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 +1,65 @@
+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");
+        }
+    }
+}