def test_handleAtCommand_multipleHandlers_match(self):
"""Test handleAtCommand when multiple command handlers are defined and match."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = False
mockEntry1 = mock.Mock()
mockEntry1.action = ENABLE_EXCLUSION
mockEntry1.matches.return_value = True
mockEntry2 = mock.Mock()
mockEntry2.action = ENABLE_EXCLUSION
mockEntry2.matches.return_value = True
mockState.atCommandActions = mock.Mock(
wraps={"DefinedCommand": [mockEntry1, mockEntry2]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "DefinedCommand",
"params")
mockState.atCommandActions.get.assert_called_with("DefinedCommand")
mockEntry1.matches.assert_called_with("DefinedCommand", "params")
mockEntry2.matches.assert_called_with("DefinedCommand", "params")
self.assertEqual(mockState.enableExclusion.call_count, 2,
"enableExclusion should be called twice")
mockState.disableExclusion.assert_not_called()
mockCommInstance.sendCommand.assert_not_called()
self.assertTrue(result, "The result should be True")
def test_handleAtCommand_oneHandler_match_DISABLE_EXCLUSION(self):
"""Test handleAtCommand with one matching handler that disables exclusion."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.disableExclusion.return_value = ["Command1", "Command2"]
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = False
mockEntry = mock.Mock()
mockEntry.action = DISABLE_EXCLUSION
mockEntry.matches.return_value = True
mockState.atCommandActions = mock.Mock(
wraps={"DefinedCommand": [mockEntry]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "DefinedCommand",
"params")
mockState.atCommandActions.get.assert_called_with("DefinedCommand")
mockEntry.matches.assert_called_with("DefinedCommand", "params")
mockState.enableExclusion.assert_not_called()
mockState.disableExclusion.assert_called_once()
mockCommInstance.sendCommand.assert_has_calls(
[mock.call("Command1"),
mock.call("Command2")])
self.assertTrue(result, "The result should be True")
def test_handleAtCommand_multipleHandlers_noParamMatch(self):
"""Test handleAtCommand when multiple command handlers defined, but no param matches."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = False
mockEntry1 = mock.Mock()
mockEntry1.matches.return_value = None
mockEntry2 = mock.Mock()
mockEntry2.matches.return_value = None
mockState.atCommandActions = mock.Mock(
wraps={"DefinedCommand": [mockEntry1, mockEntry2]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "DefinedCommand",
"params")
mockState.atCommandActions.get.assert_called_with("DefinedCommand")
mockEntry1.matches.assert_called_with("DefinedCommand", "params")
mockEntry2.matches.assert_called_with("DefinedCommand", "params")
mockState.enableExclusion.assert_not_called()
mockState.disableExclusion.assert_not_called()
mockCommInstance.sendCommand.assert_not_called()
self.assertFalse(result, "The result should be False")
def test_handleAtCommand_oneHandler_match_unsupported_action(self):
"""Test handleAtCommand with one matching handler that specifies an unsupported action."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = False
mockEntry = mock.Mock()
mockEntry.action = "unsupported"
mockEntry.matches.return_value = True
mockState.atCommandActions = mock.Mock(
wraps={"DefinedCommand": [mockEntry]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "DefinedCommand",
"params")
mockState.atCommandActions.get.assert_called_with("DefinedCommand")
mockEntry.matches.assert_called_with("DefinedCommand", "params")
mockState.enableExclusion.assert_not_called()
mockState.disableExclusion.assert_not_called()
mockCommInstance.sendCommand.assert_not_called()
mockLogger.warn.assert_called()
self.assertTrue(result, "The result should be True")
def test_handleAtCommand_isSdStreaming(self):
"""Test handleAtCommand when the commInstance indicates SD streaming."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = True
# Mock a matching entry, which should not be invoked
mockEntry = mock.Mock()
mockEntry.action = ENABLE_EXCLUSION
mockEntry.matches.return_value = True
mockState.atCommandActions = mock.Mock(
wraps={"DefinedCommand": [mockEntry]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "DefinedCommand",
"params")
mockState.atCommandActions.get.assert_not_called()
mockEntry.matches.assert_not_called()
mockState.enableExclusion.assert_not_called()
mockState.disableExclusion.assert_not_called()
mockCommInstance.sendCommand.assert_not_called()
self.assertFalse(result, "The result should be False")
def test_computeArcCenterOffsets_zeroRadius(self):
"""Test the computeArcCenterOffsets method with a radius of zero."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = 0
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.computeArcCenterOffsets(10, 10, 0, True)
self.assertEqual(result, (0, 0),
"No offset should be computed when the radius is 0")
def test_computeArcCenterOffsets_counterClockwise_semicircle(self):
"""Test the computeArcCenterOffsets method with a CCW semicircular 100 unit arc."""
arcRadius = 50
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = arcRadius
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.computeArcCenterOffsets(-arcRadius, 0, arcRadius, False)
self.assertEqual(
result, (-arcRadius, 0),
"The computed center offset should be (%s, %s)" % (-arcRadius, 0))
def test_computeArcCenterOffsets_circle(self):
"""Test the computeArcCenterOffsets method when the start and end points are identical."""
arcRadius = 50
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = 0
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.computeArcCenterOffsets(0, 0, arcRadius, True)
self.assertEqual(
result, (0, 0),
"No offset should be computed when the start and end points are the same"
)
def test_computeArcCenterOffsets_radiusTooSmall(self):
"""Test computeArcCenterOffsets when the radius is less than half the chord length."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = 0
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
# Try chord length 10, radius 4
result = unit.computeArcCenterOffsets(10, 0, 4, True)
self.assertEqual(
result, (0, 0),
"No offset should be computed if the radius is less than half the chord length."
)
def test_handleAtCommand_noHandler(self):
"""Test handleAtCommand when no matching command handler is defined."""
mockLogger = mock.Mock()
mockState = mock.Mock()
mockCommInstance = mock.Mock()
mockCommInstance.isStreaming.return_value = False
mockEntry = mock.Mock()
mockState.atCommandActions = mock.Mock(wraps={"NoMatch": [mockEntry]})
unit = GcodeHandlers(mockState, mockLogger)
result = unit.handleAtCommand(mockCommInstance, "NotDefined", "params")
mockState.atCommandActions.get.assert_called_with("NotDefined")
mockEntry.matches.assert_not_called()
mockState.enableExclusion.assert_not_called()
mockState.disableExclusion.assert_not_called()
mockCommInstance.sendCommand.assert_not_called()
self.assertFalse(result, "The result should be False")
def test_planArc_counterClockwise_semicircle(self):
"""Tests the planArc method with a CCW semicircular 100 unit arc centered at (0,0)."""
arcRadius = 50
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = -arcRadius
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.planArc(arcRadius, 0, arcRadius, 0, False)
self._assert_planArc_commonResultProperties(start=(-arcRadius, 0),
end=(arcRadius, 0),
center=(0, 0),
radius=arcRadius,
items=result)
# y value comparisons
# - the y component of each point should be below or equal to the y axis
# - the y component direction must change one time
self._assert_planArc_axisProperties(
coordinateOffset=1,
initialValue=0,
initialDirection=-1,
expectedReversals=1,
items=result,
filterFunc=lambda x, y, direction, index: (self.assertTrue(
y <= 0, "Each y coordinate should be on or below the Y axis" +
": pt=(%s, %s) index=%s" % (x, y, index))))
# x value comparisons
# - the x component of each point should increase for each point
self._assert_planArc_axisProperties(coordinateOffset=0,
initialValue=-arcRadius,
initialDirection=1,
expectedReversals=0,
items=result)
def test_constructor(self):
"""Test the constructor when passed logger and state instances."""
# pylint: disable=protected-access
mockState = mock.Mock(name="state")
mockLogger = mock.Mock(name="_logger")
unit = GcodeHandlers(mockState, mockLogger)
self.assertIsInstance(unit, GcodeHandlers)
self.assertProperties(unit, GcodeHandlersTests.expectedProperties)
self.assertIs(unit._logger, mockLogger,
"The logger should match the instance passed in")
self.assertIs(unit.state, mockState,
"The state should match the instance passed in")
def test_computeArcCenterOffsets_negativeRadius(self):
"""Test computeArcCenterOffsets method with a negative radius value."""
# Tests an arc with a chord length of 8 (half-width of 4) and a height (from chord to
# center point on arc) of 3
arcRadius = -(4.0 + 1.0 / 6.0)
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = 0
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.computeArcCenterOffsets(8, 0, arcRadius, True)
self.assertEqual(
result[0], 4,
"The returned I value should match the expected value")
self.assertAlmostEqual(
result[1],
arcRadius + 3, # Note addition here when radius is negative
msg="The returned J value should match the expected value")
def test_constructor_missingLogger(self):
"""Test the constructor when passed a state, but no logger."""
mockState = mock.Mock(name="state")
with self.assertRaises(AssertionError):
GcodeHandlers(mockState, None)
def test_constructor_missingState(self):
"""Test the constructor when passed a logger, but no state."""
mockLogger = mock.Mock(name="_logger")
with self.assertRaises(AssertionError):
GcodeHandlers(None, mockLogger)
def _createInstance():
return GcodeHandlers(mock.Mock(name="state"),
mock.Mock(name="_logger"))
def test_planArc_counterClockwise_circle(self):
"""Tests the planArc method with a CCW circular 100 unit arc centered at (0,0)."""
arcRadius = 50
mockLogger = mock.Mock()
mockState = mock.Mock()
mockState.position.X_AXIS.nativeToLogical.return_value = -arcRadius
mockState.position.Y_AXIS.nativeToLogical.return_value = 0
unit = GcodeHandlers(mockState, mockLogger)
result = unit.planArc(-arcRadius, 0, arcRadius, 0, False)
self._assert_planArc_commonResultProperties(start=(-arcRadius, 0),
end=(-arcRadius, 0),
center=(0, 0),
radius=arcRadius,
items=result)
# y value comparisons
# - the y component of each point to the left of x axis should have a negative direction
# - the y component of each point to the right of x axis should have a positive direction
# - the y component direction must change two times
ignoredY = {"first": False}
def filter_y(x, y, direction, index):
if (x < 0):
self.assertEqual(
direction, -1,
"The y direction should be negative for points to the left of the x axis"
+ ": pt=(%s, %s) index=%s" % (x, y, index))
elif (ignoredY["first"]):
self.assertEqual(
direction, 1,
"The y direction should be positive for points to the right of the x axis"
+ ": pt=(%s, %s) index=%s" % (x, y, index))
else:
# Ignore the first one, since it _could_ have the opposite direction at the boundary
ignoredY["first"] = True
self._assert_planArc_axisProperties(coordinateOffset=1,
initialValue=0,
initialDirection=-1,
expectedReversals=2,
items=result,
filterFunc=filter_y)
# x value comparisons
# - the x component of each point above the y axis should have a negative direction
# - the x component of each point below the y axis should have a positive direction
# - the x component direction must change one time
ignoredX = {"first": False}
def filter_x(x, y, direction, index):
if (y < 0):
self.assertEqual(
direction, 1,
"The x direction should be positive for points below the y axis"
+ ": pt=(%s, %s) index=%s" % (x, y, index))
elif (ignoredX["first"]):
self.assertEqual(
direction, -1,
"The x direction should be negative for points above the y axis"
+ ": pt=(%s, %s) index=%s" % (x, y, index))
else:
# Ignore the first one, since it _could_ have the opposite direction at the boundary
ignoredX["first"] = True
self._assert_planArc_axisProperties(coordinateOffset=0,
initialValue=-arcRadius,
initialDirection=1,
expectedReversals=1,
items=result,
filterFunc=filter_x)