thingsboard-client-demo/src/test/java/com/tuoheng/machine/ComplexTreeTest.java

package com.tuoheng.machine;

import com.tuoheng.machine.command.CommandResult;
import com.tuoheng.machine.command.CommandType;
import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
import com.tuoheng.machine.state.*;
import com.tuoheng.machine.vendor.VendorRegistry;
import com.tuoheng.machine.vendor.test.TestVendorConfig;
import lombok.extern.slf4j.Slf4j;
import org.junit.jupiter.api.*;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.test.context.SpringBootTest;

import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.*;

import static org.junit.jupiter.api.Assertions.*;

/**
 * 复杂指令树测试
 * 测试9-10: 复杂指令树（成功路径/失败路径）
 */
@SpringBootTest
@Slf4j
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
public class ComplexTreeTest {

    @Autowired
    MachineCommandManager machineCommandManager;

    @Autowired
    MqttCallbackRegistry mqttCallbackRegistry;

    @Autowired
    VendorRegistry vendorRegistry;

    private static final ScheduledExecutorService scheduler =
            Executors.newScheduledThreadPool(2);

    private static final String TEST_SN = "COMPLEX_TREE_TEST_SN";

    @BeforeAll
    public static void setupAll() {
        log.info("=== 复杂指令树测试初始化 ===");
    }

    @BeforeEach
    public void beforeEach(TestInfo testInfo) {
        log.info("\n========================================");
        log.info("开始测试: {}", testInfo.getDisplayName());
        log.info("========================================");

        // 注册测试厂家配置
        TestVendorConfig testVendorConfig = new TestVendorConfig();
        vendorRegistry.registerVendor(testVendorConfig);

        // 绑定SN到测试厂家
        vendorRegistry.bindSnToVendor(TEST_SN, "TEST");

        // 初始化机器状态
        MachineStates initialStates = new MachineStates();
        initialStates.setAirportState(AirportState.ONLINE);
        initialStates.setDroneState(DroneState.ONLINE);
        machineCommandManager.updateMachineStates(TEST_SN, initialStates, true);
    }

    @AfterEach
    public void afterEach(TestInfo testInfo) {
        log.info("完成测试: {}", testInfo.getDisplayName());
        log.info("========================================\n");

        try {
            Thread.sleep(500);
        } catch (InterruptedException e) {
            log.warn("等待时被中断", e);
        }
    }

    /**
     * 测试9: 复杂指令树场景（成功路径）
     */
    @Test
    @Order(9)
    @DisplayName("测试9: 复杂指令树场景（成功路径）")
    public void testComplexInstructionTreeSuccess() throws ExecutionException, InterruptedException {
        log.info(">>> 场景：复杂的多层嵌套指令树，走成功分支");

        Map<String, Object> params = new HashMap<>();
        params.put("complexRootShouldFail", false);

        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(TEST_SN, CommandType.ENTER_DRC_MODE, params);

        scheduler.schedule(() -> {
            try {
                Thread.sleep(100);
                String response = "{\"result\":\"success\"}";
                mqttCallbackRegistry.handleMessage("test/" + TEST_SN + "/response", response);
                log.info(">>> 模拟发送根指令方法回调（成功）: {}", response);

                Thread.sleep(100);
                response = "{\"result\":\"complexSuccess\"}";
                mqttCallbackRegistry.handleMessage("test/" + TEST_SN + "/response", response);
                log.info(">>> 模拟发送成功分支指令方法回调: {}", response);

                Thread.sleep(100);
                response = "{\"result\":\"complexCleanup\"}";
                mqttCallbackRegistry.handleMessage("test/" + TEST_SN + "/response", response);
                log.info(">>> 模拟发送清理指令方法回调: {}", response);

            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }, 200, TimeUnit.MILLISECONDS);

        CommandResult result = future.get();
        assertTrue(result.isSuccess(), "复杂指令树应该执行成功");
        log.info(">>> 测试通过：复杂指令树成功路径执行成功");
    }

    /**
     * 测试10: 复杂指令树场景（失败路径）
     * 注意：通过让根指令超时来触发失败分支
     */
    @Test
    @Order(10)
    @DisplayName("测试10: 复杂指令树场景（失败路径）")
    public void testComplexInstructionTreeFailure() throws ExecutionException, InterruptedException {
        log.info(">>> 场景：复杂的多层嵌套指令树，走失败分支");
        log.info(">>> 策略：让根指令超时失败，触发失败分支");

        Map<String, Object> params = new HashMap<>();
        params.put("complexRootShouldFail", true);

        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(TEST_SN, CommandType.ENTER_DRC_MODE, params);

        scheduler.schedule(() -> {
            try {
                // 不发送根指令的回调，让它超时（5秒后）
                // 等待根指令超时后，发送失败分支的回调
                log.info(">>> 等待根指令超时，触发失败分支...");
                Thread.sleep(6000); // 等待超过5秒超时时间

                // 发送失败分支指令的回调
                String response = "{\"result\":\"complexFailure\"}";
                mqttCallbackRegistry.handleMessage("test/" + TEST_SN + "/response", response);
                log.info(">>> 模拟发送失败分支指令方法回调: {}", response);

                Thread.sleep(100);

                // 发送清理指令的回调
                response = "{\"result\":\"complexCleanup\"}";
                mqttCallbackRegistry.handleMessage("test/" + TEST_SN + "/response", response);
                log.info(">>> 模拟发送清理指令方法回调: {}", response);

            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        }, 200, TimeUnit.MILLISECONDS);

        CommandResult result = future.get();
        assertTrue(result.isSuccess(), "复杂指令树应该通过失败分支和清理成功");
        log.info(">>> 测试通过：复杂指令树失败路径执行成功");
    }

    @AfterAll
    public static void cleanupAll() {
        log.info("=== 复杂指令树测试完成 ===");
        scheduler.shutdown();
    }
}