292 lines
10 KiB
Java
292 lines
10 KiB
Java
package com.tuoheng.old;
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import com.tuoheng.machine.MachineCommandManager;
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import com.tuoheng.machine.command.CommandResult;
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import com.tuoheng.machine.command.CommandType;
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import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
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import com.tuoheng.machine.state.*;
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import lombok.extern.slf4j.Slf4j;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.MethodOrderer;
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import org.junit.jupiter.api.Test;
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import org.junit.jupiter.api.TestMethodOrder;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.boot.test.context.SpringBootTest;
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import org.junit.jupiter.api.*;
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import org.springframework.util.Assert;
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import java.util.HashMap;
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import java.util.concurrent.*;
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import static org.junit.jupiter.api.Assertions.*;
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/**
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* DRC状态机测试
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* 测试DRC模式的完整状态转换流程
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*/
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@SpringBootTest
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@Slf4j
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@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
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public class DrcStateMachineTest {
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@Autowired
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MachineCommandManager machineCommandManager;
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@Autowired
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MqttCallbackRegistry mqttCallbackRegistry;
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private static final ScheduledExecutorService scheduler =
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Executors.newScheduledThreadPool(2);
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private Boolean initState = false;
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private static final String SN = "SN9527";
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@BeforeEach
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public void init(){
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if(initState){
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return;
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}
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initState = true;
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machineCommandManager.bindMachine(SN,"DJI");
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}
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@Test
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@Order(1)
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public void checkInitState(){
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MachineStates machineStates = machineCommandManager.getMachineStates(SN);
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assertNotNull(machineStates);
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assertEquals(AirportState.UNKNOWN, machineStates.getAirportState());
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assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
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assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
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assertEquals(DroneState.UNKNOWN, machineStates.getDroneState());
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assertEquals(StopState.UNKNOWN, machineStates.getStopState());
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}
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/**
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* 非在线状态下不可起飞
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* @throws ExecutionException
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* @throws InterruptedException
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*/
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@Test
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@Order(2)
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public void checkTakeOffCommand() throws ExecutionException, InterruptedException {
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CompletableFuture<CommandResult> future =
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machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
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assertFalse(future.get().isSuccess());
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}
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@Test
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@Order(3)
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public void setState() {
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MachineStates machineStates = new MachineStates();
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machineStates.setAirportState(AirportState.ONLINE);
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machineStates.setDroneState(DroneState.ONLINE);
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machineCommandManager.updateMachineStates(SN, machineStates);
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machineStates = machineCommandManager.getMachineStates(SN);
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assertNotNull(machineStates);
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assertEquals(AirportState.ONLINE, machineStates.getAirportState());
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assertEquals(DroneState.ONLINE, machineStates.getDroneState());
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assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
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assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
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assertEquals(StopState.UNKNOWN, machineStates.getStopState());
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}
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// @Test
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// @Order(4)
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// public void checkTakeOffOverTime1() throws ExecutionException, InterruptedException, TimeoutException {
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// /**
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// * 指令执行超时;因为缺乏指令成功的回调
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// */
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// CompletableFuture<CommandResult> future =
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// machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
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// assertFalse(future.get().isSuccess());
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//
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// }
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/**
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* 指令执行成功,因为mqttCallbackRegistry模拟了发送回调
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* 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中直接返回null
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*/
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// @Test
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// @Order(5)
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// public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
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//
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// CompletableFuture<CommandResult> future =
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// machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
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//
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// scheduler.schedule(new Runnable() {
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// @Override
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// public void run() {
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// String response = "{\"data\":{\"result\":\"takeoff\"}}";
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// mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
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// }
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// },100,TimeUnit.MILLISECONDS);
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//
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// assertTrue(future.get().isSuccess());
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//
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// }
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/**
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* 指令执行失败
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* 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
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*/
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// @Test
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// @Order(5)
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// public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
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//
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// CompletableFuture<CommandResult> future =
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// machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
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//
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// scheduler.schedule(new Runnable() {
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// @Override
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// public void run() {
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// String response = "{\"data\":{\"result\":\"takeoff\"}}";
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// mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
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// }
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// },100,TimeUnit.MILLISECONDS);
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//
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// assertFalse(future.get().isSuccess());
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// }
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/**
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* 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
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* @throws ExecutionException
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* @throws InterruptedException
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* @throws TimeoutException
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*/
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@Test
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@Order(5)
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public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
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CompletableFuture<CommandResult> future =
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machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
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scheduler.schedule(new Runnable() {
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@Override
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public void run() {
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String response = "{\"data\":{\"result\":\"takeoff\"}}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
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// 添加延迟，等待状态回调监听器注册
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try {
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Thread.sleep(50); // 等待50ms
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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response = "{\"droneState\":\"FLYING\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/state",response);
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}
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},100,TimeUnit.MILLISECONDS);
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assertTrue(future.get().isSuccess());
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}
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/**
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* 测试开仓命令 - 场景1：设备已在调试模式，直接开仓成功
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* 流程：
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* 1. 检查调试模式（成功）
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* 2. 执行开仓命令
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* 3. 收到开仓命令ACK
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* 4. 收到舱门状态变为OPENED
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*/
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@Test
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@Order(6)
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public void testOpenCoverWithDebugModeEnabled() throws ExecutionException, InterruptedException {
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log.info("=== 测试开仓命令 - 场景1：设备已在调试模式 ===");
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CompletableFuture<CommandResult> future =
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machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());
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scheduler.schedule(() -> {
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try {
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// 1. 模拟设备已在调试模式的状态回调（100ms后）
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String response = "{\"debugMode\":\"ENABLED\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
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log.info("发送调试模式状态: {}", response);
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Thread.sleep(50);
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// 2. 模拟开仓命令的ACK响应
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response = "{\"cmd\":\"openCover\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
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log.info("发送开仓命令ACK: {}", response);
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Thread.sleep(50);
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// 3. 模拟舱门状态变为OPENED
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response = "{\"coverState\":\"OPENED\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
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log.info("发送舱门状态: {}", response);
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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}, 100, TimeUnit.MILLISECONDS);
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CommandResult result = future.get();
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assertTrue(result.isSuccess(), "开仓命令应该执行成功");
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log.info("=== 测试通过：设备已在调试模式，开仓成功 ===");
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}
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/**
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* 测试开仓命令 - 场景2：设备不在调试模式，先开启调试模式再开仓
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* 流程：
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* 1. 检查调试模式（失败/超时）
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* 2. 开启调试模式
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* 3. 收到开启调试模式ACK
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* 4. 执行开仓命令
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* 5. 收到开仓命令ACK
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* 6. 收到舱门状态变为OPENED
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*/
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@Test
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@Order(7)
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public void testOpenCoverWithDebugModeDisabled() throws ExecutionException, InterruptedException {
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log.info("=== 测试开仓命令 - 场景2：设备不在调试模式 ===");
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CompletableFuture<CommandResult> future =
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machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());
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scheduler.schedule(() -> {
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try {
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// 1. 不发送调试模式状态，让检查调试模式超时（等待3秒超时）
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log.info("等待检查调试模式超时...");
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Thread.sleep(3500); // 等待超过3秒，让检查调试模式超时
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// 2. 模拟开启调试模式命令的ACK响应
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String response = "{\"cmd\":\"enableDebugMode\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
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log.info("发送开启调试模式ACK: {}", response);
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Thread.sleep(50);
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// 3. 模拟开仓命令的ACK响应
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response = "{\"cmd\":\"openCover\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
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log.info("发送开仓命令ACK: {}", response);
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Thread.sleep(50);
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// 4. 模拟舱门状态变为OPENED
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response = "{\"coverState\":\"OPENED\"}";
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mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
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log.info("发送舱门状态: {}", response);
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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}, 100, TimeUnit.MILLISECONDS);
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CommandResult result = future.get();
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assertTrue(result.isSuccess(), "开仓命令应该执行成功（先开启调试模式再开仓）");
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log.info("=== 测试通过：设备不在调试模式，先开启调试模式再开仓成功 ===");
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}
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}
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