Improve Mission Scheduler tests

backend/api.test/EventHandlers/TestMissionScheduler.cs

@@ -1,4 +1,5 @@
 using System;
+using System.Collections.Generic;
 using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
@@ -7,44 +8,25 @@
 using Api.Database.Models;
 using Api.EventHandlers;
 using Api.Services;
+using Api.Services.Models;
 using Api.Test.Mocks;
+using Api.Utilities;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Logging;
 using Moq;
 using Xunit;
 
+#pragma warning disable CS1998
 namespace Api.Test.EventHandlers
 {
  [Collection("Database collection")]
  public class TestMissionScheduler : IDisposable
  {
- private static RobotModel TurtlebotModel =>
- new()
- {
- Id = "TestModel",
- Type = RobotType.Turtlebot,
- BatteryWarningThreshold = 20f,
- LowerPressureWarningThreshold = 20f,
- UpperPressureWarningThreshold = 80f
- };
- private static Robot Robot =>
- new()
- {
- Id = "IamTestRobot",
- Status = RobotStatus.Available,
- Host = "localhost",
- Model = TurtlebotModel,
- Name = "TestosteroneTesty",
- SerialNumber = "12354",
- Enabled = true
- };
  private static Mission ScheduledMission =>
  new()
  {
- Id = "testMission",
  Name = "testMission",
  EchoMissionId = 2,
- Robot = Robot,
  Status = MissionStatus.Pending,
  DesiredStartTime = DateTimeOffset.Now,
  AssetCode = "TestAsset",
@@ -81,7 +63,7 @@ public TestMissionScheduler(DatabaseFixture fixture)
  mockServiceProvider
  .Setup(p => p.GetService(typeof(IMissionService)))
  .Returns(_missionService);
- // Mock injection of MissionService:
+ // Mock injection of RobotService:
  mockServiceProvider
  .Setup(p => p.GetService(typeof(IRobotService)))
  .Returns(_robotService);
@@ -133,6 +115,14 @@ Mission mission
  // Add Scheduled mission
  await _missionService.Create(mission);
 
+ _robotControllerMock.RobotServiceMock
+ .Setup(service => service.ReadById(mission.Robot.Id))
+ .Returns(async () => mission.Robot);
+
+ _robotControllerMock.MissionServiceMock
+ .Setup(service => service.ReadById(mission.Id))
+ .Returns(async () => mission);
+
  // Assert start conditions
  var preMission = await _missionService.ReadById(mission.Id);
  Assert.NotNull(preMission);
@@ -154,24 +144,70 @@ Mission mission
  }
 
  [Fact]
- public async void ScheduledMissionSetTFailed()
+ // Test that if robot is busy, mission awaits available robot
+ public async void ScheduledMissionPendingIfRobotBusy()
  {
  var mission = ScheduledMission;
 
  // Get real robot to avoid error on robot model
  var robot = (await _robotService.ReadAll()).First(
- r => r.Status == RobotStatus.Available
+ r => r is { Status: RobotStatus.Busy, Enabled: true }
  );
  mission.Robot = robot;
 
- // Mock bad path of 'RobotController.StartMission'
-#pragma warning disable CS1998 // Async method lacks 'await' operators and will run synchronously
- _robotControllerMock.RobotServiceMock
- .Setup(r => r.ReadById(robot.Id))
- .Returns(async () => null);
-#pragma warning restore CS1998 // Async method lacks 'await' operators and will run synchronously
+ // Expect failed because robot does not exist
+ AssertExpectedStatusChange(MissionStatus.Pending, MissionStatus.Pending, mission);
+ }
+
+ [Fact]
+ // Test that if robot is available, mission is started
+ public async void ScheduledMissionStartedIfRobotAvailable()
+ {
+ var mission = ScheduledMission;
+
+ // Get real robot to avoid error on robot model
+ var robot = (await _robotService.ReadAll()).First(
+ r => r is { Status: RobotStatus.Available, Enabled: true }
+ );
+ mission.Robot = robot;
+
+ // Mock successful Start Mission:
+ _robotControllerMock.IsarServiceMock
+ .Setup(isar => isar.StartMission(robot, mission))
+ .Returns(
+ async () =>
+ new IsarMission(
+ new IsarStartMissionResponse
+ {
+ MissionId = "test",
+ Tasks = new List<IsarTaskResponse>()
+ }
+ )
+ );
+
+ // Expect failed because robot does not exist
+ AssertExpectedStatusChange(MissionStatus.Pending, MissionStatus.Ongoing, mission);
+ }
+
+ [Fact]
+ // Test that if ISAR fails, mission is set to failed
+ public async void ScheduledMissionFailedIfIsarUnavailable()
+ {
+ var mission = ScheduledMission;
+
+ // Get real robot to avoid error on robot model
+ var robot = (await _robotService.ReadAll()).First();
+ robot.Enabled = true;
+ robot.Status = RobotStatus.Available;
+ await _robotService.Update(robot);
+ mission.Robot = robot;
+
+ // Mock failing ISAR:
+ _robotControllerMock.IsarServiceMock
+ .Setup(isar => isar.StartMission(robot, mission))
+ .Throws(new MissionException("ISAR Failed test message"));
 
- // Expect failed because robot is null
+ // Expect failed because robot does not exist
  AssertExpectedStatusChange(MissionStatus.Pending, MissionStatus.Failed, mission);
  }
  }