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Merge pull request #22 from eulynx-live/ui-status
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Show the current status in the UI
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@rs22
rs22 authored Dec 18, 2023
2 parents 58962ee + ccd6230 commit 276ea83
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Showing 34 changed files with 2,063 additions and 738 deletions.
10 changes: 7 additions & 3 deletions src/FieldElementSubsystems.Test/Point/Baseline4R2/CommandingAndReversingTests.cs
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Expand Up @@ -3,7 +3,9 @@
using EulynxLive.FieldElementSubsystems.Interfaces;
using EulynxLive.Messages.Baseline4R2;
using EulynxLive.Point;
using EulynxLive.Point.Hubs;

using Microsoft.AspNetCore.SignalR;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;

Expand Down Expand Up @@ -70,10 +72,12 @@ private static (EulynxLive.Point.Point point, Task pointTask, List<byte[]> recei

var connection = new PointToInterlockingConnection(Mock.Of<ILogger<PointToInterlockingConnection>>(), configuration, CancellationToken.None);

var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, connection, connectionProvider.Object, () => Task.CompletedTask);
var mockHubContext = new Mock<IHubContext<StatusHub>>();
mockHubContext.Setup(x => x.Clients.All.SendCoreAsync(It.IsAny<string>(), It.IsAny<object[]>(), It.IsAny<CancellationToken>())).Returns(Task.CompletedTask);
var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, connection, connectionProvider.Object, mockHubContext.Object);
if (simulateTimeouts) {
point.EnableTimeoutLeft();
point.EnableTimeoutRight();
point.EnableTimeoutLeft(true);
point.EnableTimeoutRight(true);
}

async Task SimulatePoint()
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6 changes: 5 additions & 1 deletion src/FieldElementSubsystems.Test/Point/Baseline4R2/ReportStatusTests.cs
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Expand Up @@ -3,7 +3,9 @@
using EulynxLive.FieldElementSubsystems.Interfaces;
using EulynxLive.Messages.Baseline4R2;
using EulynxLive.Point;
using EulynxLive.Point.Hubs;

using Microsoft.AspNetCore.SignalR;
using Microsoft.Extensions.Configuration;
using Microsoft.Extensions.Logging;

Expand Down Expand Up @@ -57,7 +59,9 @@ private static (EulynxLive.Point.Point point, Task, List<byte[]> receivedBytes)
var connection = new PointToInterlockingConnection(Mock.Of<ILogger<PointToInterlockingConnection>>(), configuration, CancellationToken.None);
connection.Connect(mockConnection.Object);

var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, connection, connectionProvider.Object, () => Task.CompletedTask);
var mockHubContext = new Mock<IHubContext<StatusHub>>();
mockHubContext.Setup(x => x.Clients.All.SendCoreAsync(It.IsAny<string>(), It.IsAny<object[]>(), It.IsAny<CancellationToken>())).Returns(Task.CompletedTask);
var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, connection, connectionProvider.Object, mockHubContext.Object);

async Task SimulatePoint()
{
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240 changes: 240 additions & 0 deletions src/FieldElementSubsystems.Test/Point/PointServiceTest.cs
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@@ -0,0 +1,240 @@
using EulynxLive.FieldElementSubsystems.Interfaces;
using EulynxLive.Point;
using EulynxLive.Point.Proto;
using EulynxLive.Point.Services;

using Google.Protobuf;
using Google.Protobuf.WellKnownTypes;

using Grpc.Core;

using Moq;

namespace FieldElementSubsystems.Test;

public class PointServiceTest()
{
[Fact]
public void TestReset()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
pointService.Reset(new Empty(), Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.Reset(), Times.Once);
}

[Fact]
public void TestScheduleTimeoutRight()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
pointService.ScheduleTimeoutRight(new EnableMovementFailedMessage() { EnableMovementFailed = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.EnableTimeoutRight(true), Times.Once);
}

[Fact]
public void TestScheduleTimeoutLeft()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
pointService.ScheduleTimeoutLeft(new EnableMovementFailedMessage() { EnableMovementFailed = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.EnableTimeoutLeft(true), Times.Once);
}

[Fact]
public async Task TestSetAbilityToMove()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
await pointService.SetAbilityToMove(new AbilityToMoveMessage() { Ability = AbilityToMove.AbleToMove }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.SetAbilityToMove(It.IsAny<AbilityToMoveMessage>()), Times.Once);
}

[Fact]
public async Task TestSendSciMessage()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
await pointService.SendSciMessage(new SciMessage() { Message = ByteString.CopyFrom(new byte[] { 0x01 }) }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.SendSciMessage(It.IsAny<SciMessage>()), Times.Once);
}

[Fact]
public async Task TestOverrideSciMessage()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.Connection.OverrideNextSciMessage(It.IsAny<byte[]>()))
.Returns(Task.FromResult(0));
var pointService = new PointService(point.Object);

// Act
await pointService.OverrideSciMessage(new SciMessage() { Message = ByteString.CopyFrom(new byte[] { 0x01 }) }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.Connection.OverrideNextSciMessage(It.IsAny<byte[]>()), Times.Once);
}

[Fact]
public void TestSchedulePreventLeftEndPosition()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
pointService.SchedulePreventLeftEndPosition(new PreventedPositionMessage() { Position = PreventedPosition.SetNoEndPosition, DegradedPosition = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.PreventLeftEndPosition(It.IsAny<PreventedPositionMessage>()), Times.Once);
}

[Fact]
public void TestSchedulePreventRightEndPosition()
{
// Arrange
var point = new Mock<IPoint>();
var pointService = new PointService(point.Object);

// Act
pointService.SchedulePreventRightEndPosition(new PreventedPositionMessage() { Position = PreventedPosition.SetNoEndPosition, DegradedPosition = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.PreventRightEndPosition(It.IsAny<PreventedPositionMessage>()), Times.Once);
}

[Fact]
public async Task TestPutIntoTrailedPosition()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.ConnectionProtocol)
.Returns(EulynxLive.FieldElementSubsystems.Configuration.ConnectionProtocol.EulynxBaseline4R1);
point.Setup(x => x.PointState)
.Returns(new GenericPointState(LastCommandedPointPosition: null,
PointPosition: GenericPointPosition.Left,
DegradedPointPosition: GenericDegradedPointPosition.NotApplicable,
AbilityToMove: GenericAbilityToMove.AbleToMove
));
var pointService = new PointService(point.Object);

// Act
await pointService.PutIntoTrailedPosition(new DegradedPositionMessage() { DegradedPosition = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.PutIntoUnintendedPosition(It.IsAny<DegradedPositionMessage>()), Times.Once);
}

[Fact]
public async Task TestPutIntoTrailedPositionThrowsIfNotSupported()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.ConnectionProtocol)
.Returns(EulynxLive.FieldElementSubsystems.Configuration.ConnectionProtocol.EulynxBaseline4R2);
point.Setup(x => x.PointState)
.Returns(new GenericPointState(LastCommandedPointPosition: null,
PointPosition: GenericPointPosition.Left,
DegradedPointPosition: GenericDegradedPointPosition.NotApplicable,
AbilityToMove: GenericAbilityToMove.AbleToMove
));
var pointService = new PointService(point.Object);

// Assert
await Assert.ThrowsAsync<RpcException>(() => pointService.PutIntoTrailedPosition(new DegradedPositionMessage() { DegradedPosition = true }, Mock.Of<ServerCallContext>()));
}

[Fact]
public async Task TestPutIntoUnintendedPosition()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.ConnectionProtocol)
.Returns(EulynxLive.FieldElementSubsystems.Configuration.ConnectionProtocol.EulynxBaseline4R2);
var pointService = new PointService(point.Object);

// Act
await pointService.PutIntoUnintendedPosition(new DegradedPositionMessage() { DegradedPosition = true }, Mock.Of<ServerCallContext>());

// Assert
point.Verify(x => x.PutIntoUnintendedPosition(It.IsAny<DegradedPositionMessage>()), Times.Once);
}

[Fact]
public async Task TestPutIntoUnintendedPositionThrowsIfNotSupported()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.ConnectionProtocol)
.Returns(EulynxLive.FieldElementSubsystems.Configuration.ConnectionProtocol.EulynxBaseline4R1);
var pointService = new PointService(point.Object);

// Assert
await Assert.ThrowsAsync<RpcException>(() => pointService.PutIntoUnintendedPosition(new DegradedPositionMessage() { DegradedPosition = true }, Mock.Of<ServerCallContext>()));
}

[Fact]
public async Task TestGetDegradedPointPosition()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.PointState)
.Returns(new GenericPointState(LastCommandedPointPosition: null,
PointPosition: GenericPointPosition.Left,
DegradedPointPosition: GenericDegradedPointPosition.NotApplicable,
AbilityToMove: GenericAbilityToMove.AbleToMove
));
var pointService = new PointService(point.Object);

// Act
var result = await pointService.GetDegradedPointPosition(new Empty(), Mock.Of<ServerCallContext>());

// Assert
Assert.Equal(PointDegradedPosition.NotApplicable, result.Position);
}

[Fact]
public async Task TestGetPointPosition()
{
// Arrange
var point = new Mock<IPoint>();
point.Setup(x => x.PointState)
.Returns(new GenericPointState(LastCommandedPointPosition: null,
PointPosition: GenericPointPosition.Left,
DegradedPointPosition: GenericDegradedPointPosition.NotApplicable,
AbilityToMove: GenericAbilityToMove.AbleToMove
));
var pointService = new PointService(point.Object);

// Act
var result = await pointService.GetPointPosition(new Empty(), Mock.Of<ServerCallContext>());

// Assert
Assert.Equal(PointPosition.Left, result.Position);
}
}
12 changes: 8 additions & 4 deletions src/FieldElementSubsystems.Test/Point/PointTest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
using EulynxLive.Point.Proto;
using Google.Protobuf;
using EulynxLive.Point;
using EulynxLive.Point.Hubs;
using Microsoft.AspNetCore.SignalR;

namespace FieldElementSubsystems.Test;

Expand Down Expand Up @@ -36,7 +38,9 @@ private static (EulynxLive.Point.Point, Func<Task> simulatePoint, Mock<IPointToI
var config = configuration.GetSection("PointSettings").Get<PointConfiguration>()!;
var mockConnection = CreateDefaultMockConnection(config);

var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, mockConnection.Object, Mock.Of<IConnectionProvider>(), () => Task.CompletedTask);
var mockHubContext = new Mock<IHubContext<StatusHub>>();
mockHubContext.Setup(x => x.Clients.All.SendCoreAsync(It.IsAny<string>(), It.IsAny<object[]>(), It.IsAny<CancellationToken>())).Returns(Task.CompletedTask);
var point = new EulynxLive.Point.Point(Mock.Of<ILogger<EulynxLive.Point.Point>>(), configuration, mockConnection.Object, Mock.Of<IConnectionProvider>(), mockHubContext.Object);

async Task SimulatePoint()
{
Expand Down Expand Up @@ -93,7 +97,7 @@ public async Task Test_TimeoutLeft()
.SetupSequence(m => m.ReceiveMovePointCommand(It.IsAny<CancellationToken>()))
.Returns(() =>
{
point.EnableTimeoutLeft();
point.EnableTimeoutLeft(true);
return Task.FromResult(GenericPointPosition.Left);
})
.Returns(() =>
Expand Down Expand Up @@ -121,7 +125,7 @@ public async Task Test_TimeoutRight()
.SetupSequence(m => m.ReceiveMovePointCommand(It.IsAny<CancellationToken>()))
.Returns(() =>
{
point.EnableTimeoutRight();
point.EnableTimeoutRight(true);
return Task.FromResult(GenericPointPosition.Right);
})
.Returns(() =>
Expand Down Expand Up @@ -334,7 +338,7 @@ public async Task Test_PutIntoUnintendedPosition(bool simulatedDegradedPosition,
{
DegradedPosition = simulatedDegradedPosition
};
await point.PutIntoUnintendedPosition(message);
point.PutIntoUnintendedPosition(message);

Check warning on line 341 in src/FieldElementSubsystems.Test/Point/PointTest.cs

View workflow job for this annotation

GitHub Actions / build 

Because this call is not awaited, execution of the current method continues before the call is completed. Consider applying the 'await' operator to the result of the call.

cancel.Cancel();
return await new TaskCompletionSource<GenericPointPosition>().Task;
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14 changes: 12 additions & 2 deletions src/FieldElementSubsystems/Connections/EulynxBaseline4R1/PointToInterlockingConnection.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@
using EulynxLive.FieldElementSubsystems.Configuration;
using Grpc.Core;
using EulynxLive.Messages.Baseline4R1;
using System.Threading.Channels;


namespace EulynxLive.FieldElementSubsystems.Connections.EulynxBaseline4R1;
Expand All @@ -14,6 +15,9 @@ public class PointToInterlockingConnection : IPointToInterlockingConnection
private readonly string _localId;
private readonly string _remoteId;
public PointConfiguration Configuration { get; }

private readonly Channel<byte[]> _overrideMessages;

public CancellationToken TimeoutToken => _timeout.Token;

public IConnection? CurrentConnection { get; private set; }
Expand All @@ -37,6 +41,7 @@ public PointToInterlockingConnection(
_localId = config.LocalId;
_remoteId = config.RemoteId;
Configuration = config;
_overrideMessages = Channel.CreateUnbounded<byte[]>();
}

public void Connect(IConnection connection)
Expand Down Expand Up @@ -108,13 +113,13 @@ public async Task<GenericPointPosition> ReceiveMovePointCommand(CancellationToke

private async Task SendMessage(Message message)
{
if (CurrentConnection == null) throw new InvalidOperationException("Connection is null. Did you call Connect()?");
await CurrentConnection.SendAsync(message.ToByteArray());
await SendMessage(message.ToByteArray());
}

private async Task SendMessage(byte[] message)
{
if (CurrentConnection == null) throw new InvalidOperationException("Connection is null. Did you call Connect()?");
if (_overrideMessages.Reader.TryRead(out var overrideMessage)) message = overrideMessage;
await CurrentConnection.SendAsync(message);
}

Expand Down Expand Up @@ -142,6 +147,11 @@ public async Task SendSciMessage(byte[] message)
await SendMessage(message);
}

public async Task OverrideNextSciMessage(byte[] message)
{
await _overrideMessages.Writer.WriteAsync(message);
}

public async Task SendAbilityToMove(GenericPointState pointState)
{
var abilityToMove = new AbilityToMove(pointState);
Expand Down
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