Ajout FishPeper
This commit is contained in:
Serge NOEL
466
cncjs/test/smoothie.js
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466
cncjs/test/smoothie.js
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import { test } from 'tap';
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import SmoothieRunner from '../src/server/controllers/Smoothie/SmoothieRunner';
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// $10 - Status report mask:binary
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// Report Type | Value
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// Machine Position | 1
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// Work Position | 2
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// Planner Buffer | 4
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// RX Buffer | 8
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// Limit Pins | 16
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test('SmoothieRunnerLineParserResultStatus: all zeroes in the mask ($10=0)', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle>');
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t.same(status, {
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activeState: 'Idle',
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});
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t.end();
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});
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const line = '<Idle>';
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runner.parse(line);
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});
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test('SmoothieRunnerLineParserResultStatus: old status format', (t) => {
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t.test('6-axis', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle,MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000,WPos:200.0000,200.0000,0.0000>');
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t.same(status, {
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activeState: 'Idle',
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mpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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a: '0.0000',
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b: '0.0000',
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c: '0.0000',
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},
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wpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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}
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});
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t.end();
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});
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const line = '<Idle,MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000,WPos:200.0000,200.0000,0.0000>';
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runner.parse(line);
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});
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t.end();
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});
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test('SmoothieRunnerLineParserResultStatus: new status format', (t) => {
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t.test('6-axis', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle|MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0>');
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t.same(status, {
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activeState: 'Idle',
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mpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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a: '0.0000',
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b: '0.0000',
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c: '0.0000',
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},
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wpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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});
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t.end();
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});
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const line = '<Idle|MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0>';
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runner.parse(line);
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});
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t.test('Laser', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle|MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0|L:0.0000|S:0.8000>');
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t.same(status, {
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activeState: 'Idle',
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mpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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a: '0.0000',
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b: '0.0000',
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c: '0.0000',
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},
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wpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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laserPower: '0.0000',
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laserIntensity: '0.8000',
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});
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t.end();
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});
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const line = '<Idle|MPos:200.0000,200.0000,0.0000,0.0000,0.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0|L:0.0000|S:0.8000>';
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runner.parse(line);
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});
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t.test('Home', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Home|MPos:15.8250,15.8250,0.0000|WPos:15.8250,15.8250,0.0000|F:4000.0,4000.0,100.0>');
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t.same(status, {
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activeState: 'Home',
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mpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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wpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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currentFeedrate: '4000.0',
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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});
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t.end();
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});
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const line = '<Home|MPos:15.8250,15.8250,0.0000|WPos:15.8250,15.8250,0.0000|F:4000.0,4000.0,100.0>';
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runner.parse(line);
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});
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t.test('Run', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Run|MPos:15.8250,15.8250,0.0000|WPos:15.8250,15.8250,0.0000|F:4000.0,4000.0,100.0>');
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t.same(status, {
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activeState: 'Run',
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mpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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wpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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currentFeedrate: '4000.0',
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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});
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t.end();
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});
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const line = '<Run|MPos:15.8250,15.8250,0.0000|WPos:15.8250,15.8250,0.0000|F:4000.0,4000.0,100.0>';
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runner.parse(line);
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});
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t.test('Idle', (t) => {
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle|MPos:200.0000,200.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0>');
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t.same(status, {
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activeState: 'Idle',
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mpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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wpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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});
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t.end();
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});
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const line = '<Idle|MPos:200.0000,200.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0>';
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runner.parse(line);
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});
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t.test('state transition', (t) => {
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let lineNumber = 0;
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const lines = [
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'<Run|MPos:15.8250,15.8250,0.0000|WPos:15.8250,15.8250,0.0000|F:4000.0,4000.0,100.0>',
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'<Idle|MPos:200.0000,200.0000,0.0000|WPos:200.0000,200.0000,0.0000|F:4000.0,100.0>',
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];
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const expectedResults = [
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{ // Run
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activeState: 'Run',
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mpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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wpos: {
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x: '15.8250',
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y: '15.8250',
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z: '0.0000',
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},
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currentFeedrate: '4000.0',
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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},
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{ // Idle
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activeState: 'Idle',
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mpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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wpos: {
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x: '200.0000',
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y: '200.0000',
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z: '0.0000',
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},
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feedrate: '4000.0',
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feedrateOverride: '100.0',
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}
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];
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const runner = new SmoothieRunner();
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runner.on('status', ({ raw, ...status }) => {
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const index = lineNumber - 1;
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t.equal(raw, lines[index]);
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t.same(status, expectedResults[index]);
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if (lineNumber === lines.length) {
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t.end();
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}
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});
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lines.forEach((line, index) => {
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lineNumber = index + 1;
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runner.parse(line);
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});
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});
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t.end();
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});
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test('SmoothieRunnerLineParserResultOk', (t) => {
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const runner = new SmoothieRunner();
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runner.on('ok', ({ raw }) => {
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t.equal(raw, 'ok');
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t.end();
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});
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const line = 'ok';
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runner.parse(line);
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});
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test('SmoothieRunnerLineParserResultError', (t) => {
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const runner = new SmoothieRunner();
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runner.on('error', ({ raw, message }) => {
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t.equal(raw, 'error: Expected command letter');
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t.equal(message, 'Expected command letter');
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t.end();
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});
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const line = 'error: Expected command letter';
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runner.parse(line);
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});
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test('SmoothieRunnerLineParserResultAlarm', (t) => {
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const runner = new SmoothieRunner();
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runner.on('alarm', ({ raw, message }) => {
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t.equal(raw, 'ALARM: Probe fail');
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t.equal(message, 'Probe fail');
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t.end();
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});
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const line = 'ALARM: Probe fail';
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runner.parse(line);
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});
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test('SmoothieRunnerLineParserResultParserState', (t) => {
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test('#1', (t) => {
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const runner = new SmoothieRunner();
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runner.on('parserstate', ({ raw, ...parserstate }) => {
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t.equal(raw, '[G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F2540. S0.]');
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t.same(parserstate, {
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modal: {
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motion: 'G0', // G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
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wcs: 'G54', // G54, G55, G56, G57, G58, G59
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plane: 'G17', // G17: xy-plane, G18: xz-plane, G19: yz-plane
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units: 'G21', // G20: Inches, G21: Millimeters
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distance: 'G90', // G90: Absolute, G91: Relative
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feedrate: 'G94', // G93: Inverse Time Mode, G94: Units Per Minutes
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program: 'M0',
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spindle: 'M5',
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coolant: 'M9'
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},
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tool: '0',
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feedrate: '2540.',
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spindle: '0.'
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});
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t.equal(runner.getTool(), 0);
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t.end();
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});
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const line = '[G0 G54 G17 G21 G90 G94 M0 M5 M9 T0 F2540. S0.]';
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runner.parse(line);
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});
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test('#2', (t) => {
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const runner = new SmoothieRunner();
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runner.on('parserstate', ({ raw, ...parserstate }) => {
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t.equal(raw, '[G0 G54 G17 G21 G90 G94 M0 M5 M7 M8 T2 F2540. S0.]');
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t.same(parserstate, {
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modal: {
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motion: 'G0', // G0, G1, G2, G3, G38.2, G38.3, G38.4, G38.5, G80
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wcs: 'G54', // G54, G55, G56, G57, G58, G59
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plane: 'G17', // G17: xy-plane, G18: xz-plane, G19: yz-plane
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units: 'G21', // G20: Inches, G21: Millimeters
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distance: 'G90', // G90: Absolute, G91: Relative
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feedrate: 'G94', // G93: Inverse Time Mode, G94: Units Per Minutes
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program: 'M0',
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spindle: 'M5',
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coolant: ['M7', 'M8']
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},
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tool: '2',
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feedrate: '2540.',
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spindle: '0.'
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});
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t.equal(runner.getTool(), 2);
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t.end();
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});
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const line = '[G0 G54 G17 G21 G90 G94 M0 M5 M7 M8 T2 F2540. S0.]';
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runner.parse(line);
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});
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t.end();
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});
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test('SmoothieRunnerLineParserResultParameters:G54,G55,G56,G57,G58,G59,G28,G30,G92', (t) => {
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const lines = [
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'[G54:0.000,0.000,0.000]',
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'[G55:0.000,0.000,0.000]',
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'[G56:0.000,0.000,0.000]',
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'[G57:0.000,0.000,0.000]',
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'[G58:0.000,0.000,0.000]',
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'[G59:0.000,0.000,0.000]',
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'[G28:0.000,0.000,0.000]',
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'[G30:0.000,0.000,0.000]',
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'[G92:0.000,0.000,0.000]'
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];
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const runner = new SmoothieRunner();
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let i = 0;
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runner.on('parameters', ({ name, value, raw }) => {
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if (i < lines.length) {
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t.equal(raw, lines[i]);
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}
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if (name === 'G54') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G55') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G56') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G57') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G58') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G59') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G28') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G30') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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if (name === 'G92') {
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t.same(value, { x: '0.000', y: '0.000', z: '0.000' });
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}
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++i;
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if (i >= lines.length) {
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t.end();
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}
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});
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lines.forEach(line => {
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runner.parse(line);
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});
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});
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test('SmoothieRunnerLineParserResultParameters:TLO', (t) => {
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const runner = new SmoothieRunner();
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runner.on('parameters', ({ name, value, raw }) => {
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t.equal(raw, '[TLO:0.000]');
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t.equal(name, 'TLO');
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t.equal(value, '0.000');
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t.end();
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});
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runner.parse('[TLO:0.000]');
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});
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test('SmoothieRunnerLineParserResultParameters:PRB', (t) => {
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const runner = new SmoothieRunner();
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runner.on('parameters', ({ name, value, raw }) => {
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t.equal(raw, '[PRB:0.000,0.000,1.492:1]');
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t.equal(name, 'PRB');
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t.same(value, {
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result: 1,
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x: '0.000',
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y: '0.000',
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z: '1.492'
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});
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t.end();
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});
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runner.parse('[PRB:0.000,0.000,1.492:1]');
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});
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test('SmoothieRunnerLineParserResultVersion', (t) => {
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const runner = new SmoothieRunner();
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runner.on('version', ({ raw, ...others }) => {
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t.equal(raw, 'Build version: edge-3332442, Build date: xxx, MCU: LPC1769, System Clock: 120MHz');
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t.same(others, {
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build: {
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version: 'edge-3332442',
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date: 'xxx'
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},
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mcu: 'LPC1769',
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sysclk: '120MHz'
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});
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t.end();
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});
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|
||||
const line = 'Build version: edge-3332442, Build date: xxx, MCU: LPC1769, System Clock: 120MHz';
|
||||
runner.parse(line);
|
||||
});
|
||||
|
||||
test('Not supported output format', (t) => {
|
||||
const runner = new SmoothieRunner();
|
||||
runner.on('others', ({ raw }) => {
|
||||
t.equal(raw, 'Not supported output format');
|
||||
t.end();
|
||||
});
|
||||
|
||||
const line = 'Not supported output format';
|
||||
runner.parse(line);
|
||||
});
|
||||
Reference in New Issue
Block a user