From 9d016d6b13abc01843d9f8d01cb39278a7a47a88 Mon Sep 17 00:00:00 2001
From: Alexey <248997@gmail.com>
Date: Thu, 26 Dec 2024 18:25:02 +0500
Subject: [PATCH] fix(test): UploadAndStartMission_StrictSequenceExecuting

On some slow platforms, start the mission before busy flag is released.
---
 .../Commands/CommandIntComplexTest.cs            | 12 +++---------
 .../Missions/MissionExComplexTest.cs             | 16 +++++++++++++++-
 .../Missions/Client/Ex/MissionClientEx.cs        |  1 +
 .../Missions/Server/Ex/IMissionServerEx.cs       |  1 -
 .../Missions/Server/Ex/MissionServerEx.cs        |  5 +----
 5 files changed, 20 insertions(+), 15 deletions(-)

diff --git a/src/Asv.Mavlink.Test/Microservices/Commands/CommandIntComplexTest.cs b/src/Asv.Mavlink.Test/Microservices/Commands/CommandIntComplexTest.cs
index 06ceeccc..d0213638 100644
--- a/src/Asv.Mavlink.Test/Microservices/Commands/CommandIntComplexTest.cs
+++ b/src/Asv.Mavlink.Test/Microservices/Commands/CommandIntComplexTest.cs
@@ -627,12 +627,9 @@ public async Task SendCommandInt_DifferentMavResults_Success(MavResult mavResult
         {
             called++;
             _taskCompletionSource.TrySetResult(args);
+            packetFromClient = args;
             return Task.FromResult(CommandResult.FromResult(mavResult));
         };
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
-        {
-            packetFromClient = p as CommandIntPacket;
-        });
         
         // Act
         await _client.SendCommandInt(
@@ -785,13 +782,10 @@ public async Task CommandInt_WithCustomConfig_Success(int maxCommandAttempts, in
             called++;
             var result = MavResult.MavResultAccepted;
             _taskCompletionSource.TrySetResult(args);
+            packetFromClient = args;
             return Task.FromResult(CommandResult.FromResult(result));
         };
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
-        {
-            packetFromClient = p as CommandIntPacket;
-        });
-        
+      
         // Act
         var result = await client.CommandInt(
             MavCmd.MavCmdUser1,
diff --git a/src/Asv.Mavlink.Test/Microservices/Missions/MissionExComplexTest.cs b/src/Asv.Mavlink.Test/Microservices/Missions/MissionExComplexTest.cs
index 55ecd60d..2c2685c1 100644
--- a/src/Asv.Mavlink.Test/Microservices/Missions/MissionExComplexTest.cs
+++ b/src/Asv.Mavlink.Test/Microservices/Missions/MissionExComplexTest.cs
@@ -550,7 +550,21 @@ public async Task UploadAndStartMission_StrictSequenceExecuting_Success(ushort s
         });
         
         // Act
-        _server.StartMission(skip);
+        
+        // On some slow platforms, start the mission before the upload is complete.
+        // We attempt to start it multiple times. It's impossible in real life with async communication
+        start:
+        try
+        {
+            _server.StartMission(skip);
+        }
+        catch (MavlinkException e)
+        {
+            Log.WriteLine("====> tests is slow. Trying to start mission multiple times <===");
+            await Task.Delay(10);
+            goto start;
+        }
+        
         await tcs.Task;
         
         // Assert
diff --git a/src/Asv.Mavlink/Microservices/Missions/Client/Ex/MissionClientEx.cs b/src/Asv.Mavlink/Microservices/Missions/Client/Ex/MissionClientEx.cs
index 8fecc6d2..2aa49372 100644
--- a/src/Asv.Mavlink/Microservices/Missions/Client/Ex/MissionClientEx.cs
+++ b/src/Asv.Mavlink/Microservices/Missions/Client/Ex/MissionClientEx.cs
@@ -156,6 +156,7 @@ public async Task Upload(CancellationToken cancel, Action<double>? progress = nu
 
         await _client.MissionSetCount((ushort) _missionSource.Count, cancel).ConfigureAwait(false);
         await tcs.Task.ConfigureAwait(false);
+        progress?.Invoke(1);
         _isMissionSynced.OnNext(true);
     }
 
diff --git a/src/Asv.Mavlink/Microservices/Missions/Server/Ex/IMissionServerEx.cs b/src/Asv.Mavlink/Microservices/Missions/Server/Ex/IMissionServerEx.cs
index b65fd3ae..a5390126 100644
--- a/src/Asv.Mavlink/Microservices/Missions/Server/Ex/IMissionServerEx.cs
+++ b/src/Asv.Mavlink/Microservices/Missions/Server/Ex/IMissionServerEx.cs
@@ -19,7 +19,6 @@ public enum MissionServerState
 
 public interface IMissionServerEx : IMavlinkMicroserviceServer
 {
-   
    IMissionServer Base { get; }
    ReadOnlyReactiveProperty<ushort> Current { get; }
    ReadOnlyReactiveProperty<ushort> Reached { get; }
diff --git a/src/Asv.Mavlink/Microservices/Missions/Server/Ex/MissionServerEx.cs b/src/Asv.Mavlink/Microservices/Missions/Server/Ex/MissionServerEx.cs
index dcdaedfc..eea2fcd5 100644
--- a/src/Asv.Mavlink/Microservices/Missions/Server/Ex/MissionServerEx.cs
+++ b/src/Asv.Mavlink/Microservices/Missions/Server/Ex/MissionServerEx.cs
@@ -19,10 +19,7 @@ public sealed class MissionServerEx : MavlinkMicroserviceServer, IMissionServerE
     private const int InternalBusyStateClearAll = 1;
     private const int InternalBusyStateUploadMission = 2;
     private const int InternalBusyStateStartMission = 3;
-    
-    
-    private int _internalBusyState;
-    
+    private int _internalBusyState = InternalBusyStateIdle;
     
     private readonly IStatusTextServer _statusLogger;
     private readonly ILogger _logger;