feat: 硬件虚拟化与CNC联动集成 - 运动控制/射线源模拟实现，CNC执行联动增强

2026-05-21 15:59:38 +08:00
parent 05c41a9a21
commit 43d0e7fa89
15 changed files with 1292 additions and 9 deletions
@@ -0,0 +1,81 @@
+using System.Threading.Tasks;
+using Xunit;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Implementations;
+
+namespace XplorePlane.Tests.Hardware
+{
+    public class SimulatedLinearAxisTests
+    {
+        [Fact]
+        public async Task MoveToTarget_SetsStatusToMoving_ThenIdle()
+        {
+            // Arrange - use fast speed for quicker test
+            var axis = new SimulatedLinearAxis(AxisId.StageX, min: 0, max: 100, origin: 0, defaultSpeed: 200);
+
+            // Act
+            var result = axis.MoveToTarget(50);
+
+            // Assert - should be Moving immediately after call
+            Assert.True(result.Success);
+            Assert.Equal(AxisStatus.Moving, axis.Status);
+
+            // Wait for move to complete (50mm at 200mm/s = 250ms, add generous buffer)
+            await Task.Delay(1000);
+
+            Assert.Equal(AxisStatus.Idle, axis.Status);
+            Assert.Equal(50.0, axis.ActualPosition, precision: 1);
+        }
+
+        [Fact]
+        public void MoveToTarget_OutOfRange_ReturnsFail()
+        {
+            // Arrange
+            var axis = new SimulatedLinearAxis(AxisId.StageX, min: 0, max: 100, origin: 0);
+
+            // Act
+            var result = axis.MoveToTarget(150);
+
+            // Assert
+            Assert.False(result.Success);
+            Assert.NotNull(result.ErrorMessage);
+        }
+
+        [Fact]
+        public async Task Stop_DuringMove_KeepsCurrentPosition()
+        {
+            // Arrange - use slow speed so we can stop mid-move
+            var axis = new SimulatedLinearAxis(AxisId.StageX, min: 0, max: 100, origin: 0, defaultSpeed: 10);
+
+            // Act - start a long move (100mm at 10mm/s = 10s)
+            axis.MoveToTarget(100);
+            await Task.Delay(200); // Let it move a bit
+
+            axis.Stop();
+
+            // Assert
+            Assert.Equal(AxisStatus.Idle, axis.Status);
+            Assert.True(axis.ActualPosition > 0, "Position should have moved from 0");
+            Assert.True(axis.ActualPosition < 100, "Position should not have reached target");
+        }
+
+        [Fact]
+        public async Task Home_MovesToZero()
+        {
+            // Arrange - move to 50 first with fast speed
+            var axis = new SimulatedLinearAxis(AxisId.StageX, min: 0, max: 100, origin: 0, defaultSpeed: 200);
+            axis.MoveToTarget(50);
+            await Task.Delay(1000); // Wait for move to complete
+
+            Assert.Equal(50.0, axis.ActualPosition, precision: 1);
+
+            // Act
+            axis.Home();
+            await Task.Delay(1000); // Wait for home to complete
+
+            // Assert
+            Assert.Equal(0.0, axis.ActualPosition, precision: 1);
+            Assert.Equal(AxisStatus.Idle, axis.Status);
+        }
+    }
+}
@@ -0,0 +1,65 @@
+using System.Threading.Tasks;
+using Xunit;
+using XP.Hardware.MotionControl.Abstractions.Enums;
+using XP.Hardware.MotionControl.Implementations;
+
+namespace XplorePlane.Tests.Hardware
+{
+    public class SimulatedRotaryAxisTests
+    {
+        [Fact]
+        public async Task MoveToTarget_SetsStatusToMoving_ThenIdle()
+        {
+            // Arrange - use fast speed for quicker test
+            var axis = new SimulatedRotaryAxis(
+                RotaryAxisId.DetectorSwing, minAngle: -180, maxAngle: 180, enabled: true, defaultSpeed: 200);
+
+            // Act
+            var result = axis.MoveToTarget(90);
+
+            // Assert - should be Moving immediately after call
+            Assert.True(result.Success);
+            Assert.Equal(AxisStatus.Moving, axis.Status);
+
+            // Wait for move to complete (90° at 200°/s = 450ms, add generous buffer)
+            await Task.Delay(1000);
+
+            Assert.Equal(AxisStatus.Idle, axis.Status);
+            Assert.Equal(90.0, axis.ActualAngle, precision: 1);
+        }
+
+        [Fact]
+        public void MoveToTarget_OutOfRange_ReturnsFail()
+        {
+            // Arrange
+            var axis = new SimulatedRotaryAxis(
+                RotaryAxisId.DetectorSwing, minAngle: -180, maxAngle: 180, enabled: true);
+
+            // Act
+            var result = axis.MoveToTarget(200);
+
+            // Assert
+            Assert.False(result.Success);
+            Assert.NotNull(result.ErrorMessage);
+        }
+
+        [Fact]
+        public async Task Stop_DuringMove_KeepsCurrentAngle()
+        {
+            // Arrange - use slow speed so we can stop mid-move
+            var axis = new SimulatedRotaryAxis(
+                RotaryAxisId.DetectorSwing, minAngle: -180, maxAngle: 180, enabled: true, defaultSpeed: 10);
+
+            // Act - start a long move (180° at 10°/s = 18s)
+            axis.MoveToTarget(180);
+            await Task.Delay(200); // Let it move a bit
+
+            axis.Stop();
+
+            // Assert
+            Assert.Equal(AxisStatus.Idle, axis.Status);
+            Assert.True(axis.ActualAngle > 0, "Angle should have moved from 0");
+            Assert.True(axis.ActualAngle < 180, "Angle should not have reached target");
+        }
+    }
+}
@@ -0,0 +1,120 @@
+using Moq;
+using Prism.Events;
+using Xunit;
+using XP.Common.Logging.Interfaces;
+using XP.Hardware.RaySource.Abstractions.Enums;
+using XP.Hardware.RaySource.Abstractions.Events;
+using XP.Hardware.RaySource.Implementations;
+
+namespace XplorePlane.Tests.Hardware
+{
+    public class SimulatedXRaySourceTests
+    {
+        private readonly Mock<IEventAggregator> _mockEventAggregator;
+        private readonly Mock<ILoggerService> _mockLogger;
+        private readonly Mock<RaySourceStatusChangedEvent> _mockStatusEvent;
+        private readonly SimulatedXRaySource _source;
+
+        public SimulatedXRaySourceTests()
+        {
+            _mockEventAggregator = new Mock<IEventAggregator>();
+            _mockLogger = new Mock<ILoggerService>();
+            _mockStatusEvent = new Mock<RaySourceStatusChangedEvent>();
+
+            // Setup logger to return itself for ForModule<T>()
+            _mockLogger.Setup(l => l.ForModule<SimulatedXRaySource>()).Returns(_mockLogger.Object);
+
+            // Setup event aggregator to return the mock event
+            _mockEventAggregator
+                .Setup(ea => ea.GetEvent<RaySourceStatusChangedEvent>())
+                .Returns(_mockStatusEvent.Object);
+
+            _source = new SimulatedXRaySource(_mockEventAggregator.Object, _mockLogger.Object);
+        }
+
+        [Fact]
+        public void Initialize_SetsInitializedTrue()
+        {
+            // Act
+            var initResult = _source.Initialize();
+            var connectResult = _source.ConnectVariables();
+
+            // Assert
+            Assert.True(initResult.Success);
+            Assert.True(connectResult.Success);
+            Assert.True(_source.IsConnected);
+        }
+
+        [Fact]
+        public void TurnOn_PublishesOpenedEvent()
+        {
+            // Arrange
+            _source.Initialize();
+            _source.ConnectVariables();
+
+            // Act
+            var result = _source.TurnOn();
+
+            // Assert
+            Assert.True(result.Success);
+            _mockStatusEvent.Verify(
+                e => e.Publish(RaySourceStatus.Opened),
+                Times.Once);
+        }
+
+        [Fact]
+        public void TurnOff_PublishesClosedEvent()
+        {
+            // Arrange
+            _source.Initialize();
+            _source.ConnectVariables();
+            _source.TurnOn();
+
+            // Act
+            var result = _source.TurnOff();
+
+            // Assert
+            Assert.True(result.Success);
+            _mockStatusEvent.Verify(
+                e => e.Publish(RaySourceStatus.Closed),
+                Times.Once);
+        }
+
+        [Fact]
+        public void ReadVoltage_ReturnsWithinTwoPercentOfSetValue()
+        {
+            // Arrange
+            _source.Initialize();
+            _source.ConnectVariables();
+            _source.SetVoltage(100f);
+
+            // Act & Assert - read multiple times to verify range
+            for (int i = 0; i < 20; i++)
+            {
+                var result = _source.ReadVoltage();
+                Assert.True(result.Success);
+
+                float voltage = result.GetFloat();
+                Assert.InRange(voltage, 98f, 102f);
+            }
+        }
+
+        [Fact]
+        public void CloseOff_ResetsState()
+        {
+            // Arrange
+            _source.Initialize();
+            _source.ConnectVariables();
+            _source.TurnOn();
+
+            Assert.True(_source.IsConnected);
+
+            // Act
+            var result = _source.CloseOff();
+
+            // Assert
+            Assert.True(result.Success);
+            Assert.False(_source.IsConnected);
+        }
+    }
+}
@@ -37,6 +37,7 @@

  <ItemGroup>
    <ProjectReference Include="..\XP.Common\XP.Common.csproj" />
+    <ProjectReference Include="..\XP.Hardware.MotionControl\XP.Hardware.MotionControl.csproj" />
    <ProjectReference Include="..\XP.Hardware.RaySource\XP.Hardware.RaySource.csproj" />
    <ProjectReference Include="..\XplorePlane\XplorePlane.csproj" />
  </ItemGroup>