public void Connect()
{
try
{
DisposeWorkersAndTimer();
ControlWorker = WorkerFactory.CreateControlWorker();
ControlWorker.Disconnected += ControlSocketOnDisconnected;
CommandWorker = WorkerFactory.CreateCommandWorker();
NavDataWorker = WorkerFactory.CreateNavDataWorker();
NavDataWorker.NavDataReceived += NavDataWorkerOnNavDataReceived;
ControlWorker.Run();
CommandWorker.Run();
CommandTimer = TimerFactory.CreateTimer();
NavDataWorker.Run();
QueueInitialCommands();
Connected = true;
}
catch
{
Disconnect();
throw;
}
}
public void Run_CallsSocketConnectAndEnqueuesInitialCommands()
{
// Arrange
const string pmodeCommand = "pmodeCommand";
const string miscCommand = "miscCommand";
const string configIdsCommand = "configIdsCommand";
const string sessionIdConfigCommand = "sessionIdConfigCommand";
const string profileIdConfigCommand = "profileIdConfigCommand";
const string applicationIdConfigCommand = "applicationIdConfigCommand";
const string applicationDescConfigCommand = "applicationDescConfigCommand";
const string profileDescConfigCommand = "profileDescConfigCommand";
const string sessionDescConfigCommand = "sessionDescConfigCommand";
const string expectedConfigCommand =
configIdsCommand + sessionIdConfigCommand + configIdsCommand + profileIdConfigCommand +
configIdsCommand + applicationIdConfigCommand + configIdsCommand +
applicationDescConfigCommand + configIdsCommand + profileDescConfigCommand +
configIdsCommand + sessionDescConfigCommand;
_mockCommandFormatter.Setup(x => x.CreateCommand(CommandWorker.PmodeCommand, "2")).Returns(pmodeCommand);
_mockCommandFormatter.Setup(x => x.CreateCommand(CommandWorker.MiscCommand, "2,20,2000,3000")).Returns(miscCommand);
SetupCommandFormatterForConfigIdsCommand(configIdsCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.SessionIdConfigKey, _target.SessionId, sessionIdConfigCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.ProfileIdConfigKey, _target.ProfileId, profileIdConfigCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.ApplicationIdConfigKey, _target.ApplicationId, applicationIdConfigCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.ApplicationDescConfigKey, "AR Drone Remote", applicationDescConfigCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.ProfileDescConfigKey, ".Primary Profile", profileDescConfigCommand);
SetupCommandFormatterForConfigCommand(CommandWorker.SessionDescConfigKey, "Session " + _target.SessionId, sessionDescConfigCommand);
// Act
_target.Run();
// Assert
_mockUdpSocket.Verify(x => x.Connect());
_mockCommandQueue.Verify(x => x.Enqueue(pmodeCommand));
_mockCommandQueue.Verify(x => x.Enqueue(miscCommand));
_mockCommandQueue.Verify(x => x.Enqueue(expectedConfigCommand));
}
