test for localization mission starting
aeshub Jan 17, 2024
d927b81
Add test to verify cancelled when not localized
aeshub Jan 17, 2024
0dea8d1
Add test for emergency button pressed
aeshub Jan 17, 2024
d7cf624
full commit to be renamed
aeshub Jan 18, 2024
524b6ad
Before attempting separation of even handler tests
aeshub Apr 4, 2024
9824ad0
wip
aeshub Apr 5, 2024
9a89f7e
WIP
aeshub Apr 22, 2024
1c46749
WIP
aeshub Apr 23, 2024
87ed332
All of these tests work together
aeshub May 15, 2024
5b11b87
Tests are now working most of the time
aeshub May 15, 2024
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321 changes: 1 addition & 320 deletions backend/api.test/Client/AreaTests.cs
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Original file line number Diff line number Diff line change
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.Http;
using System.Net.Http.Headers;
using System.Net.Http.Json;
using System.Text.Json;
using System.Text.Json.Serialization;
using System.Threading.Tasks;
using Api.Controllers.Models;
using Api.Database.Models;
using Microsoft.AspNetCore.Mvc.Testing;
using Xunit;
namespace Api.Test
{
[Collection("Database collection")]
public class AreaTests : IClassFixture<TestWebApplicationFactory<Program>>
{
private readonly HttpClient _client;
private readonly JsonSerializerOptions _serializerOptions =
new()
{
Converters =
{
new JsonStringEnumConverter()
},
PropertyNameCaseInsensitive = true
};

public AreaTests(TestWebApplicationFactory<Program> factory)
{
_client = factory.CreateClient(new WebApplicationFactoryClientOptions
{
AllowAutoRedirect = false,
BaseAddress = new Uri("https://localhost:8000")
});
_client.DefaultRequestHeaders.Authorization = new AuthenticationHeaderValue(
TestAuthHandler.AuthenticationScheme
);
}

[Fact]
public async Task AreaTest()
{
// Arrange
var testPose = new Pose
{
Position = new Position
{
X = 1,
Y = 2,
Z = 2
},
Orientation = new Orientation
{
X = 0,
Y = 0,
Z = 0,
W = 1
}
};

string testInstallation = "TestInstallationAreaTest";
var installationQuery = new CreateInstallationQuery
{
InstallationCode = testInstallation,
Name = testInstallation
};

string testPlant = "TestPlantAreaTest";
var plantQuery = new CreatePlantQuery
{
InstallationCode = testInstallation,
PlantCode = testPlant,
Name = testPlant
};

string testDeck = "testDeckAreaTest";
var deckQuery = new CreateDeckQuery
{
InstallationCode = testInstallation,
PlantCode = testPlant,
Name = testDeck
};

string testArea = "testAreaAreaTest";
var areaQuery = new CreateAreaQuery
{
InstallationCode = testInstallation,
PlantCode = testPlant,
DeckName = testDeck,
AreaName = testArea,
DefaultLocalizationPose = testPose
};

var installationContent = new StringContent(
JsonSerializer.Serialize(installationQuery),
null,
"application/json"
);

var plantContent = new StringContent(
JsonSerializer.Serialize(plantQuery),
null,
"application/json"
);

var deckContent = new StringContent(
JsonSerializer.Serialize(deckQuery),
null,
"application/json"
);

var areaContent = new StringContent(
JsonSerializer.Serialize(areaQuery),
null,
"application/json"
);

// Act
string installationUrl = "/installations";
var installationResponse = await _client.PostAsync(installationUrl, installationContent);
string plantUrl = "/plants";
var plantResponse = await _client.PostAsync(plantUrl, plantContent);
string deckUrl = "/decks";
var deckResponse = await _client.PostAsync(deckUrl, deckContent);
string areaUrl = "/areas";
var areaResponse = await _client.PostAsync(areaUrl, areaContent);

// Assert
Assert.True(installationResponse.IsSuccessStatusCode);
Assert.True(plantResponse.IsSuccessStatusCode);
Assert.True(deckResponse.IsSuccessStatusCode);
Assert.True(areaResponse.IsSuccessStatusCode);
var area = await areaResponse.Content.ReadFromJsonAsync<AreaResponse>(_serializerOptions);
Assert.True(area != null);
}

[Fact]
public async Task MissionIsCreatedInArea()
{
// Arrange
// Robot
string robotUrl = "/robots";
var robotResponse = await _client.GetAsync(robotUrl);
Assert.True(robotResponse.IsSuccessStatusCode);
var robots = await robotResponse.Content.ReadFromJsonAsync<List<Robot>>(_serializerOptions);
Assert.True(robots != null);
var robot = robots.Where(robot => robot.Name == "Shockwave").First();
string robotId = robot.Id;

// Installation
string installationUrl = "/installations";
var installationResponse = await _client.GetAsync(installationUrl);
Assert.True(installationResponse.IsSuccessStatusCode);
var installations = await installationResponse.Content.ReadFromJsonAsync<List<Installation>>(_serializerOptions);
Assert.True(installations != null);
var installation = installations.Where(installation => installation.InstallationCode == robot.CurrentInstallation?.InstallationCode).First();

// Area
string areaUrl = "/areas";
var areaResponse = await _client.GetAsync(areaUrl);
Assert.True(areaResponse.IsSuccessStatusCode);
var areas = await areaResponse.Content.ReadFromJsonAsync<List<AreaResponse>>(_serializerOptions);
Assert.True(areas != null);
var area = areas.Where(area => area.InstallationCode == installation.InstallationCode).First();
string areaId = area.Id;

string testMissionName = "testMissionInAreaTest";

var inspections = new List<CustomInspectionQuery>
{
new()
{
AnalysisType = AnalysisType.CarSeal,
InspectionTarget = new Position(),
InspectionType = InspectionType.Image
}
};
var tasks = new List<CustomTaskQuery>
{
new()
{
Inspections = inspections,
TagId = "test",
RobotPose = new Pose(),
TaskOrder = 0
}
};
var missionQuery = new CustomMissionQuery
{
RobotId = robotId,
DesiredStartTime = DateTime.UtcNow,
InstallationCode = installation.InstallationCode,
AreaName = area.AreaName,
Name = testMissionName,
Tasks = tasks
};

var missionContent = new StringContent(
JsonSerializer.Serialize(missionQuery),
null,
"application/json"
);

// Act
string missionUrl = "/missions/custom";
var missionResponse = await _client.PostAsync(missionUrl, missionContent);

Assert.True(missionResponse.IsSuccessStatusCode);
var mission = await missionResponse.Content.ReadFromJsonAsync<MissionRun>(_serializerOptions);
Assert.NotNull(mission);
Assert.NotNull(mission.MissionId);

var areaMissionsResponse = await _client.GetAsync(areaUrl + $"/{areaId}/mission-definitions");

// Assert
Assert.True(areaMissionsResponse.IsSuccessStatusCode);
var missions = await areaMissionsResponse.Content.ReadFromJsonAsync<IList<CondensedMissionDefinitionResponse>>(_serializerOptions);
Assert.NotNull(missions);
Assert.Single(missions.Where(m => m.Id.Equals(mission.MissionId, StringComparison.Ordinal)));
}

[Fact]
public async Task SafePositionTest()
{
// Arrange
string areaUrl = "/areas";
var areaResponse = await _client.GetAsync(areaUrl);
Assert.True(areaResponse.IsSuccessStatusCode);
var areaResponses = await areaResponse.Content.ReadFromJsonAsync<List<AreaResponse>>(_serializerOptions);
Assert.True(areaResponses != null);
var area = areaResponses[0];
string areaName = area.AreaName;
string installationCode = area.InstallationCode;

string addSafePositionUrl = $"/areas/{installationCode}/{areaName}/safe-position";
var testPosition = new Position
{
X = 1,
Y = 2,
Z = 2
};
var query = new Pose
{
Position = testPosition,
Orientation = new Orientation
{
X = 0,
Y = 0,
Z = 0,
W = 1
}
};
var content = new StringContent(
JsonSerializer.Serialize(query),
null,
"application/json"
);

areaResponse = await _client.PostAsync(addSafePositionUrl, content);
Assert.True(areaResponse.IsSuccessStatusCode);
var areaContent = await areaResponse.Content.ReadFromJsonAsync<AreaResponse>(_serializerOptions);
Assert.True(areaContent != null);

// Act
string goToSafePositionUrl = $"/emergency-action/{installationCode}/abort-current-missions-and-send-all-robots-to-safe-zone";
var missionResponse = await _client.PostAsync(goToSafePositionUrl, null);

// Assert
Assert.True(missionResponse.IsSuccessStatusCode);

// The endpoint posted to above triggers an event and returns a successful response.
// The test finishes and disposes of objects, but the operations of that event handler are still running, leading to a crash.
await Task.Delay(5000);
}

[Fact]
public async Task UpdateDefaultLocalizationPoseOnDeck()
{
string deckUrl = "/decks";
var deckResponse = await _client.GetAsync(deckUrl);
Assert.True(deckResponse.IsSuccessStatusCode);
var decks = await deckResponse.Content.ReadFromJsonAsync<List<DeckResponse>>(_serializerOptions);
Assert.True(decks != null);
var deck = decks[0];
string deckId = deck.Id;

string url = $"/decks/{deckId}/update-default-localization-pose";
var query = new Pose
{
Position = new Position
{
X = 1,
Y = 2,
Z = 3
},
Orientation = new Orientation
{
X = 0,
Y = 0,
Z = 0,
W = 1
}
};
var content = new StringContent(
JsonSerializer.Serialize(query),
null,
"application/json"
);
var putResponse = await _client.PutAsync(url, content);
Assert.True(putResponse.IsSuccessStatusCode);
var putDeck = await putResponse.Content.ReadFromJsonAsync<DeckResponse>(_serializerOptions);
Assert.True(putDeck != null);
Assert.True(putDeck.DefaultLocalizationPose != null);
Assert.True(putDeck.DefaultLocalizationPose.Position.Z.Equals(query.Position.Z));
Assert.True(putDeck.DefaultLocalizationPose.Orientation.W.Equals(query.Orientation.W));
}
}
}

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