lmxopcua/tests/Drivers/ZB.MOM.WW.OtOpcUa.Driver.FOCAS.Tests/FocasDuplicateSiblingNameTests.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>
///     Gitea #548 — a CNC reporting duplicate sibling axis names (the wonder Makino returns two
///     axis folders both called <c>AA</c>) made the <c>Axes/</c> subtree untrustworthy: the
///     browser offered two identical folders commit-time collision detection had to refuse, and
///     the poll loop's name-keyed snapshot cache let the second axis silently overwrite the
///     first. Duplicated sibling names are now occurrence-suffixed (<c>AA_1</c>, <c>AA_2</c>)
///     everywhere — emitter, snapshot keys, servo loads, spindles — so both axes are
///     authorable and each reads its own axis's data.
/// </summary>
[Trait("Category", "Unit")]
public sealed class FocasDuplicateSiblingNameTests
{
    private const string Host = "focas://10.0.0.5:8193";

    /// <summary>A fake modelled on the Makino: axes AA, Y, AA (slots 1–3) with distinct data.</summary>
    private static FakeFocasClientFactory MakinoFactory() => new()
    {
        Customise = () =>
        {
            var c = new FakeFocasClient();
            c.AxisNames.Clear();
            c.AxisNames.AddRange([new("A", "A"), new("Y", ""), new("A", "A")]);
            c.DynamicByAxis[1] = new FocasDynamicSnapshot(1, 0, 0, 0, 0, 0, 0, 111, 0, 0, 0);
            c.DynamicByAxis[2] = new FocasDynamicSnapshot(2, 0, 0, 0, 0, 0, 0, 222, 0, 0, 0);
            c.DynamicByAxis[3] = new FocasDynamicSnapshot(3, 0, 0, 0, 0, 0, 0, 333, 0, 0, 0);
            c.ServoLoads.AddRange([new("AA", 10), new("Y", 20), new("AA", 30)]);
            // Two spindles whose displays also collide, with distinct data per slot.
            c.SpindleNames.Clear();
            c.SpindleNames.AddRange([new("S", "1", "", ""), new("S", "1", "", "")]);
            c.SpindleLoads.AddRange([5.0, 7.0]);
            c.SpindleMotorSpeeds.AddRange([40.0, 60.0]);
            return c;
        },
    };

    private static FocasDriver NewDriver(params FocasTagDefinition[] tags) =>
        new(new FocasDriverOptions
        {
            Devices = [new FocasDeviceOptions(Host)],
            Probe = new FocasProbeOptions { Enabled = false },
            FixedTree = new FocasFixedTreeOptions { Enabled = true },
            RawTags = FocasRawTags.Entries(tags),
        }, "drv-1", MakinoFactory());

    private static async Task<FocasDriver> StartedDriverAsync(params FocasTagDefinition[] tags)
    {
        var drv = NewDriver(tags);
        await drv.InitializeAsync("{}", CancellationToken.None);
        var deadline = DateTime.UtcNow + TimeSpan.FromSeconds(5);
        while (DateTime.UtcNow < deadline && drv.GetDeviceState(Host)?.LastFixedPollUtc is null)
            await Task.Delay(25, TestContext.Current.CancellationToken);
        drv.GetDeviceState(Host)!.LastFixedPollUtc.ShouldNotBeNull("the fixed-tree loop never completed a poll");
        return drv;
    }

    [Fact]
    public async Task Duplicate_axes_browse_as_distinct_suffixed_folders()
    {
        var drv = await StartedDriverAsync();
        var builder = new RecordingBuilder();
        await drv.DiscoverAsync(builder, CancellationToken.None);

        var folders = builder.Folders.Select(f => f.BrowseName).ToList();
        folders.ShouldContain("AA_1");
        folders.ShouldContain("AA_2");
        folders.ShouldContain("Y");
        folders.ShouldNotContain("AA", customMessage:
            "a bare AA folder would silently mean one of the two duplicate axes");
        // Unique names stay bare — the disambiguation must not rename the rest of the machine.
        folders.ShouldNotContain("Y_1");

        // The emitted leaves are distinct, parseable addresses (the #540 invariant, held here
        // for the duplicate set specifically).
        var axisLeaves = builder.Variables
            .Select(v => v.Info.FullName)
            .Where(n => n.StartsWith("FIXED:Axes/AA", StringComparison.Ordinal))
            .ToList();
        axisLeaves.ShouldNotBeEmpty();
        axisLeaves.ShouldAllBe(n => FocasAddress.TryParse(n) != null);
        axisLeaves.Distinct(StringComparer.OrdinalIgnoreCase).Count().ShouldBe(axisLeaves.Count);
        axisLeaves.ShouldContain("FIXED:Axes/AA_1/AbsolutePosition");
        axisLeaves.ShouldContain("FIXED:Axes/AA_2/AbsolutePosition");

        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task Each_duplicate_axis_reads_its_own_position()
    {
        // The runtime half of #548: before disambiguation the second AA overwrote the first's
        // snapshot slot, so even a hand-authored tag could only ever see one axis.
        var drv = await StartedDriverAsync(
            new FocasTagDefinition("raw/aa1", Host, "FIXED:Axes/AA_1/AbsolutePosition", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/aa2", Host, "FIXED:Axes/AA_2/AbsolutePosition", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/y", Host, "FIXED:Axes/Y/AbsolutePosition", FocasDataType.Float64, Writable: false));

        var read = await drv.ReadAsync(["raw/aa1", "raw/aa2", "raw/y"], CancellationToken.None);

        read[0].StatusCode.ShouldBe(FocasStatusMapper.Good);
        read[0].Value.ShouldBe(111.0);   // slot 1's AA
        read[1].StatusCode.ShouldBe(FocasStatusMapper.Good);
        read[1].Value.ShouldBe(333.0);   // slot 3's AA — NOT slot 1's overwritten value
        read[2].StatusCode.ShouldBe(FocasStatusMapper.Good);
        read[2].Value.ShouldBe(222.0);   // the unique axis, untouched by disambiguation

        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task The_bare_name_of_a_duplicate_set_reads_Bad_rather_than_one_arbitrary_axis()
    {
        // Whole-set suffixing: when two axes are both AA, bare AA ceases to exist. Resolving it
        // to either axis would be the same silent-wrongness class #534/#540 were about.
        var drv = await StartedDriverAsync(
            new FocasTagDefinition("raw/bare", Host, "FIXED:Axes/AA/AbsolutePosition", FocasDataType.Float64, Writable: false));

        var read = await drv.ReadAsync(["raw/bare"], CancellationToken.None);

        read[0].StatusCode.ShouldBe(FocasStatusMapper.BadNodeIdUnknown);
        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task Servo_loads_resolve_per_duplicate_axis()
    {
        // cnc_rdsvmeter answers per-axis in slot order, so the k-th AA load belongs to the k-th
        // AA axis. Before #548 both landed on one name-keyed dictionary entry, last write wins.
        var drv = await StartedDriverAsync(
            new FocasTagDefinition("raw/load1", Host, "FIXED:Axes/AA_1/ServoLoad", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/load2", Host, "FIXED:Axes/AA_2/ServoLoad", FocasDataType.Float64, Writable: false));

        // The servo-load pass runs after the axis pass inside the same tick; poll until both
        // distinct keys are populated rather than racing it.
        var state = drv.GetDeviceState(Host)!;
        var deadline = DateTime.UtcNow + TimeSpan.FromSeconds(5);
        while (DateTime.UtcNow < deadline && state.LastServoLoads.Count < 3)
            await Task.Delay(25, TestContext.Current.CancellationToken);

        var read = await drv.ReadAsync(["raw/load1", "raw/load2"], CancellationToken.None);

        read[0].StatusCode.ShouldBe(FocasStatusMapper.Good);
        read[0].Value.ShouldBe(10.0);
        read[1].StatusCode.ShouldBe(FocasStatusMapper.Good);
        read[1].Value.ShouldBe(30.0);

        await drv.ShutdownAsync(CancellationToken.None);
    }

    [Fact]
    public async Task Duplicate_spindles_resolve_per_slot()
    {
        // The spindle read path matched by display name and took the FIRST index that matched,
        // so a duplicate spindle name made the second spindle's data unreachable.
        var drv = await StartedDriverAsync(
            new FocasTagDefinition("raw/s1load", Host, "FIXED:Spindle/S1_1/Load", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/s2load", Host, "FIXED:Spindle/S1_2/Load", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/s1speed", Host, "FIXED:Spindle/S1_1/MotorSpeedPct", FocasDataType.Float64, Writable: false),
            new FocasTagDefinition("raw/s2speed", Host, "FIXED:Spindle/S1_2/MotorSpeedPct", FocasDataType.Float64, Writable: false));

        var read = await drv.ReadAsync(["raw/s1load", "raw/s2load", "raw/s1speed", "raw/s2speed"], CancellationToken.None);

        read[0].Value.ShouldBe(5.0);
        read[1].Value.ShouldBe(7.0);
        read[2].Value.ShouldBe(40.0);
        read[3].Value.ShouldBe(60.0);
        read.ShouldAllBe(r => r.StatusCode == FocasStatusMapper.Good);

        await drv.ShutdownAsync(CancellationToken.None);
    }

    /// <summary>Records what <c>DiscoverAsync</c> emits, flattening the folder tree.</summary>
    private sealed class RecordingBuilder : IAddressSpaceBuilder
    {
        public List<(string BrowseName, string DisplayName)> Folders { get; } = [];
        public List<(string BrowseName, DriverAttributeInfo Info)> Variables { get; } = [];

        public IAddressSpaceBuilder Folder(string browseName, string displayName)
        { Folders.Add((browseName, displayName)); return this; }

        public IVariableHandle Variable(string browseName, string displayName, DriverAttributeInfo info)
        { Variables.Add((browseName, info)); return new Handle(info.FullName); }

        public void AddProperty(string name, DriverDataType type, object? value) { }

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

        private sealed class NullSink : IAlarmConditionSink
        {
            public void OnTransition(AlarmEventArgs args) { }
        }
    }
}