def test_unhomed_M3(self):
# plasma off
assert decoder.plasma_is_always(self.timeline, 'off')
# nothing moves
assert decoder.move_cumul(self.timeline, 1) == 0
assert decoder.move_cumul(self.timeline, 2) == 0
assert decoder.move_cumul(self.timeline, 3) == 0
def test_THC_clamp(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[20] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[20],
self.events[21])
assert decoder.move_cumul_up(slice, 1) == 1000
assert decoder.move_cumul_up(slice, 2) == 1000
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 1000, 1000, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[21])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[21],
self.events[21] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[22])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[22])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
#define overrun time
slice = decoder.from_to(self.timeline, self.events[22],
decoder.end(self.timeline))
overrun = decoder.when_is_position_reached(slice, None, None, 10000)
# plasma until overrun
slice = decoder.from_to(self.timeline, plasma_start + 5, overrun)
assert decoder.plasma_is_always(slice, 'on')
#overrun kill
slice = decoder.from_to(self.timeline, overrun + 2,
decoder.end(self.timeline))
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
assert decoder.plasma_is_always(slice, 'off')
def test_speed(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[21] + 2)
self.timeline[3] += 10000
slice = decoder.from_to(self.timeline, self.events[22],
self.events[23])
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 1000
slice = decoder.from_to(self.timeline, self.events[23] + 2,
decoder.end(self.timeline))
assert decoder.plasma_is_always(slice, 'off')
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
def test_clamp_min(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, events[16] + 2)
self.timeline[3] += 10000
# motors reach max pos
max_pos = decoder.when_is_position_reached(self.timeline, 500, 500,
500)
assert max_pos != -1
# no moves after clamp abort
slice = decoder.from_to(self.timeline, max_pos,
decoder.end(self.timeline))
assert max_pos + 300 < (self.timeline[0][-1] / 1000)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
def test_stop(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[14] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[14],
self.events[18])
assert decoder.move_cumul_up(slice, 1) == 500
assert decoder.move_cumul_up(slice, 2) == 500
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 500, 500, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[19])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[19],
self.events[19] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[20])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[20])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[20] + 200
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during piercing
slice = decoder.from_to(self.timeline, plasma_start + 1, cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma fired all along and z move enough with THC
slice = decoder.from_to(self.timeline, plasma_start + 5,
self.events[21])
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 1000
# no XY after stop
slice = decoder.from_to(self.timeline, self.events[21] + 60,
decoder.end(self.timeline))
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.plasma_is_always(slice, 'off')
# final position
assert decoder.get_position(self.timeline,
decoder.end(self.timeline))[2] == 10000
def test_G28_during_cut(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[19] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[19],
self.events[20])
assert decoder.move_cumul_up(slice, 1) == 1000
assert decoder.move_cumul_up(slice, 2) == 1500
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 1000, 1500, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[20])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[13],
self.events[20] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[21])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[21])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[21] + 200
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during piercing
slice = decoder.from_to(self.timeline, plasma_start + 1, cut_start - 1)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
assert decoder.plasma_is_always(slice, 'on')
# stop after piercing
slice = decoder.from_to(self.timeline, cut_start + 50,
decoder.end(self.timeline))
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
assert decoder.plasma_is_always(slice, 'off')
def test_M3_no_M5(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[13] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[13],
self.events[14])
assert decoder.move_cumul_up(slice, 1) == 1000
assert decoder.move_cumul_up(slice, 2) == 1000
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 1000, 1000, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[14])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[14],
self.events[14] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[15])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[15])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[15] + 200
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during piercing
slice = decoder.from_to(self.timeline, plasma_start + 1, cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# reach intermediate positions
slice = decoder.from_to(self.timeline, plasma_start,
decoder.end(self.timeline))
assert decoder.when_is_position_reached(self.timeline, 3000, 1000,
None) != -1
assert decoder.when_is_position_reached(self.timeline, 3000, 3000,
None) != -1
# reach cutoff position
slice = decoder.from_to(self.timeline, self.events[15],
decoder.end(self.timeline))
plasma_stop = decoder.when_is_position_reached(slice, 0, 0, None)
assert plasma_stop != -1
# plasma fired all along and z move enough with THC
slice = decoder.from_to(self.timeline, plasma_start + 5, plasma_stop)
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 4000
# no plasma after cut off
slice = decoder.from_to(self.timeline, plasma_stop + 80,
decoder.end(self.timeline))
assert decoder.plasma_is_always(slice, 'off')
# final position
assert decoder.get_position(self.timeline,
decoder.end(self.timeline)) == (0, 0,
10000)
def test_plasma_timeout(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[12] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[12],
self.events[13])
assert decoder.move_cumul_up(slice, 1) == 1000
assert decoder.move_cumul_up(slice, 2) == 1000
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 1000, 1000, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[13])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[13],
self.events[13] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[14])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[14])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
plasma_stop = plasma_start + 1000
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during ignition try
slice = decoder.from_to(self.timeline, plasma_start + 1, plasma_stop)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma during 1 sec
slice = decoder.from_to(self.timeline, plasma_start + 5,
plasma_stop - 5)
assert decoder.plasma_is_always(slice, 'on')
# plasma stop when timeout
slice = decoder.from_to(self.timeline, plasma_start + 1000 + 5,
self.events[17])
assert decoder.plasma_is_always(slice, 'off')
# plasma restart on resume and z move enough with THC
plasma_stop_2 = decoder.when_is_position_reached(
self.timeline, 2000, 2000, None)
assert plasma_stop_2 != -1
slice = decoder.from_to(self.timeline, self.events[18], plasma_stop_2)
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 3000
# no move during ignition
cut_start = self.events[18] + 200
slice = decoder.from_to(self.timeline, self.events[18], cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma stop after cutoff
slice = decoder.from_to(self.timeline, plasma_stop_2 + 2,
decoder.end(self.timeline))
assert decoder.plasma_is_always(slice, 'off')
# final position
assert decoder.get_position(self.timeline,
decoder.end(self.timeline)) == (0, 0,
10000)
def test_transfer_loss(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[14] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[14],
self.events[15])
assert decoder.move_cumul_up(slice, 1) == 500
assert decoder.move_cumul_up(slice, 2) == 500
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 500, 500, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[15])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[15],
self.events[15] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[16])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[16])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[16] + 200
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during piercing
slice = decoder.from_to(self.timeline, plasma_start + 1, cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma until transfer loss
slice = decoder.from_to(self.timeline, plasma_start + 5,
self.events[17])
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 1000
# plasma stop when transfer lost
slice = decoder.from_to(self.timeline, self.events[17] + 2,
self.events[22])
assert decoder.plasma_is_always(slice, 'off')
paused = decoder.when_is_position_reached(self.timeline, 5000, 3000,
10000)
assert paused != -1
# define probing time
probing_time_2 = decoder.when_is_position_reached(
self.timeline, 4000, 6000, 10000)
assert probing_time_2 != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time_2, self.events[22])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[22],
self.events[22] + 2)
min_pos_time_2 = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time_2, self.events[23])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# plasma restart on resume and z move enough with THC
plasma_stop_2 = decoder.when_is_position_reached(
self.timeline, 8000, 5000, None)
assert plasma_stop_2 != -1
slice = decoder.from_to(self.timeline, self.events[23], plasma_stop_2)
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 2000
# no move during ignition
cut_start_2 = self.events[23] + 200
slice = decoder.from_to(self.timeline, self.events[23], cut_start_2)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma stop after cutoff
slice = decoder.from_to(self.timeline, plasma_stop_2 + 2,
decoder.end(self.timeline))
assert decoder.plasma_is_always(slice, 'off')
# final position
assert decoder.get_position(self.timeline,
decoder.end(self.timeline)) == (0, 0,
10000)
def test_unhomed_move(self):
# no moves after clamp abort
assert events[12] + 300 < (self.timeline[0][-1]/1000)
assert decoder.move_cumul(self.timeline, 1) == 0
assert decoder.move_cumul(self.timeline, 2) == 0
assert decoder.move_cumul(self.timeline, 3) == 0
def test_pause(self):
# shift positions according to autohome
decoder.apply_autohome(self.timeline, self.events[14] + 2)
self.timeline[3] += 10000
# motors reach probing position
slice = decoder.from_to(self.timeline, self.events[14],
self.events[18])
assert decoder.move_cumul_up(slice, 1) == 500
assert decoder.move_cumul_up(slice, 2) == 500
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 500, 500, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[18])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[18],
self.events[18] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[19])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[19])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[19] + 200
slice = decoder.from_to(self.timeline, 0, plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during piercing
slice = decoder.from_to(self.timeline, plasma_start + 1, cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# reach cutoff position
plasma_stop = decoder.when_is_position_reached(self.timeline, 5000,
3000, None)
assert plasma_stop != -1
# plasma fired all along and z move enough with THC
slice = decoder.from_to(self.timeline, plasma_start + 5, plasma_stop)
assert decoder.plasma_is_always(slice, 'on')
assert decoder.move_cumul(slice, 3) > 3000
# wait for resume
slice = decoder.from_to(self.timeline, plasma_stop, self.events[22])
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
# z goes back to top
slice = decoder.from_to(self.timeline, plasma_stop, self.events[22])
assert decoder.max_pos(slice, 3) == 10000
# define probing time
probing_time = decoder.when_is_position_reached(
self.timeline, 4000, 6000, 10000)
assert probing_time != -1
# z move down
slice = decoder.from_to(self.timeline, probing_time, self.events[23])
assert decoder.move_cumul_down(slice, 3) > 100
assert decoder.move_cumul_up(slice, 3) == 0
# z stopped and move 3mm up
slice = decoder.from_to(self.timeline, self.events[23],
self.events[23] + 2)
min_pos_time = decoder.when_is_lowest_position_reached(slice, 3)
slice = decoder.from_to(self.timeline, min_pos_time, self.events[24])
assert decoder.move_cumul_down(slice, 3) == 0
assert decoder.move_cumul_up(slice, 3) == 300
# no plasma before cut
slice = decoder.from_to(self.timeline, min_pos_time, self.events[24])
plasma_start = decoder.when_is_highest_position_reached(slice, 3)
cut_start = self.events[24] + 200
slice = decoder.from_to(self.timeline, self.events[21], plasma_start)
assert decoder.plasma_is_always(slice, 'off')
# no move during ignition
cut_start = self.events[24] + 200
slice = decoder.from_to(self.timeline, self.events[24], cut_start)
assert decoder.move_cumul(slice, 1) == 0
assert decoder.move_cumul(slice, 2) == 0
assert decoder.move_cumul(slice, 3) == 0
# plasma stop after cutoff
slice = decoder.from_to(self.timeline, self.events[25],
decoder.end(self.timeline))
assert decoder.plasma_is_always(slice, 'off')
# final position
assert decoder.get_position(self.timeline,
decoder.end(self.timeline)) == (0, 0,
10000)