aivfo-tl-3.0/ivf_tl_operate_2.0/control/IvfTl.Hardware.HilTests/FocusZeroHilTests.cs

using System.Linq;
using System.Threading;
using IvfTl.Hardware.HilTests.Infrastructure;
using IvfTl.Hardware.Impl;
using Xunit;
using Xunit.Abstractions;

namespace IvfTl.Hardware.HilTests
{
    /// <summary>
    /// M-06 防回归:control SerialChannelImpl.ReadWellFocusZeroWait(well) 必须按 well 读各自 Z 焦点零点。
    /// 修前 ComBin.ReadEEPROMvertMtStartPulseWait 硬编码 well-1 → 各 well 全返回同值(去重=1)=回归。
    /// 修后各 well 分槽(去重>1)。纯 0x11 EEPROM 读,无任何电机动作,非破坏。
    /// </summary>
    [Collection("HIL")]
    public class FocusZeroHilTests
    {
        private readonly HardwareRigFixture _rig;
        private readonly ITestOutputHelper _out;
        public FocusZeroHilTests(HardwareRigFixture rig, ITestOutputHelper o) { _rig = rig; _out = o; }

        [SkippableFact]
        public void PerWellFocusZero_IsDistinctPerWell_AndWithinSafeZ()
        {
            var chamber = _rig.FirstChamberWithWells();
            Skip.If(chamber == null, "无响应真舱:无硬件 / control 正占用串口 / 未连接");

            var vals = new int[17];
            SerialChannelImpl ch = null;
            try
            {
                ch = new SerialChannelImpl(0, chamber.Port);
                Assert.True(ch.Open(), $"{chamber.Port} 打开失败");
                for (int well = 1; well <= 16; well++)
                {
                    vals[well] = ch.ReadWellFocusZeroWait(well);
                    Thread.Sleep(120);
                }
            }
            finally { try { ch?.Close(); } catch { } }

            var read = vals.Skip(1).ToArray();
            _out.WriteLine($"舱{chamber.HouseSn} 各 well 焦点零点: {string.Join(",", read)}");

            int distinct = read.Distinct().Count();
            Assert.True(distinct > 1,
                $"按 well 读应各 well 不同(去重>1),实得去重={distinct}(=1 说明退回恒读 well-1=M-06 回归)");
            Assert.All(read, v => Assert.InRange(v, 0, 125000)); // 安全 Z 区间
        }
    }
}