public void TestOnStart()
{
_changeLedAsyncCount = 0;
_changeLedCount = 0;
_bumpEventCount = 0;
Mock <IRobotMessenger> robotMessengerMock = new Mock <IRobotMessenger>();
UnitTestExampleSkill moqExampleSkill = new UnitTestExampleSkill();
IBumpSensorEvent bumpEvent1 = new BumpSensorEvent
{
EventId = 1,
IsContacted = true,
SensorPosition = BumpSensorPosition.FrontRight
};
IBumpSensorEvent bumpEvent2 = new BumpSensorEvent
{
EventId = 1,
IsContacted = false,
SensorPosition = BumpSensorPosition.FrontRight
};
IRobotCommandResponse successfulActionResponse = new RobotCommandResponse
{
ResponseType = MessageType.ActionResponse,
Status = ResponseStatus.Success
};
//Add Wait mocks
robotMessengerMock.SetupSequence
(
x => x.Wait
(
It.IsAny <int>()
)
).Returns(() =>
{
Task.WaitAll(Task.Delay(2000));
return(true);
}).Returns(() =>
{
Task.WaitAll(Task.Delay(1500));
return(true);
});
//Setup mock to ensure Change LED Async has been called the appropriate amount of times
robotMessengerMock.Setup
(
x => x.ChangeLEDAsync
(
It.IsAny <uint>(),
It.IsAny <uint>(),
It.IsAny <uint>()
)
).Returns(Task.Factory.StartNew(() =>
{
++_changeLedAsyncCount;
return(successfulActionResponse);
}).AsAsyncOperation());
//Setup mock to ensure Change LED has been called the appropriate amount of times
robotMessengerMock.Setup
(
x => x.ChangeLED
(
It.IsAny <uint>(),
It.IsAny <uint>(),
It.IsAny <uint>(),
It.IsAny <ProcessCommandResponse>()
)
).Callback(() =>
{
++_changeLedCount;
moqExampleSkill.OnResponse(successfulActionResponse);
});
//Setup mock to ensure bump event is registered and has a properly structured callback
robotMessengerMock.Setup
(
x => x.RegisterBumpSensorEvent
(
It.IsAny <ProcessBumpSensorEventResponse>(), It.IsAny <int>(), It.IsAny <bool>(), It.IsAny <IList <BumpSensorValidation> >(), It.IsAny <string>(), null
)
).Callback(() =>
{
++_bumpEventCount;
moqExampleSkill.BumpCallback(bumpEvent1);
++_bumpEventCount;
Task.WaitAll(Task.Delay(2000));
moqExampleSkill.BumpCallback(bumpEvent2);
}
);
//Load mock messenger into skill
moqExampleSkill.LoadRobotConnection(robotMessengerMock.Object);
//OnStart will trigger the skill's action
//RegisterBumpSensorEvent will cause two simulated bump events to be fired when called
moqExampleSkill.OnStart(this, null);
//If my skill looped forever and I wanted to check data at intervals I might do this...
//_ = Task.Run(() => moqExampleSkill.OnStart(this, null));
//Task.WaitAll(Task.Delay(5000));
//Test
Assert.IsTrue(_bumpEventCount == 2);
Assert.IsTrue(_changeLedAsyncCount == 1);
Assert.IsTrue(_changeLedCount == 2);
}
/// <summary>
/// Callback when an event is registered so we can setup simulated events
/// Under development
/// </summary>
/// <param name="eventDetails"></param>
/// <param name="command"></param>
private void HandleEventRegistered(object sender, RegisterEventDetails details)
{
//TODO Use the event details to multi real register with specific filters
var eventDetails = details.EventDetails;
switch (eventDetails.EventType)
{
//Based on the event that was registered, then setup an event to be triggered when the commands come in
case EventType.LocomotionCommand:
_locomotionCommandEventDetails = eventDetails;
break;
case EventType.HaltCommand:
_haltCommandEventDetails = eventDetails;
break;
case EventType.AudioPlayComplete:
_audioPlayCompleteCommandEventDetails = eventDetails;
break;
//Record event id we registered under for manually managed events so we can send events under that id
case EventType.TouchSensor:
if (_capTouchRegistered)
{
return;
}
_capTouchRegistered = true;
//Startup Cap Touch events...
_ = Task.Run(async() =>
{
await Task.Delay(8000);
MockedRobot.TriggerRobotEvent(CapTouchEvent.GetMockEvent(true, CapTouchPosition.Chin, eventDetails.EventId));
await Task.Delay(1000);
MockedRobot.TriggerRobotEvent(CapTouchEvent.GetMockEvent(false, CapTouchPosition.Chin, eventDetails.EventId));
await Task.Delay(3000);
MockedRobot.TriggerRobotEvent(CapTouchEvent.GetMockEvent(true, CapTouchPosition.Chin, eventDetails.EventId));
await Task.Delay(1000);
MockedRobot.TriggerRobotEvent(CapTouchEvent.GetMockEvent(false, CapTouchPosition.Chin, eventDetails.EventId));
});
break;
case EventType.KeyPhraseRecognized:
if (_keyPhraseRecRegistered)
{
return;
}
_keyPhraseRecRegistered = true;
_ = Task.Run(async() =>
{
await Task.Delay(5000);
if (_keyPhraseRecRunning)
{
MockedRobot.TriggerRobotEvent(new KeyPhraseRecognizedEvent(50, eventDetails.EventId));
}
await Task.Delay(7000);
if (_keyPhraseRecRunning)
{
MockedRobot.TriggerRobotEvent(new KeyPhraseRecognizedEvent(70, eventDetails.EventId));
}
await Task.Delay(5000);
if (_keyPhraseRecRunning)
{
MockedRobot.TriggerRobotEvent(new KeyPhraseRecognizedEvent(80, eventDetails.EventId));
}
await Task.Delay(4000);
if (_keyPhraseRecRunning)
{
MockedRobot.TriggerRobotEvent(new KeyPhraseRecognizedEvent(70, eventDetails.EventId));
}
});
break;
case EventType.BumpSensor:
if (_bumpRegistered)
{
return;
}
_bumpRegistered = true;
_ = Task.Run(async() =>
{
await Task.Delay(10000);
MockedRobot.TriggerRobotEvent(BumpSensorEvent.GetMockEvent(true, BumpSensorPosition.FrontLeft, eventDetails.EventId));
await Task.Delay(3000);
MockedRobot.TriggerRobotEvent(BumpSensorEvent.GetMockEvent(true, BumpSensorPosition.FrontRight, eventDetails.EventId));
await Task.Delay(5000);
MockedRobot.TriggerRobotEvent(BumpSensorEvent.GetMockEvent(false, BumpSensorPosition.FrontLeft, eventDetails.EventId));
await Task.Delay(1000);
MockedRobot.TriggerRobotEvent(BumpSensorEvent.GetMockEvent(false, BumpSensorPosition.FrontRight, eventDetails.EventId));
});
break;
case EventType.FaceRecognition:
if (_faceRecRegistered)
{
return;
}
_faceRecRegistered = true;
_ = Task.Run(async() =>
{
await Task.Delay(5000);
if (_faceRecRunning || _faceDetectRunning)
{
MockedRobot.TriggerRobotEvent(new FaceRecognitionEvent(5, 1, 1, _faceRecRunning ? "brad" : "unknown_person", 2, eventDetails.EventId));
}
await Task.Delay(2000);
if (_faceRecRunning || _faceDetectRunning)
{
MockedRobot.TriggerRobotEvent(new FaceRecognitionEvent(5, 1, 1, _faceRecRunning ? "joe" : "unknown_person", 2, eventDetails.EventId));
}
await Task.Delay(4000);
if (_faceRecRunning || _faceDetectRunning)
{
MockedRobot.TriggerRobotEvent(new FaceRecognitionEvent(5, 1, 1, "unknown_person", 2, eventDetails.EventId));
}
});
break;
}
}
