UA-.NETStandard/tests/Opc.Ua.Vision.Tests/VisionNodeManagerIntegrationTests.cs

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using System.Threading.Tasks;
using NUnit.Framework;
using Opc.Ua.Vision;
using Opc.Ua.Vision.Server;
using Opc.Ua.Vision.Server.Builders;

namespace Opc.Ua.Vision.Tests
{
    /// <summary>
    /// Integration tests over a real <see cref="VisionNodeManager"/>
    /// booted inside a <see cref="Opc.Ua.Server.TestFramework.ServerFixture{T}"/>.
    /// These exercise the address-space bootstrap, the fluent build
    /// context, and the small policy surfaces on the manager itself.
    /// </summary>
    [TestFixture]
    [Category("Vision")]
    public sealed class VisionNodeManagerIntegrationTests
    {
        [Test]
        public async Task CreateAddressSpaceExposesVisionRootUnderServer()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            Assert.That(fixture.Manager.Root, Is.Not.Null);
            Assert.That(fixture.Manager.Root.BrowseName.Name, Is.EqualTo("Vision"));
            Assert.That(fixture.Manager.Root.Sensors, Is.Not.Null,
                "The mandatory Sensors folder must exist under Vision.");
        }

        [Test]
        public async Task ConformanceUnitsIsEmptyByDefault()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            Assert.That(fixture.Manager.ConformanceUnits.Count, Is.EqualTo(0));
        }

        [Test]
        public async Task ServerProfilesIsEmptyWhenNoSensorsOrPipelinesAreAdded()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            Assert.That(fixture.Manager.ServerProfiles.Count, Is.EqualTo(0),
                "No facets are exposed on an empty Vision address space.");
        }

        [Test]
        public async Task CreateVisionBuildContextExposesVisionRootAndInstanceIndex()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            IVisionBuildContext context = fixture.Manager.CreateVisionBuildContext();

            Assert.Multiple(() =>
            {
                Assert.That(context.Root, Is.SameAs(fixture.Manager.Root));
                Assert.That(context.InstanceNamespaceIndex, Is.GreaterThan(0));
                Assert.That(context.VisionNamespaceIndex, Is.GreaterThan(0));
                Assert.That(context.InstanceNamespaceIndex, Is.Not.EqualTo(context.VisionNamespaceIndex));
                Assert.That(context.Nodes, Is.Not.Null);
            });
        }

        [Test]
        public async Task NewNodeIdReturnsExistingNodeIdWhenNodeAlreadyHasOne()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            var existing = new BaseObjectState(null)
            {
                NodeId = new NodeId("Existing", fixture.Manager.NamespaceIndex),
                SymbolicName = "Existing"
            };

            NodeId result = fixture.Manager.New(fixture.Manager.SystemContext, existing);

            Assert.That(result, Is.EqualTo(existing.NodeId));
        }

        [Test]
        public async Task NewNodeIdFallsBackToASequentialIdWhenThereIsNoBrowsePath()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            // no browse name, so there is no path for the deterministic
            // factory to derive an identifier from.
            var orphan = new BaseObjectState(null)
            {
                NodeId = NodeId.Null,
                SymbolicName = "Orphan"
            };

            NodeId result = fixture.Manager.New(fixture.Manager.SystemContext, orphan);

            Assert.That(result.IsNull, Is.False);
            Assert.That(result.IdType, Is.EqualTo(IdType.Numeric));
            Assert.That(
                result.NamespaceIndex,
                Is.EqualTo(fixture.Manager.NodeIdFactory.DefaultNamespaceIndex));
        }

        [Test]
        public async Task NewNodeIdBuildsChildPathWhenParentIsPresent()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            NodeId result = MintChild(fixture, "Parent", "Child");

            Assert.Multiple(() =>
            {
                Assert.That(result.IdType, Is.EqualTo(IdType.Numeric));
                Assert.That(
                    result.NamespaceIndex,
                    Is.EqualTo(fixture.Manager.NodeIdFactory.DefaultNamespaceIndex));

                // A numeric identifier cannot be read back for the path it
                // came from, so this asserts the property the path gives
                // rather than its spelling: both halves of the path move the
                // result, and the same path gives the same result.
                Assert.That(MintChild(fixture, "OtherParent", "Child"), Is.Not.EqualTo(result));
                Assert.That(MintChild(fixture, "Parent", "OtherChild"), Is.Not.EqualTo(result));
                Assert.That(MintChild(fixture, "Parent", "Child"), Is.EqualTo(result));
            });
        }

        /// <summary>
        /// Mints the NodeId the manager would give a child of the named
        /// parent.
        /// </summary>
        private static NodeId MintChild(
            VisionServerFixture fixture,
            string parentName,
            string browseName)
        {
            var parent = new BaseObjectState(null)
            {
                NodeId = new NodeId(parentName, fixture.Manager.NamespaceIndex),
                SymbolicName = parentName
            };
            var child = new BaseObjectState(parent)
            {
                NodeId = NodeId.Null,
                SymbolicName = browseName,
                BrowseName = new QualifiedName(browseName, fixture.Manager.NamespaceIndex)
            };

            return fixture.Manager.New(fixture.Manager.SystemContext, child);
        }

        [Test]
        public async Task AddingImageSensorPublishesFacetProfilesOnServer()
        {
            await using var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);
            IVisionBuildContext context = fixture.CreateBuildContext();

            context.Nodes.AddImageSensor("Cam1", sensor => sensor
                .WithSensorId("cam-1")
                .WithModality(VisionSensorModalityEnum.Area2D)
                .WithRealityKind(VisionRealityKindEnum.Physical)
                .WithResolution(640u, 480u)
                .WithPixelFormat("Mono8"));

            fixture.Manager.PublishServerProfiles();

            ArrayOf<string> profiles = fixture.Manager.ServerProfiles;
            Assert.That(profiles.Count, Is.GreaterThan(0),
                "Adding a sensor must derive at least one facet on the server profile array.");
        }

        [Test]
        public async Task DisposeAsyncCanBeCalledMultipleTimesWithoutThrowing()
        {
            var fixture = new VisionServerFixture();
            await fixture.StartAsync().ConfigureAwait(false);

            await fixture.DisposeAsync().ConfigureAwait(false);
            Assert.DoesNotThrowAsync(async () => await fixture.DisposeAsync().ConfigureAwait(false));
        }
    }
}