public void FunctionEnd_ShouldReturnEndWithoutIndent()
{
var expected = $"end\n";
var actual = URScript.FunctionEnd();
Assert.Equal(expected, actual);
}
public void FunctionHeader_ReturnFunctionNameDeclaration(string name)
{
var expected = $"def { name }():\n";
var actual = URScript.FunctionHeader(name);
Assert.Equal(expected, actual);
}
public void Indent_IndentStringShouldOnlyIncludeSpaceChar(uint level)
{
var indent = URScript.Indent(level);
for (int i = 0; i < indent.Length; i++)
{
Assert.Equal(' ', indent[i]);
}
}
public void Indent_IndentStringLengthShouldBeCorrect(uint level)
{
var indent = URScript.Indent(level);
var expected = (int)level * 2;
var actual = indent.Length;
Assert.Equal(expected, actual);
}
public void MoveL_ShouldReturnCorrectCommand(double x, double y, double z, double rx, double ry, double rz, double a, double v)
{
var expected = $"movel(p[{ x }, { y }, { z }, { rx }, { ry }, { rz }], a={ a }, v={ v })\n";
URPose pose = new URPose(new Point3D(x, y, z), new Point3D(rx, ry, rz));
var actual = URScript.MoveL(pose, a, v);
Assert.Equal(expected, actual);
}
public void FunctionHeader_EmptyNameStringShouldReturnUnnamed()
{
string name = "";
var expected = $"def unnamed():\n";
var actual = URScript.FunctionHeader(name);
Assert.Equal(expected, actual);
}
// URscript control
private void Generate_Click(object sender, RoutedEventArgs e)
{
if ((point1 != null) && (point2 != null) && (point3 != null))
{
var scanmove = new URMovement(point1, point2);
var boundary = new RectangularBoundary(scanmove, point3);
double aperture = 0.06;
double overlap = 0.1;
var urMoves = PathPlanner.SStyle(boundary, aperture, overlap);
var safeDist = new URVector(new Vector3D(0, 0, 0.02), new Vector3D(0, 0, 0));
URScriptTextBox.Text = URScript.Generate("cscan", urMoves, safeDist);
}
}
public void ForceMode_ShouleHaveCorrectIndent(uint level)
{
URPose start = new URPose(new Point3D(0, 1, 2), new Point3D(0, 0, 0));
URPose end = new URPose(new Point3D(1, 2, 3), new Point3D(0, 0, 0));
URMovement movement = new URMovement(start, end);
var cmds = URScript.ForceMode(level, movement).Split('\n');
//skip last line since it is empty line
for (int i = 0; i < cmds.Length - 1; i++)
{
Assert.StartsWith(URScript.Indent(level), cmds[i]);
Assert.NotEqual(' ', cmds[i][(int)level * 2]);
}
}
public void Generate_ShouldGenerateCorrectScript()
{
string name = "test";
URPose pose1 = new URPose(new Point3D(-1, 1, 0), new Point3D(0, 0, 0));
URPose pose2 = new URPose(new Point3D(1, 1, 0), new Point3D(0, 0, 0));
URPose pose3 = new URPose(new Point3D(1, -1, 0), new Point3D(0, 0, 0));
URPose pose4 = new URPose(new Point3D(-1, -1, 0), new Point3D(0, 0, 0));
List <IURMovement> moves = new List <IURMovement>();
moves.Add(new URMovement(pose1, pose2));
moves.Add(new URMovement(pose3, pose4));
URVector safe = new URVector(new Vector3D(0, 0, 1), new Vector3D(0, 0, 0));
var actual = URScript.Generate(name, moves, safe);
var expected =
"def test():\n" +
" movel(p[-1, 1, 1, 0, 0, 0], a=0.5, v=0.3)\n" +
" sleep(0.5)\n" +
" force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n" +
" movel(p[-1, 1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" sleep(1)\n" +
" movel(p[1, 1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" end_force_mode()\n" +
" sleep(0.5)\n" +
" movel(p[1, 1, 1, 0, 0, 0], a=0.1, v=0.1)\n" +
" movel(p[1, -1, 1, 0, 0, 0], a=0.5, v=0.3)\n" +
" sleep(0.5)\n" +
" force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, -70.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])\n" +
" movel(p[1, -1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" sleep(1)\n" +
" movel(p[-1, -1, 0, 0, 0, 0], a=0.1, v=0.02)\n" +
" end_force_mode()\n" +
" sleep(0.5)\n" +
" movel(p[-1, -1, 1, 0, 0, 0], a=0.1, v=0.1)\n" +
"end\n";
Assert.Equal(expected, actual);
}
