test(focas): bring the vendored focas-mock onto the real 31i-B wire shapes; integration tests follow
The mock had served the shapes the driver once agreed with it on, so it validated the very defects just fixed: it ANSWERED the non-existent 0x00D3 cnc_getfigure, wrote base/exponent 0/0 into position blocks, put the macro decimal at offset 4, and served spindle 'max rpm' as a raw constant. Ported from the sister ignitionoee mock (local divergence recorded in VENDORED.md; the LE timer and alarm cap are kept): - 0x00D3 refused with EW_FUNC, as the real control does. - 0x0026 blocks carry base 10 / position_figures exponent; signed arg2, arg2 = 0 or past the axis count refused EW_ATTRIB. - cnc_rdmacro is the 8-byte ODBM shape, 9-digit mantissa, unset = vacant. - servo/spindle meter records carry the envelope; spindle meters are 1/16384-of-full-scale counts (motor speed = speed / max_rpm). Integration tests: spindle test reads Load/MotorSpeedPct percentages; the position-scale test now proves the block's own scale wins; new Vacant_positions_and_macros_read_bad_over_the_wire. 12/12 pass against the mock run locally (python -m focas_mock.cli serve, OTOPCUA_FOCAS_SIM_ENDPOINT).
This commit is contained in:
Joseph Doherty
+89
-11
@@ -236,14 +236,15 @@ public sealed class WireBackendCoverageTests
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}
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/// <summary>
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/// Verifies that per-axis position figures fetched via <c>cnc_getfigure</c> (wire command
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/// 0x00D3) scale the published <c>AbsolutePosition</c>, and that the auto figure wins over
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/// the configured <c>PositionDecimalPlaces</c> fallback knob.
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/// Seed: X axis absolute = 12345, figure = 3 → published value = 12.345 (÷ 10^3).
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/// Config knob = 1 → fallback would give 1234.5. 12.345 uniquely proves the wire path.
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/// Verifies that the scale carried INSIDE each <c>cnc_rddynamic2</c> position block
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/// (base 10 / exponent) scales the published <c>AbsolutePosition</c>, and that it wins over
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/// the configured <c>PositionDecimalPlaces</c> fallback knob. (The mock refuses the old
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/// <c>cnc_getfigure</c> 0x00D3 with EW_FUNC, as a real 31i-B does.)
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/// Seed: X axis absolute = 12345, exponent = 3 → published value = 12.345 (÷ 10^3).
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/// Config knob = 1 → fallback would give 1234.5. 12.345 uniquely proves the block scale.
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/// </summary>
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[Fact]
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public async Task Position_figures_scale_axis_via_wire_backend()
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public async Task Position_block_scale_scales_axis_via_wire_backend()
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{
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if (_fx.SkipReason is not null) Assert.Skip(_fx.SkipReason);
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var ct = TestContext.Current.CancellationToken;
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@@ -261,13 +262,13 @@ public sealed class WireBackendCoverageTests
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X = new { absolute = 12345, machine = 12345, relative = 0, distance = 0 },
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},
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},
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// Per-axis decimal-place figures for cnc_getfigure (command 0x00D3).
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// The mock's _wire_position_figures() reads state["position_figures"][axisName].
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// Per-axis exponent served inside each 0x0026 position block (base 10).
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// The mock's _position_scale() reads state["position_figures"][axisName].
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position_figures = new { X = 3 },
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}, ct);
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// PositionDecimalPlaces = 1 is intentionally different from the auto figure (3)
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// so the assertion 12.345 uniquely proves the cnc_getfigure path won.
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// PositionDecimalPlaces = 1 is intentionally different from the block exponent (3)
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// so the assertion 12.345 uniquely proves the block's own scale won.
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var driver = new FocasDriver(new FocasDriverOptions
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{
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Devices = [new FocasDeviceOptions(DeviceHost, PositionDecimalPlaces: 1)],
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@@ -295,13 +296,90 @@ public sealed class WireBackendCoverageTests
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state.ShouldNotBeNull();
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var published = state.LastFixedSnapshots[$"{DeviceHost}/Axes/X/AbsolutePosition"];
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// 12345 ÷ 10^3 = 12.345 → auto figure (3) won.
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// 12345 ÷ 10^3 = 12.345 → the block's own scale (3) won.
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// 12345 ÷ 10^1 = 1234.5 → would mean config knob (1) was used instead.
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// 12345 ÷ 10^0 = 12345.0 → would mean no scaling at all.
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published.ShouldBe(12.345, tolerance: 0.0001);
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}
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}
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/// <summary>
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/// "The control described no value" reads Bad over the real wire, never a Good number:
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/// a vacant <c>0x0026</c> position block (exponent <c>0xFFFF</c>) Bads only its own axis
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/// node, an unset macro (vacant <c>dec_val</c>) Bads its tag, and a fractional macro on an
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/// integer tag is refused rather than truncated — while a normalised 9-digit macro
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/// mantissa de-scales to its real value.
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/// </summary>
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[Fact]
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public async Task Vacant_positions_and_macros_read_bad_over_the_wire()
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{
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if (_fx.SkipReason is not null) Assert.Skip(_fx.SkipReason);
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var ct = TestContext.Current.CancellationToken;
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await _fx.LoadProfileAsync("FWLIB64", ct);
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await _fx.PatchStateAsync(new
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{
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axis_names = new[] { "X", "Y" },
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dynamic = new
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{
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alarm = 0, prgnum = 1, prgmnum = 1, seqnum = 1, actf = 0, acts = 0,
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axes = new
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{
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X = new { absolute = 1, machine = 1, relative = 0, distance = 0 },
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Y = new { absolute = 370177, machine = 370177, relative = 0, distance = 0 },
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},
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},
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position_figures = new Dictionary<string, object>
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{
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["X"] = new { exponent = 0xFFFF }, // vacant-slot marker
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["Y"] = 3,
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},
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macros = new Dictionary<string, object>
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{
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["502"] = new { value = 270, @decimal = 0 }, // served as 270000000 / 10^6
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["508"] = new { value = 1485, @decimal = 1 }, // 148.5
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},
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}, ct);
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var drv = new FocasDriver(new FocasDriverOptions
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{
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Devices = [new FocasDeviceOptions(DeviceHost)],
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RawTags = FocasRawTags.Entries(
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new FocasTagDefinition("Count502", DeviceHost, "MACRO:502", FocasDataType.Int32, Writable: false),
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new FocasTagDefinition("Frac508", DeviceHost, "MACRO:508", FocasDataType.Int32, Writable: false),
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new FocasTagDefinition("Unset611", DeviceHost, "MACRO:611", FocasDataType.Float64, Writable: false)),
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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(100),
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ProgramPollInterval = TimeSpan.Zero,
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TimerPollInterval = TimeSpan.Zero,
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},
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}, driverInstanceId: "wire-vacant", clientFactory: new WireFocasClientFactory());
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await using (drv)
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{
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await drv.InitializeAsync("{}", ct);
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await WaitFor(() =>
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drv.GetDeviceState(DeviceHost)?.LastFixedSnapshots
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.ContainsKey($"{DeviceHost}/Axes/Y/AbsolutePosition") == true,
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TimeSpan.FromSeconds(5));
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var snaps = await drv.ReadAsync(
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[$"{DeviceHost}/Axes/X/AbsolutePosition", $"{DeviceHost}/Axes/Y/AbsolutePosition",
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"Count502", "Frac508", "Unset611"], ct);
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snaps[0].StatusCode.ShouldBe(FocasStatusMapper.BadNoData);
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snaps[1].StatusCode.ShouldBe(FocasStatusMapper.Good);
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Convert.ToDouble(snaps[1].Value).ShouldBe(370.177, tolerance: 1e-9);
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snaps[2].StatusCode.ShouldBe(FocasStatusMapper.Good);
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snaps[2].Value.ShouldBe(270);
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snaps[3].StatusCode.ShouldBe(FocasStatusMapper.BadTypeMismatch);
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snaps[4].StatusCode.ShouldBe(FocasStatusMapper.BadNoData);
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}
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}
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private static async Task WaitFor(Func<bool> pred, TimeSpan timeout)
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{
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var deadline = DateTime.UtcNow + timeout;
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