def test_reduce_to_axes_make_none(self, values, axes, reduced,
expected_values):
a = Coordinate(values, axes)
b = a.reduce_to_axes(reduced, make_none=True)
assert list(b.axes) == list(axes) and list(b.values) == expected_values
assert str(a) == str(Coordinate(values, axes))
def test_reduce_to_axes(self, test_input, remaining, expected):
"""
Test that only remaining axes are kept
:param test_input: Input axes
:param remaining: Function input
:param expected: Expected remaining axes
:return:
"""
a = Coordinate((1, -3, None), test_input)
b = a.reduce_to_axes(remaining)
assert "".join(list(b.axes)) == expected
assert str(a) == str(Coordinate((1, -3, None), test_input))
def go_home(self, option="") -> None:
"""
Moves the robot to its current home point (current work coordinate origin or global safe position respectively)
:return:
"""
if self.work_coordinate_active:
# Acquire new zero coordinate
zero = Coordinate(self.zero.values, self.zero.axes)
if option != "":
zero = zero.reduce_to_axes(option, make_none=True)
# Acquire current position to determine robot orientation
current_position = self.protocol.reader.get_current_xyzabc()
zero.add_axis(current_position)
zero.update_empty(current_position)
# Move to zero
self.linear_move_poll(zero)
else:
self.go_safe_pos()
