Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Services/SafetyMonitorTests.cs
+++ b/srcs/RobotNet10/Tests/RobotNet10.NavigationTune.Test/Services/SafetyMonitorTests.cs
@@ -0,0 +1,112 @@
+using FluentAssertions;
+using Xunit;
+using RobotNet10.NavigationTune.Shared.Models;
+using RobotNet10.NavigationTune.Services;
+using RobotNet10.NavigationTune.Test.Helpers;
+
+namespace RobotNet10.NavigationTune.Test.Services;
+
+public class SafetyMonitorTests
+{
+    private readonly SafetyMonitor _safetyMonitor;
+    private readonly SafetyConfig _safetyConfig;
+
+    public SafetyMonitorTests()
+    {
+        _safetyConfig = new SafetyConfig();
+        _safetyMonitor = new SafetyMonitor(_safetyConfig);
+    }
+
+    [Fact]
+    public void CheckSafety_WithLowCTE_ShouldReturnTrue()
+    {
+        // Arrange
+        var telemetry = TestHelpers.CreateTelemetryData(cte: 0.05f);
+        var referencePath = new ReferencePath
+        {
+            Points = TestHelpers.CreateSimplePath(10, 10.0),
+            TotalLength = 10.0
+        };
+
+        // Act
+        var result = _safetyMonitor.CheckSafety(telemetry, referencePath);
+
+        // Assert
+        result.Should().BeTrue();
+    }
+
+    [Fact]
+    public void CheckSafety_WithHighCTE_ShouldReturnFalse()
+    {
+        // Arrange
+        var telemetry = TestHelpers.CreateTelemetryData(cte: 2.0); // Very high CTE
+        var referencePath = new ReferencePath
+        {
+            Points = TestHelpers.CreateSimplePath(10, 10.0),
+            TotalLength = 10.0
+        };
+
+        // Act
+        var result = _safetyMonitor.CheckSafety(telemetry, referencePath);
+
+        // Assert
+        result.Should().BeFalse();
+    }
+
+    [Fact]
+    public void CheckSafety_WithHighHeadingError_ShouldReturnFalse()
+    {
+        // Arrange
+        var telemetry = TestHelpers.CreateTelemetryData(headingError: 1.5); // Very high heading error
+        var referencePath = new ReferencePath
+        {
+            Points = TestHelpers.CreateSimplePath(10, 10.0),
+            TotalLength = 10.0
+        };
+
+        // Act
+        var result = _safetyMonitor.CheckSafety(telemetry, referencePath);
+
+        // Assert
+        result.Should().BeFalse();
+    }
+
+    [Fact]
+    public void Reset_ShouldClearViolations()
+    {
+        // Arrange
+        var telemetry = TestHelpers.CreateTelemetryData(cte: 2.0);
+        var referencePath = new ReferencePath
+        {
+            Points = TestHelpers.CreateSimplePath(10, 10.0),
+            TotalLength = 10.0
+        };
+        _safetyMonitor.CheckSafety(telemetry, referencePath);
+
+        // Act
+        _safetyMonitor.Reset();
+        var violations = _safetyMonitor.GetViolations();
+
+        // Assert
+        violations.Should().BeEmpty();
+    }
+
+    [Fact]
+    public void GetViolations_AfterSafetyCheck_ShouldReturnViolations()
+    {
+        // Arrange
+        var telemetry = TestHelpers.CreateTelemetryData(cte: 2.0);
+        var referencePath = new ReferencePath
+        {
+            Points = TestHelpers.CreateSimplePath(10, 10.0),
+            TotalLength = 10.0
+        };
+
+        // Act
+        _safetyMonitor.CheckSafety(telemetry, referencePath);
+        var violations = _safetyMonitor.GetViolations();
+
+        // Assert
+        violations.Should().NotBeEmpty();
+    }
+}