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test(focas): bring the vendored focas-mock onto the real 31i-B wire shapes; integration tests follow

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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
2026-10-07 14:12:06 -04:00
parent 26b512adba
commit 9b51dbca60
5 changed files with 279 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.IntegrationTests/Series/WireBackendTests.cs
+13 -9
View File
@@ -210,9 +210,13 @@ public sealed class WireBackendTests
}
}
/// <summary>Verifies that spindle load and max RPM data populate via the wire backend.</summary>
/// <summary>
/// Verifies that the spindle load and motor-speed meters populate via the wire backend as
/// percentages of full scale (the mock serves 1/16384-of-full-scale counts, as a real
/// 31i-B does): S1 load 56% / speed 3200 of 6000 rpm = 53.3%, S2 load 12% / 1800 of 4500 = 40%.
/// </summary>
[Fact]
public async Task Spindle_load_and_max_rpm_populate_via_wire_backend()
public async Task Spindle_load_and_motor_speed_populate_via_wire_backend()
{
if (_fx.SkipReason is not null) Assert.Skip(_fx.SkipReason);
var ct = TestContext.Current.CancellationToken;
@@ -260,21 +264,21 @@ public sealed class WireBackendTests
await WaitFor(() =>
{
var state = driver.GetDeviceState(DeviceHost);
return state?.FixedTreeCache is { Capabilities.SpindleLoad: true, Capabilities.SpindleMaxRpm: true }
return state?.FixedTreeCache is { Capabilities.SpindleLoad: true, Capabilities.SpindleMotorSpeed: true }
&& state.LastSpindleLoads.Count >= 2;
}, TimeSpan.FromSeconds(5));
var snapshots = await driver.ReadAsync(
[$"{DeviceHost}/Spindle/S1/Load",
$"{DeviceHost}/Spindle/S1/MaxRpm",
$"{DeviceHost}/Spindle/S1/MotorSpeedPct",
$"{DeviceHost}/Spindle/S2/Load",
$"{DeviceHost}/Spindle/S2/MaxRpm"], ct);
$"{DeviceHost}/Spindle/S2/MotorSpeedPct"], ct);
snapshots.ShouldAllBe(s => s.StatusCode == FocasStatusMapper.Good);
Convert.ToInt32(snapshots[0].Value).ShouldBe(56);
Convert.ToInt32(snapshots[1].Value).ShouldBe(6000);
Convert.ToInt32(snapshots[2].Value).ShouldBe(12);
Convert.ToInt32(snapshots[3].Value).ShouldBe(4500);
Convert.ToDouble(snapshots[0].Value).ShouldBe(56.0, tolerance: 0.01);
Convert.ToDouble(snapshots[1].Value).ShouldBe(3200 * 100.0 / 6000, tolerance: 0.01);
Convert.ToDouble(snapshots[2].Value).ShouldBe(12.0, tolerance: 0.01);
Convert.ToDouble(snapshots[3].Value).ShouldBe(40.0, tolerance: 0.01);
}
}