Modbus-rtu/PLSR/Test/test_plsr_path.c

#include "plc_device.h"
#include "plsr_core.h"
#include "plsr_hal_f407.h"
#include "plsr_job.h"
#include "plsr_path.h"
#include "plsr_persistence.h"
#include <stdio.h>
#include <string.h>

#define TEST_WORD_CAPACITY  (3000U)
#define TEST_BIT_CAPACITY   (128U)

#define TEST_S0_BASE        (100U)
#define TEST_S1_BASE        (200U)
#define TEST_SEGMENT_STRIDE (10U)

/* 等待条件编码（信捷）：高8位条件、低8位来源。 */
#define TEST_WAIT_CODE(condition, source) \
    ((uint16_t)(((uint16_t)(condition) << 8U) | (uint16_t)(source)))

typedef struct
{
    uint16_t words[3][TEST_WORD_CAPACITY];
    uint8_t bits[3][TEST_BIT_CAPACITY];
} TEST_MEMORY;

static int TestFailures;
static int TestChecks;

#define CHECK(condition)                                                     \
    do                                                                       \
    {                                                                        \
        TestChecks++;                                                        \
        if (!(condition))                                                    \
        {                                                                    \
            TestFailures++;                                                  \
            (void)printf("FAIL line %d: %s\n", __LINE__, #condition);       \
        }                                                                    \
    } while (0)

static uint8_t TestValidateWords(void *context,
                                 PLSR_DEVICE_TYPE device,
                                 uint32_t firstAddress,
                                 uint32_t wordCount)
{
    (void)context;
    if ((device > PLSR_DEVICE_FD) || (wordCount == 0UL))
    {
        return 0U;
    }
    return (((uint64_t)firstAddress + wordCount) <= TEST_WORD_CAPACITY)
               ? 1U
               : 0U;
}

static uint8_t TestReadWord(void *context,
                            PLSR_DEVICE_TYPE device,
                            uint32_t address,
                            uint16_t *value)
{
    TEST_MEMORY *memory = (TEST_MEMORY *)context;

    if ((memory == NULL) || (value == NULL) || (device > PLSR_DEVICE_FD)
        || (address >= TEST_WORD_CAPACITY))
    {
        return 0U;
    }
    *value = memory->words[device][address];
    return 1U;
}

static uint8_t TestReadBit(void *context,
                           PLSR_DEVICE_TYPE device,
                           uint32_t address,
                           uint8_t *value)
{
    TEST_MEMORY *memory = (TEST_MEMORY *)context;
    uint8_t index;

    if ((memory == NULL) || (value == NULL) || (device < PLSR_DEVICE_X)
        || (device > PLSR_DEVICE_HM) || (address >= TEST_BIT_CAPACITY))
    {
        return 0U;
    }
    index = (uint8_t)(device - PLSR_DEVICE_X);
    *value = memory->bits[index][address];
    return 1U;
}

static void TestWriteDword(TEST_MEMORY *memory,
                           PLSR_DEVICE_TYPE device,
                           uint32_t address,
                           int32_t value)
{
    uint32_t raw = (uint32_t)value;

    memory->words[device][address] = (uint16_t)(raw & 0xFFFFUL);
    memory->words[device][address + 1UL] = (uint16_t)(raw >> 16U);
}

/* 写入一个段的数据块（S0 布局，每段 10 字）。 */
static void TestSetSegment(TEST_MEMORY *memory,
                           uint16_t number,
                           uint32_t frequency,
                           int32_t pulses,
                           uint16_t waitCode,
                           int32_t waitValue,
                           uint16_t jumpSource,
                           int32_t jumpValue)
{
    uint32_t base = TEST_S0_BASE + (uint32_t)number * TEST_SEGMENT_STRIDE;

    TestWriteDword(memory, PLSR_DEVICE_D, base, (int32_t)frequency);
    TestWriteDword(memory, PLSR_DEVICE_D, base + 2UL, pulses);
    memory->words[PLSR_DEVICE_D][base + 4UL] = waitCode;
    TestWriteDword(memory, PLSR_DEVICE_D, base + 5UL, waitValue);
    memory->words[PLSR_DEVICE_D][base + 7UL] = (uint16_t)jumpSource;
    TestWriteDword(memory, PLSR_DEVICE_D, base + 8UL, jumpValue);
}

static void TestResetEnvironment(void)
{
    PlsrPersistenceTestResetStorage();
    CHECK(PlcDeviceInit() == PLC_DEVICE_OK);
    /* 默认 SFD + 配置方向端子（接线参数，测试用 Y4）。 */
    CHECK(PlcDeviceWriteSfd(906U, 4) == PLC_DEVICE_OK);
    CHECK(PlsrInit() == PLSR_RESULT_OK);
}

static PLSR_CALL TestMakeCall(TEST_MEMORY *memory)
{
    PLSR_CALL call;

    (void)memset(&call, 0, sizeof(call));
    call.sequence = 10UL;
    call.source.context = memory;
    call.source.validateWords = TestValidateWords;
    call.source.readWord = TestReadWord;
    call.source.readBit = TestReadBit;
    call.s0.device = PLSR_DEVICE_D;
    call.s0.address = TEST_S0_BASE;
    call.s1.device = PLSR_DEVICE_D;
    call.s1.address = TEST_S1_BASE;
    call.s2.type = PLSR_OPERAND_CONSTANT;
    call.s2.constant = 1;
    call.dAxis = 0U;
    call.outputModeOverride = PLSR_OUTPUT_MODE_FROM_SFD;
    return call;
}

static PLSR_STATUS TestGetStatus(void)
{
    PLSR_STATUS status;

    (void)memset(&status, 0, sizeof(status));
    CHECK(PlsrGetStatus(0U, &status) == PLSR_RESULT_OK);
    return status;
}

/* 当前段加速完成进入 RUN。 */
static void TestAccelToRun(void)
{
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_ACCEL_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_RUN);
}

static void TestWaitHardwareRunning(void)
{
    int ticks;

    for (ticks = 0; ticks < 20; ticks++)
    {
        if (PlsrHwIsPulseActive(0U) != 0U)
        {
            break;
        }
        PlsrProcess();
    }
    CHECK(PlsrHwIsPulseActive(0U) != 0U);
}

/* 启动一个 N 段任务（全部 H00 完成条件、顺序跳转）。 */
static void TestStartSequentialJob(TEST_MEMORY *memory,
                                   uint16_t segmentCount,
                                   uint32_t sequence)
{
    uint16_t segment;

    (void)memset(memory, 0, sizeof(*memory));
    TestWriteDword(memory, PLSR_DEVICE_D, TEST_S0_BASE, segmentCount);
    for (segment = 1U; segment <= segmentCount; segment++)
    {
        TestSetSegment(memory,
                       segment,
                       1000U + (uint32_t)segment * 1000U,
                       (int32_t)(segment * 100),
                       TEST_WAIT_CODE(0U, 0U),
                       0,
                       0U,
                       0);
    }
    {
        PLSR_CALL call = TestMakeCall(memory);

        call.sequence = sequence;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    CHECK(TestGetStatus().lastCommandResult == PLSR_RESULT_OK);
}

static void TestSequentialSegments(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    TestStartSequentialJob(&memory, 3U, 10UL);
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 1U);

    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);

    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 3U);

    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_COMPLETED);
    CHECK(TestGetStatus().done != 0U);
}

static void TestJumpToSpecifiedSegment(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 3);
    TestSetSegment(&memory, 1U, 1000U, 100, TEST_WAIT_CODE(0U, 0U), 0, 0U, 3);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    TestSetSegment(&memory, 3U, 3000U, 300, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 20UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    CHECK(TestGetStatus().currentSegment == 1U);

    /* 段1 完成 → 跳到段3（跳过段2）。 */
    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 3U);

    /* 段3 完成 → 顺序下一段超出 → 任务结束。 */
    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_COMPLETED);
}

static void TestWaitTime(void)
{
    TEST_MEMORY memory;
    int ticks;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(1U, 0U), 200, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 30UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段1 完成 → 进入 WAIT（等 200ms）。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);

    /* 事件处理同轮已递减 1ms：198 个 tick 后仍在等待。 */
    for (ticks = 0; ticks < 198; ticks++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);
    CHECK(TestGetStatus().currentSegment == 1U);

    /* 第 200 个 tick：计时到，跳到段2。 */
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestWaitSignal(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(2U, 5U), 10, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 40UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段1 完成 → 等 M10（当前 OFF）。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);

    /* 信号仍 OFF：不跳转。 */
    PlsrProcess();
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);

    /* 信号置 ON：tick 轮询到后跳段。 */
    memory.bits[1U][10U] = 1U;   /* M10 */
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestActTruncatesSegment(void)
{
    TEST_MEMORY memory;
    int ticks;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(3U, 0U), 200, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 50UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 不注入 SEGMENT_COMPLETE：ACT 200ms 到时截断当前段。 */
    for (ticks = 0; ticks < 200; ticks++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_RUN);
    CHECK(PlsrHwTestGetPwmEnabled(0U) != 0U);
    PlsrHwTestTriggerUpdate(0U);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestActPendingAfterSegmentDone(void)
{
    TEST_MEMORY memory;
    int ticks;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(3U, 0U), 200, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 60UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段脉冲先完成（ACT 还剩 199ms）→ 停在 ACT_PENDING（WAIT 状态）。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);

    /* ACT 到时 → 跳段2。 */
    for (ticks = 0; ticks < 199; ticks++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestExtEdgeTruncates(void)
{
    TEST_MEMORY memory;
    int ticks;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(4U, 4U), 0, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    /* X0 在任务开始前就有效：进入段时记录为已有电平，不算新边沿。 */
    memory.bits[0U][0U] = 1U;
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 70UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* X0 持续 ON：没有新边沿，不应触发。 */
    for (ticks = 0; ticks < 5; ticks++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_RUN);
    CHECK(TestGetStatus().currentSegment == 1U);
    TestWaitHardwareRunning();

    /* 先拉低再拉高：新上升沿，截断当前段。 */
    memory.bits[0U][0U] = 0U;
    PlsrProcess();
    memory.bits[0U][0U] = 1U;
    PlsrProcess();
    /* EXT freezes the profile but preserves the in-flight physical high/low
     * period.  The job must not start segment 2 until the natural update
     * boundary has stopped the old PWM and posted completion. */
    CHECK(TestGetStatus().state == PLSR_STATE_RUN);
    CHECK(PlsrHwTestGetPwmEnabled(0U) != 0U);
    PlsrHwTestTriggerUpdate(0U);
    CHECK(PlsrHwTestGetPwmEnabled(0U) == 0U);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestExtOrComplete(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(5U, 4U), 0, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 80UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段脉冲先完成 → 正常跳段（EXT 或完成）。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestExtLastSegmentWaitsForPhysicalBoundary(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 1);
    TestSetSegment(&memory, 1U, 2000U, 50000,
                   TEST_WAIT_CODE(4U, 4U), 0, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 81UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();
    TestWaitHardwareRunning();

    memory.bits[0U][0U] = 1U;
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_RUN);
    CHECK(PlsrHwTestGetPwmEnabled(0U) != 0U);

    PlsrHwTestTriggerUpdate(0U);
    CHECK(PlsrHwTestGetPwmEnabled(0U) == 0U);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_COMPLETED);
    CHECK(TestGetStatus().done != 0U);
}

static void TestDynamicJump(void)
{
    TEST_MEMORY memory;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 3);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 3);
    TestSetSegment(&memory, 2U, 2000U, 200, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    /* 段3 跳转也来自 D300（初始 3 = 自跳转，运行期改非法值验证越界）。 */
    TestSetSegment(&memory, 3U, 3000U, 300,
                   TEST_WAIT_CODE(0U, 0U), 0, 1U, 300);
    TestWriteDword(&memory, PLSR_DEVICE_D, 300U, 3);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 90UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段1 完成：跳到段3。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().currentSegment == 3U);

    /* 段3 完成前把 D300 改成非法值 → 运行期错误 → ERROR。 */
    TestAccelToRun();
    TestWriteDword(&memory, PLSR_DEVICE_D, 300U, 99);
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ERROR);
}

static void TestAbsoluteZeroDisplacement(void)
{
    TEST_MEMORY memory;
    PLSR_COMMAND command;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    /* S1+0 = 1：绝对模式。 */
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S1_BASE, 1);
    /* 段1 目标 0（=当前位置 0，零位移）；段2 目标 5000。 */
    TestSetSegment(&memory, 1U, 1000U, 0,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    TestSetSegment(&memory, 2U, 2000U, 5000,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);

    /* 绝对定位需要 positionValid：先 SET_POSITION(0)。 */
    command.sequence = 91UL;
    command.axis = 0U;
    command.opcode = PLSR_CMD_SET_POSITION;
    command.argument = 0;
    CHECK(PlsrPostCommand(&command) == PLSR_RESULT_QUEUED);
    PlsrProcess();

    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 92UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    /* 起点段1 零位移：直接跳过，从段2 开始发脉冲。 */
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
}

static void TestZeroJumpBudgetYields(void)
{
    TEST_MEMORY memory;
    int rounds;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 3);
    /* 段1：零脉冲，跳到段2；段2：零脉冲，动态跳转（初始自跳转）；段3：正常段。 */
    TestSetSegment(&memory, 1U, 1000U, 0,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 2);
    TestSetSegment(&memory, 2U, 1000U, 0,
                   TEST_WAIT_CODE(0U, 0U), 0, 1U, 300);
    TestSetSegment(&memory, 3U, 1000U, 100,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    TestWriteDword(&memory, PLSR_DEVICE_D, 300U, 2);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 100UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();

    /* 每轮 100 次预算：零脉冲自循环链停在段2 并让出，任务不结束。 */
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
    CHECK(TestGetStatus().done == 0U);
    for (rounds = 0; rounds < 3; rounds++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 2U);
    CHECK(TestGetStatus().done == 0U);

    /* 运行中改动态跳转目标 → 链走向段3（有脉冲）→ 正常执行并完成。 */
    TestWriteDword(&memory, PLSR_DEVICE_D, 300U, 3);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 3U);
    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_COMPLETED);
}

static void TestSelfLoopInterruptedByStop(void)
{
    TEST_MEMORY memory;
    PLSR_COMMAND command;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 1);
    TestSetSegment(&memory, 1U, 1000U, 100,
                   TEST_WAIT_CODE(0U, 0U), 0, 0U, 1);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 110UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();

    /* 段1 完成 → 自跳转回段1。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_ACCEL);
    CHECK(TestGetStatus().currentSegment == 1U);

    /* STOP 可打断自循环。 */
    command.sequence = 111UL;
    command.axis = 0U;
    command.opcode = PLSR_CMD_STOP_IMMEDIATE;
    command.argument = 0;
    CHECK(PlsrPostCommand(&command) == PLSR_RESULT_QUEUED);
    PlsrProcess();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_STOP_IMMEDIATE_DONE)
          == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_STOPPED);
    CHECK(TestGetStatus().done == 0U);
}

static void TestLastSegmentWaitTime(void)
{
    TEST_MEMORY memory;
    int ticks;

    TestResetEnvironment();
    (void)memset(&memory, 0, sizeof(memory));
    TestWriteDword(&memory, PLSR_DEVICE_D, TEST_S0_BASE, 2);
    TestSetSegment(&memory, 1U, 1000U, 100, TEST_WAIT_CODE(0U, 0U), 0, 0U, 0);
    /* 最后一段用 WAIT 时间（信捷警告场景：验证不会卡死）。 */
    TestSetSegment(&memory, 2U, 2000U, 200,
                   TEST_WAIT_CODE(1U, 0U), 100, 0U, 0);
    {
        PLSR_CALL call = TestMakeCall(&memory);

        call.sequence = 120UL;
        CHECK(PlsrPostCall(&call) == PLSR_RESULT_QUEUED);
    }
    PlsrProcess();
    TestAccelToRun();
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    TestAccelToRun();

    /* 段2（最后一段）完成 → 等待 100ms。 */
    CHECK(PlsrPostEvent(0U, PLSR_EVENT_SEGMENT_COMPLETE) == PLSR_RESULT_OK);
    PlsrProcess();
    CHECK(TestGetStatus().state == PLSR_STATE_WAIT);

    /* 计时到 → 任务正常结束。 */
    for (ticks = 0; ticks < 100; ticks++)
    {
        PlsrProcess();
    }
    CHECK(TestGetStatus().state == PLSR_STATE_COMPLETED);
    CHECK(TestGetStatus().done != 0U);
}

int main(void)
{
    TestSequentialSegments();
    TestJumpToSpecifiedSegment();
    TestWaitTime();
    TestWaitSignal();
    TestActTruncatesSegment();
    TestActPendingAfterSegmentDone();
    TestExtEdgeTruncates();
    TestExtOrComplete();
    TestExtLastSegmentWaitsForPhysicalBoundary();
    TestDynamicJump();
    TestAbsoluteZeroDisplacement();
    TestZeroJumpBudgetYields();
    TestSelfLoopInterruptedByStop();
    TestLastSegmentWaitTime();

    if (TestFailures != 0)
    {
        (void)printf("FAIL: %d of %d PLSR path checks failed\n",
                     TestFailures,
                     TestChecks);
        return 1;
    }
    (void)printf("PASS: %d PLSR path checks\n", TestChecks);
    return 0;
}