// 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 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);
}