FlyShotHost/tests/Flyshot.Server.IntegrationTests/HealthEndpointTests.cs

using System.Net;
using System.Text.Json;
using Flyshot.Core.Domain;
using Flyshot.Runtime.Common;
using Microsoft.AspNetCore.Mvc.Testing;
using Microsoft.AspNetCore.Hosting;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.DependencyInjection.Extensions;

namespace Flyshot.Server.IntegrationTests;

/// <summary>
/// 使用可控 fake runtime 启动测试宿主，避免集成测试访问真实 FANUC 控制器。
/// </summary>
public sealed class FlyshotServerFactory : WebApplicationFactory<Program>
{
    /// <inheritdoc />
    protected override void ConfigureWebHost(IWebHostBuilder builder)
    {
        builder.ConfigureServices(services =>
        {
            services.RemoveAll<IControllerRuntime>();
            services.AddSingleton<IControllerRuntime, IntegrationFakeControllerRuntime>();
        });
    }
}

/// <summary>
/// 为 HTTP 集成测试提供不访问硬件的控制器运行时。
/// </summary>
internal sealed class IntegrationFakeControllerRuntime : IControllerRuntime
{
    private RobotProfile? _robot;
    private bool _connected;
    private bool _enabled;
    private double _speedRatio = 1.0;
    private double[] _tcp = [0.0, 0.0, 0.0];
    private double[] _joints = Array.Empty<double>();
    private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];

    /// <inheritdoc />
    public void ResetRobot(RobotProfile robot, string robotName)
    {
        _robot = robot;
        _connected = false;
        _enabled = false;
        _joints = new double[robot.DegreesOfFreedom];
    }

    /// <inheritdoc />
    public void Connect(string robotIp)
    {
        _ = _robot ?? throw new InvalidOperationException("Robot has not been setup.");
        _connected = true;
    }

    /// <inheritdoc />
    public void Disconnect()
    {
        _connected = false;
        _enabled = false;
    }

    /// <inheritdoc />
    public void EnableRobot(int bufferSize)
    {
        if (!_connected)
        {
            throw new InvalidOperationException("Controller has not been connected.");
        }

        _enabled = true;
    }

    /// <inheritdoc />
    public void DisableRobot() => _enabled = false;

    /// <inheritdoc />
    public void StopMove()
    {
    }

    /// <inheritdoc />
    public double GetSpeedRatio() => _speedRatio;

    /// <inheritdoc />
    public void SetSpeedRatio(double ratio) => _speedRatio = ratio;

    /// <inheritdoc />
    public IReadOnlyList<double> GetTcp() => _tcp.ToArray();

    /// <inheritdoc />
    public void SetTcp(double x, double y, double z) => _tcp = [x, y, z];

    /// <inheritdoc />
    public bool GetIo(int port, string ioType) => false;

    /// <inheritdoc />
    public void SetIo(int port, bool value, string ioType)
    {
    }

    /// <inheritdoc />
    public IReadOnlyList<double> GetJointPositions() => _joints.ToArray();

    /// <inheritdoc />
    public IReadOnlyList<double> GetPose() => _pose.ToArray();

    /// <inheritdoc />
    public ControllerStateSnapshot GetSnapshot()
    {
        return new ControllerStateSnapshot(
            DateTimeOffset.UtcNow,
            _connected ? "Connected" : "Disconnected",
            _enabled,
            false,
            _speedRatio,
            _joints,
            _pose,
            Array.Empty<RuntimeAlarm>());
    }

    /// <inheritdoc />
    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
    {
        if (!_enabled)
        {
            throw new InvalidOperationException("Robot has not been enabled.");
        }

        _joints = finalJointPositions.ToArray();
    }

    /// <inheritdoc />
    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
    {
        if (!_enabled)
        {
            throw new InvalidOperationException("Robot has not been enabled.");
        }

        _pose = [.. finalPose, 1.0];
    }
}

public sealed class HealthEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
{
    [Fact]
    public async Task GetHealthz_ReturnsOkPayload()
    {
        using var client = factory.CreateClient();

        using var response = await client.GetAsync("/healthz");

        Assert.Equal(HttpStatusCode.OK, response.StatusCode);

        await using var responseStream = await response.Content.ReadAsStreamAsync();
        using var jsonDocument = await JsonDocument.ParseAsync(responseStream);
        var root = jsonDocument.RootElement;

        Assert.Equal("ok", root.GetProperty("status").GetString());
        Assert.Equal("flyshot-server-host", root.GetProperty("service").GetString());
    }
}