mirror of
https://github.com/OPCFoundation/UA-.NETStandard.git
synced 2026-10-23 18:39:26 +08:00
Marc Schier
9bfc780e14
# Description Update 55 NuGet dependencies to the latest stable releases available on 2026-10-19, preserving documented compatibility pins and framework-specific version bands. Existing OpenUSD prereleases remain unchanged because no newer releases are available. Migrate existing tests to NUnit 5: await asynchronous assertions, propagate async through helpers, handle nullable predicates, and replace obsolete `Order` attributes with sequencing dependencies. Sequencing dependencies use `AllowFailure = true`; filtering a dependent test also runs prerequisites. Adjust fixture-level parallelism where NUnit dependency scheduling requires it. Keep Roslyn API/runtime pins intact; select newer Immutable/Metadata runtime packages only for test and profiling hosts requiring them. Update the approved SDK pin to 10.0.402 across local, CI, and container builds. Document NUnit 5 conventions.
926 lines
38 KiB
C#
926 lines
38 KiB
C#
/* ========================================================================
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* Copyright (c) 2005-2026 The OPC Foundation, Inc. All rights reserved.
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*
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* OPC Foundation MIT License 1.00
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*
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* The complete license agreement can be found here:
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* http://opcfoundation.org/License/MIT/1.00/
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* ======================================================================*/
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using System;
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using System.Threading;
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using System.Threading.Tasks;
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using Moq;
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using NUnit.Framework;
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using Opc.Ua.Vision.Client;
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using Opc.Ua.Vision.Perception;
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namespace Opc.Ua.Vision.Tests
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{
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/// <summary>
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/// Tests for <see cref="VisionInferenceService"/>, <see cref="VisionInferenceResult"/>,
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/// and the summary/handle-only detail semantics.
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/// </summary>
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[TestFixture]
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[Category("Vision")]
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public sealed class VisionInferenceServiceTests
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{
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[Test]
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public void InferenceFactoryReturnsNonNullService()
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{
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var harness = new VisionSessionHarness();
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VisionInferenceService service = harness.Client.Inference();
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Assert.That(service, Is.Not.Null);
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}
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[Test]
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public async Task RunOneShotReturnsHandleOnlyWithoutReadingPayload()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.HandleOnly,
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VisionExpectedResultKind.Auto,
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maxItems: 10).ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(result.ResultId, Is.EqualTo("result-42"));
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Assert.That(result.Resolved, Is.True);
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Assert.That(result.RequestedPipelineName, Is.EqualTo("Pipeline1"));
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Assert.That(result.RequestedPipelineNodeId, Is.EqualTo(harness.PipelineNodeId));
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Assert.That(
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result.DetectionSummary,
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Is.Null,
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"HandleOnly must not read a summary.");
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Assert.That(result.InspectionSummary, Is.Null);
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Assert.That(result.SegmentationSummary, Is.Null);
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});
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}
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[Test]
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public async Task RunOneShotDetectionSummaryBoundsItems()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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SetupDetectionResultChildren(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: 3).ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Detection));
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Assert.That(result.DetectionSummary, Is.Not.Null);
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Assert.That(result.DetectionSummary!.TotalDetections, Is.EqualTo(4));
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Assert.That(result.DetectionSummary.Items.Count, Is.EqualTo(3));
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Assert.That(result.DetectionSummary.Items[2].DetectionId, Is.EqualTo("third"));
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});
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}
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[Test]
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public async Task RunOneShotDetectionSummaryReadsAllFieldsWhenUnbounded()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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SetupDetectionResultChildren(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: 100).ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(result.ResultId, Is.EqualTo("result-42"));
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Assert.That(result.Resolved, Is.True);
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Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Detection));
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Assert.That(result.DetectionSummary, Is.Not.Null);
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Assert.That(result.DetectionSummary!.FrameId, Is.EqualTo("world"));
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Assert.That(result.DetectionSummary.ModelVersionUsed, Is.EqualTo("v1.0"));
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Assert.That(result.DetectionSummary.TotalDetections, Is.EqualTo(4));
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Assert.That(result.DetectionSummary.Items.Count, Is.EqualTo(4));
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Assert.That(result.DetectionSummary.Items[3].DetectionId, Is.EqualTo("fourth"));
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Assert.That(result.RequestedPipelineNodeId, Is.EqualTo(harness.PipelineNodeId));
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Assert.That(result.PipelineId, Is.EqualTo(new NodeId(3002u, 3)));
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Assert.That(result.SensorId, Is.EqualTo(harness.SensorNodeId));
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Assert.That(
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result.FrameId,
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Is.EqualTo("world"),
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"Provenance FrameId propagated to result.");
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Assert.That(
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result.ModelVersionUsed,
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Is.EqualTo("v1.0"),
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"Provenance ModelVersionUsed propagated to result.");
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});
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}
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[Test]
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public async Task RunOneShotThrowsOnExpectedKindMismatchWhenAuthoritative()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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InvalidOperationException? ex = await Assert.ThrowsAsync<InvalidOperationException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Inspection,
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maxItems: 10).ConfigureAwait(false));
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Assert.That(ex!.Message, Does.Contain("Expected result kind 'Inspection'"));
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}
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[Test]
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public async Task RunOneShotAcceptsMatchingExpectedKind()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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SetupDetectionResultChildren(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Detection,
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maxItems: 10).ConfigureAwait(false);
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Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Detection));
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}
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[Test]
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public async Task RunOneShotRejectsNullPipeline()
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{
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var harness = new VisionSessionHarness();
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VisionInferenceService service = harness.Client.Inference();
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await Assert.ThrowsAsync<ArgumentNullException>(
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async () =>
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await service.RunOneShotAsync(
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null!,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: 10).ConfigureAwait(false));
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}
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[Test]
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public async Task RunOneShotRejectsNegativeMaxItems()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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await Assert.ThrowsAsync<ArgumentOutOfRangeException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: -1).ConfigureAwait(false));
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}
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[Test]
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public async Task RunOneShotRejectsMaxItemsAbove100()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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await Assert.ThrowsAsync<ArgumentOutOfRangeException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: 101).ConfigureAwait(false));
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}
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[Test]
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public async Task RunOneShotRejectsUndefinedExpectedKind()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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await Assert.ThrowsAsync<ArgumentOutOfRangeException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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(VisionExpectedResultKind)99,
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maxItems: 10).ConfigureAwait(false));
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}
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[Test]
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public async Task RunOneShotRejectsUndefinedDetail()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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await Assert.ThrowsAsync<ArgumentOutOfRangeException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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(VisionResultDetail)99,
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VisionExpectedResultKind.Auto,
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maxItems: 10).ConfigureAwait(false));
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}
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[Test]
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public async Task RunOneShotUnresolvedResultReturnsHandleWithResolvedFalse()
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{
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var harness = new VisionSessionHarness();
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harness.ConfigureVisionFolders();
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harness.AddPipeline();
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harness.ConfigureCall(StatusCodes.Good, new Variant("result-orphan"));
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Auto,
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maxItems: 10).ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(result.ResultId, Is.EqualTo("result-orphan"));
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Assert.That(result.Resolved, Is.False);
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Assert.That(result.ResultNodeId.IsNull, Is.True);
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Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Unknown));
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Assert.That(result.DetectionSummary, Is.Null);
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});
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}
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[Test]
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public async Task RunOneShotUnresolvedResultReturnsHandleEvenWithExpectedKind()
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{
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var harness = new VisionSessionHarness();
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harness.ConfigureVisionFolders();
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harness.AddPipeline();
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harness.ConfigureCall(StatusCodes.Good, new Variant("result-orphan"));
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionInferenceResult result = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Detection,
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maxItems: 10).ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(
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result.Resolved,
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Is.False,
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"Unresolved result should not throw even with expectedKind set.");
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Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Unknown));
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Assert.That(
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result.DetectionSummary,
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Is.Null,
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"Unresolved result returns handle-only.");
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});
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}
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[Test]
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public async Task RunOneShotThrowsWhenResolvedKindCannotBeDeterminedForConcreteExpectedKind()
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{
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var harness = new VisionSessionHarness();
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SetupMinimalDetectionPipeline(harness);
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harness.NodeCache.Reset();
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harness.NodeCache
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.Setup(
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c => c.IsTypeOfAsync(
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It.IsAny<NodeId>(),
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It.IsAny<NodeId>(),
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It.IsAny<CancellationToken>()))
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.Returns(
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(NodeId _, NodeId type, CancellationToken _) =>
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new ValueTask<bool>(
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type == new NodeId(
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Perception.ObjectTypes.VisionResultType,
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harness.VisionNamespaceIndex)));
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VisionInferenceService service = harness.Client.Inference();
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VisionPipelineClient pipeline = harness.Client.Pipeline(harness.PipelineNodeId);
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VisionResultKind kind = await service.DetermineResultKindAsync(
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harness.InferenceResultNodeId).ConfigureAwait(false);
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Assert.That(kind, Is.EqualTo(VisionResultKind.Unknown));
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VisionInferenceResult autoResult = await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.HandleOnly,
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VisionExpectedResultKind.Auto,
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maxItems: 10).ConfigureAwait(false);
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Assert.That(autoResult.Resolved, Is.True);
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Assert.That(autoResult.ResultKind, Is.EqualTo(VisionResultKind.Unknown));
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InvalidOperationException? ex = await Assert.ThrowsAsync<InvalidOperationException>(
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async () =>
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await service.RunOneShotAsync(
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pipeline,
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"Pipeline1",
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VisionResultDetail.Summary,
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VisionExpectedResultKind.Detection,
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maxItems: 10).ConfigureAwait(false));
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Assert.That(ex!.Message, Does.Contain("Cannot determine result kind"));
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}
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[Test]
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public async Task DetermineResultKindReturnsDetection()
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{
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var harness = new VisionSessionHarness();
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SetupResultTypeDefinition(harness, Perception.ObjectTypes.DetectionResultType);
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VisionInferenceService service = harness.Client.Inference();
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VisionResultKind kind = await service.DetermineResultKindAsync(
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harness.InferenceResultNodeId).ConfigureAwait(false);
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Assert.That(kind, Is.EqualTo(VisionResultKind.Detection));
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}
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[Test]
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public async Task DetermineResultKindReturnsUnknownForNullNodeId()
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{
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var harness = new VisionSessionHarness();
|
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VisionInferenceService service = harness.Client.Inference();
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VisionResultKind kind = await service.DetermineResultKindAsync(
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NodeId.Null).ConfigureAwait(false);
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Assert.That(kind, Is.EqualTo(VisionResultKind.Unknown));
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}
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[Test]
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public async Task DetermineResultKindDetectsSubtype()
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{
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var harness = new VisionSessionHarness();
|
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const uint vendorSubtype = 99999;
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harness.AddBrowse(
|
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harness.InferenceResultNodeId,
|
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[new ReferenceDescription
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|
{
|
|
NodeId = new ExpandedNodeId(
|
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new NodeId(vendorSubtype, harness.VisionNamespaceIndex)),
|
|
BrowseName = new QualifiedName(
|
|
"VendorDetectionResultType",
|
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harness.VisionNamespaceIndex),
|
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DisplayName = new LocalizedText("VendorDetectionResultType"),
|
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NodeClass = NodeClass.ObjectType,
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TypeDefinition = ExpandedNodeId.Null,
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ReferenceTypeId = ReferenceTypeIds.HasTypeDefinition,
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IsForward = true
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}]);
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|
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VisionInferenceService service = harness.Client.Inference();
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VisionResultKind kind = await service.DetermineResultKindAsync(
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harness.InferenceResultNodeId).ConfigureAwait(false);
|
|
|
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Assert.That(
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kind,
|
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Is.EqualTo(VisionResultKind.Detection),
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"IsTypeOfAsync returns true for subtypes, so vendor-derived " +
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"types should resolve to the base Vision kind.");
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}
|
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|
|
[Test]
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public async Task DetermineResultKindReturnsUnknownForZeroRefs()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
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harness.AddBrowse(harness.InferenceResultNodeId, []);
|
|
|
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VisionInferenceService service = harness.Client.Inference();
|
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VisionResultKind kind = await service.DetermineResultKindAsync(
|
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harness.InferenceResultNodeId).ConfigureAwait(false);
|
|
|
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Assert.That(kind, Is.EqualTo(VisionResultKind.Unknown));
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|
}
|
|
|
|
[Test]
|
|
public async Task DetermineResultKindThrowsOnMultipleTypeDefinitions()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.AddBrowse(
|
|
harness.InferenceResultNodeId,
|
|
[
|
|
new ReferenceDescription
|
|
{
|
|
NodeId = new ExpandedNodeId(
|
|
new NodeId(
|
|
Perception.ObjectTypes.DetectionResultType,
|
|
harness.VisionNamespaceIndex)),
|
|
BrowseName = new QualifiedName(
|
|
"DetectionResultType",
|
|
harness.VisionNamespaceIndex),
|
|
DisplayName = new LocalizedText("DetectionResultType"),
|
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NodeClass = NodeClass.ObjectType,
|
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TypeDefinition = ExpandedNodeId.Null,
|
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ReferenceTypeId = ReferenceTypeIds.HasTypeDefinition,
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IsForward = true
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},
|
|
new ReferenceDescription
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|
{
|
|
NodeId = new ExpandedNodeId(
|
|
new NodeId(
|
|
Perception.ObjectTypes.InspectionResultType,
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|
harness.VisionNamespaceIndex)),
|
|
BrowseName = new QualifiedName(
|
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"InspectionResultType",
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|
harness.VisionNamespaceIndex),
|
|
DisplayName = new LocalizedText("InspectionResultType"),
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|
NodeClass = NodeClass.ObjectType,
|
|
TypeDefinition = ExpandedNodeId.Null,
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|
ReferenceTypeId = ReferenceTypeIds.HasTypeDefinition,
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IsForward = true
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}
|
|
]);
|
|
|
|
VisionInferenceService service = harness.Client.Inference();
|
|
await Assert.ThrowsAsync<InvalidOperationException>(
|
|
async () =>
|
|
await service.DetermineResultKindAsync(harness.InferenceResultNodeId)
|
|
.ConfigureAwait(false));
|
|
}
|
|
|
|
[Test]
|
|
public void VisionResultKindEnumHasExpectedValues()
|
|
{
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That((int)VisionResultKind.Unknown, Is.EqualTo(0));
|
|
Assert.That((int)VisionResultKind.Detection, Is.EqualTo(1));
|
|
Assert.That((int)VisionResultKind.Inspection, Is.EqualTo(2));
|
|
Assert.That((int)VisionResultKind.Segmentation, Is.EqualTo(3));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionExpectedResultKindEnumHasExpectedValues()
|
|
{
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That((int)VisionExpectedResultKind.Auto, Is.EqualTo(0));
|
|
Assert.That((int)VisionExpectedResultKind.Detection, Is.EqualTo(1));
|
|
Assert.That((int)VisionExpectedResultKind.Inspection, Is.EqualTo(2));
|
|
Assert.That((int)VisionExpectedResultKind.Segmentation, Is.EqualTo(3));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionResultDetailEnumHasExpectedValues()
|
|
{
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That((int)VisionResultDetail.Summary, Is.EqualTo(0));
|
|
Assert.That((int)VisionResultDetail.HandleOnly, Is.EqualTo(1));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionDetectionSummaryRecordRoundTrips()
|
|
{
|
|
var summary = new VisionDetectionSummary
|
|
{
|
|
CreationTime = new DateTimeUtc(new DateTime(2024, 6, 1, 12, 0, 0, DateTimeKind.Utc)),
|
|
ModelVersionUsed = "v2.1",
|
|
FrameId = "world",
|
|
TotalDetections = 3,
|
|
Items = new VisionDetectionItem[]
|
|
{
|
|
new()
|
|
{
|
|
DetectionId = "det-1",
|
|
ClassLabel = "RedCube",
|
|
ClassId = 1,
|
|
Confidence = 0.95,
|
|
HasPose = false
|
|
}
|
|
}.ToArrayOf()
|
|
};
|
|
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That(summary.TotalDetections, Is.EqualTo(3));
|
|
Assert.That(summary.Items.Count, Is.EqualTo(1));
|
|
Assert.That(summary.Items[0].DetectionId, Is.EqualTo("det-1"));
|
|
Assert.That(summary.Items[0].ClassLabel, Is.EqualTo("RedCube"));
|
|
Assert.That(summary.Items[0].Confidence, Is.EqualTo(0.95));
|
|
Assert.That(summary.Items[0].HasPose, Is.False);
|
|
Assert.That(summary.Items[0].Pose, Is.Null);
|
|
Assert.That(summary.ModelVersionUsed, Is.EqualTo("v2.1"));
|
|
Assert.That(summary.FrameId, Is.EqualTo("world"));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionDetectionSummaryRetainsFullPoseForDirectConsumers()
|
|
{
|
|
var pose = new VisionPose3DDataType
|
|
{
|
|
FrameId = "world"
|
|
};
|
|
var summary = new VisionDetectionSummary
|
|
{
|
|
Items = new VisionDetectionItem[]
|
|
{
|
|
new()
|
|
{
|
|
DetectionId = "det-pose",
|
|
HasPose = true,
|
|
Pose = pose
|
|
}
|
|
}.ToArrayOf()
|
|
};
|
|
|
|
Assert.That(summary.Items[0].Pose, Is.SameAs(pose));
|
|
}
|
|
|
|
[Test]
|
|
public void VisionInspectionSummaryRecordRoundTrips()
|
|
{
|
|
var summary = new VisionInspectionSummary
|
|
{
|
|
CreationTime = new DateTimeUtc(new DateTime(2024, 6, 1, 12, 0, 0, DateTimeKind.Utc)),
|
|
Evaluation = VisionResultEvaluationEnum.Ok,
|
|
PartId = "part-A",
|
|
RecipeId = "recipe-1",
|
|
TotalCharacteristics = 2,
|
|
Items = new VisionCharacteristicItem[]
|
|
{
|
|
new()
|
|
{
|
|
Name = "diameter",
|
|
Status = VisionToleranceStatusEnum.InTolerance,
|
|
Deviation = 0.01
|
|
}
|
|
}.ToArrayOf()
|
|
};
|
|
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That(summary.Evaluation, Is.EqualTo(VisionResultEvaluationEnum.Ok));
|
|
Assert.That(summary.PartId, Is.EqualTo("part-A"));
|
|
Assert.That(summary.RecipeId, Is.EqualTo("recipe-1"));
|
|
Assert.That(summary.TotalCharacteristics, Is.EqualTo(2));
|
|
Assert.That(summary.Items.Count, Is.EqualTo(1));
|
|
Assert.That(summary.Items[0].Name, Is.EqualTo("diameter"));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionSegmentationSummaryRecordRoundTrips()
|
|
{
|
|
var summary = new VisionSegmentationSummary
|
|
{
|
|
CreationTime = new DateTimeUtc(new DateTime(2024, 6, 1, 12, 0, 0, DateTimeKind.Utc)),
|
|
LabelClasses = s_stringValues1.ToArrayOf(),
|
|
MaskWidth = 640,
|
|
MaskHeight = 480,
|
|
MaskFormat = "Mono8"
|
|
};
|
|
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That(summary.LabelClasses.Count, Is.EqualTo(2));
|
|
Assert.That(summary.MaskWidth, Is.EqualTo(640));
|
|
Assert.That(summary.MaskHeight, Is.EqualTo(480));
|
|
Assert.That(summary.MaskFormat, Is.EqualTo("Mono8"));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public void VisionInferenceResultRecordRequiresResultIdAndRequestedPipelineNodeId()
|
|
{
|
|
var result = new VisionInferenceResult
|
|
{
|
|
ResultId = "test-result",
|
|
RequestedPipelineNodeId = new NodeId(1u, 2)
|
|
};
|
|
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That(result.ResultId, Is.EqualTo("test-result"));
|
|
Assert.That(result.RequestedPipelineNodeId, Is.EqualTo(new NodeId(1u, 2)));
|
|
Assert.That(result.Resolved, Is.False);
|
|
Assert.That(result.ResultKind, Is.EqualTo(VisionResultKind.Unknown));
|
|
Assert.That(result.PipelineId.IsNull, Is.True);
|
|
Assert.That(result.SensorId.IsNull, Is.True);
|
|
Assert.That(result.ModelVersionUsed, Is.Null);
|
|
Assert.That(result.FrameId, Is.Null);
|
|
Assert.That(result.DetectionSummary, Is.Null);
|
|
Assert.That(result.InspectionSummary, Is.Null);
|
|
Assert.That(result.SegmentationSummary, Is.Null);
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineByNameReturnsMatchingEntry()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("BinPickingPipeline");
|
|
|
|
VisionNodeEntry entry = await harness.Client.ResolvePipelineAsync(
|
|
"BinPickingPipeline").ConfigureAwait(false);
|
|
|
|
Assert.That(entry.BrowseName.Name, Is.EqualTo("BinPickingPipeline"));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineByNodeIdReturnsMatchingEntry()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("Pipeline1");
|
|
|
|
VisionNodeEntry entry = await harness.Client.ResolvePipelineAsync(
|
|
harness.PipelineNodeId.ToString()).ConfigureAwait(false);
|
|
|
|
Assert.That(entry.NodeId, Is.EqualTo(harness.PipelineNodeId));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineByDisplayNameReturnsEntry()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("MyPipeline");
|
|
|
|
VisionNodeEntry entry = await harness.Client.ResolvePipelineAsync(
|
|
"MyPipeline").ConfigureAwait(false);
|
|
|
|
Assert.That(entry.DisplayName.Text, Is.EqualTo("MyPipeline"));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineTrimsWhitespace()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("BinPicking");
|
|
|
|
VisionNodeEntry entry = await harness.Client.ResolvePipelineAsync(
|
|
" BinPicking ").ConfigureAwait(false);
|
|
|
|
Assert.That(entry.BrowseName.Name, Is.EqualTo("BinPicking"));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineIsCaseSensitive()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("BinPicking");
|
|
|
|
await Assert.ThrowsAsync<InvalidOperationException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync("binpicking")
|
|
.ConfigureAwait(false));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineRejectsNullOrWhitespace()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
|
|
await Assert.ThrowsAsync<ArgumentException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync(string.Empty)
|
|
.ConfigureAwait(false));
|
|
|
|
await Assert.ThrowsAsync<ArgumentException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync(" ")
|
|
.ConfigureAwait(false));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineThrowsWhenNotFound()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline("Alpha");
|
|
|
|
InvalidOperationException? ex = await Assert.ThrowsAsync<InvalidOperationException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync("Beta")
|
|
.ConfigureAwait(false));
|
|
|
|
Assert.That(ex!.Message, Does.Contain("not found"));
|
|
Assert.That(ex.Message, Does.Contain("Alpha"));
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineErrorsListBrowseNameDisplayNameAndNodeId()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
ReferenceDescription entry = harness.Ref(
|
|
harness.PipelineNodeId,
|
|
"PipelineBrowseName",
|
|
Perception.ObjectTypes.InferencePipelineType);
|
|
entry.DisplayName = new LocalizedText("Pipeline Display Name");
|
|
harness.AddBrowse(harness.PipelinesFolderId, [entry]);
|
|
|
|
InvalidOperationException? ex = await Assert.ThrowsAsync<InvalidOperationException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync("missing").ConfigureAwait(false));
|
|
|
|
Assert.Multiple(
|
|
() =>
|
|
{
|
|
Assert.That(ex!.Message, Does.Contain("BrowseName='PipelineBrowseName'"));
|
|
Assert.That(ex.Message, Does.Contain("DisplayName='Pipeline Display Name'"));
|
|
Assert.That(ex.Message, Does.Contain($"NodeId='{harness.PipelineNodeId}'"));
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public async Task ResolvePipelineThrowsOnAmbiguity()
|
|
{
|
|
var harness = new VisionSessionHarness();
|
|
harness.ConfigureVisionFolders();
|
|
var secondPipelineId = new NodeId(3001u, 3);
|
|
harness.AddBrowse(
|
|
harness.PipelinesFolderId,
|
|
[
|
|
harness.Ref(
|
|
harness.PipelineNodeId,
|
|
"Dup",
|
|
Perception.ObjectTypes.InferencePipelineType),
|
|
harness.Ref(
|
|
secondPipelineId,
|
|
"Dup",
|
|
Perception.ObjectTypes.InferencePipelineType)
|
|
]);
|
|
|
|
InvalidOperationException? ex = await Assert.ThrowsAsync<InvalidOperationException>(
|
|
async () =>
|
|
await harness.Client.ResolvePipelineAsync("Dup")
|
|
.ConfigureAwait(false));
|
|
|
|
Assert.That(ex!.Message, Does.Contain("Ambiguous"));
|
|
}
|
|
|
|
private static void SetupMinimalDetectionPipeline(VisionSessionHarness harness)
|
|
{
|
|
harness.ConfigureVisionFolders();
|
|
harness.AddPipeline();
|
|
harness.ConfigureCall(StatusCodes.Good, new Variant("result-42"));
|
|
|
|
harness.AddChild(
|
|
harness.PipelineNodeId,
|
|
Perception.BrowseNames.Results,
|
|
harness.ResultsFolderId);
|
|
harness.AddBrowse(
|
|
harness.ResultsFolderId,
|
|
[harness.Ref(
|
|
harness.InferenceResultNodeId,
|
|
"result-42",
|
|
Perception.ObjectTypes.DetectionResultType)]);
|
|
|
|
SetupResultTypeDefinition(harness, Perception.ObjectTypes.DetectionResultType);
|
|
}
|
|
|
|
private static void SetupDetectionResultChildren(
|
|
VisionSessionHarness harness)
|
|
{
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.ResultId,
|
|
new(5000u, 3),
|
|
"result-42");
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.CreationTime,
|
|
new(5001u, 3),
|
|
new DateTimeUtc(new DateTime(2024, 1, 1, 0, 0, 0, DateTimeKind.Utc)));
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.Sensor,
|
|
new(5004u, 3),
|
|
harness.SensorNodeId);
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.Pipeline,
|
|
new(5005u, 3),
|
|
new NodeId(3002u, 3));
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.FrameId,
|
|
new(5002u, 3),
|
|
"world");
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.ModelVersionUsed,
|
|
new(5003u, 3),
|
|
"v1.0");
|
|
harness.AddValueChild(
|
|
harness.InferenceResultNodeId,
|
|
Perception.BrowseNames.Detections,
|
|
new(5006u, 3),
|
|
Variant.FromStructure<VisionDetectionDataType>(
|
|
[
|
|
new() { DetectionId = "first", ClassLabel = "part", Confidence = 0.9 },
|
|
new() { DetectionId = "second", ClassLabel = "part", Confidence = 0.8 },
|
|
new() { DetectionId = "third", ClassLabel = "part", Confidence = 0.7 },
|
|
new() { DetectionId = "fourth", ClassLabel = "part", Confidence = 0.6 }
|
|
]));
|
|
}
|
|
|
|
private static void SetupResultTypeDefinition(
|
|
VisionSessionHarness harness,
|
|
uint typeId)
|
|
{
|
|
harness.AddBrowse(
|
|
harness.InferenceResultNodeId,
|
|
[new ReferenceDescription
|
|
{
|
|
NodeId = new ExpandedNodeId(
|
|
new NodeId(typeId, harness.VisionNamespaceIndex)),
|
|
BrowseName = new QualifiedName(
|
|
"DetectionResultType",
|
|
harness.VisionNamespaceIndex),
|
|
DisplayName = new LocalizedText("DetectionResultType"),
|
|
NodeClass = NodeClass.ObjectType,
|
|
TypeDefinition = ExpandedNodeId.Null,
|
|
ReferenceTypeId = ReferenceTypeIds.HasTypeDefinition,
|
|
IsForward = true
|
|
}]);
|
|
}
|
|
|
|
private static readonly string[] s_stringValues1 = ["background", "part"];
|
|
}
|
|
}
|