482 lines
15 KiB
JavaScript
482 lines
15 KiB
JavaScript
import { test } from 'tap';
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import trim from 'lodash/trim';
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import GrblRunner from '../src/server/controllers/Grbl/GrblRunner';
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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('GrblLineParserResultStatus: all zeroes in the mask ($10=0)', (t) => {
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const runner = new GrblRunner();
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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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subState: 0
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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('GrblLineParserResultStatus: default ($10=3)', (t) => {
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const runner = new GrblRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle,MPos:5.529,0.560,7.000,WPos:1.529,-5.440,-0.000>');
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t.same(status, {
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activeState: 'Idle',
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subState: 0,
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mpos: {
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x: '5.529',
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y: '0.560',
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z: '7.000'
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},
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wpos: {
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x: '1.529',
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y: '-5.440',
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z: '-0.000'
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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:5.529,0.560,7.000,WPos:1.529,-5.440,-0.000>';
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runner.parse(line);
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});
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test('GrblLineParserResultStatus: 6-axis', (t) => {
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const runner = new GrblRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle,MPos:5.529,0.560,7.000,0.100,0.250,0.500,WPos:1.529,-5.440,-0.000,0.100,0.250,0.500>');
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t.same(status, {
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activeState: 'Idle',
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subState: 0,
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mpos: {
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x: '5.529',
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y: '0.560',
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z: '7.000',
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a: '0.100',
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b: '0.250',
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c: '0.500'
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},
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wpos: {
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x: '1.529',
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y: '-5.440',
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z: '-0.000',
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a: '0.100',
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b: '0.250',
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c: '0.500'
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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:5.529,0.560,7.000,0.100,0.250,0.500,WPos:1.529,-5.440,-0.000,0.100,0.250,0.500>';
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runner.parse(line);
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});
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test('GrblLineParserResultStatus: set all bits to 1 ($10=31)', (t) => {
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const runner = new GrblRunner();
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runner.on('status', ({ raw, ...status }) => {
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t.equal(raw, '<Idle,MPos:5.529,0.560,7.000,WPos:1.529,-5.440,-0.000,Buf:0,RX:0,Lim:000>');
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t.same(status, {
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activeState: 'Idle',
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subState: 0,
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mpos: {
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x: '5.529',
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y: '0.560',
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z: '7.000'
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},
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wpos: {
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x: '1.529',
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y: '-5.440',
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z: '-0.000'
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},
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buf: {
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planner: 0,
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rx: 0
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},
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pinState: ''
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});
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t.end();
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});
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const line = '<Idle,MPos:5.529,0.560,7.000,WPos:1.529,-5.440,-0.000,Buf:0,RX:0,Lim:000>';
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runner.parse(line);
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});
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test('GrblLineParserResultOk', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultError', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultAlarm', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultParserState', (t) => {
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t.test('#1', (t) => {
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const runner = new GrblRunner();
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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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t.test('#2', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultParameters: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 GrblRunner();
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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('GrblLineParserResultParameters:TLO', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultParameters:PRB', (t) => {
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const runner = new GrblRunner();
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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('GrblLineParserResultFeedback', (t) => {
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const lines = [
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// $I - View build info
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'[0.9j.20160303:]',
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// Sent after an alarm message to tell the user to reset Grbl as an acknowledgement that an alarm has happened.
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'[Reset to continue]',
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// After an alarm and the user has sent a reset,
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'[\'$H\'|\'$X\' to unlock]',
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// This feedback message is sent when the user overrides the alarm.
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'[Caution: Unlocked]',
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// $C - Check gcode mode
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'[Enabled]',
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'[Disabled]'
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];
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const runner = new GrblRunner();
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let i = 0;
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runner.on('feedback', ({ raw, ...full }) => {
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const message = trim(lines[i], '[]');
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if (i < lines.length) {
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t.equal(raw, lines[i]);
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t.equal(full.message, message);
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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('GrblLineParserResultSettings', (t) => {
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const lines = [
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'$1=25 (step idle delay, msec)',
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'$2=0 (step port invert mask:00000000)',
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'$3=0 (dir port invert mask:00000000)',
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'$4=0 (step enable invert, bool)',
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'$5=0 (limit pins invert, bool)',
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'$6=0 (probe pin invert, bool)',
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'$10=3 (status report mask:00000011)',
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'$11=0.020 (junction deviation, mm)',
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'$12=0.002 (arc tolerance, mm)',
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'$13=0 (report inches, bool)',
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'$20=0 (soft limits, bool)',
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'$21=0 (hard limits, bool)',
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'$22=0 (homing cycle, bool)',
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'$23=0 (homing dir invert mask:00000000)',
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'$24=25.000 (homing feed, mm/min)',
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'$25=500.000 (homing seek, mm/min)',
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'$26=250 (homing debounce, msec)',
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'$27=1.000 (homing pull-off, mm)',
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'$100=320.000 (x, step/mm)',
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'$101=320.000 (y, step/mm)',
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'$102=250.000 (z, step/mm)',
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'$110=2500.000 (x max rate, mm/min)',
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'$111=2500.000 (y max rate, mm/min)',
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'$112=500.000 (z max rate, mm/min)',
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'$120=250.000 (x accel, mm/sec^2)',
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'$121=250.000 (y accel, mm/sec^2)',
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'$122=50.000 (z accel, mm/sec^2)',
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'$130=200.000 (x max travel, mm)',
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'$131=200.000 (y max travel, mm)',
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'$132=200.000 (z max travel, mm)'
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];
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const runner = new GrblRunner();
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let i = 0;
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runner.on('settings', ({ raw, name, value, message }) => {
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if (i < lines.length) {
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const r = raw.match(/^(\$[^=]+)=([^ ]*)\s*(.*)/);
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t.equal(raw, lines[i]);
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t.equal(name, r[1]);
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t.equal(value, r[2]);
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t.equal(message, trim(r[3], '()'));
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}
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++i;
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if (i >= lines.length) {
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t.end();
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}
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});
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lines.forEach(line => {
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runner.parse(line);
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});
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});
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test('GrblLineParserResultStartup', (t) => {
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t.test('Grbl 0.9j', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'Grbl 0.9j [\'$\' for help]');
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t.equal(firmware, 'Grbl');
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t.equal(version, '0.9j');
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t.equal(message, '[\'$\' for help]');
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t.end();
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});
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const line = 'Grbl 0.9j [\'$\' for help]';
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runner.parse(line);
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});
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t.test('Grbl 1.1f', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'Grbl 1.1f [\'$\' for help]');
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t.equal(firmware, 'Grbl');
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t.equal(version, '1.1f');
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t.equal(message, '[\'$\' for help]');
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t.end();
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});
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const line = 'Grbl 1.1f [\'$\' for help]';
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runner.parse(line);
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});
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t.test('Custom firmware build', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'Grbl 1.2.3');
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t.equal(firmware, 'Grbl');
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t.equal(version, '1.2.3');
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t.equal(message, '');
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t.end();
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});
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const line = 'Grbl 1.2.3';
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runner.parse(line);
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});
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t.test('Custom firmware build: LongMill build #1', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'Grbl 1.1h: LongMill build [\'$\' for help]');
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t.equal(firmware, 'Grbl');
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t.equal(version, '1.1h');
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t.equal(message, ': LongMill build [\'$\' for help]');
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t.end();
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});
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const line = 'Grbl 1.1h: LongMill build [\'$\' for help]';
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runner.parse(line);
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});
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t.test('Custom firmware build: LongMill build #2', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'Grbl 1.1h [\'$\' for help] LongMill build Feb 25, 2020');
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t.equal(firmware, 'Grbl');
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t.equal(version, '1.1h');
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t.equal(message, '[\'$\' for help] LongMill build Feb 25, 2020');
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t.end();
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});
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const line = 'Grbl 1.1h [\'$\' for help] LongMill build Feb 25, 2020';
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runner.parse(line);
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});
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t.test('Custom firmware build: vCarvin', (t) => {
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const runner = new GrblRunner();
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runner.on('startup', ({ raw, firmware, version, message }) => {
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t.equal(raw, 'vCarvin 2.0.0 [\'$\' for help]');
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t.equal(firmware, 'vCarvin');
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t.equal(version, '2.0.0');
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t.equal(message, '[\'$\' for help]');
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t.end();
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});
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const line = 'vCarvin 2.0.0 [\'$\' for help]';
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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('Not supported output format', (t) => {
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const runner = new GrblRunner();
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runner.on('others', ({ raw }) => {
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t.equal(raw, 'Not supported output format');
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t.end();
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});
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const line = 'Not supported output format';
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runner.parse(line);
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});
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