XplorePlane/XplorePlane.Tests/Hardware/SimulatedRotaryAxisTests.cs

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");
        }
    }
}