def test_g28(self):
# no parameters
gcode = "G28"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertDictEqual({}, parsed.parameters)
# all parameters, funky spaces
gcode = "g 2 8 xy zw; some kind of comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertIsNone(parsed.parameters["X"])
self.assertIsNone(parsed.parameters["Y"])
self.assertIsNone(parsed.parameters["Z"])
self.assertIsNone(parsed.parameters["W"])
# all parameters, no spaces
gcode = "g28wzxy; some kind of comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertIsNone(parsed.parameters["X"])
self.assertIsNone(parsed.parameters["Y"])
self.assertIsNone(parsed.parameters["Z"])
self.assertIsNone(parsed.parameters["W"])
# some parameters
gcode = "g28 xy; some kind of comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertIsNone(parsed.parameters["X"])
self.assertIsNone(parsed.parameters["Y"])
self.assertNotIn("Z", parsed.parameters)
self.assertNotIn("W", parsed.parameters)
def test_unknown_command(self):
gcode = "G9999fdafdsafdafsd"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G9999")
self.assertIsNone(parsed.parameters)
gcode = "G9999"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G9999")
self.assertIsNone(parsed.parameters)
def test_g21(self):
# no parameters
gcode = "G21"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G21")
self.assertDictEqual({}, parsed.parameters)
# with parameters (bogus)
gcode = "G21X100fdafdsa; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G21")
self.assertDictEqual({}, parsed.parameters)
def test_IsAtCurrentPosition(self):
# Received: x:119.91,y:113.34,z:2.1,e:0.0, Expected:
# x:119.9145519,y:113.33847,z:2.1
# G1 X119.915 Y113.338 F7200
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("M83"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G28"))
position.update(Commands.parse("G1 X119.915 Y113.338 Z2.1 F7200"))
self.assertTrue(position.is_at_current_position(119.91, 113.34, 2.1))
position.update(Commands.parse("g0 x120 y121 z2.1"))
self.assertTrue(position.is_at_previous_position(119.91, 113.34, 2.1))
def test_reset(self):
"""Test init state."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# reset all initialized vars to something else
position.update(Commands.parse("G28"))
position.update(Commands.parse("G0 X1 Y1 Z1"))
# reset
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# test initial state
self.assertEqual(len(position.Positions), 0)
self.assertIsNone(position.SavedPosition)
def test_m105(self):
gcode = "m105;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "M105")
self.assertDictEqual(parsed.parameters, {})
gcode = "m105X1;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "M105")
self.assertDictEqual(parsed.parameters, {})
gcode = "m105fdsafdsafdsfsdfsd;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "M105")
self.assertDictEqual(parsed.parameters, {})
def test_parameter_repetition(self):
# test parameter repetition
gcode = "g28 xxz"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
# test parameter repetition wrapped in comments
gcode = "(comment in the front)g(comment in middle)2()8x(another comment in middle)x(comment between" \
" address and value)100()1 . 1(another); Here is a comment"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
def test_multiple_signs_parameter(self):
# test multiple signs in parameter 1
gcode = "(comment in the front)g(comment in middle)2()8(another comment in middle)x(comment between" \
" address and value)+100()1 . 1+(another); Here is a comment"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
# test multiple signs in parameter 2
gcode = "(comment in the front)g(comment in middle)2()8x(another comment in middle)x(comment between" \
" address and value)++100()1 . 1(another); Here is a comment"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
def test_parse_int_negative(self):
# test negative F error
gcode = "G00 F- 1 09 "
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
def test_multiple_decimals_command(self):
# test multiple decimal points in parameter 2
gcode = "G28.0."
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNotNone(parsed.error)
self.assertNotEqual(len(parsed.error), 0)
def test_g0(self):
# no parameters
gcode = "g0"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertDictEqual({}, parsed.parameters)
# no parameters, double 0
gcode = "g00"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertDictEqual({}, parsed.parameters)
# all parameters with comment
gcode = "g0 x100 y200.0 z3.0001 e1.1 f7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# all parameters, no spaces
gcode = "g0x100y200.0z3.0001e1.1f7200.000"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# all parameters, funky spaces
gcode = "g 0 x 10 0 y2 00 .0z 3.0 001 e1. 1 f72 00 .000 "
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
def test_g90_influences_extruder_UpdatePosition(self):
"""Test G90 for machines where it influences the coordinate system of the extruder."""
position = Position(self.Settings, self.OctoprintPrinterProfile, True)
# Make sure the axis is homed
position.update(Commands.parse("G28"))
# set absolute mode with G90
position.update(Commands.parse("g90"))
# update the position to 10 (absolute)
position.update_position(e=10)
self.assertEqual(position.e(), 10)
# update the position to 10 again (absolute) to make sure we are in absolute
# coordinates.
position.update_position(e=10)
self.assertEqual(position.e(), 10)
# set relative mode with G90
position.update(Commands.parse("g91"))
# update the position to 20 (relative)
position.update_position(e=20)
self.assertEqual(position.e(), 30)
def test_t(self):
gcode = "T?"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": None})
gcode = " T? "
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": None})
gcode = " T ? "
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": None})
gcode = "T1;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": 1})
gcode = "T 1 ;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": 1})
gcode = "T 1.11 ;"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "T")
self.assertDictEqual(parsed.parameters, {"T": 1})
def test_G92AbsoluteMovement(self):
"""Test the G92 command, move in absolute mode and test results."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# set homed axis, absolute coordinates, and set position
position.update(Commands.parse("G28"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G1 x100 y200 z150"))
position.update(Commands.parse("G92 x10 y20 z30"))
self.assertEqual(position.x(), 100)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 200)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 150)
self.assertEqual(position.z_offset(), 120)
# move to origin
position.update(Commands.parse("G1 x-90 y-180 z-120"))
self.assertEqual(position.x(), 0)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 0)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 0)
self.assertEqual(position.z_offset(), 120)
# move back
position.update(Commands.parse("G1 x0 y0 z0"))
self.assertEqual(position.x(), 90)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 180)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 120)
self.assertEqual(position.z_offset(), 120)
def test_GetSnapshotGcode_Fixed_AbsoluteCoordintes_ExtruderRelative(self):
"""Test snapshot gcode in absolute coordinate system with relative extruder and fixed coordinate
stabilization """
# adjust the settings for absolute position and create the snapshot gcode generator
self.Settings.profiles.current_stabilization().x_type = "fixed_coordinate"
self.Settings.profiles.current_stabilization().x_fixed_coordinate = 10
self.Settings.profiles.current_stabilization().y_type = "fixed_coordinate"
self.Settings.profiles.current_stabilization().y_fixed_coordinate = 20
snapshot_gcode_generator = SnapshotGcodeGenerator(
self.Settings, self.create_octoprint_printer_profile())
self.Extruder.is_retracted = lambda: True
self.Position.update(Commands.parse("G90"))
self.Position.update(Commands.parse("M83"))
self.Position.update(Commands.parse("G28"))
self.Position.update(Commands.parse("G0 X95 Y95 Z0.2 F3600"))
parsed_command = Commands.parse("G0 X100 Y100")
self.Position.update(parsed_command)
snapshot_gcode = snapshot_gcode_generator.create_snapshot_gcode(
self.Position, None, parsed_command)
gcode_commands = snapshot_gcode.snapshot_gcode()
# verify the created gcodegcode_commands
self.assertEqual(gcode_commands[0], "G1 E-4.00000 F4800")
self.assertEqual(gcode_commands[1], "G1 X10.000 Y20.000 F10800")
self.assertEqual(gcode_commands[2], "G1 X100.000 Y100.000")
self.assertEqual(gcode_commands[3], "G1 E4.00000 F3000")
self.assertEqual(gcode_commands[4], "G1 F3600")
self.assertEqual(gcode_commands[5], parsed_command.gcode)
# verify the return coordinates
self.assertEqual(snapshot_gcode.ReturnX, 100)
self.assertEqual(snapshot_gcode.ReturnY, 100)
self.assertEqual(snapshot_gcode.ReturnZ, 0.2)
self.assertEqual(snapshot_gcode.X, 10)
self.assertEqual(snapshot_gcode.Y, 20)
self.assertEqual(snapshot_gcode.Z, None)
def test_G92SetPosition(self):
"""Test the G92 command, settings the position."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# no homed axis
position.update(Commands.parse("G92 x10 y20 z30"))
self.assertEqual(position.x(), 10)
self.assertEqual(position.y(), 20)
self.assertEqual(position.z(), 30)
self.assertFalse(position.has_homed_axes())
# set homed axis, absolute coordinates, and set position
position.update(Commands.parse("G28"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G1 x100 y200 z150"))
position.update(Commands.parse("G92 x10 y20 z30"))
self.assertEqual(position.x(), 100)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 200)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 150)
self.assertEqual(position.z_offset(), 120)
# Move to same position and retest
position.update(Commands.parse("G1 x0 y0 z0"))
self.assertEqual(position.x(), 90)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 180)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 120)
self.assertEqual(position.z_offset(), 120)
# Move and retest
position.update(Commands.parse("G1 x-10 y10 z20"))
self.assertEqual(position.x(), 80)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 190)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 140)
self.assertEqual(position.z_offset(), 120)
# G92 with no parameters
position.update(Commands.parse("G92"))
self.assertEqual(position.x(), 80)
self.assertEqual(position.x_offset(), 80)
self.assertEqual(position.y(), 190)
self.assertEqual(position.y_offset(), 190)
self.assertEqual(position.z(), 140)
self.assertEqual(position.z_offset(), 140)
def test_g1(self):
# no parameters
gcode = "g1"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertDictEqual({}, parsed.parameters)
# no parameters, double 0
gcode = "g01"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertDictEqual({}, parsed.parameters)
# all parameters with comment
gcode = "g1 x100 y200.0 z3.0001 e1.1 f7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# all parameters, no spaces
gcode = "g1x100y200.0z3.0001e1.1f7200.000"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# all parameters, funky spaces
gcode = "g 01 x 10 0 y2 00 .0z 3.0 001 e1. 1 f72 00 .000 "
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# from issue 86
gcode = "G1 X -18 Y95 F1000"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G1")
self.assertEqual(parsed.parameters["X"], -18)
self.assertEqual(parsed.parameters["Y"], 95)
self.assertNotIn("Z", parsed.parameters)
self.assertNotIn("E", parsed.parameters)
self.assertEqual(parsed.parameters["F"], 1000)
def test_G92RelativeMovement(self):
"""Test the G92 command, move in relative mode and test results."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# set homed axis, relative coordinates, and set position
position.update(Commands.parse("G28"))
position.update(Commands.parse("G91"))
position.update(Commands.parse("G1 x100 y200 z150"))
position.update(Commands.parse("G92 x10 y20 z30"))
self.assertEqual(position.x(), 100)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 200)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 150)
self.assertEqual(position.z_offset(), 120)
# move to origin
position.update(Commands.parse("G1 x-100 y-200 z-150"))
self.assertEqual(position.x(), 0)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 0)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 0)
self.assertEqual(position.z_offset(), 120)
# advance each axis
position.update(Commands.parse("G1 x1 y2 z3"))
self.assertEqual(position.x(), 1)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 2)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 3)
self.assertEqual(position.z_offset(), 120)
# advance again
position.update(Commands.parse("G1 x1 y2 z3"))
self.assertEqual(position.x(), 2)
self.assertEqual(position.x_offset(), 90)
self.assertEqual(position.y(), 4)
self.assertEqual(position.y_offset(), 180)
self.assertEqual(position.z(), 6)
self.assertEqual(position.z_offset(), 120)
def test_UpdatePosition_force(self):
"""Test the UpdatePosition function with the force option set to true."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28"))
position.update_position(x=0, y=0, z=0, e=0, force=True)
self.assertEqual(position.x(), 0)
self.assertEqual(position.y(), 0)
self.assertEqual(position.z(), 0)
self.assertEqual(position.e(), 0)
position.update_position(x=1, y=2, z=3, e=4, force=True)
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
self.assertEqual(position.e(), 4)
position.update_position(x=None, y=None, z=None, e=None, force=True)
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
self.assertEqual(position.e(), 4)
def test_inline_comments(self):
gcode = "g28(this is an inline commentx)yz; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertFalse("X" in parsed.parameters)
self.assertIsNone(parsed.parameters["Y"])
self.assertIsNone(parsed.parameters["Z"])
gcode = "g28(this is an inline commentx); Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertFalse("X" in parsed.parameters)
self.assertFalse("Y" in parsed.parameters)
self.assertFalse("Z" in parsed.parameters)
gcode = "(comment in the front)g28; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertFalse("X" in parsed.parameters)
self.assertFalse("Y" in parsed.parameters)
self.assertFalse("Z" in parsed.parameters)
gcode = "(comment in the front)g28(comment in back); Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertFalse("X" in parsed.parameters)
self.assertFalse("Y" in parsed.parameters)
self.assertFalse("Z" in parsed.parameters)
gcode = "(comment in the front)g(comment in middle)28(comment in back); Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertFalse("X" in parsed.parameters)
self.assertFalse("Y" in parsed.parameters)
self.assertFalse("Z" in parsed.parameters)
gcode = "(comment in the front)g(comment in middle)2()8(another comment in middle)x(comment between" \
"address and value)100()1 . 1(another); Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertEqual(parsed.parameters["X"], 1001.1)
self.assertFalse("Y" in parsed.parameters)
self.assertFalse("Z" in parsed.parameters)
def test_comments(self):
"""Try to parse the G0 Command, parsed.parameters and comment"""
gcode = ";"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = " ;"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "; "
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "; "
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "%"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "% "
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "% "
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = " % this is a comment"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
gcode = "g0 x100 y200.0 z3.0001 e1.1 f7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
gcode = "g0x100y200.0z3.0001e1.1f7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# test signs 1
gcode = "g0x+100y-200.0z - 3.0001e +1.1f 7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], 100)
self.assertEqual(parsed.parameters["Y"], -200.0)
self.assertEqual(parsed.parameters["Z"], -3.0001)
self.assertEqual(parsed.parameters["E"], 1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
# test signs 2
gcode = "g0x-100y + 200.0z+ 3.0001e -1.1f + 7200.000; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G0")
self.assertEqual(parsed.parameters["X"], -100)
self.assertEqual(parsed.parameters["Y"], 200.0)
self.assertEqual(parsed.parameters["Z"], 3.0001)
self.assertEqual(parsed.parameters["E"], -1.1)
self.assertEqual(parsed.parameters["F"], 7200.000)
gcode = "g28xyz; Here is a comment"
parsed = Commands.parse(gcode)
self.assertEqual(parsed.cmd, "G28")
self.assertIsNone(parsed.parameters["X"])
self.assertIsNone(parsed.parameters["Y"])
self.assertIsNone(parsed.parameters["Z"])
def test_Update(self):
"""Test the Update() function, which accepts gcode and updates the current position state and extruder state."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# no homed axis
position.update(Commands.parse("G1 x100 y200 z300"))
self.assertIsNone(position.x())
self.assertIsNone(position.y())
self.assertIsNone(position.z())
# set relative extruder and absolute xyz, home axis and update absolute position
position.update(Commands.parse("M83"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G28"))
position.update(Commands.parse("G1 x100 y200 z150"))
self.assertEqual(position.x(), 100)
self.assertEqual(position.y(), 200)
self.assertEqual(position.z(), 150)
# move again and retest
position.update(Commands.parse("G1 x101 y199 z151"))
self.assertEqual(position.x(), 101)
self.assertEqual(position.y(), 199)
self.assertEqual(position.z(), 151)
# switch to relative and update position
position.update(Commands.parse("G91"))
position.update(Commands.parse("G1 x-1 y-1 z1.0"))
self.assertEqual(position.x(), 100)
self.assertEqual(position.y(), 198)
self.assertEqual(position.z(), 152)
# move again and retest
position.update(Commands.parse("G1 x-99 y-196 z-149.0"))
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
# go back to absolute and move to origin
position.update(Commands.parse("G90"))
position.update(Commands.parse("G1 x0 y0 z0.0"))
self.assertEqual(position.x(), 0)
self.assertEqual(position.y(), 0)
self.assertEqual(position.z(), 0)
def test_UpdatePosition_noforce(self):
"""Test the UpdatePosition function with the force option set to true."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# no homed axis
position.update_position(x=0, y=0, z=0, e=0)
self.assertIsNone(position.x())
self.assertIsNone(position.y())
self.assertIsNone(position.z())
self.assertIsNone(position.e(), 0)
# set homed axis, test absolute position (default)
position.update(Commands.parse("G28"))
position.update_position(x=0, y=0, z=0)
self.assertEqual(position.x(), 0)
self.assertEqual(position.y(), 0)
self.assertEqual(position.z(), 0)
self.assertEqual(position.e(), 0)
# update absolute position
position.update_position(x=1, y=2, z=3)
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
self.assertEqual(position.e(), 0)
# set relative position
position.update(Commands.parse("G91"))
position.update_position(x=1, y=1, z=1)
self.assertEqual(position.x(), 2)
self.assertEqual(position.y(), 3)
self.assertEqual(position.z(), 4)
self.assertEqual(position.e(), 0)
# set extruder absolute
position.update(Commands.parse("M82"))
position.update_position(e=100)
self.assertEqual(position.x(), 2)
self.assertEqual(position.y(), 3)
self.assertEqual(position.z(), 4)
self.assertEqual(position.e(), 100)
position.update_position(e=-10)
self.assertEqual(position.x(), 2)
self.assertEqual(position.y(), 3)
self.assertEqual(position.z(), 4)
self.assertEqual(position.e(), -10)
# set extruder relative
position.update(Commands.parse("M83"))
position.update_position(e=20)
self.assertEqual(position.x(), 2)
self.assertEqual(position.y(), 3)
self.assertEqual(position.z(), 4)
self.assertEqual(position.e(), 10)
position.update_position(e=-1)
self.assertEqual(position.x(), 2)
self.assertEqual(position.y(), 3)
self.assertEqual(position.z(), 4)
self.assertEqual(position.e(), 9)
position.update_position(x=1, y=2, z=3, e=4, force=True)
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
self.assertEqual(position.e(), 4)
position.update_position(x=None, y=None, z=None, e=None, force=True)
self.assertEqual(position.x(), 1)
self.assertEqual(position.y(), 2)
self.assertEqual(position.z(), 3)
self.assertEqual(position.e(), 4)
def test_HeightAndLayerChanges(self):
"""Test the height and layer changes."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# test initial state
self.assertIsNone(position.height())
self.assertIsNone(position.layer(), None)
self.assertFalse(position.is_layer_change())
# check without homed axis
position.update(Commands.parse("G1 x0 y0 z0.20000 e1"))
self.assertEqual(position.height(), 0)
self.assertEqual(position.layer(), 0)
self.assertFalse(position.is_layer_change())
# set homed axis, absolute xyz coordinates, relative extruder coordinates and check height and layer
position.update(Commands.parse("M83"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G28"))
self.assertEqual(position.height(), 0)
self.assertEqual(position.layer(), 0)
self.assertFalse(position.is_layer_change())
# move without extruding, height and layer should not change
position.update(Commands.parse("G1 x100 y200 z150"))
self.assertEqual(position.height(), 0)
self.assertEqual(position.layer(), 0)
self.assertFalse(position.is_layer_change())
# move to origin, height and layer stuff should stay the same
position.update(Commands.parse("G1 x0 y0 z0"))
self.assertEqual(position.height(), 0)
self.assertEqual(position.layer(), 0)
self.assertFalse(position.is_layer_change())
# extrude, height change!
position.update(Commands.parse("G1 x0 y0 z0 e1"))
self.assertEqual(position.height(), 0)
self.assertEqual(position.layer(), 1)
self.assertTrue(position.is_layer_change())
# extrude higher, update layer., this will get rounded to 0.2
position.update(Commands.parse("G1 x0 y0 z0.1999 e1"))
self.assertEqual(position.height(), 0.2)
self.assertEqual(position.layer(), 2)
self.assertTrue(position.is_layer_change())
# extrude just slightly higher, but with rounding on the same layer
position.update(Commands.parse("G1 x0 y0 z0.20000 e1"))
self.assertEqual(position.height(), .2)
self.assertEqual(position.layer(), 2)
self.assertFalse(position.is_layer_change())
# extrude again on same layer - Height Previous should now be updated, and
# is_layer_change should be false
position.update(Commands.parse("G1 x0 y0 z0.20000 e1"))
self.assertEqual(position.height(), .2)
self.assertEqual(position.layer(), 2)
self.assertFalse(position.is_layer_change())
# extrude again on same layer - No changes
position.update(Commands.parse("G1 x0 y0 z0.20000 e1"))
self.assertEqual(position.height(), .2)
self.assertEqual(position.layer(), 2)
self.assertFalse(position.is_layer_change())
# extrude below the current layer - No changes
position.update(Commands.parse("G1 x0 y0 z0.00000 e1"))
self.assertEqual(position.height(), .2)
self.assertEqual(position.layer(), 2)
self.assertFalse(position.is_layer_change())
# extrude up higher and change the height/layer. Should never happen, but
# it's an interesting test case
position.update(Commands.parse("G1 x0 y0 z0.60000 e1"))
self.assertEqual(position.height(), .6)
self.assertEqual(position.layer(), 3)
self.assertTrue(position.is_layer_change())
# extrude up again
position.update(Commands.parse("G1 x0 y0 z0.65000 e1"))
self.assertEqual(position.height(), .65)
self.assertEqual(position.layer(), 4)
self.assertTrue(position.is_layer_change())
# extrude on previous layer
position.update(Commands.parse("G1 x0 y0 z0.60000 e1"))
self.assertEqual(position.height(), .65)
self.assertEqual(position.layer(), 4)
self.assertFalse(position.is_layer_change())
# extrude on previous layer again
position.update(Commands.parse("G1 x0 y0 z0.60000 e1"))
self.assertEqual(position.height(), .65)
self.assertEqual(position.layer(), 4)
self.assertFalse(position.is_layer_change())
# move up but do not extrude
position.update(Commands.parse("G1 x0 y0 z0.70000"))
self.assertEqual(position.height(), .65)
self.assertEqual(position.layer(), 4)
self.assertFalse(position.is_layer_change())
# move up but do not extrude a second time
position.update(Commands.parse("G1 x0 y0 z0.80000"))
self.assertEqual(position.height(), .65)
self.assertEqual(position.layer(), 4)
self.assertFalse(position.is_layer_change())
# extrude at a different height
position.update(Commands.parse("G1 x0 y0 z0.80000 e.1"))
position.update(Commands.parse("G1 x0 y0 z0.85000 e.1"))
self.assertEqual(.85, position.height())
self.assertEqual(6, position.layer())
self.assertTrue(position.is_layer_change())
def test_ExtruderMovement(self):
"""Test the M82 and M83 command."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile)
# test initial position
self.assertIsNone(position.e())
self.assertIsNone(position.is_extruder_relative())
self.assertIsNone(position.e_relative_pos(previous_pos))
# set extruder to relative coordinates
position.update(Commands.parse("M83"))
# test movement
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("G0 E100"))
self.assertEqual(position.e(), 100)
# this is somewhat reversed from what we do in the position.py module
# there we update the pos() object and compare to the current state, so
# comparing the current state to the
# previous will result in the opposite sign
self.assertEqual(position.e_relative_pos(previous_pos), -100)
# switch to absolute movement
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("M82"))
self.assertFalse(position.is_extruder_relative())
self.assertEqual(position.e(), 100)
self.assertEqual(position.e_relative_pos(previous_pos), 0)
# move to -25
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("G0 E-25"))
self.assertEqual(position.e(), -25)
self.assertEqual(position.e_relative_pos(previous_pos), 125)
# test movement to origin
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("G0 E0"))
self.assertEqual(position.e(), 0)
self.assertEqual(position.e_relative_pos(previous_pos), -25)
# switch to relative position
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("M83"))
position.update(Commands.parse("G0 e1.1"))
self.assertEqual(position.e(), 1.1)
self.assertEqual(position.e_relative_pos(previous_pos), -1.1)
# move and test
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("G0 e1.1"))
self.assertEqual(position.e(), 2.2)
self.assertEqual(position.e_relative_pos(previous_pos), -1.1)
# move and test
previous_pos = Pos(self.Settings.profiles.current_printer(),
self.OctoprintPrinterProfile,
position.get_position())
position.update(Commands.parse("G0 e-2.2"))
self.assertEqual(position.e(), 0)
self.assertEqual(position.e_relative_pos(previous_pos), 2.2)
def test_zHop(self):
"""Test zHop detection."""
# set zhop distance
self.Settings.profiles.current_printer().z_hop = .5
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
# test initial state
self.assertFalse(position.is_zhop())
# check without homed axis
position.update(Commands.parse("G1 x0 y0 z0"))
self.assertFalse(position.is_zhop())
position.update(Commands.parse("G1 x0 y0 z0.5"))
self.assertFalse(position.is_zhop())
# set relative extruder, absolute xyz, home axis, check again
position.update(Commands.parse("M83"))
position.update(Commands.parse("G90"))
position.update(Commands.parse("G28"))
self.assertFalse(position.is_zhop())
# Position reports as NotHomed (misnomer, need to replace), needs to get
# coordinates
position.update(Commands.parse("G1 x0 y0 z0"))
# Move up without extrude, this is not a zhop since we haven't extruded
# anything!
position.update(Commands.parse("g0 z0.5"))
self.assertFalse(position.is_zhop())
# move back down to 0 and extrude
position.update(Commands.parse("g0 z0 e1"))
self.assertFalse(position.is_zhop())
# Move up without extrude, this should trigger zhop start
position.update(Commands.parse("g0 z0.5"))
self.assertTrue(position.is_zhop())
# move below zhop threshold
position.update(Commands.parse("g0 z0.3"))
self.assertFalse(position.is_zhop())
# move right up to zhop without going over, we are within the rounding error
position.update(Commands.parse("g0 z0.4999"))
self.assertTrue(position.is_zhop())
# Extrude on z5
position.update(Commands.parse("g0 z0.5 e1"))
self.assertFalse(position.is_zhop())
# partial z lift, , we are within the rounding error
position.update(Commands.parse("g0 z0.9999"))
self.assertTrue(position.is_zhop())
# Still hopped!
position.update(Commands.parse("g0 z1"))
self.assertTrue(position.is_zhop())
# test with extrusion start at 1.5
position.update(Commands.parse("g0 z1.5 e1"))
self.assertFalse(position.is_zhop())
# test with extrusion at 2
position.update(Commands.parse("g0 z2 e1"))
self.assertFalse(position.is_zhop())
# zhop
position.update(Commands.parse("g0 z2.5 e0"))
self.assertTrue(position.is_zhop())
position.update(Commands.parse("no-command"))
self.assertTrue(position.is_zhop())
def test_unknown_word(self):
gcode = "K100"
parsed = Commands.parse(gcode)
self.assertIsNone(parsed.cmd)
self.assertIsNone(parsed.parameters)
def test_Home(self):
"""Test the home command. Make sure the position is set to 0,0,0 after the home."""
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28"))
self.assertEqual(position.x(), 0)
self.assertTrue(position.get_position().XHomed)
self.assertEqual(position.y(), 0)
self.assertTrue(position.get_position().YHomed)
self.assertEqual(position.z(), 0)
self.assertTrue(position.get_position().ZHomed)
self.assertTrue(position.has_homed_axes())
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28 X"))
self.assertEqual(position.x(), 0)
self.assertTrue(position.get_position().XHomed)
self.assertIsNone(position.y())
self.assertFalse(position.get_position().YHomed)
self.assertIsNone(position.z())
self.assertFalse(position.get_position().ZHomed)
self.assertFalse(position.has_homed_axes())
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28 Y"))
self.assertIsNone(position.x())
self.assertFalse(position.get_position().XHomed)
self.assertEqual(position.y(), 0)
self.assertTrue(position.get_position().YHomed)
self.assertIsNone(position.z())
self.assertFalse(position.get_position().ZHomed)
self.assertFalse(position.has_homed_axes())
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28 Z"))
self.assertIsNone(position.x())
self.assertFalse(position.get_position().XHomed)
self.assertIsNone(position.y())
self.assertFalse(position.get_position().YHomed)
self.assertEqual(position.z(), 0)
self.assertTrue(position.get_position().ZHomed)
self.assertFalse(position.has_homed_axes())
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("G28 Z X Y"))
self.assertEqual(position.x(), 0)
self.assertTrue(position.get_position().XHomed)
self.assertEqual(position.y(), 0)
self.assertTrue(position.get_position().YHomed)
self.assertEqual(position.z(), 0)
self.assertTrue(position.get_position().ZHomed)
self.assertTrue(position.has_homed_axes())
position = Position(self.Settings, self.OctoprintPrinterProfile, False)
position.update(Commands.parse("g28"))
position.update(Commands.parse("g1 x0 y0 z0"))
# here we have seen the upded coordinates, but we do not know the position
self.assertEqual(position.x(), 0)
self.assertTrue(position.get_position().XHomed)
self.assertEqual(position.y(), 0)
self.assertTrue(position.get_position().YHomed)
self.assertEqual(position.z(), 0)
self.assertTrue(position.get_position().ZHomed)
# give it another position, now we have homed axis with a known position
position.update(Commands.parse("g1 x0 y0 z0"))
self.assertEqual(position.x(), 0)
self.assertTrue(position.get_position().XHomed)
self.assertEqual(position.y(), 0)
self.assertTrue(position.get_position().YHomed)
self.assertEqual(position.z(), 0)
self.assertTrue(position.get_position().ZHomed)
self.assertTrue(position.has_homed_axes())