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

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

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

/// <summary>
///     Phase 4b — per-axis auto-scale from <c>cnc_getfigure</c> figures. The driver fetches
///     per-axis position decimal-place figures at init and applies them at the
///     <see cref="FocasDriver"/> publish seam. Precedence: an auto figure for an axis WINS;
///     the configured <c>PositionDecimalPlaces</c> is the per-axis fallback when the CNC did
///     not report a figure for that axis. (The managed wire backend returns no figures today,
///     so the real backend always uses the manual fallback — these tests drive the Fake.)
/// </summary>
[Trait("Category", "Unit")]
public sealed class FocasPositionAutoScaleTests
{
    private const string Host = "focas://10.0.0.5:8193";

    // A single-axis CNC (X only) so the snapshot we seed is unambiguous.
    private static FakeFocasClient SingleAxisClient(
        FocasDynamicSnapshot snap, IReadOnlyList<int> figures)
    {
        var c = new FakeFocasClient();
        c.AxisNames.Clear();
        c.AxisNames.Add(new("X", ""));
        c.DynamicByAxis[1] = snap; // FOCAS axis indexing is 1-based
        c.PositionFigures = figures;
        return c;
    }

    // A two-axis CNC (X, Y) — each axis gets its own seeded snapshot + figure.
    private static FakeFocasClient TwoAxisClient(
        FocasDynamicSnapshot xSnap, FocasDynamicSnapshot ySnap, IReadOnlyList<int> figures)
    {
        var c = new FakeFocasClient();
        c.AxisNames.Clear();
        c.AxisNames.Add(new("X", ""));
        c.AxisNames.Add(new("Y", ""));
        c.DynamicByAxis[1] = xSnap; // axis 0 → 1-based index 1
        c.DynamicByAxis[2] = ySnap; // axis 1 → 1-based index 2
        c.PositionFigures = figures;
        return c;
    }

    private static FocasDynamicSnapshot AbsSnap(int axisIndex, int absolutePosition) =>
        new(AxisIndex: axisIndex, AlarmFlags: 0, ProgramNumber: 0, MainProgramNumber: 0,
            SequenceNumber: 0, ActualFeedRate: 0, ActualSpindleSpeed: 0,
            AbsolutePosition: absolutePosition, MachinePosition: 0,
            RelativePosition: 0, DistanceToGo: 0);

    private static FocasDriver NewDriver(int positionDecimalPlaces, FakeFocasClientFactory factory)
    {
        return new FocasDriver(new FocasDriverOptions
        {
            Devices = [new FocasDeviceOptions(Host, PositionDecimalPlaces: positionDecimalPlaces)],
            Probe = new FocasProbeOptions { Enabled = false },
            FixedTree = new FocasFixedTreeOptions
            {
                Enabled = true,
                PollInterval = TimeSpan.FromMilliseconds(10),
            },
        }, "drv-1", factory);
    }

    // Drive the fixed-tree poll loop and wait (bounded) for the cached value to appear.
    private static async Task<object?> ReadWhenPublishedAsync(FocasDriver drv, string reference)
    {
        var deadline = DateTime.UtcNow + TimeSpan.FromSeconds(5);
        while (DateTime.UtcNow < deadline)
        {
            var snaps = await drv.ReadAsync([reference], CancellationToken.None);
            var snap = snaps.Single();
            if (snap.StatusCode == FocasStatusMapper.Good && snap.Value is not null)
                return snap.Value;
            await Task.Delay(15);
        }
        return null;
    }

    /// <summary>
    ///     An auto figure for an axis WINS over the configured manual value: figure 3 ⇒ ÷10^3
    ///     (12345 → 12.345), even though <c>PositionDecimalPlaces: 1</c> would have given ÷10.
    /// </summary>
    [Fact]
    public async Task Auto_figure_wins_over_manual_config()
    {
        var factory = new FakeFocasClientFactory
        {
            Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: [3]),
        };
        var drv = NewDriver(positionDecimalPlaces: 1, factory);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
        abs.ShouldBe(12.345); // ÷10^3 (auto), NOT 1234.5 (manual ÷10)

        await drv.ShutdownAsync(CancellationToken.None);
    }

    /// <summary>
    ///     When <c>cnc_getfigure</c> reports nothing (empty list — the real wire backend's
    ///     behaviour), the driver falls back to the configured <c>PositionDecimalPlaces</c>:
    ///     manual 2 ⇒ ÷10^2 (12345 → 123.45).
    /// </summary>
    [Fact]
    public async Task Falls_back_to_manual_when_getfigure_empty()
    {
        var factory = new FakeFocasClientFactory
        {
            Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: []),
        };
        var drv = NewDriver(positionDecimalPlaces: 2, factory);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
        abs.ShouldBe(123.45); // ÷10^2 (manual fallback)

        await drv.ShutdownAsync(CancellationToken.None);
    }

    /// <summary>
    ///     Figures are applied per-axis independently: figures [3, 1] ⇒ axis 0 ÷10^3 and
    ///     axis 1 ÷10^1.
    /// </summary>
    [Fact]
    public async Task Per_axis_figures_scale_independently()
    {
        var factory = new FakeFocasClientFactory
        {
            Customise = () => TwoAxisClient(
                AbsSnap(1, 12345), AbsSnap(2, 67890), figures: [3, 1]),
        };
        var drv = NewDriver(positionDecimalPlaces: 0, factory);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var x = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
        var y = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/Y/AbsolutePosition");
        x.ShouldBe(12.345);  // ÷10^3
        y.ShouldBe(6789.0);  // ÷10^1

        await drv.ShutdownAsync(CancellationToken.None);
    }

    /// <summary>
    ///     The legacy manual-only path is unchanged: no auto figures + <c>PositionDecimalPlaces: 0</c>
    ///     ⇒ factor 1.0, so the raw integer is published widened to double (12345 → 12345.0).
    /// </summary>
    [Fact]
    public async Task Manual_only_legacy_path_unchanged()
    {
        var factory = new FakeFocasClientFactory
        {
            Customise = () => SingleAxisClient(AbsSnap(1, 12345), figures: []),
        };
        var drv = NewDriver(positionDecimalPlaces: 0, factory);
        await drv.InitializeAsync("{}", CancellationToken.None);

        var abs = await ReadWhenPublishedAsync(drv, $"{Host}/Axes/X/AbsolutePosition");
        abs.ShouldBe(12345.0); // factor 1.0 — raw widened to double

        await drv.ShutdownAsync(CancellationToken.None);
    }
}