feat(sdr): add AsvSdrHelper.cs tests (command & mission items)

asv-soft · Nov 8, 2023 · f2e4a87 · f2e4a87
1 parent a2081b7
commit f2e4a87
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Showing 5 changed files with 115 additions and 9 deletions.
diff --git a/src/Asv.Mavlink.Test/Microservices/AsvSdr/AsvSdrExTests.cs b/src/Asv.Mavlink.Test/Microservices/AsvSdr/AsvSdrExTests.cs
@@ -564,7 +564,7 @@ public async Task Check_For_Correct_CurrentRecordSetTag_Behavior()
             return Task.FromResult(MavResult.MavResultAccepted);
         };
 
-        var nameArray = new byte[AsvSdrHelper.RecordTagValueMaxLength];
+        var nameArray = new byte[AsvSdrHelper.RecordTagValueLength];
         var mavResult = await asvSdrClientEx.CurrentRecordSetTag("test", AsvSdrRecordTagType.AsvSdrRecordTagTypeString8, nameArray, CancellationToken.None);
         Assert.True(mavResult == MavResult.MavResultAccepted);
     }
@@ -642,7 +642,7 @@ await Assert.ThrowsAsync<ArgumentException>(async () =>
     public async Task Check_For_Incorrect_CurrentRecordSetTag_Tag_Name()
     {
         var (asvSdrClientEx, asvSdrServerEx) = await SetUpConnection();
-        var nameArray = new byte[AsvSdrHelper.RecordTagValueMaxLength];
+        var nameArray = new byte[AsvSdrHelper.RecordTagValueLength];
 
         await Assert.ThrowsAsync<Exception>( async () =>
         {

diff --git a/src/Asv.Mavlink.Test/Microservices/AsvSdr/AsvSdrHelperTest.cs b/src/Asv.Mavlink.Test/Microservices/AsvSdr/AsvSdrHelperTest.cs
@@ -160,6 +160,107 @@ public void Check_command_conversion_for_set_tag(string nameIn, AsvSdrRecordTagT
         Assert.Equal(rawValueIn, rawValueOut);
     }
 
+    [Theory]
+    [InlineData(AsvSdrSystemControlAction.AsvSdrSystemControlActionReboot)]
+    [InlineData(AsvSdrSystemControlAction.AsvSdrSystemControlActionShutdown)]
+    public void Check_mission_conversion_for_system_control_action(AsvSdrSystemControlAction action)
+    {
+        var input = new MissionItemIntPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrSystemControlAction(input, action);
+        input.Serialize(ref inputSpan);
+        var output = new MissionItemIntPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        var outputServerItem = AsvSdrHelper.Convert(output);
+        AsvSdrHelper.GetArgsForSdrSystemControlAction(outputServerItem, out var actionOut);
+        Assert.Equal(action,actionOut);
+    }
+    [Theory]
+    [InlineData(AsvSdrSystemControlAction.AsvSdrSystemControlActionReboot)]
+    [InlineData(AsvSdrSystemControlAction.AsvSdrSystemControlActionShutdown)]
+    public void Check_command_conversion_for_system_control_action(AsvSdrSystemControlAction action)
+    {
+        var input = new CommandLongPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrSystemControlAction(input, action);
+        input.Serialize(ref inputSpan);
+        var output = new CommandLongPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        AsvSdrHelper.GetArgsForSdrSystemControlAction(output, out var actionOut);
+        Assert.Equal(action,actionOut);
+    }
+
+    [Theory]
+    [InlineData(0)]
+    [InlineData(10)]
+    public void Check_command_conversion_for_start_mission(ushort missionIndex)
+    {
+        var input = new CommandLongPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrStartMission(input, missionIndex);
+        input.Serialize(ref inputSpan);
+        var output = new CommandLongPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        AsvSdrHelper.GetArgsForSdrStartMission(output, out var missionIndexOut);
+        Assert.Equal(missionIndex,missionIndexOut);
+    }
+
+    [Fact]
+    public void Check_command_conversion_for_stop_mission()
+    {
+        var input = new CommandLongPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrStopMission(input);
+        input.Serialize(ref inputSpan);
+        var output = new CommandLongPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        AsvSdrHelper.GetArgsForSdrStopMission(output);
+    }
+
+    [Theory]
+    [InlineData(0)]
+    [InlineData(uint.MaxValue)]
+    public void Check_mission_conversion_for_sdr_delay(uint delayMs)
+    {
+        var input = new MissionItemIntPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrDelay(input, delayMs);
+        input.Serialize(ref inputSpan);
+        var output = new MissionItemIntPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        var outputServerItem = AsvSdrHelper.Convert(output);
+        AsvSdrHelper.GetArgsForSdrDelay(outputServerItem, out var delayMsOut);
+        Assert.Equal(delayMs,delayMsOut);
+    }
+
+
+    [Theory]
+    [InlineData(0)]
+    [InlineData(ushort.MaxValue)]
+    public void Check_mission_conversion_for_wait_vehicle(ushort index)
+    {
+        var input = new MissionItemIntPayload();
+        var buffer = new byte[input.GetByteSize()];
+        var inputSpan = new Span<byte>(buffer);
+        AsvSdrHelper.SetArgsForSdrWaitVehicleWaypoint(input, index);
+        input.Serialize(ref inputSpan);
+        var output = new MissionItemIntPayload();
+        var outputSpan = new ReadOnlySpan<byte>(buffer);
+        output.Deserialize(ref outputSpan);
+        var outputServerItem = AsvSdrHelper.Convert(output);
+        AsvSdrHelper.GetArgsForSdrWaitVehicleWaypoint(outputServerItem, out var indexOut);
+        Assert.Equal(index,indexOut);
+    }
 
 
 

diff --git a/src/Asv.Mavlink/Microservices/AsvSdr/AsvSdrHelper.cs b/src/Asv.Mavlink/Microservices/AsvSdr/AsvSdrHelper.cs
@@ -9,7 +9,7 @@ namespace Asv.Mavlink;
 
 public static class AsvSdrHelper
 {
-    public const int RecordTagValueMaxLength = 8;
+    public const int RecordTagValueLength = 8;
 
     public const int RecordNameMaxLength = 28;
     private const string RecordNameRegexString = "^[A-Za-z][A-Za-z0-9_\\- +]{2,28}$";
@@ -224,6 +224,8 @@ public static void GetArgsForSdrStopRecord(CommandLongPayload payload)
     public static void SetArgsForSdrCurrentRecordSetTag(CommandLongPayload item, string tagName, AsvSdrRecordTagType type, byte[] rawValue)
     {
         CheckTagName(tagName);
+        if (rawValue.Length != RecordTagValueLength)
+            throw new ArgumentException(nameof(rawValue), $"Tag value array must be {RecordTagValueLength} bytes length");
         var nameArray = new byte[RecordTagNameMaxLength];
         MavlinkTypesHelper.SetString(nameArray, tagName);
         item.Command = (V2.Common.MavCmd)MavCmd.MavCmdAsvSdrSetRecordTag;
@@ -238,6 +240,8 @@ public static void SetArgsForSdrCurrentRecordSetTag(CommandLongPayload item, str
     public static void SetArgsForSdrCurrentRecordSetTag(MissionItemIntPayload payload,string tagName, AsvSdrRecordTagType type, byte[] rawValue)
     {
         CheckTagName(tagName);
+        if (rawValue.Length != RecordTagValueLength)
+            throw new ArgumentException(nameof(rawValue), $"Tag value array must be {RecordTagValueLength} bytes length");
         var nameArray = new byte[RecordTagNameMaxLength];
         MavlinkTypesHelper.SetString(nameArray, tagName);
         payload.Command = (V2.Common.MavCmd)MavCmd.MavCmdAsvSdrSetRecordTag;
@@ -263,7 +267,7 @@ public static void GetArgsForSdrCurrentRecordSetTag(CommandLongPayload item, out
         BitConverter.GetBytes(item.Param5).CopyTo(nameArray,12);
         tagName = MavlinkTypesHelper.GetString(nameArray); 
         CheckTagName(tagName);
-        valueArray = new byte[RecordTagValueMaxLength];
+        valueArray = new byte[RecordTagValueLength];
         BitConverter.GetBytes(item.Param6).CopyTo(valueArray,0);
         BitConverter.GetBytes(item.Param7).CopyTo(valueArray,4);
     }
@@ -280,7 +284,7 @@ public static void GetArgsForSdrCurrentRecordSetTag(ServerMissionItem item, out
         BitConverter.GetBytes(item.X).CopyTo(nameArray,12);
         tagName = MavlinkTypesHelper.GetString(nameArray); 
         CheckTagName(tagName);
-        valueArray = new byte[RecordTagValueMaxLength];
+        valueArray = new byte[RecordTagValueLength];
         BitConverter.GetBytes(item.Y).CopyTo(valueArray,0);
         BitConverter.GetBytes(item.Z).CopyTo(valueArray,4);
     }
@@ -404,7 +408,7 @@ public static void GetArgsForSdrDelay(ServerMissionItem item,out uint delayMs)
     public static void SetArgsForSdrWaitVehicleWaypoint(MissionItemIntPayload item,ushort index)
     {   
         item.Command = (V2.Common.MavCmd)MavCmd.MavCmdAsvSdrWaitVehicleWaypoint;
-        item.Param1 = BitConverter.ToSingle(BitConverter.GetBytes(index));
+        item.Param1 = BitConverter.ToSingle(BitConverter.GetBytes((uint)index));
         item.Param2 = Single.NaN;
         item.Param3 = Single.NaN;
         item.Param4 = Single.NaN;

diff --git a/src/Asv.Mavlink/Microservices/AsvSdr/Client/Ex/AsvSdrClientEx.cs b/src/Asv.Mavlink/Microservices/AsvSdr/Client/Ex/AsvSdrClientEx.cs
@@ -148,6 +148,7 @@ public async Task<MavResult> StopRecord(CancellationToken cancel)
     public async Task<MavResult> CurrentRecordSetTag(string tagName, AsvSdrRecordTagType type, byte[] rawValue , CancellationToken cancel)
     {
         using var cs = CancellationTokenSource.CreateLinkedTokenSource(DisposeCancel, cancel);
+
         var result = await _commandClient.CommandLong(item=>AsvSdrHelper.SetArgsForSdrCurrentRecordSetTag(item,tagName,type,rawValue), cs.Token).ConfigureAwait(false);
         return result.Result;
     }

diff --git a/src/Asv.Mavlink/Microservices/AsvSdr/Client/Ex/IAsvSdrClientEx.cs b/src/Asv.Mavlink/Microservices/AsvSdr/Client/Ex/IAsvSdrClientEx.cs
@@ -86,9 +86,9 @@ public static async Task CurrentRecordSetTagAndCheckResult(this IAsvSdrClientEx
 
     public static Task<MavResult> CurrentRecordSetTag(this IAsvSdrClientEx src, string tagName, string value, CancellationToken cancel)
     {
-        if (value.Length > AsvSdrHelper.RecordTagValueMaxLength) 
-            throw new Exception($"Tag string value is too long. Max length is {AsvSdrHelper.RecordTagValueMaxLength}");
-        var nameArray = new byte[AsvSdrHelper.RecordTagValueMaxLength];
+        if (value.Length > AsvSdrHelper.RecordTagValueLength) 
+            throw new Exception($"Tag string value is too long. Max length is {AsvSdrHelper.RecordTagValueLength}");
+        var nameArray = new byte[AsvSdrHelper.RecordTagValueLength];
         MavlinkTypesHelper.SetString(nameArray,value);
         return src.CurrentRecordSetTag(tagName, AsvSdrRecordTagType.AsvSdrRecordTagTypeString8, nameArray, cancel);
     }