Wait for possible multiple state updates when verifying robot type

IRobotLANClient/RobotVerifierClient.cs

@@ -1,12 +1,14 @@
 using System.Threading.Tasks;
 using IRobotLANClient.Enums;
 using System.Timers;
+using Newtonsoft.Json;
 
 namespace IRobotLANClient {
 	public class RobotVerifierClient : RobotClient {
 		public RobotType DetectedType { get; private set; } = RobotType.Unrecognized;
 
 		private TaskCompletionSource<RobotType> _taskCompletionSource;
+		private bool _receivedStateUpdate = false;
 
 		public RobotVerifierClient(string address, string blid, string password) : base(address, blid, password) { }
 
@@ -15,17 +17,27 @@ public override bool IsCorrectRobotType() {
 		}
 
 		protected override void HandleRobotStateUpdate() {
-			DetectedType = RobotType.Unrecognized;
+			_receivedStateUpdate = true;
 
+			DetectedType = AttemptDetectType();
+			if (DetectedType != RobotType.Unrecognized) {
+				// Only complete the task if we were actually able to detect the robot type
+				// Otherwise, wait for more data
+				_taskCompletionSource.TrySetResult(DetectedType);
+			}
+		}
+
+		private RobotType AttemptDetectType() {
 			if (ReportedState.ContainsKey("bin")) {
-				DetectedType = RobotType.Vacuum;
+				return RobotType.Vacuum;
 			}
 
 			if (ReportedState.ContainsKey("mopReady") || ReportedState.ContainsKey("tankPresent")) {
-				DetectedType = RobotType.Mop;
+				return RobotType.Mop;
 			}
 
-			_taskCompletionSource.TrySetResult(DetectedType);
+			DebugOutput("Call to AttemptDetectType() returned RobotType.Unrecognized - " + JsonConvert.SerializeObject(ReportedState));
+			return RobotType.Unrecognized;
 		}
 
 		public Task<RobotType> WaitForDetectedType() {
@@ -34,7 +46,15 @@ public Task<RobotType> WaitForDetectedType() {
 			Timer timeout = new Timer {Enabled = true, AutoReset = false, Interval = 10000};
 			timeout.Elapsed += (sender, args) => {
 				timeout.Dispose();
-				_taskCompletionSource.TrySetCanceled();
+				DebugOutput($"WaitForDetectedType() elapsed. _receivedStateUpdate = {_receivedStateUpdate}");
+
+				if (_receivedStateUpdate) {
+					// If we received any data at all, complete task with robot type Unrecognized
+					_taskCompletionSource.TrySetResult(AttemptDetectType());
+				} else {
+					// We never received a single state update, so cancel the task to report timeout
+					_taskCompletionSource.TrySetCanceled();
+				}
 			};
 
 			return _taskCompletionSource.Task;