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);
+        }
+    }
+}