class TestPositionCommandLineIntepreter:
def setup_method(self, method):
self.interpreter = PositionCommandLineInterpreter()
def test_simpleJoint(self):
command = self.interpreter.interpret( "move(60.0,-30.0,30.0,-20.0,10.0,-40.0)")
assert command.__class__ == MoveToPositionCommand
assert command.position.getValue()[0] == 60.0
assert command.position.type == "Joint"
def test_simpleJoint_condensed(self):
packed = struct.pack("!cffffff", chr(1), 60.0, -30.0, 30.0, -20.0, 10.0, -40.0)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.getValue()[0] == 60.0
assert command.position.type == "Joint"
def test_simpleJoint_condensed_withSpeedFactor(self):
packed = struct.pack("!cfffffff", chr(2), 60.0, -30.0, 30.0, -20.0, 10.0, -40.0, 0.5)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.getValue()[0] == 60.0
assert command.position.type == "Joint"
assert command.speedFactor == 0.5
def test_comments(self):
command = self.interpreter.interpret( "#testing line")
assert command == -1
def test_newline(self):
command = self.interpreter.interpret(" \n")
assert command == -1
def test_cartesianLine(self):
command = self.interpreter.interpret("moveCartesian(60.0,-30.0,30.0)")
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "Cartesian"
def test_deltaJointLine(self):
command = self.interpreter.interpret("moveBy(60.0,-30.0,30.0,3,3,3)")
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "DeltaJoint"
def test_deltaJointLine_condensed(self):
packed = struct.pack("!cffffff", chr(3), 60.0, -30.0, 30.0, -20.0, 10.0, -40.0)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "DeltaJoint"
def test_deltaJointLine_condensed_withSpeedFactor(self):
packed = struct.pack("!cfffffff", chr(4), 60.0, -30.0, 30.0, -20.0, 10.0, -40.0, 0.5)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "DeltaJoint"
assert command.speedFactor == 0.5
def test_deltaCartesianLine(self):
command = self.interpreter.interpret("moveCartesianBy(60.0,-30.0,30.0)")
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "DeltaCartesian"
def test_axisSimpleJoint(self):
command = self.interpreter.interpret("moveAxis(1,30.0)")
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisJoint"
def test_axisSimpleJoint_condensed(self):
packed = struct.pack("!cff", chr(5), 1, 5.0)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisJoint"
def test_axisSimpleJoint_condensed_withSpeedFactor(self):
packed = struct.pack("!cfff", chr(6), 1, 5.0, 0.5)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisJoint"
assert command.speedFactor == 0.5
def test_axisSimpleDeltaJoint(self):
command = self.interpreter.interpret("moveAxisBy(1,30.0)")
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisDeltaJoint"
def test_axisSimpleDeltaJoint_condensed(self):
packed = struct.pack("!cff", chr(7), 1, 5.0)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisDeltaJoint"
def test_axisSimpleDeltaJoint_condensed_withSpeedFactor(self):
packed = struct.pack("!cfff", chr(8), 1, 5.0, 0.5)
command = self.interpreter.interpret(packed)
assert command.__class__ == MoveToPositionCommand
assert command.position.type == "AxisDeltaJoint"
assert command.speedFactor == 0.5
def teardown_method(self, method):
self.interpreter = 0
self.commandList = 0
def setup_method(self, method):
self.interpreter = PositionCommandLineInterpreter()