fix(test): fixed tests with FakeTimeProvider

src/Asv.Mavlink.Test/Microservices/Adsb/Client/AdsbVehicleClientTest.cs

@@ -30,15 +30,21 @@ public void Ctor_ThrowsExceptions_ArgIsNullFail()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
+#pragma warning disable CS8625 // Cannot convert null literal to non-nullable reference type.
             var client = new AdsbVehicleClient(null, _config, Context);
+#pragma warning restore CS8625 // Cannot convert null literal to non-nullable reference type.
         });
         Assert.Throws<ArgumentNullException>(() =>
         {
+#pragma warning disable CS8625 // Cannot convert null literal to non-nullable reference type.
             var client = new AdsbVehicleClient(Identity, _config, null);
+#pragma warning restore CS8625 // Cannot convert null literal to non-nullable reference type.
         });
         Assert.Throws<NullReferenceException>(() =>
         {
+#pragma warning disable CS8625 // Cannot convert null literal to non-nullable reference type.
             var client = new AdsbVehicleClient(Identity, null, Context);
+#pragma warning restore CS8625 // Cannot convert null literal to non-nullable reference type.
         });
     }
 

src/Asv.Mavlink.Test/Microservices/AsvChart/Server/AsvChartServerTest.cs

@@ -18,7 +18,7 @@ public class AsvChartServerTest : ServerTestBase<AsvChartServer>, IDisposable
 
     private readonly AsvChartServerConfig _config = new()
     {
-        SendSignalDelayMs = 30,
+        SendSignalDelayMs = 0, // ! Important
         SendCollectionUpdateMs = 100,
     };
 
@@ -96,9 +96,6 @@ await Assert.ThrowsAsync<ArgumentException>(async () =>
     public async Task Send_SendManyPacket_Success(int packetsCount)
     {
         // Arrange
-        var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(15));
-        cancel.Token.Register(() => _taskCompletionSource.TrySetCanceled());
-
         var count = 0;
         var info = new AsvChartInfo(1, "TestChart",
             new AsvChartAxisInfo("X", AsvChartUnitType.AsvChartUnitTypeDbm, 0, 10, 10),
@@ -114,7 +111,7 @@ public async Task Send_SendManyPacket_Success(int packetsCount)
         // Act
         for (var i = 0; i < packetsCount; i++)
         {
-            await Server.Send(DateTime.Now, data, info, cancel.Token);
+            await Server.Send(DateTime.Now, data, info);
         }
 
         // Assert

src/Asv.Mavlink.Test/Microservices/AsvSdr/Client/Ex/AsvSdrClientExTest.cs

@@ -10,10 +10,8 @@
 namespace Asv.Mavlink.Test;
 
 [TestSubject(typeof(AsvSdrClientEx))]
-public class AsvSdrClientExTest() : ClientTestBase<AsvSdrClientEx>(_log)
+public class AsvSdrClientExTest(ITestOutputHelper log) : ClientTestBase<AsvSdrClientEx>(log)
 {
-    private static ITestOutputHelper _log = new TestOutputHelper();
-
     private readonly HeartbeatClientConfig _configHeartbeat = new()
     {
         HeartbeatTimeoutMs = 2000,
@@ -53,17 +51,32 @@ public async Task Client_DeleteRecordCancelWithToken_Fail()
     {
         var recordId = Guid.NewGuid();
         var cancel = new CancellationTokenSource();
-        await Assert.ThrowsAsync<OperationCanceledException>(async () =>
+        var t1 = Assert.ThrowsAsync<TimeoutException>(async () =>
             await Client.DeleteRecord(recordId, cancel.Token));
+        var t2 = Task.Factory.StartNew(() =>
+        {
+            while (t1.IsCompleted == false)
+            {
+                Time.Advance(TimeSpan.FromMilliseconds(_commandConfig.CommandTimeoutMs));    
+            }
+        }, cancel.Token);
+
+        await Task.WhenAll(t1, t2);
     }
 
     [Fact]
     public async Task Client_StartRecordCancelWithToken_Fail()
     {
         var recordName = "Test_Record";
         var cancel = new CancellationTokenSource();
-        await Assert.ThrowsAsync<OperationCanceledException>(async () =>
+        var t1 = Assert.ThrowsAsync<TimeoutException>(async () =>
             await Client.StartRecord(recordName, cancel.Token));
+        var t2 = Task.Factory.StartNew(() =>
+        {
+            Time.Advance(TimeSpan.FromMilliseconds(_commandConfig.CommandTimeoutMs * _commandConfig.CommandAttempt + 100));
+        }, cancel.Token);
+
+        await Task.WhenAll(t1, t2);
     }
 
     [Fact]
@@ -72,9 +85,21 @@ public async Task Client_OnRecordTagCancelWithToken_Fail()
         var tagName = "tag";
         var rawValue = new byte[] { 1, 0, 0, 1, 0, 0, 1, 0 };
         var cancel = new CancellationTokenSource();
-        await Assert.ThrowsAsync<OperationCanceledException>(async () =>
+
+        var t1 = Assert.ThrowsAsync<TimeoutException>(async () =>
             await Client.CurrentRecordSetTag(tagName, AsvSdrRecordTagType.AsvSdrRecordTagTypeInt64,
                 rawValue, cancel.Token));
+
+        var t2 = Task.Factory.StartNew(() =>
+        {
+            while (t1.IsCompleted == false)
+            {
+                Time.Advance(TimeSpan.FromMilliseconds(_commandConfig.CommandTimeoutMs * _commandConfig.CommandAttempt + 100));    
+            }
+
+        }, TaskCreationOptions.LongRunning);
+
+        await Task.WhenAll(t1, t2);
     }
     [Fact]
     public async Task Client_OnRecordTagExcptWithBadValues_Fail()
@@ -106,25 +131,9 @@ public void Client_CtorArgumentNull_Fail()
         var identity = new MavlinkClientIdentity(1, 2, 3, 4);
         var heartBeat = new HeartbeatClient(identity, _configHeartbeat, Context);
         var command = new CommandClient(identity, _commandConfig, Context);
-        Assert.ThrowsAsync<ArgumentNullException>(() =>
-        {
-            var test = new AsvSdrClientEx(null, heartBeat, command, new AsvSdrClientExConfig());
-            return Task.CompletedTask;
-        });
-        Assert.ThrowsAsync<ArgumentNullException>(() =>
-        {
-            var test = new AsvSdrClientEx(Client.Base, null, command, new AsvSdrClientExConfig());
-            return Task.CompletedTask;
-        });
-        Assert.ThrowsAsync<ArgumentNullException>(() =>
-        {
-            var test = new AsvSdrClientEx(Client.Base, heartBeat, null, new AsvSdrClientExConfig());
-            return Task.CompletedTask;
-        });
-        Assert.ThrowsAsync<ArgumentNullException>(() =>
-        {
-            var test = new AsvSdrClientEx(Client.Base, heartBeat, command, null);
-            return Task.CompletedTask;
-        });
+        Assert.Throws<NullReferenceException>(() => new AsvSdrClientEx(null, heartBeat, command, new AsvSdrClientExConfig()));
+        Assert.Throws<NullReferenceException>(() => new AsvSdrClientEx(Client.Base, null, command, new AsvSdrClientExConfig()));
+        Assert.Throws<ArgumentNullException>(() => new AsvSdrClientEx(Client.Base, heartBeat, null, new AsvSdrClientExConfig()));
+        Assert.Throws<ArgumentNullException>(() => new AsvSdrClientEx(Client.Base, heartBeat, command, null));
     }
 }

src/Asv.Mavlink.Test/Microservices/Params/ParamsComplexTest.cs

@@ -53,7 +53,7 @@ public ParamsComplexTest(ITestOutputHelper log) : base(log)
 
     private readonly ParamsServerExConfig _serverExConfig = new()
     {
-        SendingParamItemDelayMs = 100,
+        SendingParamItemDelayMs = 0,
         CfgPrefix = "MAV_CFG_",
     };
 
@@ -192,10 +192,12 @@ public async Task ReadAll_ClientShouldReadAllParamsFromServer_Success()
         {
             called++;
             param.Add(p);
+            ClientTime.Advance(TimeSpan.FromMilliseconds(_clientConfig.ReadTimeouMs));
             if (called == _serverEx.AllParamsList.Count)
             {
                 _taskCompletionSource.TrySetResult(p);
             }
+
         });
 
         // Act
@@ -216,13 +218,22 @@ public async Task ReadAll_ClientShouldReadAllParamsFromServer_Success()
     public async Task ReadAll_ClientShouldSyncLocalAndRemoteCounts_Success()
     {
         // Arrange
-        using var sub = _client.Base.OnParamValue.Subscribe(p => _taskCompletionSource.TrySetResult(p));
+        var server = Server;
+        server.Start();
 
         // Act
-        await _client.ReadAll(null, false, _cancellationTokenSource.Token);
+        var t1 = _client.ReadAll(null, false, _cancellationTokenSource.Token);
+        var t2 = Task.Factory.StartNew(() =>
+        {
+            // this is for chunk update
+            while (t1.IsCompleted == false)
+            {
+                ClientTime.Advance(TimeSpan.FromMilliseconds(_clientConfig.ReadTimeouMs));
+            }
+        });
 
+        await Task.WhenAll(t1, t2);
         // Assert
-        await _taskCompletionSource.Task;
         Assert.Equal(_serverEx.AllParamsList.Count, _client.LocalCount.CurrentValue);
         Assert.Equal(_serverEx.AllParamsList.Count, _client.RemoteCount.CurrentValue);
     }

src/Asv.Mavlink.Test/Microservices/ParamsExt/Client/Ex/ParamsExtClientExTest.cs

@@ -61,8 +61,8 @@ public void Constructor_Null_Throws()
     {
         // Act
         Assert.Throws<NullReferenceException>(() => new ParamsExtClientEx(null!, _config, ParamDescription));
-        Assert.Throws<ArgumentNullException>(() => new ParamsExtClientEx(_client, null!, ParamDescription));
-        Assert.Throws<ArgumentNullException>(() => new ParamsExtClientEx(_client, _config, null!));
+        Assert.Throws<NullReferenceException>(() => new ParamsExtClientEx(_client, null!, ParamDescription));
+        Assert.Throws<NullReferenceException>(() => new ParamsExtClientEx(_client, _config, null!));
     }
 
     [Fact]

src/Asv.Mavlink.Test/Microservices/ParamsExt/ParamsExtComplexTest.cs

@@ -36,7 +36,7 @@ public ParamsExtComplexTest(ITestOutputHelper log) : base(log)
 
     private readonly ParamsExtClientExConfig _clientExConfig = new()
     {
-        ChunkUpdateBufferMs = 100,
+        ChunkUpdateBufferMs = 0,
     };
 
     private readonly StatusTextLoggerConfig _statusTextServerConfig = new()
@@ -47,7 +47,7 @@ public ParamsExtComplexTest(ITestOutputHelper log) : base(log)
 
     private readonly ParamsExtServerExConfig _serverExConfig = new()
     {
-        SendingParamItemDelayMs = 100,
+        SendingParamItemDelayMs = 0,
         CfgPrefix = "MAV_CFG_",
     };
 
@@ -274,6 +274,7 @@ public async Task ReadAll_ClientShouldReadAllParamsFromServer_Success()
             param.Add(p);
             if (param.Count == p.ParamCount)
                 _taskCompletionSource.TrySetResult(p);
+            ClientTime.Advance(TimeSpan.FromMilliseconds(_serverExConfig.SendingParamItemDelayMs));
         });
 
         // Act

src/Asv.Mavlink.Test/Microservices/Position/PositionExComplexTest.cs

@@ -697,6 +697,7 @@ public async Task QTakeOff_SingleCall_Success(float altInMeters)
         // Arrange
         var called = 0;
         IProtocolMessage? packetFromClient = null;
+        var tcs2 = new TaskCompletionSource();
         _server[MavCmd.MavCmdNavVtolTakeoff] = (id, args, cancel) =>
         {
             called++;
@@ -707,13 +708,15 @@ public async Task QTakeOff_SingleCall_Success(float altInMeters)
         using var sub = Link.Server.OnTxMessage.Cast<IProtocolMessage,MavlinkMessage>().Subscribe(p =>
         {
             packetFromClient = p as CommandAckPacket;
+            tcs2.TrySetResult();
         });
 
         // Act
         await _client.QTakeOff(altInMeters, _cancellationTokenSource.Token);
 
         // Assert
-        var packetFromServer = await _taskCompletionSource.Task as CommandLongPacket;
+        var packetFromServer = (await _taskCompletionSource.Task) as CommandLongPacket;
+        await tcs2.Task;
         Assert.Equal(1, called);
         Assert.Equal(called, (int)Link.Client.Statistic.TxMessages);
         Assert.Equal((int)Link.Client.Statistic.TxMessages, (int)Link.Server.Statistic.RxMessages);
@@ -911,20 +914,12 @@ public async Task GetHomePosition_Timeout_Throws()
     [Fact]
     public async Task GetHomePosition_Unsupported_MavResultUnsupported()
     {
-        // Arrange 
-        var result = MavResult.MavResultAccepted;
-        using var sub = Link.Client
-            .OnRxMessage.RxFilterByType<CommandAckPacket>()
-            .Subscribe(p =>
-            {
-                result = p.Payload.Result;
-            });
-
         // Act
-        await _client.GetHomePosition(_cancellationTokenSource.Token);
+        var t =  _client.GetHomePosition(_cancellationTokenSource.Token);
 
         // Assert
-        Assert.Equal(MavResult.MavResultUnsupported, result);
+
+        await Assert.ThrowsAsync<CommandException>(async () => await t);
         Assert.Equal((int)Link.Client.Statistic.TxMessages, (int)Link.Server.Statistic.RxMessages);
         Assert.Equal(1, (int)Link.Server.Statistic.TxMessages);
         Assert.Equal((int)Link.Server.Statistic.TxMessages, (int)Link.Client.Statistic.RxMessages);
@@ -1051,53 +1046,53 @@ public async Task QLand_Cancel_Throws()
         Assert.Equal((int)Link.Server.Statistic.TxMessages, (int)Link.Client.Statistic.RxMessages);
     }
 
-    [Fact(Skip = "Test is not relevant")]
+    [Fact]
     public async Task QLand_Timeout_Throws()
     {
-        // Arrange
-        using var sub = Link.Server.OnTxMessage.Cast<IProtocolMessage,MavlinkMessage>().Subscribe(p =>
-        {
-            ClientTime.Advance(
-                TimeSpan.FromMilliseconds(
-                    _commandConfig.CommandTimeoutMs * 
-                    _commandConfig.CommandAttempt *
-                    2
-                )
-            );
-        });
+        Link.SetClientToServerFilter(x=>false);
+
+
 
         // Act
         var task = _client.QLand(
             NavVtolLandOptions.NavVtolLandOptionsDefault, 
             10, 
             _cancellationTokenSource.Token
         );
+        var t2 = Task.Factory.StartNew(() =>
+        {
+            while (task.IsCompleted == false)
+            {
+                ClientTime.Advance(
+                    TimeSpan.FromMilliseconds(
+                        _commandConfig.CommandTimeoutMs *
+                        _commandConfig.CommandAttempt *
+                        2
+                    )
+                );    
+            }
+
+        }, TaskCreationOptions.LongRunning);
 
         // Assert
-        await Assert.ThrowsAsync<TimeoutException>(async () => await task);
+        await Assert.ThrowsAsync<TimeoutException>(async () =>
+        {
+            await Task.WhenAll(task, t2);
+        });
     }
 
     [Fact]
     public async Task QLand_Unsupported_MavResultUnsupported()
     {
-        // Arrange 
-        var result = MavResult.MavResultAccepted;
-        using var sub = Link.Client
-            .OnRxMessage.RxFilterByType<CommandAckPacket>()
-            .Subscribe(p =>
-            {
-                result = p.Payload.Result;
-            });
-
         // Act
-        await _client.QLand(
+        var t = _client.QLand(
             NavVtolLandOptions.NavVtolLandOptionsDefault, 
             10, 
             _cancellationTokenSource.Token
         );
 
         // Assert
-        Assert.Equal(MavResult.MavResultUnsupported, result);
+        await Assert.ThrowsAsync<CommandException>(async () => await t);
         Assert.Equal((int)Link.Client.Statistic.TxMessages, (int)Link.Server.Statistic.RxMessages);
         Assert.Equal(1, (int)Link.Server.Statistic.TxMessages);
         Assert.Equal((int)Link.Server.Statistic.TxMessages, (int)Link.Client.Statistic.RxMessages);

src/Asv.Mavlink.Test/Tools/ListDataFile/ListDataFileTests.cs

@@ -37,11 +37,15 @@ public void Ctor_Null_Reference_Fail()
         using var strm = new MemoryStream();
         Assert.Throws<ArgumentNullException>(() =>
         {
+#pragma warning disable CS8625 // Cannot convert null literal to non-nullable reference type.
             using var file = new ListDataFile<AsvSdrRecordFileMetadata>(null, FileFormat1, false, _fileSystem);
+#pragma warning restore CS8625 // Cannot convert null literal to non-nullable reference type.
         });
         Assert.Throws<ArgumentNullException>(() =>
         {
+#pragma warning disable CS8625 // Cannot convert null literal to non-nullable reference type.
             using var file = new ListDataFile<AsvSdrRecordFileMetadata>(new MemoryStream(), null, false, _fileSystem);
+#pragma warning restore CS8625 // Cannot convert null literal to non-nullable reference type.
         });
     }
 

src/Asv.Mavlink/Microservices/AsvChart/Server/AsvChartServer.cs

@@ -111,7 +111,7 @@ await InternalSend<AsvChartDataPacket>(pkt =>
                 pkt.Payload.ChatInfoHash = info.InfoHash;
             }, cancel).ConfigureAwait(false);
             if (_config.SendSignalDelayMs > 0)
-                await Task.Delay(_config.SendSignalDelayMs, cancel).ConfigureAwait(false);
+                await Task.Delay(TimeSpan.FromMilliseconds(_config.SendSignalDelayMs), Context.TimeProvider, cancel).ConfigureAwait(false);
         }
         if (lastPacketSize > 0)
         {
@@ -132,7 +132,7 @@ await InternalSend<AsvChartDataPacket>(pkt =>
                 pkt.Payload.ChatInfoHash = info.InfoHash;
             }, cancel).ConfigureAwait(false);
             if (_config.SendSignalDelayMs > 0)
-                await Task.Delay(_config.SendSignalDelayMs, cancel).ConfigureAwait(false);
+                await Task.Delay(TimeSpan.FromMilliseconds(_config.SendSignalDelayMs), Context.TimeProvider, cancel).ConfigureAwait(false);
         }
     }