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using FluentAssertions;
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using Moq;
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using Xunit;
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using RobotNet10.NavigationTune.Execution;
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using RobotNet10.NavigationTune.Shared.Interfaces;
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using RobotNet10.NavigationTune.Shared.Models;
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using RobotNet10.NavigationTune.Test.Helpers;
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using RobotNet10.NavigationTune.Scenarios;
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namespace RobotNet10.NavigationTune.Test.Execution;
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public class TestExecutorTests
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{
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private Mock<ILocalizationProvider> CreateMockLocalization(double x = 0.0, double y = 0.0, double theta = 0.0)
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{
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var mock = new Mock<ILocalizationProvider>();
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mock.Setup(l => l.X).Returns(x);
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mock.Setup(l => l.Y).Returns(y);
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mock.Setup(l => l.Theta).Returns(theta);
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return mock;
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}
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private Mock<IVelocityProvider> CreateMockVelocityProvider(
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double linearVel = 0.0,
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double angularVel = 0.0,
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double confidence = 1.0)
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{
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var mock = new Mock<IVelocityProvider>();
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mock.Setup(v => v.GetActualVelocity()).Returns((linearVel, angularVel));
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mock.Setup(v => v.GetModelConfidence()).Returns(confidence);
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return mock;
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}
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[Fact]
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public void Constructor_WithProviders_ShouldInitialize()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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// Act
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var executor = new TestExecutor(
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localization.Object,
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velocityProvider.Object);
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// Assert
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executor.Should().NotBeNull();
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}
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[Fact]
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public async Task ExecuteAsync_WithStraightLineScenario_ShouldComplete()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(5.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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var telemetryUpdates = new List<TelemetryData>();
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// Act
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var result = await executor.ExecuteAsync(
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scenario,
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parameters,
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telemetry => telemetryUpdates.Add(telemetry),
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new CancellationTokenSource(TimeSpan.FromSeconds(1)).Token);
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// Assert
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result.Should().NotBeNull();
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result.Status.Should().BeOneOf(TestStatus.Completed, TestStatus.Aborted);
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telemetryUpdates.Should().NotBeEmpty();
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}
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[Fact]
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public async Task ExecuteAsync_WhenCancelled_ShouldAbort()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(10.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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var cts = new CancellationTokenSource(TimeSpan.FromMilliseconds(100));
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// Act
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var result = await executor.ExecuteAsync(scenario, parameters, null, cts.Token);
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// Assert
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result.Status.Should().BeOneOf(TestStatus.Aborted, TestStatus.Error);
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}
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[Fact]
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public void GetProgress_BeforeExecution_ShouldReturnZero()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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// Act
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var progress = executor.GetProgress();
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// Assert
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progress.ProgressPercent.Should().Be(0.0);
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progress.DistanceTraveled.Should().Be(0.0);
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}
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[Fact]
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public async Task Pause_WhenRunning_ShouldChangeStatus()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(1.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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// Act - Start test in background
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var task = Task.Run(async () =>
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{
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await executor.ExecuteAsync(scenario, parameters, null,
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new CancellationTokenSource(TimeSpan.FromSeconds(2)).Token);
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});
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// Wait a bit then pause
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await Task.Delay(100);
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executor.Pause();
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// Assert
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var progress = executor.GetProgress();
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progress.Should().NotBeNull();
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// Cleanup
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executor.Stop();
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await task;
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}
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[Fact]
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public async Task Resume_AfterPause_ShouldContinue()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(1.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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// Act
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var task = Task.Run(async () =>
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{
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await executor.ExecuteAsync(scenario, parameters, null,
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new CancellationTokenSource(TimeSpan.FromSeconds(2)).Token);
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});
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await Task.Delay(100);
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executor.Pause();
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await Task.Delay(50);
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executor.Resume();
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// Assert
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var progress = executor.GetProgress();
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progress.Should().NotBeNull();
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// Cleanup
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executor.Stop();
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await task;
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}
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[Fact]
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public async Task Stop_WhenRunning_ShouldAbort()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(10.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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// Act
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var task = Task.Run(async () =>
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{
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await executor.ExecuteAsync(scenario, parameters, null,
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new CancellationTokenSource(TimeSpan.FromSeconds(5)).Token);
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});
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await Task.Delay(200);
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executor.Stop();
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// Assert
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await task;
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var progress = executor.GetProgress();
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progress.Should().NotBeNull();
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}
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[Fact]
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public async Task EmergencyStop_WhenRunning_ShouldImmediatelyStop()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(10.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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// Act
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var task = Task.Run(async () =>
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{
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await executor.ExecuteAsync(scenario, parameters, null,
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new CancellationTokenSource(TimeSpan.FromSeconds(5)).Token);
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});
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await Task.Delay(200);
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executor.EmergencyStop();
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// Assert
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await task;
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var progress = executor.GetProgress();
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progress.Should().NotBeNull();
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}
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[Fact]
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public async Task ExecuteAsync_WithCircleScenario_ShouldComplete()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateCircleScenario(2.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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// Act
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var result = await executor.ExecuteAsync(
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scenario,
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parameters,
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null,
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new CancellationTokenSource(TimeSpan.FromSeconds(1)).Token);
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// Assert
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result.Should().NotBeNull();
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result.Status.Should().BeOneOf(TestStatus.Completed, TestStatus.Aborted);
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}
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[Fact]
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public async Task ExecuteAsync_ShouldCollectTelemetry()
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{
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// Arrange
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var localization = CreateMockLocalization();
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var velocityProvider = CreateMockVelocityProvider();
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var executor = new TestExecutor(localization.Object, velocityProvider.Object);
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var scenario = TestHelpers.CreateStraightLineScenario(2.0);
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var parameters = TestHelpers.CreateDefaultParameterSet();
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var telemetryList = new List<TelemetryData>();
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// Act
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var result = await executor.ExecuteAsync(
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scenario,
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parameters,
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telemetry => telemetryList.Add(telemetry),
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new CancellationTokenSource(TimeSpan.FromSeconds(1)).Token);
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// Assert
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telemetryList.Should().NotBeEmpty();
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result.TelemetryData.Should().NotBeEmpty();
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}
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}
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