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#include "catch.hpp"
#include <interp_testing_util.hh> // For core interp stuff and extra REQUIRE macros/ setup
#include <rs274ngc_interp.hh>
#include <interp_inspection.hh>
#include <interp_return.hh>
#include <saicanon.hh>
#include <interp_parameter_def.hh>
using namespace interp_param_global;
TEST_CASE("Interp Basics")
{
DECL_INIT_TEST_INTERP();
SECTION("Interp Init")
{
REQUIRE(currentX(settings) == 0.0);
REQUIRE(currentY(settings) == 0.0);
REQUIRE(currentZ(settings) == 0.0);
}
SECTION("Change Units")
{
REQUIRE_INTERP_OK(test_interp.convert_length_units(G_21, settings));
REQUIRE(settings->length_units == CANON_UNITS_MM);
// Magically jump 1 inch
currentX(settings) = 25.4;
REQUIRE_INTERP_OK(test_interp.convert_length_units(G_20, settings));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
CHECK_FUZZ(currentX(settings), 1.0);
REQUIRE_INTERP_OK(test_interp.convert_length_units(G_21, settings));
}
SECTION("G52 without rotation")
{
// Assume all offsets and such start at zero
REQUIRE(settings->length_units == CANON_UNITS_MM);
REQUIRE(settings->parameters[G92_X] == 0.0);
REQUIRE(settings->parameters[G92_Y] == 0.0);
REQUIRE_INTERP_OK(test_interp.execute("G52 X25.4 Y0"));
CHECK_FUZZ(settings->parameters[G92_X], 1.0);
CHECK_FUZZ(settings->parameters[G92_Y], 0.0);
REQUIRE_INTERP_OK(test_interp.execute("G52 Y25.4"));
CHECK_FUZZ(settings->parameters[G92_X], 1.0);
CHECK_FUZZ(settings->parameters[G92_Y], 1.0);
}
SECTION("G92 X and G5x Rotation")
{
// Assume all offsets and such start at zero
REQUIRE_INTERP_OK(test_interp.execute("G20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
REQUIRE_INTERP_OK(test_interp.execute("G92.1"));
REQUIRE(settings->parameters[G92_X] == 0.0);
REQUIRE_INTERP_OK(test_interp.execute("G52 X1 Y0"));
REQUIRE_INTERP_OK(test_interp.execute("G10 L2 P0 X1 Y0 Z0 R0"));
CHECK_FUZZ(currentX(settings), -2.0);
// FIXME this is the wrong behavior but what the interpreter currently expects
REQUIRE_INTERP_OK(test_interp.execute("G10 L2 P0 X1 Y0 Z0 R90"));
CHECK_FUZZ(currentX(settings), -0.0);
CHECK_FUZZ(currentY(settings), 2.0);
}
SECTION("G92 off-axis behavior with rotation")
{
// Assume all offsets and such start at zero
REQUIRE_INTERP_OK(test_interp.execute("G20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
REQUIRE_INTERP_OK(test_interp.execute("G92.1"));
REQUIRE_INTERP_OK(test_interp.execute("G52 X1 Y0"));
REQUIRE_INTERP_OK(test_interp.execute("G10 L2 P0 X1 Y2 Z3 A4 B5 C6 R90"));
// FIXME this is the wrong behavior but what the interpreter currently expects
CHECK_FUZZ(currentX(settings), -2.0);
CHECK_FUZZ(currentY(settings), 2.0);
// Should not be affected by rotation
CHECK_FUZZ(currentZ(settings), -3.0);
CHECK_FUZZ(currentA(settings), -4.0);
CHECK_FUZZ(currentB(settings), -5.0);
CHECK_FUZZ(currentC(settings), -6.0);
}
SECTION("G55 without rotation")
{
REQUIRE_INTERP_OK(test_interp.execute("G20"));
CHECK_FUZZ(currentX(settings), 0.0);
CHECK_FUZZ(currentY(settings), 0.0);
CHECK_FUZZ(currentZ(settings), 0.0);
currentX(settings) = 1.0;
currentY(settings) = 1.0;
currentZ(settings) = 1.0;
// KLUDGE hack in parameters directly to avoid depending on other functions
test_interp._setup.parameters[G55_X] = 2;
test_interp._setup.parameters[G55_Y] = 3;
test_interp._setup.parameters[G55_Z] = 1;
REQUIRE_INTERP_OK(test_interp.convert_coordinate_system(G_55, settings));
CHECK_FUZZ(currentX(settings), -1.0);
CHECK_FUZZ(currentY(settings), -2.0);
CHECK_FUZZ(currentZ(settings), 0.0);
}
SECTION("G55 with rotation")
{
REQUIRE_INTERP_OK(test_interp.execute("G20"));
currentX(settings) = 0.0;
// KLUDGE hack in parameters directly to avoid depending on other functions
test_interp._setup.parameters[G55_X] = 2;
test_interp._setup.parameters[G55_Y] = 3;
test_interp._setup.parameters[G55_Z] = 1;
test_interp._setup.parameters[G55_R] = 90;
REQUIRE_INTERP_OK(test_interp.convert_coordinate_system(G_55, settings));
CHECK_FUZZ(currentX(settings), -3.0);
CHECK_FUZZ(currentY(settings), 2.0);
CHECK_FUZZ(currentZ(settings), -1.0);
}
}
TEST_CASE("G10 init")
{
DECL_INIT_TEST_INTERP();
const char *test_setup[] = {
"g20",
"g10 l2 p1 x0 y0 z0",
"g54",
"g10 l1 p1 x0 y0 z0",
"t1 m6 g43",
};
execute_lines(test_interp, test_setup);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
SECTION("G10 L1 direct offsets")
{
// 2-pass loop ensures that tool offsets persist regardless of G43 / G49 state
for (int k = 0; k < 2; ++k) {
REQUIRE_INTERP_OK(test_interp.execute("g10 l1 p1 x0 y0 z0 "));
REQUIRE_INTERP_OK(test_interp.execute("g10 l1 p1 x1"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 1.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
REQUIRE_INTERP_OK(test_interp.execute("g10 l1 p1 y2"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 1.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], 2.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
REQUIRE_INTERP_OK(test_interp.execute("g10 l1 p1 z3"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 1.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], 2.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 3.0);
REQUIRE_INTERP_OK(test_interp.execute("g49"));
}
}
}
TEST_CASE("G10 L10 ")
{
DECL_INIT_TEST_INTERP();
SECTION("tool offsets relative to position no rotation")
{
const char *test_setup[] = {
"g20",
"g10 l2 p1 x0 y0 z0",
"g54",
"g10 l1 p1 x0 y0 z0",
"t1 m6 g43",
};
REQUIRE_INTERP_OK(execute_lines(test_interp, test_setup));
REQUIRE_INTERP_OK(test_interp.execute("g0 x.1 y.2 z.3"));
REQUIRE_INTERP_OK(test_interp.execute("g10 l10 p1 x1"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], -0.9);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
REQUIRE_INTERP_OK(test_interp.execute("g10 l10 p1 y2"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], -0.9);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], -1.8);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
REQUIRE_INTERP_OK(test_interp.execute("g10 l10 p1 z3"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], -0.9);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], -1.8);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], -2.7);
}
SECTION("G10 L10 tool offsets relative to position + 45 deg rotation")
{
const char *test_setup[] = {
"g20",
"g10 l2 p1 x0 y0 z0 r45",
"g54",
"g10 l1 p1 x0 y0 z0",
"t1 m6 g43",
};
REQUIRE(execute_lines(test_interp, test_setup));
REQUIRE_INTERP_OK(test_interp.execute("g0 x0 y0 z0"));
REQUIRE_INTERP_OK(test_interp.execute("g10 l10 p1 x1"));
REQUIRE_INTERP_OK(test_interp.execute("g43"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], -sqrt(2.0)/2.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], -sqrt(2.0)/2.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
CHECK_FUZZ(currentX(settings), 1.0);
CHECK_FUZZ(currentY(settings), 0.0);
REQUIRE_INTERP_OK(test_interp.execute("g10 l10 p1 y1"));
REQUIRE_INTERP_OK(test_interp.execute("g43"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], -sqrt(2));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
CHECK_FUZZ(currentX(settings), 1.0);
CHECK_FUZZ(currentY(settings), 1.0);
REQUIRE_INTERP_OK(test_interp.execute("g49"));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_X], 0.0);
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Y], -sqrt(2));
CHECK_FUZZ(settings->parameters[TOOL_OFFSET_Z], 0.0);
CHECK_FUZZ(currentX(settings), 0.0);
CHECK_FUZZ(currentY(settings), 0.0);
}
}
SCENARIO("Call G10 with G92 active (based on runtest g10-with-g92)")
{
GIVEN("No G92 offsets applied")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
WHEN("No offsets are applied") {
THEN("Both current position and current offset should be zero") {
CHECK_FUZZ(currentX(settings), 0.0);
CHECK_FUZZ(currentY(settings), 0.0);
CHECK_FUZZ(currentZ(settings), 0.0);
CHECK_FUZZ(currentWorkOffsetX(settings), 0);
CHECK_FUZZ(currentWorkOffsetY(settings), 0);
CHECK_FUZZ(currentWorkOffsetZ(settings), 0);
CHECK_FUZZ(currentWorkOffsetA(settings), 0);
CHECK_FUZZ(currentWorkOffsetB(settings), 0);
CHECK_FUZZ(currentWorkOffsetC(settings), 0);
}
}
WHEN("Work offsets are specified via G10 L2 for the active coordinate system")
{
REQUIRE_INTERP_OK(test_interp.execute("g10 l2 p0 x7 y8 z9 a10 b11 c12"));
THEN ("New offset values are stored and immediately applied")
{
CHECK_FUZZ(settings->origin_index, 1); // Confirm it's G54
CHECK_FUZZ(settings->parameters[G54_X], 7);
CHECK_FUZZ(settings->parameters[G54_Y], 8);
CHECK_FUZZ(settings->parameters[G54_Z], 9);
CHECK_FUZZ(settings->parameters[G54_A], 10);
CHECK_FUZZ(settings->parameters[G54_B], 11);
CHECK_FUZZ(settings->parameters[G54_C], 12);
CHECK_FUZZ(currentWorkOffsetX(settings), 7);
CHECK_FUZZ(currentWorkOffsetY(settings), 8);
CHECK_FUZZ(currentWorkOffsetZ(settings), 9);
CHECK_FUZZ(currentWorkOffsetA(settings), 10);
CHECK_FUZZ(currentWorkOffsetB(settings), 11);
CHECK_FUZZ(currentWorkOffsetC(settings), 12);
CHECK_FUZZ(currentX(settings), -7);
CHECK_FUZZ(currentY(settings), -8);
CHECK_FUZZ(currentZ(settings), -9);
CHECK_FUZZ(currentA(settings), -10);
CHECK_FUZZ(currentB(settings), -11);
CHECK_FUZZ(currentC(settings), -12);
}
}
WHEN("Work offsets are specified via G10 L2 for inactive coordinate systems")
{
REQUIRE_INTERP_OK(test_interp.execute("G54"));
REQUIRE_INTERP_OK(test_interp.execute("g10 l2 p2 x7 y8 z9 a10 b11 c12"));
CHECK_FUZZ(settings->origin_index, 1); // Confirm it's G54
THEN("Work offset parameters are updated but the current offset is not (nor is the current position)") {
CHECK_FUZZ(settings->parameters[G55_X], 7);
CHECK_FUZZ(settings->parameters[G55_Y], 8);
CHECK_FUZZ(settings->parameters[G55_Z], 9);
CHECK_FUZZ(settings->parameters[G55_A], 10);
CHECK_FUZZ(settings->parameters[G55_B], 11);
CHECK_FUZZ(settings->parameters[G55_C], 12);
CHECK_FUZZ(currentWorkOffsetX(settings), 0);
CHECK_FUZZ(currentWorkOffsetY(settings), 0);
CHECK_FUZZ(currentWorkOffsetZ(settings), 0);
CHECK_FUZZ(currentWorkOffsetA(settings), 0);
CHECK_FUZZ(currentWorkOffsetB(settings), 0);
CHECK_FUZZ(currentWorkOffsetC(settings), 0);
CHECK_FUZZ(currentX(settings), 0);
CHECK_FUZZ(currentY(settings), 0);
CHECK_FUZZ(currentZ(settings), 0);
CHECK_FUZZ(currentA(settings), 0);
CHECK_FUZZ(currentB(settings), 0);
CHECK_FUZZ(currentC(settings), 0);
}
}
WHEN("Work offsets are specified via G10 L2 for the active coordinate system")
{
REQUIRE_INTERP_OK(test_interp.execute("g10 l2 p0 x7 y8 z9 a10 b11 c12"));
THEN ("New offset values are stored and immediately applied")
{
CHECK_FUZZ(settings->origin_index, 1); // Confirm it's G54
CHECK_FUZZ(settings->parameters[G54_X], 7);
CHECK_FUZZ(settings->parameters[G54_Y], 8);
CHECK_FUZZ(settings->parameters[G54_Z], 9);
CHECK_FUZZ(settings->parameters[G54_A], 10);
CHECK_FUZZ(settings->parameters[G54_B], 11);
CHECK_FUZZ(settings->parameters[G54_C], 12);
CHECK_FUZZ(currentWorkOffsetX(settings), 7);
CHECK_FUZZ(currentWorkOffsetY(settings), 8);
CHECK_FUZZ(currentWorkOffsetZ(settings), 9);
CHECK_FUZZ(currentWorkOffsetA(settings), 10);
CHECK_FUZZ(currentWorkOffsetB(settings), 11);
CHECK_FUZZ(currentWorkOffsetC(settings), 12);
CHECK_FUZZ(currentX(settings), -7);
CHECK_FUZZ(currentY(settings), -8);
CHECK_FUZZ(currentZ(settings), -9);
CHECK_FUZZ(currentA(settings), -10);
CHECK_FUZZ(currentB(settings), -11);
CHECK_FUZZ(currentC(settings), -12);
}
}
}
GIVEN("G92 offsets active")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
REQUIRE_INTERP_OK(test_interp.execute("g92 x3 y4 z5"));
constexpr double axis_offset_x = -3;
constexpr double axis_offset_y = -4;
WHEN("No work offsets are applied") {
THEN("Both current position and current offset should only be due to G92") {
CHECK_FUZZ(currentX(settings), -axis_offset_x);
CHECK_FUZZ(currentY(settings), -axis_offset_y);
CHECK_FUZZ(currentZ(settings), 5);
CHECK_FUZZ(currentWorkOffsetX(settings), 0);
CHECK_FUZZ(currentWorkOffsetY(settings), 0);
CHECK_FUZZ(currentWorkOffsetZ(settings), 0);
CHECK_FUZZ(currentWorkOffsetA(settings), 0);
CHECK_FUZZ(currentWorkOffsetB(settings), 0);
CHECK_FUZZ(currentWorkOffsetC(settings), 0);
}
}
WHEN("Work offsets are specified via G10 L2 for the active coordinate system with rotation")
{
constexpr double work_offset_x = 7;
constexpr double work_offset_y = 8;
REQUIRE_INTERP_OK(test_interp.execute("g10 l2 p0 x7 y8 z9 a10 b11 c12 R45"));
THEN ("Current position will be rotated in X/Y")
{
CHECK_FUZZ(settings->origin_index, 1); // Confirm it's G54
CHECK_FUZZ(settings->parameters[G54_X], work_offset_x);
CHECK_FUZZ(settings->parameters[G54_Y], work_offset_y);
CHECK_FUZZ(settings->parameters[G54_Z], 9);
CHECK_FUZZ(settings->parameters[G54_A], 10);
CHECK_FUZZ(settings->parameters[G54_B], 11);
CHECK_FUZZ(settings->parameters[G54_C], 12);
CHECK_FUZZ(currentWorkOffsetX(settings), work_offset_x);
CHECK_FUZZ(currentWorkOffsetY(settings), work_offset_y);
CHECK_FUZZ(currentWorkOffsetZ(settings), 9);
CHECK_FUZZ(currentWorkOffsetA(settings), 10);
CHECK_FUZZ(currentWorkOffsetB(settings), 11);
CHECK_FUZZ(currentWorkOffsetC(settings), 12);
constexpr double xy_rotation = M_PI / 4;
// FIXME this math is wrong but what the current interpreter expects
const double total_offset_x = axis_offset_x + work_offset_x;
const double total_offset_y = axis_offset_y + work_offset_y;
const double expect_x = (cos(-xy_rotation) * -total_offset_x + -sin(-xy_rotation) * -total_offset_y);
const double expect_y = (sin(-xy_rotation) * -total_offset_x + cos(-xy_rotation) * -total_offset_y);
CHECK_FUZZ(currentX(settings), expect_x);
CHECK_FUZZ(currentY(settings), expect_y);
CHECK_FUZZ(currentZ(settings), -4);
CHECK_FUZZ(currentA(settings), -10);
CHECK_FUZZ(currentB(settings), -11);
CHECK_FUZZ(currentC(settings), -12);
}
}
}
}
SCENARIO("Save / restore of G92 parameters")
{
GIVEN("Active G92 Offsets")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
REQUIRE_INTERP_OK(test_interp.execute("g92 x3 y4 z5"));
constexpr double axis_offset_x = -3;
constexpr double axis_offset_y = -4;
constexpr double axis_offset_z = -5;
CHECK_FUZZ(settings->parameters[G92_X], axis_offset_x);
CHECK_FUZZ(settings->parameters[G92_Y], axis_offset_y);
CHECK_FUZZ(settings->parameters[G92_Z], axis_offset_z);
WHEN("Offsets are disabled with G92.2") {
REQUIRE_INTERP_OK(test_interp.execute("g92.2"));
THEN("Current position changes but internal offset parameters are unaffected") {
CHECK_FUZZ(currentX(settings), 0);
CHECK_FUZZ(currentY(settings), 0);
CHECK_FUZZ(currentZ(settings), 0);
CHECK_FUZZ(settings->parameters[G92_X], axis_offset_x);
CHECK_FUZZ(settings->parameters[G92_Y], axis_offset_y);
CHECK_FUZZ(settings->parameters[G92_Z], axis_offset_z);
WHEN("Offsets are re-enabled with G92.3") {
REQUIRE_INTERP_OK(test_interp.execute("g92.3"));
THEN("Original position and offsets are restored") {
CHECK_FUZZ(currentX(settings), -axis_offset_x);
CHECK_FUZZ(currentY(settings), -axis_offset_y);
CHECK_FUZZ(currentZ(settings), -axis_offset_z);
CHECK_FUZZ(settings->parameters[G92_X], axis_offset_x);
CHECK_FUZZ(settings->parameters[G92_Y], axis_offset_y);
CHECK_FUZZ(settings->parameters[G92_Z], axis_offset_z);
}
}
}
}
}
}
SCENARIO("Convert G20 / G21 ")
{
GIVEN("Starting in G20")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE_INTERP_OK(test_interp.execute("g0 x1 y2 z3 a4 b5 c6"));
CHECK_FUZZ(currentX(settings), 1);
CHECK_FUZZ(currentY(settings), 2);
CHECK_FUZZ(currentZ(settings), 3);
CHECK_FUZZ(currentA(settings), 4);
CHECK_FUZZ(currentB(settings), 5);
CHECK_FUZZ(currentC(settings), 6);
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
WHEN("Convert current position to mm") {
REQUIRE_INTERP_OK(test_interp.execute("g21"));
REQUIRE(settings->length_units == CANON_UNITS_MM);
THEN("urrent position should be in new program units") {
CHECK_FUZZ(currentX(settings), 1 * 25.4);
CHECK_FUZZ(currentY(settings), 2 * 25.4);
CHECK_FUZZ(currentZ(settings), 3 * 25.4);
CHECK_FUZZ(currentA(settings), 4);
CHECK_FUZZ(currentB(settings), 5);
CHECK_FUZZ(currentC(settings), 6);
}
WHEN("Convert to back to inches") {
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
THEN("current position returns to inch value") {
CHECK_FUZZ(currentX(settings), 1);
CHECK_FUZZ(currentY(settings), 2);
CHECK_FUZZ(currentZ(settings), 3);
CHECK_FUZZ(currentA(settings), 4);
CHECK_FUZZ(currentB(settings), 5);
CHECK_FUZZ(currentC(settings), 6);
}
}
}
WHEN("Switch to G21") {
REQUIRE_INTERP_OK(test_interp.execute("g10 L2 P1 X1 Y2 Z3 A4 B5 C6"));
REQUIRE_INTERP_OK(test_interp.execute("g54"));
REQUIRE_INTERP_OK(test_interp.execute("g0 x0.5 y0.5"));
REQUIRE_INTERP_OK(test_interp.execute("g21"));
REQUIRE(settings->length_units == CANON_UNITS_MM);
THEN("Current work offset in mm") {
CHECK_FUZZ(currentWorkOffsetX(settings), 1 * 25.4);
CHECK_FUZZ(currentWorkOffsetY(settings), 2 * 25.4);
CHECK_FUZZ(currentWorkOffsetZ(settings), 3 * 25.4);
CHECK_FUZZ(currentWorkOffsetA(settings), 4);
CHECK_FUZZ(currentWorkOffsetB(settings), 5);
CHECK_FUZZ(currentWorkOffsetC(settings), 6);
}
WHEN("Switch to back to G20") {
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
THEN("current work offset returns to inches") {
CHECK_FUZZ(currentWorkOffsetX(settings), 1);
CHECK_FUZZ(currentWorkOffsetY(settings), 2);
CHECK_FUZZ(currentWorkOffsetZ(settings), 3);
CHECK_FUZZ(currentWorkOffsetA(settings), 4);
CHECK_FUZZ(currentWorkOffsetB(settings), 5);
CHECK_FUZZ(currentWorkOffsetC(settings), 6);
}
}
}
}
GIVEN("Starting in with an axis offset")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE_INTERP_OK(test_interp.execute("g92 x1 y2 z3 a4 b5 c6"));
THEN("Initial axis offsets should be in inches") {
CHECK_FUZZ(currentAxisOffsetX(settings), -1);
CHECK_FUZZ(currentAxisOffsetY(settings), -2);
CHECK_FUZZ(currentAxisOffsetZ(settings), -3);
CHECK_FUZZ(currentAxisOffsetA(settings), -4);
CHECK_FUZZ(currentAxisOffsetB(settings), -5);
CHECK_FUZZ(currentAxisOffsetC(settings), -6);
}
WHEN("Switch to G21") {
REQUIRE_INTERP_OK(test_interp.execute("g21"));
REQUIRE(settings->length_units == CANON_UNITS_MM);
THEN("Axis offsets in mm") {
CHECK_FUZZ(currentAxisOffsetX(settings), -1 * 25.4);
CHECK_FUZZ(currentAxisOffsetY(settings), -2 * 25.4);
CHECK_FUZZ(currentAxisOffsetZ(settings), -3 * 25.4);
CHECK_FUZZ(currentAxisOffsetA(settings), -4);
CHECK_FUZZ(currentAxisOffsetB(settings), -5);
CHECK_FUZZ(currentAxisOffsetC(settings), -6);
}
WHEN("Switch to back to G20") {
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
THEN("Axis offsets in inches again") {
CHECK_FUZZ(currentAxisOffsetX(settings), -1);
CHECK_FUZZ(currentAxisOffsetY(settings), -2);
CHECK_FUZZ(currentAxisOffsetZ(settings), -3);
CHECK_FUZZ(currentAxisOffsetA(settings), -4);
CHECK_FUZZ(currentAxisOffsetB(settings), -5);
CHECK_FUZZ(currentAxisOffsetC(settings), -6);
}
}
}
}
}
SCENARIO("Applying a work offset while active")
{
GIVEN("A 45 deg rotated coordinate system with no offsets")
{
DECL_INIT_TEST_INTERP();
REQUIRE_INTERP_OK(test_interp.execute("g20"));
REQUIRE(settings->length_units == CANON_UNITS_INCHES);
REQUIRE_INTERP_OK(test_interp.execute("g54"));
REQUIRE_INTERP_OK(test_interp.execute("g10 l2 p1 x0 y0 z0 r45"));
REQUIRE_INTERP_OK(test_interp.execute("g0 g53 x0 y0 z0"));
REQUIRE(currentX(settings) == 0.0);
REQUIRE(currentY(settings) == 0.0);
REQUIRE(currentZ(settings) == 0.0);
WHEN("Request L20 for an X offset") {
REQUIRE_INTERP_OK(test_interp.execute("g10 l20 p1 x-1"));
THEN("Actual work offsets are rotated") {
CHECK_FUZZ(currentWorkOffsetX(settings), sqrt(2)/2);
CHECK_FUZZ(currentWorkOffsetY(settings), sqrt(2)/2);
CHECK_FUZZ(currentWorkOffsetZ(settings), 0);
}
WHEN("Move to X0 and request a Y offset") {
REQUIRE_INTERP_OK(test_interp.execute("g0 x0"));
REQUIRE_INTERP_OK(test_interp.execute("g10 l20 p1 y-1"));
THEN("Actual work offsets are rotated") {
CHECK_FUZZ(currentWorkOffsetX(settings), 0.0);
CHECK_FUZZ(currentWorkOffsetY(settings), sqrt(2));
CHECK_FUZZ(currentWorkOffsetZ(settings), 0);
}
}
}
}
}
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