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Refactor MissionScheduling #1126

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merged 13 commits into from
Nov 9, 2023
Merged

Refactor MissionScheduling #1126

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289e15e
Set current area to unchanged
aeshub Nov 7, 2023
a28094b
Make redundant interface functions private
aeshub Nov 7, 2023
3b7422e
Fix naming of message variables
aeshub Nov 7, 2023
1d78d45
Remove redundant nullable expression
aeshub Nov 7, 2023
85e6949
Rename function to reflect plural return value
aeshub Nov 7, 2023
617be84
Reuse function to retrieve ongoing missions
aeshub Nov 7, 2023
75078fc
Throw error when robot is not found
aeshub Nov 7, 2023
bfac951
Check for null before returning boolean
aeshub Nov 7, 2023
4f3aaa8
Use single-line statement
aeshub Nov 7, 2023
6990a5a
Merge mission scheduling services
aeshub Nov 7, 2023
bb45c90
Ignore test which is awaiting database fix
aeshub Nov 9, 2023
8c4d7ab
Write objects to database prior to test
aeshub Nov 9, 2023
05069b3
Make function static as it does not use data
aeshub Nov 9, 2023
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204 changes: 107 additions & 97 deletions backend/api.test/EventHandlers/TestMissionEventHandler.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -23,17 +23,6 @@ namespace Api.Test.EventHandlers
[Collection("Database collection")]
public class TestMissionEventHandler : IDisposable
{
private static readonly Installation testInstallation = new()
{
InstallationCode = "test",
Name = "test test"
};
private static readonly Plant testPlant = new()
{
PlantCode = "test",
Name = "test test",
Installation = testInstallation
};
private readonly IAreaService _areaService;
private readonly FlotillaDbContext _context;
private readonly IDeckService _deckService;
Expand All @@ -43,9 +32,7 @@ public class TestMissionEventHandler : IDisposable

private readonly MissionEventHandler _missionEventHandler;
private readonly IMissionRunService _missionRunService;
private readonly IMissionScheduling _missionScheduling;
private readonly IMissionSchedulingService _missionSchedulingService;
private readonly ISignalRService _signalRService;

#pragma warning disable IDE0052
private readonly MqttEventHandler _mqttEventHandler;
Expand All @@ -56,14 +43,14 @@ public class TestMissionEventHandler : IDisposable
private readonly RobotControllerMock _robotControllerMock;
private readonly IRobotModelService _robotModelService;
private readonly IRobotService _robotService;
private readonly ISignalRService _signalRService;

public TestMissionEventHandler(DatabaseFixture fixture)
{
var missionEventHandlerLogger = new Mock<ILogger<MissionEventHandler>>().Object;
var mqttServiceLogger = new Mock<ILogger<MqttService>>().Object;
var mqttEventHandlerLogger = new Mock<ILogger<MqttEventHandler>>().Object;
var missionLogger = new Mock<ILogger<MissionRunService>>().Object;
var missionSchedulingLogger = new Mock<ILogger<MissionScheduling>>().Object;
var missionSchedulingServiceLogger = new Mock<ILogger<MissionSchedulingService>>().Object;

var configuration = WebApplication.CreateBuilder().Configuration;
Expand All @@ -83,8 +70,8 @@ public TestMissionEventHandler(DatabaseFixture fixture)
_plantService = new PlantService(_context, _installationService);
_deckService = new DeckService(_context, _defaultLocalisationPoseService, _installationService, _plantService);
_areaService = new AreaService(_context, _installationService, _plantService, _deckService, _defaultLocalisationPoseService);
_missionSchedulingService = new MissionSchedulingService(missionSchedulingServiceLogger, _missionRunService, _robotService, _robotControllerMock.Mock.Object);
_missionScheduling = new MissionScheduling(missionSchedulingLogger, _missionRunService, _isarServiceMock, _robotService, _areaService, _missionSchedulingService);
_missionSchedulingService = new MissionSchedulingService(missionSchedulingServiceLogger, _missionRunService, _robotService, _robotControllerMock.Mock.Object, _areaService,
_isarServiceMock);

var mockServiceProvider = new Mock<IServiceProvider>();

Expand All @@ -96,8 +83,8 @@ public TestMissionEventHandler(DatabaseFixture fixture)
.Setup(p => p.GetService(typeof(IRobotService)))
.Returns(_robotService);
mockServiceProvider
.Setup(p => p.GetService(typeof(IMissionScheduling)))
.Returns(_missionScheduling);
.Setup(p => p.GetService(typeof(IMissionSchedulingService)))
.Returns(_missionSchedulingService);
mockServiceProvider
.Setup(p => p.GetService(typeof(RobotController)))
.Returns(_robotControllerMock.Mock.Object);
Expand All @@ -116,52 +103,80 @@ public TestMissionEventHandler(DatabaseFixture fixture)
_mqttEventHandler = new MqttEventHandler(mqttEventHandlerLogger, mockFactory.Object);
}

private static Area NewArea => new()
public void Dispose()
{
Deck = new Deck
{
Plant = testPlant,
Installation = testInstallation,
Name = "testDeck"
},
Installation = testInstallation,
Plant = testPlant,
Name = "testArea",
MapMetadata = new MapMetadata
{
MapName = "TestMap",
Boundary = new Boundary(),
TransformationMatrices = new TransformationMatrices()
},
DefaultLocalizationPose = null,
SafePositions = new List<SafePosition>()
};

private static MissionRun ScheduledMission =>
new()
_missionEventHandler.Dispose();
GC.SuppressFinalize(this);
}

private async Task<MissionRun> NewMissionRun(string installationCode, Robot robot, Area? area, bool writeToDatabase = true)
{
var missionRun = new MissionRun
{
Name = "testMission",
MissionId = Guid.NewGuid().ToString(),
Robot = robot,
MissionId = null,
MissionRunPriority = MissionRunPriority.Normal,
Status = MissionStatus.Pending,
DesiredStartTime = DateTime.Now,
Area = NewArea,
Map = new MapMetadata
{
MapName = "TestMap",
Boundary = new Boundary(),
TransformationMatrices = new TransformationMatrices()
},
InstallationCode = "testInstallation"
Area = area,
Map = new MapMetadata(),
InstallationCode = installationCode
};
if (writeToDatabase) { return await _missionRunService.Create(missionRun); }
return missionRun;
}

public void Dispose()
private async Task<Installation> NewInstallation()
{
_missionEventHandler.Dispose();
GC.SuppressFinalize(this);
var createInstallationQuery = new CreateInstallationQuery
{
InstallationCode = "testInstallationCode",
Name = "testInstallation"
};

return await _installationService.Create(createInstallationQuery);
}

private async Task<Plant> NewPlant(string installationCode)
{
var createPlantQuery = new CreatePlantQuery
{
InstallationCode = installationCode,
PlantCode = "testPlantCode",
Name = "testPlant"
};

return await _plantService.Create(createPlantQuery);
}

private async Task<Robot> NewRobot(RobotStatus status)
private async Task<Deck> NewDeck(string installationCode, string plantCode)
{
var createDeckQuery = new CreateDeckQuery
{
InstallationCode = installationCode,
PlantCode = plantCode,
Name = "testDeck"
};

return await _deckService.Create(createDeckQuery);
}

private async Task<Area> NewArea(string installationCode, string plantCode, string deckName)
{
var createAreaQuery = new CreateAreaQuery
{
InstallationCode = installationCode,
PlantCode = plantCode,
DeckName = deckName,
AreaName = "testArea",
DefaultLocalizationPose = new Pose()
};

return await _areaService.Create(createAreaQuery);
}

private async Task<Robot> NewRobot(RobotStatus status, Area area)
{
var createRobotQuery = new CreateRobotQuery
{
Expand All @@ -170,7 +185,7 @@ private async Task<Robot> NewRobot(RobotStatus status)
RobotType = RobotType.Robot,
SerialNumber = "0001",
CurrentInstallation = "kaa",
CurrentArea = NewArea,
CurrentArea = area,
VideoStreams = new List<CreateVideoStreamQuery>(),
Host = "localhost",
Port = 3000,
Expand All @@ -179,23 +194,23 @@ private async Task<Robot> NewRobot(RobotStatus status)
};

var robotModel = await _robotModelService.ReadByRobotType(createRobotQuery.RobotType);
return new Robot(createRobotQuery)
var robot = new Robot(createRobotQuery)
{
Model = robotModel!
};
return await _robotService.Create(robot);
}

#pragma warning disable xUnit1004
[Fact(Skip = "Awaiting fix for testing with database")]
#pragma warning restore xUnit1004
[Fact]
public async void ScheduledMissionStartedWhenSystemIsAvailable()
{
// Arrange
var missionRun = ScheduledMission;

var robot = await NewRobot(RobotStatus.Available);
await _robotService.Create(robot);
missionRun.Robot = robot;
var installation = await NewInstallation();
var plant = await NewPlant(installation.InstallationCode);
var deck = await NewDeck(installation.InstallationCode, plant.PlantCode);
var area = await NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
var robot = await NewRobot(RobotStatus.Available, area);
var missionRun = await NewMissionRun(installation.InstallationCode, robot, area, false);

SetupMocksForRobotController(robot, missionRun);

Expand All @@ -207,20 +222,17 @@ public async void ScheduledMissionStartedWhenSystemIsAvailable()
Assert.Equal(MissionStatus.Ongoing, postTestMissionRun!.Status);
}

#pragma warning disable xUnit1004
[Fact(Skip = "Awaiting fix for testing with database")]
#pragma warning restore xUnit1004
[Fact]
public async void SecondScheduledMissionQueuedIfRobotIsBusy()
{
// Arrange
var missionRunOne = ScheduledMission;
var missionRunTwo = ScheduledMission;

var robot = await NewRobot(RobotStatus.Available);
await _robotService.Create(robot);

missionRunOne.Robot = robot;
missionRunTwo.Robot = robot;
var installation = await NewInstallation();
var plant = await NewPlant(installation.InstallationCode);
var deck = await NewDeck(installation.InstallationCode, plant.PlantCode);
var area = await NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
var robot = await NewRobot(RobotStatus.Available, area);
var missionRunOne = await NewMissionRun(installation.InstallationCode, robot, area, false);
var missionRunTwo = await NewMissionRun(installation.InstallationCode, robot, area, false);

SetupMocksForRobotController(robot, missionRunOne);

Expand All @@ -235,17 +247,16 @@ public async void SecondScheduledMissionQueuedIfRobotIsBusy()
Assert.Equal(MissionStatus.Pending, postTestMissionRunTwo!.Status);
}

#pragma warning disable xUnit1004
[Fact(Skip = "Awaiting fix for testing with database")]
#pragma warning restore xUnit1004
[Fact]
public async void NewMissionIsStartedWhenRobotBecomesAvailable()
{
// Arrange
var missionRun = ScheduledMission;

var robot = await NewRobot(RobotStatus.Busy);
await _robotService.Create(robot);
missionRun.Robot = robot;
var installation = await NewInstallation();
var plant = await NewPlant(installation.InstallationCode);
var deck = await NewDeck(installation.InstallationCode, plant.PlantCode);
var area = await NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
var robot = await NewRobot(RobotStatus.Busy, area);
var missionRun = await NewMissionRun(installation.InstallationCode, robot, area, false);

SetupMocksForRobotController(robot, missionRun);

Expand Down Expand Up @@ -277,8 +288,11 @@ public async void NewMissionIsStartedWhenRobotBecomesAvailable()
public async void NoMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvailable()
{
// Arrange
var robot = await NewRobot(RobotStatus.Busy);
await _robotService.Create(robot);
var installation = await NewInstallation();
var plant = await NewPlant(installation.InstallationCode);
var deck = await NewDeck(installation.InstallationCode, plant.PlantCode);
var area = await NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
var robot = await NewRobot(RobotStatus.Busy, area);

var mqttEventArgs = new MqttReceivedArgs(
new IsarRobotStatusMessage
Expand Down Expand Up @@ -311,22 +325,18 @@ public async void NoMissionIsStartedIfQueueIsEmptyWhenRobotBecomesAvailable()
Assert.False(ongoingMission.Any());
}

#pragma warning disable xUnit1004
[Fact(Skip = "Awaiting fix for testing with database")]
#pragma warning restore xUnit1004
[Fact]
public async void MissionRunIsStartedForOtherAvailableRobotIfOneRobotHasAnOngoingMissionRun()
{
// Arrange
var robotOne = await NewRobot(RobotStatus.Available);
var robotTwo = await NewRobot(RobotStatus.Available);
await _robotService.Create(robotOne);
await _robotService.Create(robotTwo);

var missionRunOne = ScheduledMission;
var missionRunTwo = ScheduledMission;

missionRunOne.Robot = robotOne;
missionRunTwo.Robot = robotTwo;
var installation = await NewInstallation();
var plant = await NewPlant(installation.InstallationCode);
var deck = await NewDeck(installation.InstallationCode, plant.PlantCode);
var area = await NewArea(installation.InstallationCode, plant.PlantCode, deck.Name);
var robotOne = await NewRobot(RobotStatus.Available, area);
var robotTwo = await NewRobot(RobotStatus.Available, area);
var missionRunOne = await NewMissionRun(installation.InstallationCode, robotOne, area, false);
var missionRunTwo = await NewMissionRun(installation.InstallationCode, robotTwo, area, false);

SetupMocksForRobotController(robotOne, missionRunOne);

Expand Down
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