tests for 2-way-actuator

simatic-ax · Oct 9, 2024 · dc6c29a · dc6c29a
1 parent 46b63a6
commit dc6c29a
Showing 1 changed file with 88 additions and 23 deletions.
diff --git a/test/TwoWayActuatorTest.st b/test/TwoWayActuatorTest.st
@@ -1,3 +1,4 @@
+USING Simatic.Ax.IO.Input;
 USING Simatic.Ax.Commands;
 USING Simatic.Ax.axftcmlib;
 USING Simatic.Ax.IO.Output;
@@ -8,50 +9,114 @@ NAMESPACE Simatic.Ax.axftcmlib
     {TestFixture}
     CLASS TwoWayActuatorTest
         VAR PROTECTED
-            _actuator : TimeBasedActuator;
-            _actuatorStateLess : TimeBasedActuator;
-            _output : BinOutput;
+            _actuator : TwoWayActuator;
+            _actuatorStateLess : TwoWayActuator;
+            _qToWork : BinOutput;
+            _qToHome : BinOutput;
+            _outputStateLess : BinOutput;
+            _iInHomePos : BinSignal;
+            _iInWorkPos : BinSignal;
+            _binSignalStateless : BinSignal;
             cmd : itfCommand;
+            done : BOOL;
             busy : BOOL;
         END_VAR
 
         {TestSetup}
         METHOD PUBLIC SetUp
             _actuator := _actuatorStateLess;
-            _actuator.Q_ToWorkPosition := _output;
+            _actuator.Q_ToWorkPosition := _qToWork;
+            _actuator.Q_ToHomePosition := _qToHome;
+            _actuator.I_InHomePosition := _iInHomePos;
+            _actuator.I_InWorkPosition := _iInWorkPos;
+            _iInHomePos := _binSignalStateless;
+            _iInWorkPos := _binSignalStateless;
+            _qToWork := _outputStateLess;
+            _qToHome := _outputStateLess;
+            busy := FALSE;
         END_METHOD
 
-                {Test}
-        METHOD PUBLIC TestTurnPneumaticCylinderPush_Expect_state_is_On
+        {Test}
+        METHOD PUBLIC GoToWorkPosition_Swiches_Q_ToWorkPosition_On_And_Returns_Busy
             cmd := _actuator.GoToWorkPosition();
             busy := cmd.Busy();
             AxUnit.Assert.Equal(expected := TRUE, actual := busy);
-            AxUnit.Assert.Equal(expected := TRUE, actual := _output.IsOn());
+            AxUnit.Assert.Equal(expected := TRUE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToHome.IsOn());
+            Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#MoveToWorkPosition);
+        END_METHOD
+
+        {Test}
+        METHOD PUBLIC GoToWorkPosition_Returns_Done_When_end_position_is_already_reached
+            _iInWorkPos.ReadCyclic(signal := TRUE);
+            cmd := _actuator.GoToWorkPosition();
+            busy := cmd.Busy();
+            IF NOT(busy) THEN
+                done := cmd.Done();
+            END_IF;                
+            AxUnit.Assert.Equal(expected := FALSE, actual := busy);
+            AxUnit.Assert.Equal(expected := TRUE, actual := done);
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToHome.IsOn());
+            Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#InWorkPosition);
+        END_METHOD
+
+        {Test}
+        METHOD PUBLIC Reaching_WorkPosition_Switches_Q_ToWorkPosition_Off_And_Returns_Done
+            THIS.GoToWorkPosition_Swiches_Q_ToWorkPosition_On_And_Returns_Busy();
+            _iInWorkPos.ReadCyclic(signal := TRUE);
+            busy := cmd.Busy();
+            IF NOT(busy) THEN
+                done := cmd.Done();
+            END_IF;                
+            AxUnit.Assert.Equal(expected := FALSE, actual := busy);
+            AxUnit.Assert.Equal(expected := TRUE, actual := done);
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToHome.IsOn());
             Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#InWorkPosition);
         END_METHOD
 
+
+        // Test Home Position
         {Test}
-        METHOD PUBLIC TestZylinderNotAsigned_Expected_ErrorFound_is_True
-            VAR 
-                Test : BOOL;
-            END_VAR
-            _actuator.Q_ToWorkPosition := NULL;
-            _actuator.Busy();
-            AxUnit.Assert.Equal(Expected := TRUE, actual := _actuator.Error());
-            ;
+        METHOD PUBLIC GoToHomePosition_Swiches_Q_ToHomePosition_On_And_Returns_Busy
+            cmd := _actuator.GoToHomePosition();
+            busy := cmd.Busy();
+            AxUnit.Assert.Equal(expected := TRUE, actual := busy);
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := TRUE, actual := _qToHome.IsOn());
+            Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#MoveToHomePosition);
         END_METHOD
 
         {Test}
-        METHOD PUBLIC TestPneumaticCylinderError_Expected_ErrorFound_TRUE
-            VAR 
-                Test : BOOL;
-            END_VAR
-
-            Test := _actuator.Error();
-            AxUnit.Assert.Equal(Expected := FALSE, actual := Test);
-            ;
+        METHOD PUBLIC GoToHomePosition_Returns_Done_When_end_position_is_already_reached
+            _iInHomePos.ReadCyclic(signal := TRUE);
+            cmd := _actuator.GoToHomePosition();
+            busy := cmd.Busy();
+            IF NOT(busy) THEN
+                done := cmd.Done();
+            END_IF;                
+            AxUnit.Assert.Equal(expected := FALSE, actual := busy);
+            AxUnit.Assert.Equal(expected := TRUE, actual := done);
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToHome.IsOn());
+            Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#InHomePosition);
         END_METHOD
 
+        {Test}
+        METHOD PUBLIC Reaching_HomePosition_Switches_Q_ToHomePosition_Off_And_Returns_Done
+            THIS.GoToHomePosition_Swiches_Q_ToHomePosition_On_And_Returns_Busy();
+            _iInHomePos.ReadCyclic(signal := TRUE);
+            busy := cmd.Busy();
+            IF NOT(busy) THEN
+                done := cmd.Done();
+            END_IF;                
+            AxUnit.Assert.Equal(expected := FALSE, actual := busy);
+            AxUnit.Assert.Equal(expected := TRUE, actual := done);
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToWork.IsOn());
+            AxUnit.Assert.Equal(expected := FALSE, actual := _qToHome.IsOn());
+            Equal(expected := TRUE, actual := _actuator.GetState() = ActuatorState#InHomePosition);
+        END_METHOD
     END_CLASS
 
 END_NAMESPACE