feat(focas): per-axis auto-scale from cnc_getfigure figures (manual config = fallback)
This commit is contained in:
Joseph Doherty
@@ -0,0 +1,164 @@
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using Shouldly;
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using Xunit;
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using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;
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namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;
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/// <summary>
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/// Phase 4b — per-axis auto-scale from <c>cnc_getfigure</c> figures. The driver fetches
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/// per-axis position decimal-place figures at init and applies them at the
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/// <see cref="FocasDriver"/> publish seam. Precedence: an auto figure for an axis WINS;
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/// the configured <c>PositionDecimalPlaces</c> is the per-axis fallback when the CNC did
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/// not report a figure for that axis. (The managed wire backend returns no figures today,
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/// so the real backend always uses the manual fallback — these tests drive the Fake.)
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/// </summary>
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[Trait("Category", "Unit")]
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public sealed class FocasPositionAutoScaleTests
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{
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private const string Host = "focas://10.0.0.5:8193";
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// A single-axis CNC (X only) so the snapshot we seed is unambiguous.
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private static FakeFocasClient SingleAxisClient(
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FocasDynamicSnapshot snap, IReadOnlyList<int> figures)
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{
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var c = new FakeFocasClient();
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c.AxisNames.Clear();
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c.AxisNames.Add(new("X", ""));
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c.DynamicByAxis[1] = snap; // FOCAS axis indexing is 1-based
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c.PositionFigures = figures;
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return c;
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}
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// A two-axis CNC (X, Y) — each axis gets its own seeded snapshot + figure.
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private static FakeFocasClient TwoAxisClient(
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FocasDynamicSnapshot xSnap, FocasDynamicSnapshot ySnap, IReadOnlyList<int> figures)
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{
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var c = new FakeFocasClient();
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c.AxisNames.Clear();
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c.AxisNames.Add(new("X", ""));
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c.AxisNames.Add(new("Y", ""));
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c.DynamicByAxis[1] = xSnap; // axis 0 → 1-based index 1
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c.DynamicByAxis[2] = ySnap; // axis 1 → 1-based index 2
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c.PositionFigures = figures;
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return c;
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}
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private static FocasDynamicSnapshot AbsSnap(int axisIndex, int absolutePosition) =>
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new(AxisIndex: axisIndex, AlarmFlags: 0, ProgramNumber: 0, MainProgramNumber: 0,
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SequenceNumber: 0, ActualFeedRate: 0, ActualSpindleSpeed: 0,
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AbsolutePosition: absolutePosition, MachinePosition: 0,
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RelativePosition: 0, DistanceToGo: 0);
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private static FocasDriver NewDriver(int positionDecimalPlaces, FakeFocasClientFactory factory)
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{
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return new FocasDriver(new FocasDriverOptions
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{
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Devices = [new FocasDeviceOptions(Host, PositionDecimalPlaces: positionDecimalPlaces)],
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Probe = new FocasProbeOptions { Enabled = false },
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FixedTree = new FocasFixedTreeOptions
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{
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Enabled = true,
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PollInterval = TimeSpan.FromMilliseconds(10),
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},
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}, "drv-1", factory);
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}
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// Drive the fixed-tree poll loop and wait (bounded) for the cached value to appear.
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private static async Task<object?> ReadWhenPublishedAsync(FocasDriver drv, string reference)
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{
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var deadline = DateTime.UtcNow + TimeSpan.FromSeconds(5);
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while (DateTime.UtcNow < deadline)
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{
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var snaps = await drv.ReadAsync([reference], CancellationToken.None);
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var snap = snaps.Single();
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if (snap.StatusCode == FocasStatusMapper.Good && snap.Value is not null)
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return snap.Value;
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await Task.Delay(15);
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}
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return null;
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}
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/// <summary>
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/// An auto figure for an axis WINS over the configured manual value: figure 3 ⇒ ÷10^3
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/// (12345 → 12.345), even though <c>PositionDecimalPlaces: 1</c> would have given ÷10.
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/// </summary>
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[Fact]
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public async Task Auto_figure_wins_over_manual_config()
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{
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var factory = new FakeFocasClientFactory
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{
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Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: [3]),
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};
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var drv = NewDriver(positionDecimalPlaces: 1, factory);
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await drv.InitializeAsync("{}", CancellationToken.None);
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var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
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abs.ShouldBe(12.345); // ÷10^3 (auto), NOT 1234.5 (manual ÷10)
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await drv.ShutdownAsync(CancellationToken.None);
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}
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/// <summary>
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/// When <c>cnc_getfigure</c> reports nothing (empty list — the real wire backend's
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/// behaviour), the driver falls back to the configured <c>PositionDecimalPlaces</c>:
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/// manual 2 ⇒ ÷10^2 (12345 → 123.45).
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/// </summary>
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[Fact]
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public async Task Falls_back_to_manual_when_getfigure_empty()
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{
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var factory = new FakeFocasClientFactory
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{
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Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: []),
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};
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var drv = NewDriver(positionDecimalPlaces: 2, factory);
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await drv.InitializeAsync("{}", CancellationToken.None);
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var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
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abs.ShouldBe(123.45); // ÷10^2 (manual fallback)
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await drv.ShutdownAsync(CancellationToken.None);
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}
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/// <summary>
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/// Figures are applied per-axis independently: figures [3, 1] ⇒ axis 0 ÷10^3 and
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/// axis 1 ÷10^1.
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/// </summary>
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[Fact]
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public async Task Per_axis_figures_scale_independently()
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{
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var factory = new FakeFocasClientFactory
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{
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Customise = () => TwoAxisClient(
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AbsSnap(1, 12345), AbsSnap(2, 67890), figures: [3, 1]),
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};
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var drv = NewDriver(positionDecimalPlaces: 0, factory);
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await drv.InitializeAsync("{}", CancellationToken.None);
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var x = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
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var y = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/Y/AbsolutePosition");
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x.ShouldBe(12.345); // ÷10^3
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y.ShouldBe(6789.0); // ÷10^1
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await drv.ShutdownAsync(CancellationToken.None);
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}
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/// <summary>
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/// The legacy manual-only path is unchanged: no auto figures + <c>PositionDecimalPlaces: 0</c>
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/// ⇒ factor 1.0, so the raw integer is published widened to double (12345 → 12345.0).
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/// </summary>
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[Fact]
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public async Task Manual_only_legacy_path_unchanged()
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{
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var factory = new FakeFocasClientFactory
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{
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Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: []),
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};
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var drv = NewDriver(positionDecimalPlaces: 0, factory);
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await drv.InitializeAsync("{}", CancellationToken.None);
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var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
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abs.ShouldBe(12345.0); // factor 1.0 — raw widened to double
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await drv.ShutdownAsync(CancellationToken.None);
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}
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}
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