mirror of
https://github.com/OPCFoundation/UA-.NETStandard.git
synced 2026-10-22 09:37:12 +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.
415 lines
15 KiB
C#
415 lines
15 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.Tasks;
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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="VisionResultReader"/> — snapshot reads for
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/// detection, inspection and segmentation results.
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/// </summary>
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[TestFixture]
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[Category("Vision")]
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public sealed class VisionResultReaderTests
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{
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[Test]
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public async Task ReadInspectionReturnsPopulatedSnapshot()
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{
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var harness = new VisionSessionHarness();
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.ResultId,
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new(3210u, 3),
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"insp-1");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.Evaluation,
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new(3211u, 3),
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(int)VisionResultEvaluationEnum.Ok);
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.PartId,
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new(3212u, 3),
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"part-A");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.RecipeId,
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new(3213u, 3),
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"recipe-1");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.CreationTime,
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new(3214u, 3),
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new DateTimeUtc(new DateTime(2024, 1, 1)));
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.Characteristics,
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new(3215u, 3),
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Variant.FromStructure(ArrayOf<VisionCharacteristicDataType>.Empty));
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VisionResultReader reader = harness.Client.Result(harness.ResultNodeId);
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VisionInspectionResultSnapshot snapshot = await reader.ReadInspectionAsync()
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.ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(snapshot.ResultId, Is.EqualTo("insp-1"));
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Assert.That(snapshot.Evaluation, Is.EqualTo(VisionResultEvaluationEnum.Ok));
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Assert.That(snapshot.PartId, Is.EqualTo("part-A"));
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Assert.That(snapshot.RecipeId, Is.EqualTo("recipe-1"));
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Assert.That(snapshot.NodeId, Is.EqualTo(harness.ResultNodeId));
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Assert.That(snapshot.Characteristics.IsNull, Is.False);
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Assert.That(snapshot.Characteristics.IsEmpty, Is.True);
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});
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}
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[Test]
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public async Task ReadDetectionReturnsPopulatedSnapshot()
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{
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var harness = new VisionSessionHarness();
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.ResultId,
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new(3220u, 3),
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"det-1");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.FrameId,
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new(3221u, 3),
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"frame-1");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.CreationTime,
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new(3222u, 3),
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new DateTimeUtc(new DateTime(2024, 1, 1)));
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.Detections,
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new(3223u, 3),
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Variant.FromStructure(ArrayOf<VisionDetectionDataType>.Empty));
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VisionResultReader reader = harness.Client.Result(harness.ResultNodeId);
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VisionDetectionResultSnapshot snapshot = await reader.ReadDetectionAsync()
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.ConfigureAwait(false);
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Assert.That(snapshot.ResultId, Is.EqualTo("det-1"));
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Assert.That(snapshot.FrameId, Is.EqualTo("frame-1"));
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Assert.That(snapshot.Detections.IsNull, Is.False);
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Assert.That(snapshot.Detections.IsEmpty, Is.True);
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}
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[Test]
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public async Task ReadSegmentationReturnsPopulatedSnapshot()
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{
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var harness = new VisionSessionHarness();
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.ResultId,
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new(3230u, 3),
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"seg-1");
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.CreationTime,
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new(3231u, 3),
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new DateTimeUtc(new DateTime(2024, 1, 1)));
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harness.AddValueChild(
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harness.ResultNodeId,
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Perception.BrowseNames.LabelClasses,
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new(3232u, 3),
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new Variant(s_stringValues1));
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VisionResultReader reader = harness.Client.Result(harness.ResultNodeId);
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VisionSegmentationResultSnapshot snapshot = await reader.ReadSegmentationAsync()
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.ConfigureAwait(false);
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Assert.That(snapshot.ResultId, Is.EqualTo("seg-1"));
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Assert.That(snapshot.LabelClasses.Count, Is.EqualTo(2));
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Assert.That(snapshot.LabelClasses[0], Is.EqualTo("background"));
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}
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[Test]
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public void ConstructorRejectsNullResultNodeId()
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{
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var harness = new VisionSessionHarness();
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Assert.Throws<ArgumentException>(
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() =>
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harness.Client.Result(NodeId.Null));
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}
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[Test]
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public void ObserveDetectionsRejectsNullStreaming()
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{
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var harness = new VisionSessionHarness();
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VisionResultReader reader = harness.Client.Result(harness.ResultNodeId);
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Assert.Throws<ArgumentNullException>(
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() =>
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reader.ObserveDetectionsAsync(null!));
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}
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private static readonly string[] s_stringValues1 = ["background", "part"];
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}
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/// <summary>
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/// Tests for <see cref="VisionFrameGraph"/> — frame read, compose,
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/// walk-to-root guards.
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/// </summary>
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[TestFixture]
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[Category("Vision")]
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public sealed class VisionFrameGraphTests
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{
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[Test]
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public async Task ReadReturnsSnapshotWithFrameIdAndTransform()
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{
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var harness = new VisionSessionHarness();
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var identityTransform = new VisionPose3DDataType
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{
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FrameId = "root",
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Position = s_doubleValues1.ToArrayOf(),
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Orientation = s_doubleValues2.ToArrayOf()
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};
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harness.AddValueChild(
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harness.FrameNodeId,
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Perception.BrowseNames.FrameId,
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new(4010u, 3),
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"root");
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harness.AddValueChild(
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harness.FrameNodeId,
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Perception.BrowseNames.Role,
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new(4011u, 3),
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(int)VisionFrameRoleEnum.World);
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harness.AddValueChild(
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harness.FrameNodeId,
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Perception.BrowseNames.Transform,
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new(4013u, 3),
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Variant.FromStructure(identityTransform));
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VisionFrameGraph graph = harness.Client.Frames();
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VisionFrameSnapshot snapshot = await graph.ReadAsync(harness.FrameNodeId)
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.ConfigureAwait(false);
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Assert.Multiple(
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() =>
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{
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Assert.That(snapshot.FrameId, Is.EqualTo("root"));
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Assert.That(snapshot.Role, Is.EqualTo(VisionFrameRoleEnum.World));
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Assert.That(snapshot.NodeId, Is.EqualTo(harness.FrameNodeId));
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Assert.That(snapshot.Transform, Is.Not.Null);
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});
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}
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[Test]
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public async Task ReadRejectsNullFrameNodeId()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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ArgumentException? ex = await Assert.ThrowsAsync<ArgumentException>(
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async () =>
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await graph.ReadAsync(NodeId.Null).ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("frameNodeId"));
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}
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[Test]
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public async Task ComposeRejectsNullPose()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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ArgumentNullException? ex = await Assert.ThrowsAsync<ArgumentNullException>(
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async () =>
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await graph.ComposeAsync(
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null!,
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harness.FrameNodeId,
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harness.FrameNodeId).ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("pose"));
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}
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[Test]
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public async Task ComposeRejectsNullFromFrameId()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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var pose = new VisionPose3DDataType();
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ArgumentException? ex = await Assert.ThrowsAsync<ArgumentException>(
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async () =>
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await graph.ComposeAsync(pose, NodeId.Null, harness.FrameNodeId)
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.ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("fromFrameId"));
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}
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[Test]
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public async Task ComposeRejectsNullToFrameId()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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var pose = new VisionPose3DDataType();
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ArgumentException? ex = await Assert.ThrowsAsync<ArgumentException>(
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async () =>
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await graph.ComposeAsync(pose, harness.FrameNodeId, NodeId.Null)
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.ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("toFrameId"));
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}
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[Test]
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public async Task ComposeTransformRejectsNullFromFrameId()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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ArgumentException? ex = await Assert.ThrowsAsync<ArgumentException>(
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async () =>
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await graph.ComposeTransformAsync(NodeId.Null, harness.FrameNodeId)
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.ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("fromFrameId"));
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}
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[Test]
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public async Task ComposeTransformRejectsNullToFrameId()
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{
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var harness = new VisionSessionHarness();
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VisionFrameGraph graph = harness.Client.Frames();
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ArgumentException? ex = await Assert.ThrowsAsync<ArgumentException>(
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async () =>
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await graph.ComposeTransformAsync(harness.FrameNodeId, NodeId.Null)
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.ConfigureAwait(false));
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Assert.That(ex!.ParamName, Is.EqualTo("toFrameId"));
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}
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[Test]
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public async Task ComposeTransformReturnsIdentityWhenFromEqualsTo()
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{
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var harness = new VisionSessionHarness();
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harness.AddValueChild(
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harness.FrameNodeId,
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Perception.BrowseNames.FrameId,
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new(4020u, 3),
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"root");
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VisionFrameGraph graph = harness.Client.Frames();
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VisionPose3DDataType transform = await graph.ComposeTransformAsync(
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harness.FrameNodeId,
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harness.FrameNodeId).ConfigureAwait(false);
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Assert.That(transform, Is.Not.Null);
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Assert.That(
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transform.Orientation.Count,
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Is.GreaterThanOrEqualTo(4),
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"An identity quaternion has four components.");
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}
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private static readonly double[] s_doubleValues1 = [0.0, 0.0, 0.0];
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private static readonly double[] s_doubleValues2 = [0.0, 0.0, 0.0, 1.0];
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}
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/// <summary>
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/// Tests for <see cref="VisionClientFactory"/> and
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/// <see cref="SessionVisionExtensions"/>.
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/// </summary>
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[TestFixture]
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[Category("Vision")]
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public sealed class VisionClientFactoryTests
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{
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[Test]
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public void ConstructorRejectsNullSessionFactory()
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{
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ITelemetryContext telemetry = new Moq.Mock<ITelemetryContext>().Object;
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ArgumentNullException? ex = Assert.Throws<ArgumentNullException>(
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() =>
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new VisionClientFactory(null!, telemetry));
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Assert.That(ex!.ParamName, Is.EqualTo("sessionFactory"));
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}
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[Test]
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public void ConstructorRejectsNullTelemetry()
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{
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ArgumentNullException? ex = Assert.Throws<ArgumentNullException>(
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() =>
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new VisionClientFactory(
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_ => Task.FromResult<Ua.Client.ManagedSession>(null!),
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null!));
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Assert.That(ex!.ParamName, Is.EqualTo("telemetry"));
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}
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[Test]
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public void SessionVisionRejectsNullSession()
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{
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ITelemetryContext telemetry = new Moq.Mock<ITelemetryContext>().Object;
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ArgumentNullException? ex = Assert.Throws<ArgumentNullException>(
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() =>
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SessionVisionExtensions.Vision(null!, telemetry));
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Assert.That(ex!.ParamName, Is.EqualTo("session"));
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}
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[Test]
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public void SessionVisionRejectsNullTelemetry()
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{
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var harness = new VisionSessionHarness();
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ArgumentNullException? ex = Assert.Throws<ArgumentNullException>(
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() =>
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harness.Session.Object.Vision(null!));
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Assert.That(ex!.ParamName, Is.EqualTo("telemetry"));
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}
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[Test]
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public void SessionVisionReturnsVisionClientBoundToSession()
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{
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var harness = new VisionSessionHarness();
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VisionClient client = harness.Session.Object.Vision(harness.Telemetry);
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Assert.That(client, Is.Not.Null);
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Assert.That(client.Session, Is.SameAs(harness.Session.Object));
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}
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}
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}
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