def setUp(self):
self.send_mock = mock.Mock()
self.coords = {'X':0, 'Y':0, 'Z':0, 'A':0, 'B':0, 'x':0, 'y':0, 'z':0, 'a':0, 'b':0}
@asyncio.coroutine
def mMock(m):
self.send_mock(m)
if m[0:4] == 'M114':
return self.coords
self.loop = asyncio.new_event_loop()
self.com2gcode = CommandToGCode()
self.com2gcode.smoothie_com.send = mMock
class CommandToGCodeTestCase(unittest.TestCase):
def setUp(self):
self.send_mock = mock.Mock()
self.coords = {'X':0, 'Y':0, 'Z':0, 'A':0, 'B':0, 'x':0, 'y':0, 'z':0, 'a':0, 'b':0}
@asyncio.coroutine
def mMock(m):
self.send_mock(m)
if m[0:4] == 'M114':
return self.coords
self.loop = asyncio.new_event_loop()
self.com2gcode = CommandToGCode()
self.com2gcode.smoothie_com.send = mMock
def test_bad_command_type(self):
"""
test to see that it can handle a bad command type
"""
self.loop.run_until_complete(self.com2gcode.process({
'type': 'stop',
'data' : None
}))
def test_move_rel_command(self):
"""
Testing the 'move' command for relative coordinates
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'move',
'data': {
'relative' : True,
'x': 100.123,
'y': 200.234,
'z': -300.987,
'a': 10.011,
'b': 20.12
}
}))
result = self.send_mock.call_args_list
expected = [
mock.call('G91'),
mock.call('G0 X100.123 Y200.234 Z-300.987 A10.011 B20.12'),
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_move_abs_command(self):
"""
Testing the 'move' command for absolute coordinates
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'move',
'data': {
'x': 100,
'y': 200,
'z': 300,
'a': 10,
'b': 20
}
}))
result = self.send_mock.call_args_list
expected = [
mock.call('G90'),
mock.call('G0 X100 Y200 Z300 A10 B20'),
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_position_get_command(self):
"""
Testing the 'position' command for getting the current axis values
"""
@asyncio.coroutine
def change_position():
returned_value = yield from self.com2gcode.process({
'type':'position',
'data': None
})
self.assertEquals({'x':0, 'y':0, 'z':0, 'a':0, 'b':0}, returned_value)
self.loop.run_until_complete(change_position())
result = self.send_mock.call_args_list
expected = [
mock.call('M114')
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_position_set_command(self):
"""
Testing the 'position' command for setting the current axis values to something new
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'position',
'data': {
'x' : 123,
'y' : 321.123,
'z' : 34.02,
'a' : 12,
'b' : 444
}
}))
result = self.send_mock.call_args_list
expected = [
mock.call('G92 X123 Y321.123 Z34.02 A12 B444')
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_speed_command(self):
"""
Testing the 'speed' command
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'speed',
'data': {
'xyz': 3000,
'y': 200, # should be ignored
'z': 300, # should be ignored
'a': 400,
'b': 500
}
}))
result = self.send_mock.call_args_list
expected = [
mock.call('G0 F3000 a400 b500'),
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_acceleration_command(self):
"""
Testing the 'acceleration' command
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'acceleration',
'data': {
'xy': 3000,
'z': 200,
'x': 300, # should be ignored
'a': 400,
'b': 500
}
}))
result = self.send_mock.call_args_list
expected = [
mock.call('M204 S3000 Z200 A400 B500')
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
self.loop.run_until_complete(self.com2gcode.process({
'type':'acceleration',
'data': {}
}))
result = self.send_mock.call_args_list
expected = []
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_home_command(self):
"""
Testing the 'home' command
"""
expected = []
# test ALL axis
self.loop.run_until_complete(self.com2gcode.process({
'type':'home',
'data': ['x', 'y', 'z', 'a', 'b']
}))
result = self.send_mock.call_args_list
expected = [mock.call('G28 X Y Z A B')]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
# test a few of the axis
self.loop.run_until_complete(self.com2gcode.process({
'type':'home',
'data': ['x', 'b']
}))
result = self.send_mock.call_args_list
expected = [mock.call('G28 X B')]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
# test if data is None
self.loop.run_until_complete(self.com2gcode.process({
'type':'home',
'data': None
}))
result = self.send_mock.call_args_list
expected = [mock.call('G28')]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
def test_hardstop_command(self):
"""
Testing the 'hardstop' command
"""
self.loop.run_until_complete(self.com2gcode.process({
'type':'hardstop'
}))
result = self.send_mock.call_args_list
expected = [
mock.call('M112'),
mock.call('M999')
]
self.assertEquals(expected, result)
self.send_mock.reset_mock()
