public void GetHomingMessage_IsEqual()
{
GRBLProtokoll protokoll = new GRBLProtokoll();
CNCMessage cNCMessage = protokoll.GetHomingMessage();
Assert.Equal("$H", cNCMessage.Message);
}
public override CNCMessage GetSpindelSetRPMMessage(double RPM, string Direction)
{
CNCMessage spindelmessage = new CNCMessage();
string dir = Direction.Trim().ToLower();
if (RPM < 0)
{
return(spindelmessage);
}
if (dir != "clockwise" && dir != "counterclockwise")
{
return(spindelmessage);
}
if (dir == "clockwise")
{
spindelmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.RTC_SetSpindleSpeedClockWise));
spindelmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "S", RPM.ToString()));
}
else if (dir == "counterclockwise")
{
spindelmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.RTC_SetSpindleSpeedCounterClockWise));
spindelmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "S", RPM.ToString()));
}
return(spindelmessage);
}
public override CNCMessage GetKillAlarmMessage()
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_KillAlarmLock));
return(rmessage);
}
/// <summary>
/// Gets a GRBL Message for Feed.
/// This is the message who will returned
/// [GC:G0 G54 G17 G21 G90 G94 M5 M9 T0 F0 S0]
/// </summary>
/// <returns>CNCMessage</returns>
public override CNCMessage GetCurrentFeedMessage()
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_ViewGCODEParserState));
return(rmessage);
}
/// <summary>
/// Gets a GRBL Message for setting the feed of the CNC Controller
/// </summary>
/// <returns></returns>
public override CNCMessage GetSetFeedMessage(double Feed)
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteSetting, "F", Feed.ToString()));
return(rmessage);
}
/// <summary>
/// Gets a GRBL Message for Z
/// </summary>
/// <returns>CNCMessage</returns>
public override CNCMessage GetCurrentZMessage()
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.RTC_StatusReportQuery));
return(rmessage);
}
public void GetSetZeroMessage_IsEqual()
{
GRBLProtokoll protokoll = new GRBLProtokoll();
CNCMessage output = protokoll.GetSetZeroMessage();
Assert.Equal("G10 P1 L20 X0 Y0 Z0", output.Message);
}
public override CNCMessage GetSoftResetMessage()
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.RTC_SoftReset));
return(rmessage);
}
public void GetKillAlarmMessage_IsEqual()
{
GRBLProtokoll protokoll = new GRBLProtokoll();
CNCMessage cNCMessage = protokoll.GetKillAlarmMessage();
Assert.Equal("$X", cNCMessage.Message.Trim());
}
public override CNCMessage GetHomingMessage()
{
CNCMessage homingmessage = new CNCMessage();
homingmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_RunHomincCycle));
return(homingmessage);
}
/// <summary>
/// Gets a GRBL Message for moving the tool by ... Millimeters in X direction
/// </summary>
/// <returns></returns>
public override CNCMessage GetMoveByXMessage(double XMillimieter, double Feed)
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "X", XMillimieter.ToString()));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "F", Feed.ToString()));
return(rmessage);
}
public override CNCMessage GetJogByZMessage(double ZMillimieter, double Feed)
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_RunJoggingMogion));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "Z", ZMillimieter.ToString()));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "F", Feed.ToString()));
return(rmessage);
}
public void GetRelativeJogByXYZMessage_IsEqual()
{
// Arrange
GRBLProtokoll protokoll = new GRBLProtokoll();
// Act
CNCMessage output = protokoll.GetRelativeJogByXYZMessage(12, 12, 12, 100);
// Assert
Assert.Equal("$J=G21 G91 X12 Y12 Z12 F100", output.Message.Trim());
}
public void GetCurrentXYZMessage_IsEqual()
{
// Arrange
GRBLProtokoll protokoll = new GRBLProtokoll();
// Act
CNCMessage output = protokoll.GetCurrentXYZMessage();
// Assert
Assert.Equal("?", output.Message);
}
public void GetMoveByZMessage_IsEqual()
{
// Arrange
GRBLProtokoll protokoll = new GRBLProtokoll();
// Act
CNCMessage output = protokoll.GetMoveByZMessage(12, 100);
// Assert
Assert.Equal("Z12 F100", output.Message.Trim());
}
public override CNCMessage GetRelativeJogByZMessage(double ZMillimeter, double Feed)
{
CNCMessage rmessage = new CNCMessage();
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_RunJoggingMogion));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.G_SetUnitToMillimeter_G21));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.G_RelativeMotion_G91));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "Z", ZMillimeter.ToString()));
rmessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.GRBL_WriteValue, "F", Feed.ToString()));
return(rmessage);
}
public void GetSpindelSetRPMMessage_IsEqual()
{
GRBLProtokoll gRBLProtokoll = new GRBLProtokoll();
CNCMessage cNCMessage = gRBLProtokoll.GetSpindelSetRPMMessage(1000, "clockwise");
CNCMessage nNCMessagecounter = gRBLProtokoll.GetSpindelSetRPMMessage(1000, "counterclockwise");
Assert.Equal("M3 S1000", cNCMessage.Message.Trim());
Assert.Equal("M4 S1000", nNCMessagecounter.Message.Trim());
}
public void SendMessage_GotAnythingBack()
{
// Assamble
GRBLProtokoll pr = new GRBLProtokoll();
CNCMessage m = pr.GetCurrentFeedMessage();
// Act
GRBLInterface.SendMessage(m);
// Assert
// No Exception is proof enough
}
public override CNCMessage GetSetZeroMessage()
{
CNCMessage zeromessage = new CNCMessage();
zeromessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.G_SetOffset_G10));
zeromessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.P_Tool1));
zeromessage.AppendCommand(CommandDict.GetCommand(GRBLCommand.L20));
zeromessage.AppendCommand("X0 ");
zeromessage.AppendCommand("Y0 ");
zeromessage.AppendCommand("Z0");
return(zeromessage);
}
public async Task SendCustomMessage()
{
CNCMessage message = new CNCMessage()
{
Message = "$X"
};
CNCMessage message1 = new CNCMessage()
{
Message = "FALSCH"
};
var tmp = await device.SendCustomMessage(message);
Assert.Contains("ok", tmp.Message);
tmp = await device.SendCustomMessage(message1);
Assert.Contains("error", tmp.Message);
}
public void SendMessage_ReceiveMessage()
{
// Assamble
GRBLProtokoll pr = new GRBLProtokoll();
CNCMessage m = pr.GetCurrentFeedMessage();
CNCMessage start = new CNCMessage()
{
Message = "Grbl 1.1g ['$' for help]"
};
var an = GRBLInterface.WaitReceiveMessage(100, start, 2000);
// Act
GRBLInterface.SendMessage(m);
//CNCMessage answer = GRBLInterface.ReceiveMessage(10);
CNCMessage tmp = new CNCMessage()
{
Message = "F"
};
CNCMessage answer = GRBLInterface.WaitReceiveMessage(100, tmp, 3000);
// Assert
Assert.Contains("F", answer.Message);
}
