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@ -1,10 +1,12 @@ |
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package com.qyft.ms; |
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import com.qyft.ms.app.model.entity.SysSettings; |
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import com.qyft.ms.app.model.form.CMDForm; |
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import com.qyft.ms.app.model.vo.ExecutionResult; |
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import com.qyft.ms.app.service.CMDService; |
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import com.qyft.ms.app.service.ISysSettingsService; |
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import com.qyft.ms.app.service.OperationLogService; |
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import com.qyft.ms.app.service.WebSocketService; |
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import com.qyft.ms.device.service.DeviceStatusService; |
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import com.qyft.ms.device.service.DeviceTcpCMDService; |
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import org.junit.jupiter.api.BeforeEach; |
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import org.junit.jupiter.api.DisplayName; |
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@ -13,137 +15,245 @@ import org.mockito.InjectMocks; |
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import org.mockito.Mock; |
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import org.mockito.MockitoAnnotations; |
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import org.springframework.boot.test.context.SpringBootTest; |
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import org.springframework.test.context.ActiveProfiles; |
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import org.springframework.transaction.annotation.Transactional; |
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import java.util.ArrayList; |
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import java.util.HashMap; |
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import java.util.Collections; |
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import java.util.List; |
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import java.util.Map; |
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import java.util.function.Supplier; |
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import static org.junit.jupiter.api.Assertions.*; |
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import static org.mockito.ArgumentMatchers.*; |
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import static org.mockito.Mockito.*; |
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import static org.junit.jupiter.api.Assertions.assertNotEquals; |
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import static org.junit.jupiter.api.Assertions.assertTrue; |
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import static org.mockito.Mockito.when; |
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@DisplayName("指令测试") |
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@ActiveProfiles("test") |
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@SpringBootTest |
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public class CMDServiceTest { |
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@Transactional // 测试完成后回滚数据 |
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@DisplayName("指令单元测试") |
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@SpringBootTest(classes = MatrixSprayApplication.class, |
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webEnvironment = SpringBootTest.WebEnvironment.RANDOM_PORT) |
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class CMDServiceTest { |
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@Mock |
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private DeviceTcpCMDService deviceTcpCMDService; |
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@InjectMocks |
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private CMDService cmdService; |
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@Mock |
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private WebSocketService webSocketService; |
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@Mock |
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private DeviceTcpCMDService deviceTcpCMDService; |
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@Mock |
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private OperationLogService operationLogService; |
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@InjectMocks |
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private CMDService cmdService; |
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private CMDForm form; |
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@Mock |
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private ISysSettingsService sysSettingsService; |
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@Mock |
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private DeviceStatusService deviceStatusService; |
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@BeforeEach |
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void setUp() { |
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MockitoAnnotations.openMocks(this); |
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form = new CMDForm(); |
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form.setCommandId("test-command"); |
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form.setCommandName("test-command"); |
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} |
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@DisplayName("测试轴移动") |
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@DisplayName("电机移动") |
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@Test |
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void testMoveMotorToPosition_Success() { |
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// 准备参数 |
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Map<String, Object> params = new HashMap<>(); |
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params.put("axis", "x"); |
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params.put("position", 100.0); |
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form.setParams(params); |
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void moveMotorToPosition() { |
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CMDForm form = createForm(Map.of("axis", "X", "position", 100.0)); |
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when(deviceTcpCMDService.moveMotorToPosition("X", 100.0)).thenReturn(true); |
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// 模拟设备服务调用 |
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when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true); |
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assertTrue(cmdService.moveMotorToPosition(form)); |
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} |
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// 执行测试 |
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boolean result = cmdService.moveMotorToPosition(form); |
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@DisplayName("三通阀") |
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@Test |
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void switchThreeWayValve() { |
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CMDForm form = createForm(Map.of("type", "clear_nozzle")); |
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when(deviceTcpCMDService.switchThreeWayValve("clear_nozzle")).thenReturn(true); |
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// 验证结果 |
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assertTrue(result); |
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verify(deviceTcpCMDService, times(1)).moveMotorToPosition("x", 100.0); |
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assertTrue(cmdService.switchThreeWayValve(form)); |
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} |
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@DisplayName("测试开始喷涂") |
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@DisplayName("阀门控制") |
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@Test |
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void testStartWork_InvalidPosition() { |
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// 准备无效参数 |
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Map<String, Object> params = new HashMap<>(); |
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params.put("position", new ArrayList<>()); // 空位置列表 |
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form.setParams(params); |
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void controlValve() { |
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CMDForm form = createForm(Map.of("type", "Nozzle", "isOpen", true)); |
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when(deviceTcpCMDService.controlValve("Nozzle", true)).thenReturn(true); |
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// 执行测试 |
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String result = cmdService.startWork(form); |
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assertTrue(cmdService.controlValve(form)); |
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} |
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// 验证返回错误信息 |
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assertEquals("position参数错误", result); |
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} |
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@DisplayName("测试开始喷涂路径规划") |
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@Test |
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void testStartWork_PathGeneration() { |
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// 准备有效参数 |
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Map<String, Object> params = new HashMap<>(); |
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List<Map<String, Integer>> positions = new ArrayList<>(); |
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Map<String, Integer> pos = new HashMap<>(); |
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pos.put("x1", 10); |
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pos.put("y1", 20); |
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pos.put("x2", 30); |
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pos.put("y2", 40); |
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pos.put("index", 0); |
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positions.add(pos); |
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params.put("position", positions); |
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params.put("space", 5); |
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params.put("routeType", 1); |
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params.put("height", 50); |
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params.put("movementSpeed", 100); |
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form.setParams(params); |
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@DisplayName("以指定电压值开启高压电") |
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@Test |
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void turnOnHighVoltage() { |
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CMDForm form = createForm(Map.of("voltage", 4500)); |
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when(deviceTcpCMDService.turnOnHighVoltage(4500)).thenReturn(true); |
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// 模拟依赖项 |
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when(deviceTcpCMDService.switchThreeWayValveToSpray()).thenReturn(true); |
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when(deviceTcpCMDService.setMotorSpeed(anyString(), anyInt())).thenReturn(true); |
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when(deviceTcpCMDService.moveMotorToPosition(anyString(), anyDouble())).thenReturn(true); |
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assertTrue(cmdService.turnOnHighVoltage(form)); |
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} |
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// 执行测试 |
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String result = cmdService.startWork(form); |
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@DisplayName("关闭高压电") |
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@Test |
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void turnOffHighVoltage() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.turnOffHighVoltage()).thenReturn(true); |
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// 验证命令链长度 |
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assertNotNull(result); |
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verify(deviceTcpCMDService, atLeastOnce()).switchThreeWayValveToSpray(); |
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assertTrue(cmdService.turnOffHighVoltage(form)); |
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} |
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@DisplayName("注射泵开启") |
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@Test |
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void testControlValve_NozzleOpen() { |
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Map<String, Object> params = new HashMap<>(); |
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params.put("valveType", "Nozzle"); |
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params.put("isOpen", true); |
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form.setParams(params); |
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void turnOnSyringePump() { |
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CMDForm form = createForm(Map.of("rotationSpeed", 30.0)); |
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when(deviceTcpCMDService.turnOnSyringePump(30.0)).thenReturn(true); |
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assertTrue(cmdService.turnOnSyringePump(form)); |
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} |
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@DisplayName("注射泵关闭") |
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@Test |
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void turnOffSyringePump() { |
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CMDForm form =createForm(Map.of()); |
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when(deviceTcpCMDService.turnOffSyringePump()).thenReturn(true); |
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System.out.println("参数===========" + form); |
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assertTrue(cmdService.turnOffSyringePump(form)); |
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} |
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when(deviceTcpCMDService.controlValve(anyString(), anyBoolean())).thenReturn(true); |
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@DisplayName("设置电机电流") |
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@Test |
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void setMotorRunningCurrent() { |
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CMDForm form = createForm(Map.of("axis", "X", "current", 1.5)); |
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when(deviceTcpCMDService.setMotorRunningCurrent("X", 1.5)).thenReturn(true); |
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assertTrue(cmdService.setMotorRunningCurrent(form)); |
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} |
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@DisplayName("托盘推出") |
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@Test |
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void trayOut() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.moveMotorToPosition("Y", 150)).thenReturn(true); |
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boolean result = cmdService.controlValve(form); |
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assertTrue(result); |
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verify(deviceTcpCMDService).controlValve("Nozzle", true); |
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assertTrue(cmdService.trayOut(form)); |
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} |
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@DisplayName("托盘推入") |
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@Test |
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void testRun_CommandFailure() { |
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// 模拟一个失败的指令 |
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List<Supplier<Boolean>> cmdList = new ArrayList<>(); |
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cmdList.add(() -> false); // 直接返回失败 |
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void trayIn() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.moveMotorToPosition("Y", 0)).thenReturn(true); |
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// 执行内部方法 |
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cmdService.run(cmdList, form); |
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assertTrue(cmdService.trayIn(form)); |
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} |
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@DisplayName("电机停止") |
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@Test |
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void stopMotor() { |
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CMDForm form = createForm(Map.of("axis", "Z")); |
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when(deviceTcpCMDService.stopMotor("Z")).thenReturn(true); |
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assertTrue(cmdService.stopMotor(form)); |
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} |
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// 验证WebSocket错误消息推送 |
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verify(webSocketService).pushMsg(any(), any(ExecutionResult.class)); |
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@DisplayName("照明灯开启") |
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@Test |
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void turnOnLightPanel() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.turnOnLightPanel()).thenReturn(true); |
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assertTrue(cmdService.turnOnLightPanel(form)); |
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} |
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@DisplayName("照明灯关闭") |
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@Test |
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void turnOffLightPanel() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.turnOffLightPanel()).thenReturn(true); |
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assertTrue(cmdService.turnOffLightPanel(form)); |
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} |
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@DisplayName("电机回原点") |
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@Test |
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void motorMoveToHome() { |
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CMDForm form = createForm(Map.of("axis", "Y")); |
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when(deviceTcpCMDService.motorMoveToHome("Y")).thenReturn(true); |
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assertTrue(cmdService.motorMoveToHome(form)); |
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} |
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@DisplayName("预充") |
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@Test |
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void startPrefill() { |
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CMDForm form = createForm(Map.of("rotationSpeed", 50.0)); |
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when(deviceTcpCMDService.switchThreeWayValve("clear_spray")).thenReturn(true); |
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when(deviceTcpCMDService.controlValve("Nozzle", true)).thenReturn(true); |
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when(deviceTcpCMDService.turnOnSyringePump(50.0)).thenReturn(true); |
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assertTrue(cmdService.startPrefill(form)); |
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} |
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@DisplayName("停止预充") |
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@Test |
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void stopPrefill() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.turnOffSyringePump()).thenReturn(true); |
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when(deviceTcpCMDService.controlValve("Nozzle", false)).thenReturn(true); |
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assertTrue(cmdService.stopPrefill(form)); |
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} |
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@DisplayName("开始喷头清洗") |
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@Test |
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void startWash_nozzleType() { |
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CMDForm form = createForm(Map.of("type", "nozzle")); |
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when(deviceTcpCMDService.moveMotorToPosition("X", 173.08)).thenReturn(true); |
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when(deviceTcpCMDService.moveMotorToPosition("Y", 75.2)).thenReturn(true); |
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when(deviceTcpCMDService.moveMotorToPosition("Z", 70)).thenReturn(true); |
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when(deviceTcpCMDService.switchThreeWayValve("clear_nozzle")).thenReturn(true); |
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when(deviceTcpCMDService.controlValve("Nozzle", true)).thenReturn(true); |
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assertTrue(cmdService.startWash(form)); |
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} |
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@DisplayName("结束清洗") |
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@Test |
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void stopWash() { |
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CMDForm form = new CMDForm(); |
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when(deviceTcpCMDService.switchThreeWayValve("close_all")).thenReturn(true); |
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when(deviceTcpCMDService.controlValve("Cleaning", false)).thenReturn(true); |
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when(deviceTcpCMDService.controlValve("Nozzle", false)).thenReturn(true); |
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assertTrue(cmdService.stopWash(form)); |
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} |
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@DisplayName("设置点击运行速度") |
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@Test |
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void setMotorSpeed() { |
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CMDForm form = createForm(Map.of("axis", "X", "speed", 100.0)); |
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when(deviceTcpCMDService.setMotorSpeed("X", 100.0)).thenReturn(true); |
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assertTrue(cmdService.setMotorSpeed(form)); |
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} |
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@DisplayName("开始喷涂") |
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@Test |
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void startWork_pathGeneration() { |
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CMDForm form = createForm(Map.of( |
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"position", List.of(Map.of("x1", 0, "y1", 0, "x2", 20, "y2", 50, "index", 0)), |
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"space", 5, |
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"routeType", 1 |
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)); |
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SysSettings setting = new SysSettings(); |
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setting.setValue("10,20,30"); |
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when(sysSettingsService.getSlidePositionList()).thenReturn(Collections.singletonList(setting)); |
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String result = cmdService.startWork(form); |
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System.out.println(result); |
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assertNotEquals("路径规划失败", result); |
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} |
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// 工具方法，简化Form构造 |
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private CMDForm createForm(Map<String, Object> params) { |
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CMDForm form = new CMDForm(); |
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form.setParams(params); |
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return form; |
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} |
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} |
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} |
