39 lines
1.5 KiB
Elixir
39 lines
1.5 KiB
Elixir
defmodule FarmbotFirmware.GCODE.DecoderTest do
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use ExUnit.Case
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use Mimic
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setup :verify_on_exit!
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alias FarmbotFirmware.GCODE.Decoder
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test "Decoder.decode_ints(pvm, acc \\ [])" do
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assert [a: 1, b: 2, c: 3] == Decoder.decode_ints(["A1", "B2", "C3"])
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end
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test "Decoder.decode_pv" do
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assert [param_config_ok: 3.0] == Decoder.decode_pv(["P2", "V3"])
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end
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test "Decoder.decode_uxvywz" do
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assert [1, 2, 3, 4, 5, 6] ==
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Decoder.decode_uxvywz(["U1", "X2", "V3", "Y4", "W5", "Z6"])
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end
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# NOTE: Theese values are totally random and may
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# not represent real-world use of the GCode.
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test "Decoder.decode_floats" do
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assert {:command_movement, []} == Decoder.do_decode("G00", ["XA0.0"])
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assert {:report_encoders_raw, [x: 0.0]} == Decoder.do_decode("R85", ["X0"])
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assert {:report_encoders_scaled, []} == Decoder.do_decode("R84", ["XA-0.0"])
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assert {:report_position, []} == Decoder.do_decode("R82", ["XA-0"])
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assert {:report_position_change, []} == Decoder.do_decode("R17", ["XB1.0"])
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assert {:report_position_change, []} == Decoder.do_decode("R16", ["XB-1.0"])
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assert {:report_position_change, []} == Decoder.do_decode("R15", ["XB10"])
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assert {:report_position_change, [x: 1.0]} ==
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Decoder.do_decode("R15", ["X1"])
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assert {:report_position_change, []} == Decoder.do_decode("R16", ["YA1"])
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assert {:command_movement, []} == Decoder.do_decode("G00", ["YB1"])
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assert {:report_position, []} == Decoder.do_decode("R82", ["ZB1"])
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end
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end
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