thingsboard-client-demo/src/test/java/com/tuoheng/old/DrcStateMachineTest.java

package com.tuoheng.old;

import com.tuoheng.machine.MachineCommandManager;
import com.tuoheng.machine.command.CommandResult;
import com.tuoheng.machine.command.CommandType;
import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
import com.tuoheng.machine.state.*;
import lombok.extern.slf4j.Slf4j;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.MethodOrderer;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestMethodOrder;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.boot.test.context.SpringBootTest;
import org.junit.jupiter.api.*;
import org.springframework.util.Assert;

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

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


/**
 * DRC状态机测试
 * 测试DRC模式的完整状态转换流程
 */
@SpringBootTest
@Slf4j
@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
public class DrcStateMachineTest {


    @Autowired
    MachineCommandManager machineCommandManager;

    @Autowired
    MqttCallbackRegistry mqttCallbackRegistry;

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


    private Boolean initState = false;

    private static final String SN = "SN9527";

    @BeforeEach
    public void init(){
        if(initState){
            return;
        }
        initState = true;
        machineCommandManager.bindMachine(SN,"DJI");
    }

    @Test
    @Order(1)
    public void checkInitState(){
        MachineStates machineStates = machineCommandManager.getMachineStates(SN);
        assertNotNull(machineStates);
        assertEquals(AirportState.UNKNOWN, machineStates.getAirportState());
        assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
        assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
        assertEquals(DroneState.UNKNOWN, machineStates.getDroneState());
        assertEquals(StopState.UNKNOWN, machineStates.getStopState());
    }

    /**
     * 非在线状态下不可起飞
     * @throws ExecutionException
     * @throws InterruptedException
     */
    @Test
    @Order(2)
    public void checkTakeOffCommand() throws ExecutionException, InterruptedException {
        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
        assertFalse(future.get().isSuccess());
    }

    @Test
    @Order(3)
    public void setState()  {

        MachineStates machineStates = new MachineStates();
        machineStates.setAirportState(AirportState.ONLINE);
        machineStates.setDroneState(DroneState.ONLINE);
        machineCommandManager.updateMachineStates(SN, machineStates);

        machineStates = machineCommandManager.getMachineStates(SN);
        assertNotNull(machineStates);
        assertEquals(AirportState.ONLINE, machineStates.getAirportState());
        assertEquals(DroneState.ONLINE, machineStates.getDroneState());
        assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
        assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
        assertEquals(StopState.UNKNOWN, machineStates.getStopState());

    }

//    @Test
//    @Order(4)
//    public void checkTakeOffOverTime1() throws ExecutionException, InterruptedException, TimeoutException {
//        /**
//         * 指令执行超时;因为缺乏指令成功的回调
//         */
//        CompletableFuture<CommandResult> future =
//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
//        assertFalse(future.get().isSuccess());
//
//    }

    /**
     * 指令执行成功,因为mqttCallbackRegistry模拟了发送回调
     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中直接返回null
     */
//    @Test
//    @Order(5)
//    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
//
//        CompletableFuture<CommandResult> future =
//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
//
//        scheduler.schedule(new Runnable() {
//            @Override
//            public void run() {
//                String response = "{\"data\":{\"result\":\"takeoff\"}}";
//                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
//            }
//        },100,TimeUnit.MILLISECONDS);
//
//        assertTrue(future.get().isSuccess());
//
//    }

    /**
     * 指令执行失败
     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
     */
//    @Test
//    @Order(5)
//    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
//
//        CompletableFuture<CommandResult> future =
//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
//
//        scheduler.schedule(new Runnable() {
//            @Override
//            public void run() {
//                String response = "{\"data\":{\"result\":\"takeoff\"}}";
//                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
//            }
//        },100,TimeUnit.MILLISECONDS);
//
//        assertFalse(future.get().isSuccess());
//    }

    /**
     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
     * @throws ExecutionException
     * @throws InterruptedException
     * @throws TimeoutException
     */
    @Test
    @Order(5)
    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {

        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());

        scheduler.schedule(new Runnable() {
            @Override
            public void run() {
                String response = "{\"data\":{\"result\":\"takeoff\"}}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);

                // 添加延迟，等待状态回调监听器注册
                try {
                    Thread.sleep(50); // 等待50ms
                } catch (InterruptedException e) {
                    e.printStackTrace();
                }

                response = "{\"droneState\":\"FLYING\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/state",response);
            }
        },100,TimeUnit.MILLISECONDS);

        assertTrue(future.get().isSuccess());
    }

    /**
     * 测试开仓命令 - 场景1：设备已在调试模式，直接开仓成功
     * 流程：
     * 1. 检查调试模式（成功）
     * 2. 执行开仓命令
     * 3. 收到开仓命令ACK
     * 4. 收到舱门状态变为OPENED
     */
    @Test
    @Order(6)
    public void testOpenCoverWithDebugModeEnabled() throws ExecutionException, InterruptedException {
        log.info("=== 测试开仓命令 - 场景1：设备已在调试模式 ===");

        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());

        scheduler.schedule(() -> {
            try {
                // 1. 模拟设备已在调试模式的状态回调（100ms后）
                String response = "{\"debugMode\":\"ENABLED\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
                log.info("发送调试模式状态: {}", response);

                Thread.sleep(50);

                // 2. 模拟开仓命令的ACK响应
                response = "{\"cmd\":\"openCover\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
                log.info("发送开仓命令ACK: {}", response);

                Thread.sleep(50);

                // 3. 模拟舱门状态变为OPENED
                response = "{\"coverState\":\"OPENED\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
                log.info("发送舱门状态: {}", response);

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

        CommandResult result = future.get();
        assertTrue(result.isSuccess(), "开仓命令应该执行成功");
        log.info("=== 测试通过：设备已在调试模式，开仓成功 ===");
    }

    /**
     * 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
     * 流程：
     * 1. 检查调试模式（失败/超时）
     * 2. 开启调试模式
     * 3. 收到开启调试模式ACK
     * 4. 执行开仓命令
     * 5. 收到开仓命令ACK
     * 6. 收到舱门状态变为OPENED
     */
    @Test
    @Order(7)
    public void testOpenCoverWithDebugModeDisabled() throws ExecutionException, InterruptedException {
        log.info("=== 测试开仓命令 - 场景2：设备不在调试模式 ===");

        CompletableFuture<CommandResult> future =
                machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());

        scheduler.schedule(() -> {
            try {
                // 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）
                log.info("等待检查调试模式超时...");
                Thread.sleep(3500); // 等待超过3秒，让检查调试模式超时

                // 2. 模拟开启调试模式命令的ACK响应
                String response = "{\"cmd\":\"enableDebugMode\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
                log.info("发送开启调试模式ACK: {}", response);

                Thread.sleep(50);

                // 3. 模拟开仓命令的ACK响应
                response = "{\"cmd\":\"openCover\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
                log.info("发送开仓命令ACK: {}", response);

                Thread.sleep(50);

                // 4. 模拟舱门状态变为OPENED
                response = "{\"coverState\":\"OPENED\"}";
                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
                log.info("发送舱门状态: {}", response);

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

        CommandResult result = future.get();
        assertTrue(result.isSuccess(), "开仓命令应该执行成功（先开启调试模式再开仓）");
        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 ===");
    }
}