lmxopcua/tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasMeterPublishTests.cs

using Shouldly;
using Xunit;
using ZB.MOM.WW.OtOpcUa.Core.Abstractions;
using ZB.MOM.WW.OtOpcUa.Driver.FOCAS;

namespace ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests;

/// <summary>
///     Driver-level publish of servo / spindle meters (Focas.Wire-019 port): percentages publish
///     Good as Float64, an undescribable record publishes BadNoData (never a Good 0), and the
///     spindle motor-speed meter is a live, polled <c>MotorSpeedPct</c> — not the bootstrap-time
///     <c>MaxRpm</c> constant it was mislabelled as.
/// </summary>
[Trait("Category", "Unit")]
public sealed class FocasMeterPublishTests
{
    private const string Host = "focas://10.0.0.5:8193";

    private static FocasDriver NewDriver(FakeFocasClient client) =>
        new(new FocasDriverOptions
        {
            Devices = [new FocasDeviceOptions(Host)],
            Probe = new FocasProbeOptions { Enabled = false },
            FixedTree = new FocasFixedTreeOptions { Enabled = true, PollInterval = TimeSpan.FromMilliseconds(10) },
        }, "drv-1", new FakeFocasClientFactory { Customise = () => client });

    private static async Task<DataValueSnapshot> ReadSettledAsync(FocasDriver drv, string reference, Func<DataValueSnapshot, bool> settled)
    {
        var deadline = DateTime.UtcNow + TimeSpan.FromSeconds(5);
        DataValueSnapshot last;
        do
        {
            last = (await drv.ReadAsync([reference], CancellationToken.None)).Single();
            if (settled(last)) return last;
            await Task.Delay(15);
        } while (DateTime.UtcNow < deadline);
        return last;
    }

    private static FakeFocasClient MachineClient()
    {
        var c = new FakeFocasClient();
        c.AxisNames.Clear();
        c.AxisNames.AddRange([new("X", ""), new("Y", "")]);
        c.ServoLoads.AddRange([new("X", 46.0), new("Y", null)]); // Y: undescribable record
        c.SpindleNames.Clear();
        c.SpindleNames.Add(new("S", "1", "", ""));
        c.SpindleLoads.Add(55.88);
        c.SpindleMotorSpeeds.Add(2.49);
        return c;
    }

    [Fact]
    public async Task Servo_loads_publish_percentages_and_an_undescribable_record_is_bad()
    {
        var drv = NewDriver(MachineClient());
        await drv.InitializeAsync("{}", CancellationToken.None);

        var x = await ReadSettledAsync(drv, $"{Host}/Axes/X/ServoLoad", s => s.StatusCode == FocasStatusMapper.Good);
        var y = await ReadSettledAsync(drv, $"{Host}/Axes/Y/ServoLoad", s => s.StatusCode == FocasStatusMapper.BadNoData);

        x.Value.ShouldBe(46.0);
        y.StatusCode.ShouldBe(FocasStatusMapper.BadNoData);
        y.Value.ShouldBeNull();
        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task Spindle_meters_publish_float64_percentages_and_motor_speed_is_polled_live()
    {
        var client = MachineClient();
        var drv = NewDriver(client);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var load = await ReadSettledAsync(drv, $"{Host}/Spindle/S1/Load", s => s.StatusCode == FocasStatusMapper.Good);
        load.Value.ShouldBe(55.88);
        (await ReadSettledAsync(drv, $"{Host}/Spindle/S1/MotorSpeedPct", s => s.StatusCode == FocasStatusMapper.Good))
            .Value.ShouldBe(2.49);

        // The spindle speeds up: the poll loop must follow it (MaxRpm was read once at bootstrap).
        client.SpindleMotorSpeeds[0] = 99.98;
        (await ReadSettledAsync(drv, $"{Host}/Spindle/S1/MotorSpeedPct", s => Equals(s.Value, 99.98)))
            .Value.ShouldBe(99.98);
        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task An_undescribable_spindle_slot_is_bad_not_zero()
    {
        var client = MachineClient();
        client.SpindleLoads[0] = null;
        var drv = NewDriver(client);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var load = await ReadSettledAsync(drv, $"{Host}/Spindle/S1/Load", s => s.StatusCode == FocasStatusMapper.BadNoData);

        load.StatusCode.ShouldBe(FocasStatusMapper.BadNoData);
        load.Value.ShouldBeNull();
        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task The_spindle_folder_offers_MotorSpeedPct_not_MaxRpm()
    {
        var drv = NewDriver(MachineClient());
        await drv.InitializeAsync("{}", CancellationToken.None);
        await ReadSettledAsync(drv, $"{Host}/Spindle/S1/Load", s => s.StatusCode == FocasStatusMapper.Good);

        var builder = new NameRecordingBuilder();
        await drv.DiscoverAsync(builder, CancellationToken.None);

        builder.Variables.ShouldContain("MotorSpeedPct");
        builder.Variables.ShouldNotContain("MaxRpm");
        await drv.ShutdownAsync(CancellationToken.None);
    }

    private sealed class NameRecordingBuilder : IAddressSpaceBuilder
    {
        public List<string> Variables { get; } = [];
        public IAddressSpaceBuilder Folder(string browseName, string displayName) => this;
        public IVariableHandle Variable(string browseName, string displayName, DriverAttributeInfo attributeInfo)
        {
            Variables.Add(browseName);
            return new Handle(attributeInfo.FullName);
        }
        public void AddProperty(string browseName, DriverDataType dataType, object? value) { }

        private sealed class Handle(string fullRef) : IVariableHandle
        {
            public string FullReference => fullRef;
            public IAlarmConditionSink MarkAsAlarmCondition(AlarmConditionInfo info) => throw new NotSupportedException();
        }
    }
}