fix(test): Command microservice freeze bugs

src/Asv.Mavlink.Shell/CodeGen/Parsers/MavlinkParserXml.cs

@@ -170,7 +170,7 @@ private static MessageFieldType ParseFieldType(string typeString,out string type
                 case "double": return MessageFieldType.Double;
                 case "uint8_t_mavlink_version": return MessageFieldType.Uint8;
                 default:
-                    throw new Exception($"Unknown type {typeString}");
+                    throw new MavlinkException($"Unknown type {typeString}");
 
             }
         }

src/Asv.Mavlink.Test/Microservices/Adsb/Server/AdsbVehicleServerTest.cs

@@ -73,7 +73,7 @@ public async Task Send_ManyPackets_Success(int packetsCount)
         // Act
         for (var i = 0; i < packetsCount; i++)
         {
-            await Server.Send(payload => serverResults.Add(payload), default);
+            await Server.Send(payload => serverResults.Add(payload), CancellationToken.None);
         }
 
         // Assert

src/Asv.Mavlink.Test/Microservices/AsvChart/AsvChartComplexTest.cs

@@ -57,7 +57,7 @@ public async Task ReadAllInfo_WhenCalled_ShouldSynchronizeServerAndClientCharts(
             p => _taskCompletionSource.TrySetResult(p));
 
         // Act
-        var sync = await Client.ReadAllInfo(default, _cancellationTokenSource.Token);
+        var sync = await Client.ReadAllInfo(null, _cancellationTokenSource.Token);
         Assert.True(sync);
 
         // Assert
@@ -104,7 +104,7 @@ public async Task RequestStream_WhenSingleRequest_ShouldReturnStreamAndUpdateCha
         });
 
         // Act
-        var sync = await Client.ReadAllInfo(default, _cancellationTokenSource.Token);
+        var sync = await Client.ReadAllInfo(null, _cancellationTokenSource.Token);
 
         // Assert
         Assert.True(sync);
@@ -190,7 +190,7 @@ public async Task RequestStream_WhenMultipleRequests_ShouldHandleAllAndUpdateCha
         });
 
         // Act
-        var sync = await Client.ReadAllInfo(default, _cancellationTokenSource.Token);
+        var sync = await Client.ReadAllInfo(null, _cancellationTokenSource.Token);
 
         // Assert
         Assert.True(sync);

src/Asv.Mavlink.Test/Microservices/AsvChart/Client/AsvChartClientTest.cs

@@ -40,7 +40,7 @@ public async Task ReadAllInfo_ShouldThrowTimeout_Exception()
         var attempts = 5;
         var t1 = Assert.ThrowsAsync<TimeoutException>(async () =>
         {
-            await Client.ReadAllInfo(default, _cancellationTokenSource.Token);
+            await Client.ReadAllInfo(null, _cancellationTokenSource.Token);
         });
 
         var t2 = Task.Factory.StartNew(() =>

src/Asv.Mavlink.Test/Microservices/AsvChart/Client/AsvChartInfoTest.cs

@@ -22,7 +22,7 @@ public void CtorAsvChartInfo_ThrowsNullReferenceException_ArgIsNull()
     [Fact]
     public void CtorAsvChartAxisInfo_NullReferenceException_ArgIsNull()
     {
-        Assert.Throws<Exception>(() =>
+        Assert.Throws<MavlinkException>(() =>
         {
             var axis = new AsvChartAxisInfo("", AsvChartUnitType.AsvChartUnitTypeDbm, 0f, 0f, 10);
         });

src/Asv.Mavlink.Test/Microservices/AsvSdr/Client/AsvSdrClientTest.cs

@@ -69,7 +69,7 @@ public async Task Client_GetRecordTagListCancelWithToken_Fail()
     {
         var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(3));
         await Assert.ThrowsAsync<OperationCanceledException>(async () =>
-            await Client.GetRecordTagList(new Guid(), 0, ushort.MaxValue, cancel.Token));
+            await Client.GetRecordTagList(Guid.Empty, 0, ushort.MaxValue, cancel.Token));
     }
 
     [Fact]
@@ -85,7 +85,7 @@ public async Task Client_DeleteRecordTagCancelWithToken_Fail()
     {
         var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(3));
         await Assert.ThrowsAsync<OperationCanceledException>(async () =>
-            await Client.DeleteRecordTag(new TagId(new Guid(), new Guid()), cancel.Token));
+            await Client.DeleteRecordTag(new TagId(Guid.Empty, Guid.Empty), cancel.Token));
     }
 
     [Fact]

src/Asv.Mavlink.Test/Microservices/Commands/CommandIntComplexTest.cs

@@ -665,27 +665,20 @@ public async Task CommandInt_WaitBeforeResponse_Success()
         var called = 0;
         Link.SetServerToClientFilter(_ => false);
         _server[MavCmd.MavCmdUser1] = (_, _, _) 
-            => Task.FromResult(
-                CommandResult.FromResult(
-                    MavResult.MavResultInProgress
-                )
-            );
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
+            =>
         {
             called++;
-            if (called == MaxCommandAttempts - 1)
+            if (called >= MaxCommandAttempts)
             {
-                // before last attempt - enable link
+                // last attempt => enable link
                 Link.SetServerToClientFilter(_ => true);
             }
             if (called != MaxCommandAttempts)
             {
                 ClientTime.Advance(TimeSpan.FromMilliseconds(MaxTimeoutInMs + 1));
-                return;
             }
-
-
-        });
+            return CommandResult.InProgressTask;
+        };
 
         // Act
         var task = _client.CommandInt(
@@ -731,25 +724,21 @@ int maxTimeoutInMs
         };
         var client = new CommandClient(Identity, customCfg, ClientCore);
 
-        _server[MavCmd.MavCmdUser1] = (_, _, _) 
-            => Task.FromResult(
-                CommandResult.FromResult(
-                    MavResult.MavResultInProgress
-                )
-            );
-
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
+        _server[MavCmd.MavCmdUser1] = (_, _, _) =>
         {
             called++;
-
-            if (called != maxCommandAttempts)
+            if (called >= maxCommandAttempts)
+            {
+                // last attempt => enable link
+                Link.SetServerToClientFilter(_ => true);
+            }
+            else
             {
                 ClientTime.Advance(TimeSpan.FromMilliseconds(maxTimeoutInMs + 1));
-                return;
             }
-
-            Link.SetServerToClientFilter(_ => true);
-        });
+            return CommandResult.InProgressTask;
+        };
+
 
         // Act
         var task = client.CommandInt(

src/Asv.Mavlink.Test/Microservices/Commands/CommandLongComplexTest.cs

@@ -551,7 +551,7 @@ public async Task CommandLong_WaitBeforeResponse_Success()
                 ClientTime.Advance(TimeSpan.FromMilliseconds((MaxCommandAttempts+1) * MaxTimeoutInMs));
             }
 
-            return Task.FromResult(CommandResult.FromResult(MavResult.MavResultInProgress));
+            return CommandResult.InProgressTask;
         };
 
         // Act
@@ -603,7 +603,7 @@ public async Task CommandLong_TimeoutHappened_Throws()
             5,
             6,
             7,
-            default
+            CancellationToken.None
         );
 
         // Assert
@@ -642,7 +642,7 @@ public async Task CommandLong_TimeoutWithCustomConfig_Throws(int maxCommandAttem
             5,
             6,
             7,
-            default
+            CancellationToken.None
         );
 
         // Assert
@@ -673,16 +673,18 @@ int maxTimeoutInMs
         {
             called++;
             Log.WriteLine($"confirmation______ === {args.Payload.Confirmation}");
-            if (called != maxCommandAttempts)
+            if (called >= maxCommandAttempts)
             {
-                ClientTime.Advance(TimeSpan.FromMilliseconds(maxTimeoutInMs + 1));
+                // enable link for last attempt
+                Link.SetServerToClientFilter(_ => true);
             }
             else
             {
-                Link.SetServerToClientFilter(_ => true);
+                // advance time for timeout
+                ClientTime.Advance(TimeSpan.FromMilliseconds(maxTimeoutInMs + 1));               
             }
 
-            return Task.FromResult(CommandResult.FromResult(MavResult.MavResultInProgress));
+            return CommandResult.InProgressTask;
         };
 
         // Act
@@ -731,13 +733,9 @@ int maxTimeoutInMs
             called++;
             var result = MavResult.MavResultAccepted;
             _taskCompletionSource.TrySetResult(args);
-            return Task.FromResult(CommandResult.FromResult(result));
+            packetFromClient = args;
+            return CommandResult.AsTaskResult(result);
         };
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
-        {
-            packetFromClient = p as CommandLongPacket;
-        });
-
         // Act
         var result = await client.CommandLong(
             MavCmd.MavCmdUser1,
@@ -773,22 +771,22 @@ public async Task CommandLong_ConfirmationValueIncreases_Success()
         {
             packetsFromServer.Add(args);
             _taskCompletionSource.TrySetResult(args);
-
-            return Task.FromResult(CommandResult.FromResult(MavResult.MavResultAccepted));
-        };
-
-        using var sub = Link.Client.OnTxMessage.Subscribe(p =>
-        {
             called++;
 
-            if (called != MaxCommandAttempts)
+            if (called >= MaxCommandAttempts)
             {
-                ClientTime.Advance(TimeSpan.FromMilliseconds(MaxTimeoutInMs + 1));
-                return;
+                // enable link for last attempt
+                Link.SetServerToClientFilter(_ => true);
+            }
+            else
+            {
+                // advance time for timeout
+                ClientTime.Advance(TimeSpan.FromMilliseconds(MaxTimeoutInMs + 1));               
             }
 
-            Link.SetServerToClientFilter(_ => true);
-        });
+            return CommandResult.AcceptedTask;
+        };
+
 
         // Act
         var result = await _client.CommandLong(

src/Asv.Mavlink.Test/Microservices/Heartbeat/Client/HeartbeatClientTest.cs

@@ -1,5 +1,5 @@
 using System;
-
+using System.Threading;
 using System.Threading.Tasks;
 using Asv.Mavlink.Minimal;
 using R3;
@@ -42,7 +42,7 @@ public async Task LinkQuality_Changed_Success(int packetCount, int skip, double
                 ComponentId = 4,
                 Sequence = seq.GetNextSequenceNumber(),
             };
-            await Link.Server.Send(p, default);
+            await Link.Server.Send(p, CancellationToken.None);
             for (var j = 0; j < skip; j++)
             {
                 seq.GetNextSequenceNumber();
@@ -78,7 +78,7 @@ public async Task PacketRateHz_Changed_Success(int delayMs, int count)
                 ComponentId = 4,
                 Sequence = seq.GetNextSequenceNumber(),
             };
-            await Link.Server.Send(p, default);
+            await Link.Server.Send(p, CancellationToken.None);
             Time.Advance(TimeSpan.FromMilliseconds(delayMs));
         }
 
@@ -107,7 +107,7 @@ public async Task RawPackets_Client_Catch_All_Packets_Success(int packets)
                 ComponentId = 4,
                 Sequence = seq.GetNextSequenceNumber(),
             };
-            await Link.Server.Send(p, default);
+            await Link.Server.Send(p, CancellationToken.None);
             Time.Advance(TimeSpan.FromMilliseconds(100));
         }
         Assert.Equal(packets,count);

src/Asv.Mavlink.Test/Microservices/Missions/MissionExComplexTest.cs

@@ -109,7 +109,7 @@ public async Task SetCurrent_DifferentMissionItemsIds_Success(ushort missionItem
     [InlineData(2)]
     [InlineData(10)]
     [InlineData(400)]
-    [InlineData(90_000)]
+    [InlineData(ushort.MaxValue + 1)]
     public async Task SetCurrent_SeveralCallsWithTheSameId_Success(int callsCount)
     {
         // Arrange
@@ -520,17 +520,17 @@ public async Task UploadAndStartMission_StrictSequenceExecuting_Success(ushort s
             MavCmd.MavCmdUser3, // 8
         };
         var executed = new List<MavCmd>();
-        _server[MavCmd.MavCmdUser1] = (item, cancel) =>
+        _server[MavCmd.MavCmdUser1] = (item, _) =>
         {
             executed.Add(item.Command);
             return Task.CompletedTask;
         };
-        _server[MavCmd.MavCmdUser2] = (item, cancel) =>
+        _server[MavCmd.MavCmdUser2] = (item, _) =>
         {
             executed.Add(item.Command);
             return Task.CompletedTask;
         };
-        _server[MavCmd.MavCmdUser3] = (item, cancel) =>
+        _server[MavCmd.MavCmdUser3] = (item, _) =>
         {
             executed.Add(item.Command);
             return Task.CompletedTask;
@@ -541,7 +541,7 @@ public async Task UploadAndStartMission_StrictSequenceExecuting_Success(ushort s
         }
         await _client.Upload(CancellationToken.None);
         var tcs = new TaskCompletionSource();
-        _server.Reached.Subscribe(x =>
+        _client.Reached.Subscribe(x =>
         {
             if (x == (originMission.Count - 1))
             {
@@ -550,10 +550,9 @@ public async Task UploadAndStartMission_StrictSequenceExecuting_Success(ushort s
         });
 
         // Act
-
         _server.StartMission(skip);
         await tcs.Task;
-
+        
         // Assert
         Assert.Equal(originMission.Skip(skip),executed);
     }

src/Asv.Mavlink.Test/Microservices/Missions/Server/MissionServerTest.cs

@@ -166,7 +166,7 @@ public async Task SendReached_DifferentSeq_Success(ushort seq)
         });
 
         // Act
-        await _server.SendReached(seq);
+        await _server.SendReached(seq, CancellationToken.None);
 
         // Assert
         var result = await _taskCompletionSource.Task as MissionItemReachedPacket;

src/Asv.Mavlink.Test/Microservices/Params/Client/Ex/ParamsClientExTest.cs

@@ -90,7 +90,7 @@ public async Task ReadAll_ShouldThrowTimeout_Exception()
         // Act
         var t1 = Assert.ThrowsAsync<TaskCanceledException>(async () =>
         {
-            await Client.ReadAll(default, default, _cancellationTokenSource.Token);
+            await Client.ReadAll(null, false, _cancellationTokenSource.Token);
         });
 
         var t2 = Task.Factory.StartNew(() =>

src/Asv.Mavlink/Microservices/AsvAudio/AudioDevice.cs

@@ -79,7 +79,7 @@ private async void InternalSendEncodedAudio(ReadOnlyMemory<byte> encodedData)
             byte packetIndex = 0;
             var packetsInFrame = fullPackets + (lastPacketSize > 0 ? 1 : 0);
             if (packetsInFrame == 0) return; // no data to send
-            if (packetsInFrame > byte.MaxValue) throw new Exception($"Too many packets in frame. Expected: less then {byte.MaxValue}, actual: {packetsInFrame}");
+            if (packetsInFrame > byte.MaxValue) throw new MavlinkException($"Too many packets in frame. Expected: less then {byte.MaxValue}, actual: {packetsInFrame}");
             for (var i = 0; i < fullPackets; i++)
             {
                 var index = packetIndex;

src/Asv.Mavlink/Microservices/AsvAudio/Codec/CompositeAudioCodecFactory.cs

@@ -21,22 +21,22 @@ public CompositeAudioCodecFactory(IEnumerable<IAudioCodecFactory> parts)
         var codecs = _parts.GroupBy(x => x.AvailableCodecs).Where(x => x.Count() > 1).ToImmutableArray();
         if (codecs.Any())
         {
-            throw new Exception($"Codec {codecs.First().Key} duplicated");
+            throw new MavlinkException($"Codec {codecs.First().Key} duplicated");
         }
     }
 
 
     public IAudioEncoder CreateEncoder(AsvAudioCodec codec, Observable<ReadOnlyMemory<byte>> input)
     {
         var result = _parts.FirstOrDefault(part => part.AvailableCodecs.Contains(codec))?.CreateEncoder(codec, input);
-        if (result == null) throw new Exception($"Codec {codec} not supported");
+        if (result == null) throw new MavlinkException($"Codec {codec} not supported");
         return result;
     }
 
     public IAudioDecoder CreateDecoder(AsvAudioCodec codec, Observable<ReadOnlyMemory<byte>> input)
     {
         var result = _parts.FirstOrDefault(part => part.AvailableCodecs.Contains(codec))?.CreateDecoder(codec, input);
-        if (result == null) throw new Exception($"Codec {codec} not supported");
+        if (result == null) throw new MavlinkException($"Codec {codec} not supported");
         return result;
     }