public void TelloCommandObservation_Insert_Read()
{
using (var repo = CreateRepository())
{
Assert.IsTrue(repo.CreateCatalog <Session>());
Assert.IsTrue(repo.CreateCatalog <ObservationGroup>());
Assert.IsTrue(repo.CreateCatalog <ResponseObservation>());
var start = DateTime.UtcNow;
var session = repo.NewEntity <Session>(start, TimeSpan.FromSeconds(1));
Assert.IsNotNull(session);
Assert.AreEqual(1, session.Id);
Assert.AreEqual(start, session.StartTime);
Assert.AreEqual(1000, session.Duration.TotalMilliseconds);
var group = repo.NewEntity <ObservationGroup>(session, start);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
group = repo.Read <ObservationGroup>(1);
Assert.IsNotNull(group);
Assert.AreEqual(1, group.Id);
Assert.AreEqual(start, group.Timestamp);
var request = new TelloRequest(Commands.Takeoff);
var ok = "ok";
var okBytes = Encoding.UTF8.GetBytes(ok);
IResponse <string> response = new TelloResponse(request, okBytes, TimeSpan.FromSeconds(1));
var observation = new ResponseObservation(group, response);
Assert.AreEqual(1, repo.Insert(observation));
observation = repo.Read <ResponseObservation>(1);
Assert.IsNotNull(observation);
Assert.AreEqual(1, observation.Id);
Assert.AreEqual(1, observation.GroupId);
Assert.AreEqual(request.Timestamp, observation.TimeInitiated);
Assert.AreEqual(Commands.Takeoff, observation.Command.Rule.Command);
Assert.AreEqual("ok", observation.Response);
}
}
/// <summary>
/// Implements the Observer.OnNext method. Receives the next response from the message controller.
/// </summary>
/// <param name="response">IResponse<string></string>.</param>
public override void OnNext(IResponse <string> response)
{
try
{
response = new TelloResponse(response);
var command = (Command)response.Request.Data;
if (response.Success)
{
this.HandleSuccessResponse(response, command);
}
else
{
this.OnError(new TelloException($"{command} returned message '{response.Message}' at {response.Timestamp.ToString("o")} after {response.TimeTaken.TotalMilliseconds}ms", response.Exception));
}
this.ResponseReceived?.Invoke(this, new ResponseReceivedArgs(response as TelloResponse));
}
catch (Exception ex)
{
this.OnError(new TelloException(ex.Message, ex));
}
}
public override void OnNext(IResponse <string> response)
{
try
{
response = new TelloResponse(response);
var command = (Command)response.Request.Data;
if (response.Success)
{
if (response.Message != Responses.Error.ToString().ToLowerInvariant())
{
switch (command.Rule.Response)
{
case Responses.Ok:
if (response.Message == Responses.Ok.ToString().ToLowerInvariant())
{
this.HandleOk(response, command);
}
else
{
throw new TelloException($"'{command}' expecting response '{Responses.Ok.ToString().ToLowerInvariant()}' returned message '{response.Message}' at {response.Timestamp.ToString("o")} after {response.TimeTaken.TotalMilliseconds}ms");
}
break;
case Responses.Speed:
this.InterogativeState.Speed = Int32.Parse(response.Message);
break;
case Responses.Battery:
this.InterogativeState.Battery = Int32.Parse(response.Message);
break;
case Responses.Time:
this.InterogativeState.Time = Int32.Parse(response.Message);
break;
case Responses.WIFISnr:
this.InterogativeState.WIFISnr = response.Message;
break;
case Responses.SdkVersion:
this.InterogativeState.SdkVersion = response.Message;
break;
case Responses.SerialNumber:
this.InterogativeState.SerialNumber = response.Message;
break;
case Responses.None:
default:
break;
}
}
else
{
throw new TelloException($"{command} returned message '{response.Message}' at {response.Timestamp.ToString("o")} after {response.TimeTaken.TotalMilliseconds}ms");
}
}
else
{
this.OnError(new TelloException($"{command} returned message '{response.Message}' at {response.Timestamp.ToString("o")} after {response.TimeTaken.TotalMilliseconds}ms", response.Exception));
}
this.ResponseReceived?.Invoke(this, new ResponseReceivedArgs(response as TelloResponse));
}
catch (Exception ex)
{
this.OnError(new TelloException(ex.Message, ex));
}
}
public ResponseReceivedArgs(TelloResponse response)
{
this.Response = response ?? throw new ArgumentNullException(nameof(response));
}
