524 lines
19 KiB
Elixir
524 lines
19 KiB
Elixir
defmodule FarmbotFirmware.GCODETest do
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use ExUnit.Case
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alias FarmbotFirmware.GCODE
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doctest GCODE
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test "extracts q codes" do
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assert {"0", ["ABC"]} = GCODE.extract_tag(["ABC", "Q0"])
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assert {"123", ["Y00", "H1", "I1", "K9", "L199"]} =
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GCODE.extract_tag(["Y00", "H1", "I1", "K9", "L199", "Q123"])
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assert {"abc", ["J700"]} = GCODE.extract_tag(["J700", "Qabc"])
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assert {nil, ["H100"]} = GCODE.extract_tag(["H100"])
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end
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describe "receive codes" do
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test "idle" do
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assert {nil, {:report_idle, []}} = GCODE.decode("R00")
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assert {"100", {:report_idle, []}} = GCODE.decode("R00 Q100")
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assert "R00" = GCODE.encode({nil, {:report_idle, []}})
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assert "R00 Q100" = GCODE.encode({"100", {:report_idle, []}})
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end
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test "begin" do
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assert {nil, {:report_begin, []}} = GCODE.decode("R01")
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assert {"100", {:report_begin, []}} = GCODE.decode("R01 Q100")
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assert "R01" = GCODE.encode({nil, {:report_begin, []}})
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assert "R01 Q100" = GCODE.encode({"100", {:report_begin, []}})
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end
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test "success" do
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assert {nil, {:report_success, []}} = GCODE.decode("R02")
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assert {"100", {:report_success, []}} = GCODE.decode("R02 Q100")
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assert "R02" = GCODE.encode({nil, {:report_success, []}})
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assert "R02 Q100" = GCODE.encode({"100", {:report_success, []}})
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end
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test "error" do
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assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03")
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assert {nil, {:report_error, [:no_error]}} = GCODE.decode("R03 V0")
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assert {nil, {:report_error, [:emergency_lock]}} = GCODE.decode("R03 V1")
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assert {nil, {:report_error, [:timeout]}} = GCODE.decode("R03 V2")
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assert {nil, {:report_error, [:stall_detected]}} = GCODE.decode("R03 V3")
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assert {nil, {:report_error, [:invalid_command]}} =
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GCODE.decode("R03 V14")
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assert {nil, {:report_error, [:no_config]}} = GCODE.decode("R03 V15")
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assert {"100", {:report_error, [:no_error]}} = GCODE.decode("R03 Q100")
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assert "R03" = GCODE.encode({nil, {:report_error, []}})
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assert "R03 Q100" = GCODE.encode({"100", {:report_error, []}})
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end
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test "busy" do
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assert {nil, {:report_busy, []}} = GCODE.decode("R04")
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assert {"100", {:report_busy, []}} = GCODE.decode("R04 Q100")
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assert "R04" = GCODE.encode({nil, {:report_busy, []}})
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assert "R04 Q100" = GCODE.encode({"100", {:report_busy, []}})
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end
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test "axis state" do
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assert {nil, {:report_axis_state, [x: :idle]}} = GCODE.decode("R05 X0")
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assert {nil, {:report_axis_state, [x: :begin]}} = GCODE.decode("R05 X1")
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assert {nil, {:report_axis_state, [x: :accelerate]}} =
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GCODE.decode("R05 X2")
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assert {nil, {:report_axis_state, [x: :cruise]}} = GCODE.decode("R05 X3")
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assert {nil, {:report_axis_state, [x: :decelerate]}} =
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GCODE.decode("R05 X4")
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assert {nil, {:report_axis_state, [x: :stop]}} = GCODE.decode("R05 X5")
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assert {nil, {:report_axis_state, [x: :crawl]}} = GCODE.decode("R05 X6")
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assert {"12", {:report_axis_state, [x: :idle]}} =
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GCODE.decode("R05 X0 Q12")
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assert {"12", {:report_axis_state, [x: :begin]}} =
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GCODE.decode("R05 X1 Q12")
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assert {"12", {:report_axis_state, [x: :accelerate]}} =
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GCODE.decode("R05 X2 Q12")
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assert {"12", {:report_axis_state, [x: :cruise]}} =
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GCODE.decode("R05 X3 Q12")
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assert {"12", {:report_axis_state, [x: :decelerate]}} =
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GCODE.decode("R05 X4 Q12")
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assert {"12", {:report_axis_state, [x: :stop]}} =
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GCODE.decode("R05 X5 Q12")
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assert {"12", {:report_axis_state, [x: :crawl]}} =
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GCODE.decode("R05 X6 Q12")
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assert "R05 X0" = GCODE.encode({nil, {:report_axis_state, [x: :idle]}})
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assert "R05 X1" = GCODE.encode({nil, {:report_axis_state, [x: :begin]}})
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assert "R05 X2" =
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GCODE.encode({nil, {:report_axis_state, [x: :accelerate]}})
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assert "R05 X3" = GCODE.encode({nil, {:report_axis_state, [x: :cruise]}})
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assert "R05 X4" =
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GCODE.encode({nil, {:report_axis_state, [x: :decelerate]}})
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assert "R05 X5" = GCODE.encode({nil, {:report_axis_state, [x: :stop]}})
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assert "R05 X6" = GCODE.encode({nil, {:report_axis_state, [x: :crawl]}})
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assert "R05 X0 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :idle]}})
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assert "R05 X1 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :begin]}})
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assert "R05 X2 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :accelerate]}})
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assert "R05 X3 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :cruise]}})
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assert "R05 X4 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :decelerate]}})
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assert "R05 X5 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :stop]}})
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assert "R05 X6 Q12" =
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GCODE.encode({"12", {:report_axis_state, [x: :crawl]}})
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assert {nil, {:report_axis_state, [y: :idle]}} = GCODE.decode("R05 Y0")
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assert {nil, {:report_axis_state, [y: :begin]}} = GCODE.decode("R05 Y1")
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assert {nil, {:report_axis_state, [y: :accelerate]}} =
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GCODE.decode("R05 Y2")
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assert {nil, {:report_axis_state, [y: :cruise]}} = GCODE.decode("R05 Y3")
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assert {nil, {:report_axis_state, [y: :decelerate]}} =
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GCODE.decode("R05 Y4")
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assert {nil, {:report_axis_state, [y: :stop]}} = GCODE.decode("R05 Y5")
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assert {nil, {:report_axis_state, [y: :crawl]}} = GCODE.decode("R05 Y6")
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assert {"13", {:report_axis_state, [y: :idle]}} =
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GCODE.decode("R05 Y0 Q13")
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assert {"13", {:report_axis_state, [y: :begin]}} =
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GCODE.decode("R05 Y1 Q13")
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assert {"13", {:report_axis_state, [y: :accelerate]}} =
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GCODE.decode("R05 Y2 Q13")
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assert {"13", {:report_axis_state, [y: :cruise]}} =
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GCODE.decode("R05 Y3 Q13")
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assert {"13", {:report_axis_state, [y: :decelerate]}} =
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GCODE.decode("R05 Y4 Q13")
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assert {"13", {:report_axis_state, [y: :stop]}} =
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GCODE.decode("R05 Y5 Q13")
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assert {"13", {:report_axis_state, [y: :crawl]}} =
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GCODE.decode("R05 Y6 Q13")
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assert "R05 Y0" = GCODE.encode({nil, {:report_axis_state, [y: :idle]}})
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assert "R05 Y1" = GCODE.encode({nil, {:report_axis_state, [y: :begin]}})
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assert "R05 Y2" =
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GCODE.encode({nil, {:report_axis_state, [y: :accelerate]}})
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assert "R05 Y3" = GCODE.encode({nil, {:report_axis_state, [y: :cruise]}})
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assert "R05 Y4" =
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GCODE.encode({nil, {:report_axis_state, [y: :decelerate]}})
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assert "R05 Y5" = GCODE.encode({nil, {:report_axis_state, [y: :stop]}})
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assert "R05 Y6" = GCODE.encode({nil, {:report_axis_state, [y: :crawl]}})
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assert "R05 Y0 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :idle]}})
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assert "R05 Y1 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :begin]}})
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assert "R05 Y2 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :accelerate]}})
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assert "R05 Y3 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :cruise]}})
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assert "R05 Y4 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :decelerate]}})
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assert "R05 Y5 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :stop]}})
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assert "R05 Y6 Q13" =
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GCODE.encode({"13", {:report_axis_state, [y: :crawl]}})
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assert {nil, {:report_axis_state, [z: :idle]}} = GCODE.decode("R05 Z0")
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assert {nil, {:report_axis_state, [z: :begin]}} = GCODE.decode("R05 Z1")
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assert {nil, {:report_axis_state, [z: :accelerate]}} =
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GCODE.decode("R05 Z2")
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assert {nil, {:report_axis_state, [z: :cruise]}} = GCODE.decode("R05 Z3")
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assert {nil, {:report_axis_state, [z: :decelerate]}} =
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GCODE.decode("R05 Z4")
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assert {nil, {:report_axis_state, [z: :stop]}} = GCODE.decode("R05 Z5")
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assert {nil, {:report_axis_state, [z: :crawl]}} = GCODE.decode("R05 Z6")
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assert {"14", {:report_axis_state, [z: :idle]}} =
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GCODE.decode("R05 Z0 Q14")
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assert {"14", {:report_axis_state, [z: :begin]}} =
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GCODE.decode("R05 Z1 Q14")
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assert {"14", {:report_axis_state, [z: :accelerate]}} =
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GCODE.decode("R05 Z2 Q14")
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assert {"14", {:report_axis_state, [z: :cruise]}} =
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GCODE.decode("R05 Z3 Q14")
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assert {"14", {:report_axis_state, [z: :decelerate]}} =
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GCODE.decode("R05 Z4 Q14")
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assert {"14", {:report_axis_state, [z: :stop]}} =
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GCODE.decode("R05 Z5 Q14")
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assert {"14", {:report_axis_state, [z: :crawl]}} =
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GCODE.decode("R05 Z6 Q14")
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assert "R05 Z0" = GCODE.encode({nil, {:report_axis_state, [z: :idle]}})
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assert "R05 Z1" = GCODE.encode({nil, {:report_axis_state, [z: :begin]}})
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assert "R05 Z2" =
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GCODE.encode({nil, {:report_axis_state, [z: :accelerate]}})
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assert "R05 Z3" = GCODE.encode({nil, {:report_axis_state, [z: :cruise]}})
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assert "R05 Z4" =
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GCODE.encode({nil, {:report_axis_state, [z: :decelerate]}})
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assert "R05 Z5" = GCODE.encode({nil, {:report_axis_state, [z: :stop]}})
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assert "R05 Z6" = GCODE.encode({nil, {:report_axis_state, [z: :crawl]}})
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assert "R05 Z0 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :idle]}})
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assert "R05 Z1 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :begin]}})
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assert "R05 Z2 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :accelerate]}})
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assert "R05 Z3 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :cruise]}})
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assert "R05 Z4 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :decelerate]}})
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assert "R05 Z5 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :stop]}})
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assert "R05 Z6 Q14" =
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GCODE.encode({"14", {:report_axis_state, [z: :crawl]}})
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end
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test "calibration" do
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assert {nil, {:report_calibration_state, [x: :idle]}} =
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GCODE.decode("R06 X0")
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assert {nil, {:report_calibration_state, [x: :home]}} =
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GCODE.decode("R06 X1")
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assert {nil, {:report_calibration_state, [x: :end]}} =
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GCODE.decode("R06 X2")
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assert {"1", {:report_calibration_state, [x: :idle]}} =
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GCODE.decode("R06 X0 Q1")
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assert {"1", {:report_calibration_state, [x: :home]}} =
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GCODE.decode("R06 X1 Q1")
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assert {"1", {:report_calibration_state, [x: :end]}} =
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GCODE.decode("R06 X2 Q1")
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assert "R06 X0" =
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GCODE.encode({nil, {:report_calibration_state, [x: :idle]}})
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assert "R06 X1" =
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GCODE.encode({nil, {:report_calibration_state, [x: :home]}})
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assert "R06 X2" =
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GCODE.encode({nil, {:report_calibration_state, [x: :end]}})
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assert "R06 X0 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [x: :idle]}})
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assert "R06 X1 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [x: :home]}})
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assert "R06 X2 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [x: :end]}})
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assert {nil, {:report_calibration_state, [y: :idle]}} =
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GCODE.decode("R06 Y0")
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assert {nil, {:report_calibration_state, [y: :home]}} =
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GCODE.decode("R06 Y1")
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assert {nil, {:report_calibration_state, [y: :end]}} =
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GCODE.decode("R06 Y2")
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assert {"1", {:report_calibration_state, [y: :idle]}} =
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GCODE.decode("R06 Y0 Q1")
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assert {"1", {:report_calibration_state, [y: :home]}} =
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GCODE.decode("R06 Y1 Q1")
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assert {"1", {:report_calibration_state, [y: :end]}} =
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GCODE.decode("R06 Y2 Q1")
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assert "R06 Y0" =
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GCODE.encode({nil, {:report_calibration_state, [y: :idle]}})
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assert "R06 Y1" =
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GCODE.encode({nil, {:report_calibration_state, [y: :home]}})
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assert "R06 Y2" =
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GCODE.encode({nil, {:report_calibration_state, [y: :end]}})
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assert "R06 Y0 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [y: :idle]}})
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assert "R06 Y1 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [y: :home]}})
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assert "R06 Y2 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [y: :end]}})
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assert {nil, {:report_calibration_state, [z: :idle]}} =
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GCODE.decode("R06 Z0")
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assert {nil, {:report_calibration_state, [z: :home]}} =
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GCODE.decode("R06 Z1")
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assert {nil, {:report_calibration_state, [z: :end]}} =
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GCODE.decode("R06 Z2")
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assert {"1", {:report_calibration_state, [z: :idle]}} =
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GCODE.decode("R06 Z0 Q1")
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assert {"1", {:report_calibration_state, [z: :home]}} =
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GCODE.decode("R06 Z1 Q1")
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assert {"1", {:report_calibration_state, [z: :end]}} =
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GCODE.decode("R06 Z2 Q1")
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assert "R06 Z0" =
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GCODE.encode({nil, {:report_calibration_state, [z: :idle]}})
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assert "R06 Z1" =
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GCODE.encode({nil, {:report_calibration_state, [z: :home]}})
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assert "R06 Z2" =
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GCODE.encode({nil, {:report_calibration_state, [z: :end]}})
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assert "R06 Z0 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [z: :idle]}})
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assert "R06 Z1 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [z: :home]}})
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assert "R06 Z2 Q1" =
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GCODE.encode({"1", {:report_calibration_state, [z: :end]}})
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end
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test "retry" do
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assert {nil, {:report_retry, []}} = GCODE.decode("R07")
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assert {"100", {:report_retry, []}} = GCODE.decode("R07 Q100")
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assert "R07" = GCODE.encode({nil, {:report_retry, []}})
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assert "R07 Q100" = GCODE.encode({"100", {:report_retry, []}})
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end
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test "echo" do
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assert {nil, {:report_echo, ["ABC"]}} = GCODE.decode("R08 * ABC *")
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assert "R08 * ABC *" = GCODE.encode({nil, {:report_echo, ["ABC"]}})
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end
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test "invalid" do
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assert {nil, {:report_invalid, []}} = GCODE.decode("R09")
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assert {"50", {:report_invalid, []}} = GCODE.decode("R09 Q50")
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assert "R09" = GCODE.encode({nil, {:report_invalid, []}})
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assert "R09 Q50" = GCODE.encode({"50", {:report_invalid, []}})
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end
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test "home complete" do
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assert {nil, {:report_home_complete, [:x]}} = GCODE.decode("R11")
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assert {"22", {:report_home_complete, [:x]}} = GCODE.decode("R11 Q22")
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assert {nil, {:report_home_complete, [:y]}} = GCODE.decode("R12")
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assert {"22", {:report_home_complete, [:y]}} = GCODE.decode("R12 Q22")
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assert {nil, {:report_home_complete, [:z]}} = GCODE.decode("R13")
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assert {"22", {:report_home_complete, [:z]}} = GCODE.decode("R13 Q22")
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end
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test "position change" do
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assert {nil, {:report_position_change, [{:x, 200.0}]}} =
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GCODE.decode("R15 X200")
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assert {"33", {:report_position_change, [{:x, 200.0}]}} =
|
|
GCODE.decode("R15 X200 Q33")
|
|
|
|
assert {nil, {:report_position_change, [{:y, 200.0}]}} =
|
|
GCODE.decode("R16 Y200")
|
|
|
|
assert {"33", {:report_position_change, [{:y, 200.0}]}} =
|
|
GCODE.decode("R17 Y200 Q33")
|
|
|
|
assert {nil, {:report_position_change, [{:z, 200.0}]}} =
|
|
GCODE.decode("R15 Z200")
|
|
|
|
assert {"33", {:report_position_change, [{:z, 200.0}]}} =
|
|
GCODE.decode("R15 Z200 Q33")
|
|
end
|
|
|
|
test "parameter report complete" do
|
|
assert {nil, {:report_parameters_complete, []}} = GCODE.decode("R20")
|
|
assert {"66", {:report_parameters_complete, []}} = GCODE.decode("R20 Q66")
|
|
end
|
|
|
|
test "axis timeout" do
|
|
assert {nil, {:report_axis_timeout, [:x]}} = GCODE.decode("R71")
|
|
assert {"22", {:report_axis_timeout, [:x]}} = GCODE.decode("R71 Q22")
|
|
|
|
assert {nil, {:report_axis_timeout, [:y]}} = GCODE.decode("R72")
|
|
assert {"22", {:report_axis_timeout, [:y]}} = GCODE.decode("R72 Q22")
|
|
|
|
assert {nil, {:report_axis_timeout, [:z]}} = GCODE.decode("R73")
|
|
assert {"22", {:report_axis_timeout, [:z]}} = GCODE.decode("R73 Q22")
|
|
end
|
|
|
|
test "end stops" do
|
|
assert {nil,
|
|
{:report_end_stops, [xa: 1, xb: 0, ya: 0, yb: 1, za: 1, zb: 0]}} =
|
|
GCODE.decode("R81 XA1 XB0 YA0 YB1 ZA1 ZB0")
|
|
end
|
|
|
|
test "position" do
|
|
assert {nil, {:report_position, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R82 X100 Y200 Z400")
|
|
|
|
assert {"1", {:report_position, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R82 X100 Y200 Z400 Q1")
|
|
|
|
assert {nil, {:report_position, [{:x, 100.0}, {:z, 12.0}]}} =
|
|
GCODE.decode("R82 X100 Z12")
|
|
|
|
assert {nil, {:report_position, [{:z, 5.0}]}} = GCODE.decode("R82 Z5")
|
|
end
|
|
|
|
test "version" do
|
|
assert {nil, {:report_software_version, ["6.5.0.G"]}} =
|
|
GCODE.decode("R83 6.5.0.G")
|
|
|
|
assert {"900", {:report_software_version, ["6.5.0.G"]}} =
|
|
GCODE.decode("R83 6.5.0.G Q900")
|
|
|
|
assert "R83 6.5.0.G" =
|
|
GCODE.encode({nil, {:report_software_version, ["6.5.0.G"]}})
|
|
|
|
assert "R83 6.5.0.G Q900" =
|
|
GCODE.encode({"900", {:report_software_version, ["6.5.0.G"]}})
|
|
end
|
|
|
|
test "encoders" do
|
|
assert {nil,
|
|
{:report_encoders_scaled, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R84 X100 Y200 Z400")
|
|
|
|
assert {"1",
|
|
{:report_encoders_scaled, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R84 X100 Y200 Z400 Q1")
|
|
|
|
assert {nil,
|
|
{:report_encoders_raw, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R85 X100 Y200 Z400")
|
|
|
|
assert {"1",
|
|
{:report_encoders_raw, [{:x, 100.0}, {:y, 200.0}, {:z, 400.0}]}} =
|
|
GCODE.decode("R85 X100 Y200 Z400 Q1")
|
|
end
|
|
|
|
test "emergency lock" do
|
|
assert {nil, {:report_emergency_lock, []}} = GCODE.decode("R87")
|
|
assert {"999", {:report_emergency_lock, []}} = GCODE.decode("R87 Q999")
|
|
|
|
assert "R87" = GCODE.encode({nil, {:report_emergency_lock, []}})
|
|
assert "R87 Q999" = GCODE.encode({"999", {:report_emergency_lock, []}})
|
|
end
|
|
|
|
test "debug message" do
|
|
assert {nil, {:report_debug_message, ["Hello, World!"]}} =
|
|
GCODE.decode("R99 Hello, World!")
|
|
|
|
assert "R99 Hello, World!" =
|
|
GCODE.encode({nil, {:report_debug_message, ["Hello, World!"]}})
|
|
end
|
|
end
|
|
end
|