XplorePlane/XplorePlane.Tests/Hardware/SimulatedLinearAxisTests.cs

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);
        }
    }
}