autocal layout first design

2026-09-20 21:15:39 +08:00
parent 07d7c3bad6
commit e276b5de0f
92 changed files with 18071 additions and 64 deletions
@@ -0,0 +1,328 @@
+"""Guard and state-machine behaviour of the motion service.
+
+Driven against the simulated platform, so every assertion here is about AutoCal's
+own logic: what it refuses, what it reads, and when. No test in this file touches
+a controller or a DLL.
+"""
+
+from __future__ import annotations
+
+import time
+
+import pytest
+
+from orisys_autocal.motion import (
+    INIT_FAILED,
+    INIT_OK,
+    INIT_RUNNING,
+    AxisParams,
+    ConnectionSpec,
+    DemoTransport,
+    MotionService,
+)
+
+
+@pytest.fixture
+def service():
+    return MotionService(DemoTransport())
+
+
+def _initialise(service, timeout: float = 5.0) -> None:
+    """Download a BAS program and wait for the simulated bus to report ready."""
+    service.download_bas(__file__, 1)
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline and service.bus.init_status != INIT_OK:
+        service.poll([0])
+        time.sleep(0.05)
+
+
+# ----------------------------------------------------------------- connection
+
+
+def test_a_fresh_service_is_disconnected_and_touches_nothing(service):
+    assert not service.connected
+    assert not service.bas_loaded
+    assert service.poll([0]).connected is False
+
+
+def test_connect_reports_success_and_an_unknown_bus_without_a_bas(service):
+    result = service.connect(ConnectionSpec(mode="demo"))
+    assert result.ok
+    assert service.connected
+    # No BAS program has run, so the bus type must not be guessed at.
+    snapshot = service.poll([0])
+    assert snapshot.bus.bus_type == "unknown"
+    assert not snapshot.bus.initialized
+
+
+def test_connect_failure_is_reported_without_raising(service):
+    result = service.connect(ConnectionSpec(mode="eth", ip="127.0.0.1"))
+    assert not result.ok
+    assert not service.connected
+
+
+def test_disconnect_clears_bus_state(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    service.disconnect()
+    assert not service.connected
+    assert service.bus.bus_type == "unknown"
+
+
+# ---------------------------------------------------------------- bus init
+
+
+def test_download_requires_a_real_file(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    assert not service.download_bas("", 1).ok
+    assert not service.download_bas(r"D:\nope\missing.bas", 1).ok
+
+
+def test_download_needs_a_connection(service):
+    assert not service.download_bas(__file__, 1).ok
+
+
+def test_download_then_poll_reaches_initialised(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    assert service.download_bas(__file__, 1).ok
+    _initialise(service)
+    assert service.bus.init_status == INIT_OK
+    assert service.bus.bus_type == "ecat"
+    assert service.bus.total_axes == 5
+    assert service.bus.node_count == 5
+
+
+def test_bus_is_running_immediately_after_download(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    service.download_bas(__file__, 1)
+    assert service.bus.init_status == INIT_RUNNING
+
+
+def test_reinitialise_is_refused_while_already_running(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    service.download_bas(__file__, 1)
+    assert not service.reinit_bus().ok
+
+
+def test_reinitialise_is_refused_without_a_bas_program(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    result = service.reinit_bus()
+    assert not result.ok
+    assert "BAS" in result.message or "Bas" in result.message
+
+
+def test_init_timeout_is_reported_rather_than_raising():
+    """A controller that never publishes its globals must time out, not hang."""
+
+    class SilentTransport(DemoTransport):
+        def user_var(self, name):
+            from orisys_app_shared.zmotion import ZAuxError
+
+            raise ZAuxError(30002, f"{name} is not defined")
+
+    service = MotionService(SilentTransport())
+    service._init_timeout = 0.05  # noqa: SLF001 - shortening the vendor window
+    service.connect(ConnectionSpec(mode="demo"))
+    service.download_bas(__file__, 1)
+    time.sleep(0.1)
+    snapshot = service.poll([0])
+    assert snapshot.bus.init_status == INIT_FAILED
+    assert snapshot.bus.message  # carries the ZDevelop hint, not an empty string
+
+
+# ------------------------------------------------------------------- guards
+
+
+def test_motion_is_refused_before_the_bus_is_initialised(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    for attempt in (
+        service.jog(0, True),
+        service.move_abs(0, 100.0),
+        service.move_rel(0, 10.0),
+        service.home(0),
+    ):
+        assert not attempt.ok
+        assert attempt.message
+
+
+def test_motion_is_refused_when_not_connected(service):
+    assert not service.jog(0, True).ok
+    assert not service.move_abs(0, 1.0).ok
+    assert not service.stop(0).ok
+
+
+def test_motion_on_an_unknown_axis_is_refused(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    result = service.jog(99, True)
+    assert not result.ok
+    assert "99" in result.message or "0-4" in result.message
+
+
+@pytest.mark.parametrize("bad", [float("nan"), float("inf"), float("-inf")])
+def test_a_non_finite_target_is_refused(service, bad):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    result = service.move_abs(0, bad)
+    assert not result.ok
+    assert result.message
+
+
+def test_home_needs_a_configured_mode(service):
+    """0 is not a valid homing mode; inheriting one would be worse than saying so."""
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    result = service.home(0)
+    assert not result.ok
+    assert "0" in result.message
+
+
+def test_home_runs_once_a_mode_is_set(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    service.set_axis_params(0, AxisParams(home_mode=17))
+    assert service.home(0).ok
+
+
+def test_home_is_refused_on_rtex(service):
+    """The vendor example refuses RTEX homing; so do we."""
+
+    class RtexTransport(DemoTransport):
+        def user_var(self, name):
+            return 1.0 if name == "BUS_TYPE" else super().user_var(name)
+
+    rtex = MotionService(RtexTransport())
+    rtex.connect(ConnectionSpec(mode="demo"))
+    _initialise(rtex)
+    assert rtex.bus.bus_type == "rtex"
+    result = rtex.home(0)
+    assert not result.ok
+    assert result.message
+
+
+# ------------------------------------------------------------------- motion
+
+
+def test_jog_and_stop_move_the_state_machine(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    assert service.jog(0, True).ok
+    state = service.poll([0]).axis(0)
+    assert state is not None and not state.idle
+
+    assert service.stop(0).ok
+    state = service.poll([0]).axis(0)
+    assert state is not None and state.idle
+
+
+def test_absolute_and_relative_moves_change_the_command_position(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    assert service.move_abs(1, 250.0).ok
+    assert service.poll([1]).axis(1).dpos == pytest.approx(250.0)
+    assert service.move_rel(1, -50.0).ok
+    assert service.poll([1]).axis(1).dpos == pytest.approx(200.0)
+
+
+def test_set_axis_params_writes_and_remembers(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    params = AxisParams(units=5.0, speed=200.0, accel=2000.0)
+    assert service.set_axis_params(2, params).ok
+    assert service.params(2) == params
+    assert service.to_mm(2, 1000.0) == pytest.approx(1.0)
+
+
+def test_enable_toggles_the_axis(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    assert service.set_axis_enable(3, False).ok
+    assert service.poll([3]).axis(3).enabled is False
+    assert service.set_axis_enable(3, True).ok
+    assert service.poll([3]).axis(3).enabled is True
+
+
+def test_stop_all_covers_every_axis(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    results = service.stop_all()
+    assert len(results) == service.axis_count
+    assert all(result.ok for result in results)
+
+
+def test_clear_alarm_reaches_the_drive(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    assert service.clear_alarm(0).ok
+
+
+# ----------------------------------------------------------------- bus data
+
+
+def test_sdo_round_trips_on_ethercat(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    assert service.sdo_write(0, 0x6040, 0, 3, 6).ok
+    result, value = service.sdo_read(0, 0x6040, 0, 3)
+    assert result.ok
+    assert value == 6
+
+
+def test_sdo_is_refused_on_rtex(service):
+    class RtexTransport(DemoTransport):
+        def user_var(self, name):
+            return 1.0 if name == "BUS_TYPE" else super().user_var(name)
+
+    rtex = MotionService(RtexTransport())
+    rtex.connect(ConnectionSpec(mode="demo"))
+    _initialise(rtex)
+    result, _value = rtex.sdo_read(0, 0x6040, 0, 3)
+    assert not result.ok
+
+
+def test_rtex_is_refused_on_ethercat(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    _initialise(service)
+    result, _value = service.rtex_read(0, 1)
+    assert not result.ok
+
+
+def test_bus_data_is_refused_before_the_bus_type_is_known(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    result, _value = service.sdo_read(0, 0x6040, 0, 3)
+    assert not result.ok
+
+
+# ------------------------------------------------------------------- polling
+
+
+def test_polling_reports_every_requested_axis(service):
+    service.connect(ConnectionSpec(mode="demo"))
+    snapshot = service.poll([0, 1, 2, 3, 4])
+    assert [state.axis for state in snapshot.axes] == [0, 1, 2, 3, 4]
+    assert all(state.read_ok for state in snapshot.axes)
+
+
+def test_a_read_failure_is_marked_not_silently_zeroed():
+    """A failed read must not look like a position of zero."""
+
+    class FailingReads(DemoTransport):
+        def get_dpos(self, axis):
+            from orisys_app_shared.zmotion import ZAuxError
+
+            raise ZAuxError(30000, "no response")
+
+    service = MotionService(FailingReads())
+    service.connect(ConnectionSpec(mode="demo"))
+    snapshot = service.poll([0])
+    state = snapshot.axis(0)
+    assert state is not None
+    assert state.read_ok is False
+    assert state.error
+
+
+def test_language_switches_the_refusal_text(service):
+    assert not service.jog(0, True).ok
+    zh = service.jog(0, True).message
+    service.set_language("en_US")
+    en = service.jog(0, True).message
+    assert zh != en