internal void DoWork(object state)
{
try
{
lock (_threadLock)
{
if (Connected)
{
if (_sendCompassCalibrationCommand && DateTimeFactory.Now > _takeOffTime.AddSeconds(5))
{
_sendCompassCalibrationCommand = false;
CommandWorker.SendCalibrateCompassCommand();
}
if (CommWatchDog)
{
CommandWorker.SendResetWatchDogCommand();
}
else if (Flying && DateTimeFactory.Now > _takeOffTime.AddSeconds(10))
{
CommandWorker.SendProgressiveCommand(this);
}
CommandWorker.Flush();
}
}
}
catch
{
Disconnect();
}
}
public void GivenResultFromCommandFlush_Flush_SendsCommandToSocket()
{
// Arrange
const string testCommand = "testCommand";
_mockCommandQueue.Setup(x => x.Flush()).Returns(testCommand);
DateTime timeOfLastTransmission = DateTime.UtcNow.AddMilliseconds(-1);
_target.TimeOfLastTransmission = timeOfLastTransmission;
// Act
_target.Flush();
// Assert
_mockUdpSocket.Verify(x => x.Write(testCommand));
_target.TimeOfLastTransmission.Should().BeAfter(timeOfLastTransmission);
}