tp_plus 0.0.73
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- checksums.yaml +7 -0
- data/README.md +65 -0
- data/Rakefile +21 -0
- data/bin/tpp +73 -0
- data/lib/tp_plus/interpreter.rb +129 -0
- data/lib/tp_plus/namespace.rb +66 -0
- data/lib/tp_plus/nodes/abort_node.rb +9 -0
- data/lib/tp_plus/nodes/argument_node.rb +19 -0
- data/lib/tp_plus/nodes/assignment_node.rb +45 -0
- data/lib/tp_plus/nodes/call_node.rb +34 -0
- data/lib/tp_plus/nodes/case_condition_node.rb +26 -0
- data/lib/tp_plus/nodes/case_node.rb +33 -0
- data/lib/tp_plus/nodes/comment_node.rb +22 -0
- data/lib/tp_plus/nodes/conditional_node.rb +54 -0
- data/lib/tp_plus/nodes/definition_node.rb +22 -0
- data/lib/tp_plus/nodes/digit_node.rb +21 -0
- data/lib/tp_plus/nodes/eval_node.rb +13 -0
- data/lib/tp_plus/nodes/expression_node.rb +65 -0
- data/lib/tp_plus/nodes/for_node.rb +20 -0
- data/lib/tp_plus/nodes/header_node.rb +27 -0
- data/lib/tp_plus/nodes/indirect_node.rb +49 -0
- data/lib/tp_plus/nodes/inline_conditional_node.rb +40 -0
- data/lib/tp_plus/nodes/io_method_node.rb +55 -0
- data/lib/tp_plus/nodes/io_node.rb +30 -0
- data/lib/tp_plus/nodes/jump_node.rb +23 -0
- data/lib/tp_plus/nodes/label_definition_node.rb +21 -0
- data/lib/tp_plus/nodes/motion_node.rb +62 -0
- data/lib/tp_plus/nodes/namespace_node.rb +16 -0
- data/lib/tp_plus/nodes/namespaced_var_node.rb +38 -0
- data/lib/tp_plus/nodes/numreg_node.rb +25 -0
- data/lib/tp_plus/nodes/offset_node.rb +27 -0
- data/lib/tp_plus/nodes/operator_node.rb +72 -0
- data/lib/tp_plus/nodes/pause_node.rb +9 -0
- data/lib/tp_plus/nodes/position_data_node.rb +50 -0
- data/lib/tp_plus/nodes/position_node.rb +25 -0
- data/lib/tp_plus/nodes/posreg_node.rb +48 -0
- data/lib/tp_plus/nodes/raise_node.rb +13 -0
- data/lib/tp_plus/nodes/real_node.rb +27 -0
- data/lib/tp_plus/nodes/set_node.rb +22 -0
- data/lib/tp_plus/nodes/skip_node.rb +22 -0
- data/lib/tp_plus/nodes/speed_node.rb +29 -0
- data/lib/tp_plus/nodes/string_node.rb +13 -0
- data/lib/tp_plus/nodes/string_register_node.rb +25 -0
- data/lib/tp_plus/nodes/termination_node.rb +18 -0
- data/lib/tp_plus/nodes/terminator_node.rb +16 -0
- data/lib/tp_plus/nodes/time_node.rb +24 -0
- data/lib/tp_plus/nodes/timer_method_node.rb +37 -0
- data/lib/tp_plus/nodes/timer_node.rb +21 -0
- data/lib/tp_plus/nodes/units_node.rb +20 -0
- data/lib/tp_plus/nodes/use_node.rb +21 -0
- data/lib/tp_plus/nodes/user_alarm_node.rb +15 -0
- data/lib/tp_plus/nodes/var_method_node.rb +23 -0
- data/lib/tp_plus/nodes/var_node.rb +39 -0
- data/lib/tp_plus/nodes/vision_register_node.rb +21 -0
- data/lib/tp_plus/nodes/wait_for_node.rb +54 -0
- data/lib/tp_plus/nodes/wait_until_node.rb +65 -0
- data/lib/tp_plus/nodes/while_node.rb +36 -0
- data/lib/tp_plus/parser.rb +1592 -0
- data/lib/tp_plus/scanner.rb +383 -0
- data/lib/tp_plus/version.rb +3 -0
- data/lib/tp_plus.rb +62 -0
- data/test/test_helper.rb +5 -0
- data/test/tp_plus/test_interpreter.rb +1168 -0
- data/test/tp_plus/test_parser.rb +489 -0
- data/test/tp_plus/test_scanner.rb +522 -0
- data/tp_plus.gemspec +28 -0
- metadata +156 -0
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require 'test_helper'
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class TestInterpreter < Test::Unit::TestCase
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include TPPlus::Nodes
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def setup
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@scanner = TPPlus::Scanner.new
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@parser = TPPlus::Parser.new @scanner
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@interpreter = @parser.interpreter
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end
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def parse(s)
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@scanner.scan_setup(s)
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@parser.parse
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end
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def last_node
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@last_node ||= @interpreter.nodes.last
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end
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def assert_node_type(t, n)
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assert_equal t, n.class
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end
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def assert_prog(s)
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assert_equal s, @interpreter.eval
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end
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def test_blank_prog
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parse("")
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assert_prog ""
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end
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def test_definition
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parse("foo := R[1]")
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assert_prog ""
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end
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def test_multi_define_fails
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parse("foo := R[1]\nfoo := R[2]")
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assert_raise(RuntimeError) do
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assert_prog ""
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end
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end
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def test_var_usage
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parse("foo := R[1]\nfoo = 1")
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assert_prog "R[1:foo]=1 ;\n"
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end
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def test_basic_addition
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parse("foo := R[1]\nfoo = 1 + 1")
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assert_prog "R[1:foo]=1+1 ;\n"
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end
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def test_basic_addition_with_var
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parse("foo := R[1]\n foo = foo + 1")
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assert_prog "R[1:foo]=R[1:foo]+1 ;\n"
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end
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def test_label_definition
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parse("@foo")
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assert_prog "LBL[100:foo] ;\n"
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end
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def test_duplicate_label_definition
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parse("@foo\n@foo")
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assert_raise RuntimeError do
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assert_prog ""
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end
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end
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def test_jump_to_label
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parse("@foo\njump_to @foo")
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assert_prog "LBL[100:foo] ;\nJMP LBL[100] ;\n"
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end
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def test_nonexistent_label_error
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parse("jump_to @foo")
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assert_raise RuntimeError do
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assert_prog ""
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end
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end
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def test_turn_on
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parse("foo := DO[1]\nturn_on foo")
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assert_prog "DO[1:foo]=ON ;\n"
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end
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def test_turn_off
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parse("foo := DO[1]\nturn_off foo")
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assert_prog "DO[1:foo]=OFF ;\n"
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end
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def test_toggle
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parse("foo := DO[1]\ntoggle foo")
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assert_prog "DO[1:foo]=(!DO[1:foo]) ;\n"
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end
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def test_simple_linear_motion
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parse("foo := PR[1]\nlinear_move.to(foo).at(2000, 'mm/s').term(0)")
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assert_prog "L PR[1:foo] 2000mm/sec CNT0 ;\n"
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end
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def test_simple_if
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parse("foo := R[1]\nif foo==1\nfoo=2\nend")
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assert_prog "IF (R[1:foo]=1),R[1:foo]=(2) ;\n"
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end
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def test_simple_if_else
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parse("foo := R[1]\nif foo==1\nfoo=2\nelse\nfoo=1\nend")
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assert_prog "IF R[1:foo]<>1,JMP LBL[100] ;\nR[1:foo]=2 ;\nJMP LBL[101] ;\nLBL[100] ;\nR[1:foo]=1 ;\nLBL[101] ;\n"
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end
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def test_simple_unless
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parse("foo := R[1]\nunless foo==1\nfoo=2\nend")
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assert_prog "IF (R[1:foo]<>1),R[1:foo]=(2) ;\n"
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end
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def test_simple_unless_else
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parse("foo := R[1]\nunless foo==1\nfoo=2\nelse\nfoo=1\nend")
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assert_prog "IF R[1:foo]=1,JMP LBL[100] ;\nR[1:foo]=2 ;\nJMP LBL[101] ;\nLBL[100] ;\nR[1:foo]=1 ;\nLBL[101] ;\n"
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end
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def test_comment
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parse("# this is a comment")
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assert_prog "! this is a comment ;\n"
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end
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def test_two_comments
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parse("# comment one\n# comment two")
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assert_prog "! comment one ;\n! comment two ;\n"
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end
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def test_inline_comment
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parse("foo := R[1] # comment\nfoo = 1 # another comment")
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assert_prog "! comment ;\nR[1:foo]=1 ;\n! another comment ;\n"
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end
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def test_inline_conditional_if_on_jump
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parse("foo := R[1]\n@bar\njump_to @bar if foo==1\n")
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assert_prog "LBL[100:bar] ;\nIF R[1:foo]=1,JMP LBL[100] ;\n"
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end
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def test_inline_conditional_unless_on_jump
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parse("foo := R[1]\n@bar\njump_to @bar unless foo==1\n")
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assert_prog "LBL[100:bar] ;\nIF R[1:foo]<>1,JMP LBL[100] ;\n"
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end
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def test_inline_assignment
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parse("foo := R[1]\nfoo=2 if foo==1\n")
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assert_prog "IF (R[1:foo]=1),R[1:foo]=(2) ;\n"
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end
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def test_inline_io_method
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parse("foo := DO[1]\nbar := R[1]\nturn_on foo if bar < 10\n")
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assert_prog "IF (R[1:bar]<10),DO[1:foo]=(ON) ;\n"
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end
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def test_program_call
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parse("foo()")
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assert_prog "CALL FOO ;\n"
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end
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def test_program_call_with_simple_arg
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parse("foo(1)")
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assert_prog "CALL FOO(1) ;\n"
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end
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def test_program_call_with_multiple_simple_args
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parse("foo(1,2,3)")
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assert_prog "CALL FOO(1,2,3) ;\n"
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end
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def test_program_call_with_variable_argument
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parse("foo := R[1]\nbar(foo)")
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assert_prog "CALL BAR(R[1:foo]) ;\n"
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end
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def test_preserve_whitespace
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parse("\n\n")
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assert_prog " ;\n"
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end
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def test_plus_equals
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parse("foo := R[1]\nfoo += 1\n")
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assert_prog "R[1:foo]=R[1:foo]+1 ;\n"
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end
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def test_minus_equals
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parse("foo := R[1]\nfoo -= 1\n")
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assert_prog "R[1:foo]=R[1:foo]-1 ;\n"
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end
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def test_motion_to_a_position
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parse("foo := P[1]\nlinear_move.to(foo).at(2000, 'mm/s').term(0)")
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assert_prog "L P[1:foo] 2000mm/sec CNT0 ;\n"
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end
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def test_joint_move
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parse("foo := P[1]\njoint_move.to(foo).at(100, '%').term(0)")
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assert_prog "J P[1:foo] 100% CNT0 ;\n"
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end
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def test_joint_move_throws_error_with_bad_units
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parse("foo := P[1]\njoint_move.to(foo).at(2000, 'mm/s').term(0)")
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assert_raise(RuntimeError) do
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assert_prog "J P[1:foo] 100% CNT0 ;\n"
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end
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end
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def test_linear_move_throws_error_with_bad_units
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parse("foo := P[1]\nlinear_move.to(foo).at(100, '%').term(0)")
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assert_raise(RuntimeError) do
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assert_prog "L P[1:foo] 100% CNT0 ;\n"
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end
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end
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def test_pr_offset
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parse("home := P[1]\nmy_offset := PR[1]\nlinear_move.to(home).at(2000, 'mm/s').term(0).offset(my_offset)")
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assert_prog "L P[1:home] 2000mm/sec CNT0 Offset,PR[1:my_offset] ;\n"
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end
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def test_vr_offset
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parse("home := P[1]\nvoff := VR[1]\nlinear_move.to(home).at(2000, 'mm/s').term(0).vision_offset(voff)")
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assert_prog "L P[1:home] 2000mm/sec CNT0 VOFFSET,VR[1:voff] ;\n"
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end
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def test_time_before
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parse("p := P[1]\nlinear_move.to(p).at(2000, 'mm/s').term(0).time_before(0.5, foo())")
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assert_prog "L P[1:p] 2000mm/sec CNT0 TB .50sec,CALL FOO ;\n"
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end
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def test_time_after
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parse("p := P[1]\nlinear_move.to(p).at(2000, 'mm/s').term(0).time_after(0.5, foo())")
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assert_prog "L P[1:p] 2000mm/sec CNT0 TA .50sec,CALL FOO ;\n"
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end
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def test_time_before_with_register_time
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parse("p := P[1]\nt := R[1]\nlinear_move.to(p).at(2000, 'mm/s').term(0).time_before(t, foo())")
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assert_prog "L P[1:p] 2000mm/sec CNT0 TB R[1:t]sec,CALL FOO ;\n"
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end
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def test_time_before_with_io_method
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parse("p := P[1]\nbar := DO[1]\nlinear_move.to(p).at(2000, 'mm/s').term(0).time_before(0.5, turn_on bar)")
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assert_prog "L P[1:p] 2000mm/sec CNT0 TB .50sec,DO[1:bar]=ON ;\n"
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end
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def test_motion_with_indirect_termination
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parse("p := P[1]\ncnt := R[1]\nlinear_move.to(p).at(2000, 'mm/s').term(cnt)")
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assert_prog "L P[1:p] 2000mm/sec CNT R[1:cnt] ;\n"
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end
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def test_motion_with_indirect_speed
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parse("p := P[1]\nspeed := R[1]\nlinear_move.to(p).at(speed, 'mm/s').term(0)")
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assert_prog "L P[1:p] R[1:speed]mm/sec CNT0 ;\n"
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end
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def test_motion_with_max_speed
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parse("p := P[1]\nlinear_move.to(p).at('max_speed').term(0)")
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assert_prog "L P[1:p] max_speed CNT0 ;\n"
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end
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def test_use_uframe
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parse("use_uframe 5")
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assert_prog "UFRAME_NUM=5 ;\n"
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end
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def test_indirect_uframe
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parse("foo := R[1]\nuse_uframe foo")
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assert_prog "UFRAME_NUM=R[1:foo] ;\n"
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end
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def test_use_utool
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parse("use_utool 5")
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assert_prog "UTOOL_NUM=5 ;\n"
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end
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def test_indirect_utool
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parse("foo := R[1]\nuse_utool foo")
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assert_prog "UTOOL_NUM=R[1:foo] ;\n"
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end
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def test_payload
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parse("use_payload 1")
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assert_prog "PAYLOAD[1] ;\n"
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end
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def test_indirect_payload
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|
+
parse("foo := R[1]\nuse_payload foo")
|
292
|
+
assert_prog "PAYLOAD[R[1:foo]] ;\n"
|
293
|
+
end
|
294
|
+
|
295
|
+
def test_nested_conditionals
|
296
|
+
parse("foo := R[1]\nif foo==1\nif foo==2\nfoo=3\nelse\nfoo=4\nend\nend")
|
297
|
+
assert_prog "IF R[1:foo]<>1,JMP LBL[100] ;\nIF R[1:foo]<>2,JMP LBL[101] ;\nR[1:foo]=3 ;\nJMP LBL[102] ;\nLBL[101] ;\nR[1:foo]=4 ;\nLBL[102] ;\nLBL[100] ;\n"
|
298
|
+
end
|
299
|
+
|
300
|
+
def test_inline_unless
|
301
|
+
parse("foo := R[1]\n@bar\njump_to @bar unless foo > 1")
|
302
|
+
assert_prog "LBL[100:bar] ;\nIF R[1:foo]<=1,JMP LBL[100] ;\n"
|
303
|
+
end
|
304
|
+
|
305
|
+
def test_inline_unless_with_two_vars
|
306
|
+
parse("foo := R[1]\nbar := R[2]\n@baz\njump_to @baz unless foo > bar")
|
307
|
+
assert_prog "LBL[100:baz] ;\nIF R[1:foo]<=R[2:bar],JMP LBL[100] ;\n"
|
308
|
+
end
|
309
|
+
|
310
|
+
def test_labels_can_be_defined_after_jumps_to_them
|
311
|
+
parse("jump_to @foo\n@foo")
|
312
|
+
assert_prog "JMP LBL[100] ;\nLBL[100:foo] ;\n"
|
313
|
+
end
|
314
|
+
|
315
|
+
def test_multiple_motion_modifiers
|
316
|
+
parse("p := P[1]\no := PR[1]\nlinear_move.to(p).at('max_speed').term(0).offset(o).time_before(0.5,foo())")
|
317
|
+
assert_prog "L P[1:p] max_speed CNT0 Offset,PR[1:o] TB .50sec,CALL FOO ;\n"
|
318
|
+
end
|
319
|
+
|
320
|
+
def test_motion_modifiers_swallow_terminators_after_dots
|
321
|
+
parse("p := P[1]\no := PR[1]\nlinear_move.\nto(p).\nat('max_speed').\nterm(0).\noffset(o).\ntime_before(0.5,foo())")
|
322
|
+
assert_prog "L P[1:p] max_speed CNT0 Offset,PR[1:o] TB .50sec,CALL FOO ;\n"
|
323
|
+
end
|
324
|
+
|
325
|
+
def test_wait_for_with_seconds
|
326
|
+
parse("wait_for(5,'s')")
|
327
|
+
assert_prog "WAIT 5.00(sec) ;\n"
|
328
|
+
end
|
329
|
+
|
330
|
+
def test_wait_for_with_invalid_units_throws_error
|
331
|
+
parse("wait_for(5,'ns')")
|
332
|
+
assert_raise(RuntimeError) do
|
333
|
+
assert_prog ""
|
334
|
+
end
|
335
|
+
end
|
336
|
+
|
337
|
+
def test_wait_for_with_milliseconds
|
338
|
+
parse("wait_for(100,'ms')")
|
339
|
+
assert_prog "WAIT .10(sec) ;\n"
|
340
|
+
end
|
341
|
+
|
342
|
+
def test_wait_for_with_indirect_seconds
|
343
|
+
parse "foo := R[1]\nwait_for(foo, 's')"
|
344
|
+
assert_prog "WAIT R[1:foo] ;\n"
|
345
|
+
end
|
346
|
+
|
347
|
+
def test_wait_for_with_indirect_ms
|
348
|
+
parse "foo := R[1]\nwait_for(foo, 'ms')"
|
349
|
+
assert_raise(RuntimeError) do
|
350
|
+
assert_prog ""
|
351
|
+
end
|
352
|
+
end
|
353
|
+
|
354
|
+
def test_wait_until_with_exp
|
355
|
+
parse("wait_until(1==0)")
|
356
|
+
assert_prog "WAIT (1=0) ;\n"
|
357
|
+
end
|
358
|
+
|
359
|
+
def test_wait_until_with_flag
|
360
|
+
parse("foo := F[1]\nwait_until(foo)")
|
361
|
+
assert_prog "WAIT (F[1:foo]) ;\n"
|
362
|
+
end
|
363
|
+
|
364
|
+
def test_wait_until_with_di
|
365
|
+
parse("foo := DI[1]\nwait_until(foo)")
|
366
|
+
assert_prog "WAIT (DI[1:foo]) ;\n"
|
367
|
+
end
|
368
|
+
|
369
|
+
def test_wait_until_with_boolean
|
370
|
+
parse("foo := DI[1]\nbar := DI[2]\nwait_until(foo && bar)")
|
371
|
+
assert_prog "WAIT (DI[1:foo] AND DI[2:bar]) ;\n"
|
372
|
+
end
|
373
|
+
|
374
|
+
def test_wait_until_with_timeout_to
|
375
|
+
parse("wait_until(1==0).timeout_to(@end)\n@end")
|
376
|
+
assert_prog "WAIT (1=0) TIMEOUT,LBL[100] ;\nLBL[100:end] ;\n"
|
377
|
+
end
|
378
|
+
|
379
|
+
def test_wait_until_with_timeout_to_and_after
|
380
|
+
parse("wait_until(1==0).timeout_to(@end).after(1, 's')\n@end")
|
381
|
+
assert_prog "$WAITTMOUT=(100) ;\nWAIT (1=0) TIMEOUT,LBL[100] ;\nLBL[100:end] ;\n"
|
382
|
+
end
|
383
|
+
|
384
|
+
def test_wait_until_after_ms
|
385
|
+
parse("wait_until(1==0).timeout_to(@end).after(1000, 'ms')\n@end")
|
386
|
+
assert_prog "$WAITTMOUT=(100) ;\nWAIT (1=0) TIMEOUT,LBL[100] ;\nLBL[100:end] ;\n"
|
387
|
+
end
|
388
|
+
|
389
|
+
def test_wait_until_after_indirect
|
390
|
+
parse("foo := R[1]\nwait_until(1==0).timeout_to(@end).after(foo, 's')\n@end")
|
391
|
+
assert_prog "$WAITTMOUT=(R[1:foo]*100) ;\nWAIT (1=0) TIMEOUT,LBL[100] ;\nLBL[100:end] ;\n"
|
392
|
+
end
|
393
|
+
|
394
|
+
def test_wait_until_with_constant
|
395
|
+
parse("WAIT := 5\nwait_until(1==0).timeout_to(@end).after(WAIT, 's')\n@end")
|
396
|
+
assert_prog "$WAITTMOUT=(5*100) ;\nWAIT (1=0) TIMEOUT,LBL[100] ;\nLBL[100:end] ;\n"
|
397
|
+
end
|
398
|
+
|
399
|
+
def test_pr_components
|
400
|
+
parse("foo := PR[1]\nfoo.x=5\nfoo.y=6\nfoo.z=7\nfoo.w=8\nfoo.p=9\nfoo.r=10\n")
|
401
|
+
assert_prog "PR[1,1:foo]=5 ;\nPR[1,2:foo]=6 ;\nPR[1,3:foo]=7 ;\nPR[1,4:foo]=8 ;\nPR[1,5:foo]=9 ;\nPR[1,6:foo]=10 ;\n"
|
402
|
+
end
|
403
|
+
|
404
|
+
def test_pr_with_invalid_component_raises_error
|
405
|
+
parse("foo := PR[1]\nfoo.bar=5\n")
|
406
|
+
assert_raise(RuntimeError) do
|
407
|
+
assert_prog ""
|
408
|
+
end
|
409
|
+
end
|
410
|
+
|
411
|
+
def test_simple_case_statement
|
412
|
+
parse("foo := R[1]\ncase foo\nwhen 1\njump_to @asdf\nend\n@asdf")
|
413
|
+
assert_prog %(SELECT R[1:foo]=1,JMP LBL[100] ;\nLBL[100:asdf] ;\n)
|
414
|
+
end
|
415
|
+
|
416
|
+
def test_simple_case_with_else_statement
|
417
|
+
parse("foo := R[1]\ncase foo\nwhen 1\njump_to @asdf\nelse\njump_to @ghjk\nend\n@asdf\n@ghjk")
|
418
|
+
assert_prog %(SELECT R[1:foo]=1,JMP LBL[100] ;
|
419
|
+
ELSE,JMP LBL[101] ;
|
420
|
+
LBL[100:asdf] ;
|
421
|
+
LBL[101:ghjk] ;\n)
|
422
|
+
end
|
423
|
+
|
424
|
+
def test_case_statement_with_two_whens
|
425
|
+
parse("foo := R[1]\ncase foo\nwhen 1\njump_to @asdf\nwhen 2\njump_to @ghjk\nend\n@asdf\n@ghjk")
|
426
|
+
assert_prog %(SELECT R[1:foo]=1,JMP LBL[100] ;
|
427
|
+
=2,JMP LBL[101] ;
|
428
|
+
LBL[100:asdf] ;
|
429
|
+
LBL[101:ghjk] ;\n)
|
430
|
+
end
|
431
|
+
|
432
|
+
def test_case_statement_with_three_whens
|
433
|
+
parse("foo := R[1]\ncase foo\nwhen 1\nbar()\nwhen 2\nbar()\nwhen 3\nbar()\nend")
|
434
|
+
assert_prog %(SELECT R[1:foo]=1,CALL BAR ;
|
435
|
+
=2,CALL BAR ;
|
436
|
+
=3,CALL BAR ;\n)
|
437
|
+
end
|
438
|
+
|
439
|
+
def test_case_statement_with_three_whens_and_else
|
440
|
+
parse("foo := R[1]\ncase foo\nwhen 1\nbar()\nwhen 2\nbar()\nwhen 3\nbar()\nelse\nbar()\nend")
|
441
|
+
assert_prog %(SELECT R[1:foo]=1,CALL BAR ;
|
442
|
+
=2,CALL BAR ;
|
443
|
+
=3,CALL BAR ;
|
444
|
+
ELSE,CALL BAR ;\n)
|
445
|
+
end
|
446
|
+
|
447
|
+
def test_can_use_simple_io_value_as_condition
|
448
|
+
parse("foo := UI[5]\n@top\njump_to @top if foo")
|
449
|
+
assert_prog "LBL[100:top] ;\nIF (UI[5:foo]),JMP LBL[100] ;\n"
|
450
|
+
end
|
451
|
+
|
452
|
+
def test_can_use_simple_io_value_as_condition_with_unless
|
453
|
+
parse("foo := UI[5]\n@top\njump_to @top unless foo")
|
454
|
+
assert_prog "LBL[100:top] ;\nIF (!UI[5:foo]),JMP LBL[100] ;\n"
|
455
|
+
end
|
456
|
+
|
457
|
+
def test_inline_program_call
|
458
|
+
parse("foo := UI[5]\nbar() unless foo")
|
459
|
+
assert_prog "IF (!UI[5:foo]),CALL BAR ;\n"
|
460
|
+
end
|
461
|
+
|
462
|
+
def test_constant_definition
|
463
|
+
parse("FOO := 5\nfoo := R[1]\nfoo = FOO")
|
464
|
+
assert_prog "R[1:foo]=5 ;\n"
|
465
|
+
end
|
466
|
+
|
467
|
+
def test_constant_definition_real
|
468
|
+
parse("PI := 3.14159\nfoo:= R[1]\nfoo = PI")
|
469
|
+
assert_prog "R[1:foo]=3.14159 ;\n"
|
470
|
+
end
|
471
|
+
|
472
|
+
def test_redefining_const_throws_error
|
473
|
+
assert_raise(RuntimeError) do
|
474
|
+
parse("PI := 3.14\nPI := 5")
|
475
|
+
assert_prog ""
|
476
|
+
end
|
477
|
+
end
|
478
|
+
|
479
|
+
def test_defining_const_without_caps_raises_error
|
480
|
+
parse("pi := 3.14")
|
481
|
+
assert_raise(RuntimeError) do
|
482
|
+
assert_prog ""
|
483
|
+
end
|
484
|
+
end
|
485
|
+
|
486
|
+
def test_using_argument_var
|
487
|
+
parse("foo := AR[1]\n@top\njump_to @top if foo==1")
|
488
|
+
assert_prog "LBL[100:top] ;\nIF (AR[1]=1),JMP LBL[100] ;\n"
|
489
|
+
end
|
490
|
+
|
491
|
+
def test_use_uframe_with_constant
|
492
|
+
parse("FOO := 1\nuse_uframe FOO")
|
493
|
+
assert_prog "UFRAME_NUM=1 ;\n"
|
494
|
+
end
|
495
|
+
|
496
|
+
def test_fanuc_set_uframe_with_pr
|
497
|
+
parse("foo := PR[1]\nset_uframe 5, foo")
|
498
|
+
assert_prog "UFRAME[5]=PR[1:foo] ;\n"
|
499
|
+
end
|
500
|
+
|
501
|
+
def test_fanuc_set_uframe_with_constant
|
502
|
+
parse("foo := PR[1]\nBAR := 5\nset_uframe BAR, foo")
|
503
|
+
assert_prog "UFRAME[5]=PR[1:foo] ;\n"
|
504
|
+
end
|
505
|
+
|
506
|
+
def test_fanuc_set_uframe_with_reg
|
507
|
+
parse("foo := PR[1]\nbar := R[1]\nset_uframe bar, foo")
|
508
|
+
assert_prog "UFRAME[R[1:bar]]=PR[1:foo] ;\n"
|
509
|
+
end
|
510
|
+
|
511
|
+
def test_set_skip_condition
|
512
|
+
parse("foo := RI[1]\nset_skip_condition foo")
|
513
|
+
assert_prog "SKIP CONDITION RI[1:foo]=ON ;\n"
|
514
|
+
end
|
515
|
+
|
516
|
+
def test_set_skip_condition_with_bang
|
517
|
+
parse("foo := RI[1]\nset_skip_condition !foo")
|
518
|
+
assert_prog "SKIP CONDITION RI[1:foo]=OFF ;\n"
|
519
|
+
end
|
520
|
+
|
521
|
+
def test_skip_to
|
522
|
+
parse("p := P[1]\n@somewhere\nlinear_move.to(p).at(2000,'mm/s').term(0).skip_to(@somewhere)")
|
523
|
+
assert_prog "LBL[100:somewhere] ;\nL P[1:p] 2000mm/sec CNT0 Skip,LBL[100] ;\n"
|
524
|
+
end
|
525
|
+
|
526
|
+
def test_skip_to_with_pr
|
527
|
+
parse("p := P[1]\nlpos := PR[1]\n@somewhere\nlinear_move.to(p).at(2000,'mm/s').term(0).skip_to(@somewhere, lpos)")
|
528
|
+
assert_prog "LBL[100:somewhere] ;\nL P[1:p] 2000mm/sec CNT0 Skip,LBL[100],PR[1:lpos]=LPOS ;\n"
|
529
|
+
end
|
530
|
+
|
531
|
+
def test_label_comment_automatically_adds_a_comment_if_over_16_chars
|
532
|
+
parse("@foo_bar_foo_bar_foo")
|
533
|
+
assert_prog "LBL[100:foo_bar_foo_bar_] ;\n! foo_bar_foo_bar_foo ;\n"
|
534
|
+
end
|
535
|
+
|
536
|
+
def test_automatic_long_comment_wrapping
|
537
|
+
parse("# this is a really long comment so it should wrap")
|
538
|
+
assert_prog "! this is a really long comment ;\n! so it should wrap ;\n"
|
539
|
+
end
|
540
|
+
|
541
|
+
def test_turning_on_a_flag_requires_mixed_logic
|
542
|
+
parse("foo := F[1]\nturn_on foo")
|
543
|
+
assert_prog "F[1:foo]=(ON) ;\n"
|
544
|
+
end
|
545
|
+
|
546
|
+
def test_boolean_assignment
|
547
|
+
parse("foo := F[1]\nfoo = 1 && 1")
|
548
|
+
assert_prog "F[1:foo]=(1 AND 1) ;\n"
|
549
|
+
end
|
550
|
+
|
551
|
+
def test_simple_math
|
552
|
+
parse("foo := R[1]\nfoo=1+1")
|
553
|
+
assert_prog "R[1:foo]=1+1 ;\n"
|
554
|
+
end
|
555
|
+
|
556
|
+
def test_more_complicated_math
|
557
|
+
parse("foo := R[1]\nfoo=1+2+3")
|
558
|
+
assert_prog "R[1:foo]=(1+2+3) ;\n"
|
559
|
+
end
|
560
|
+
|
561
|
+
def test_operator_precedence
|
562
|
+
parse "foo := R[1]\nfoo=1+2*3"
|
563
|
+
assert_prog "R[1:foo]=(1+2*3) ;\n"
|
564
|
+
end
|
565
|
+
|
566
|
+
def test_expression_grouping
|
567
|
+
parse "foo := R[1]\nfoo=(1+2)*3"
|
568
|
+
assert_prog "R[1:foo]=((1+2)*3) ;\n"
|
569
|
+
end
|
570
|
+
|
571
|
+
def test_boolean_expression
|
572
|
+
parse "foo := F[1]\nfoo = 1 || 1 && 0"
|
573
|
+
assert_prog "F[1:foo]=(1 OR 1 AND 0) ;\n"
|
574
|
+
end
|
575
|
+
|
576
|
+
def test_bang
|
577
|
+
parse "foo := F[1]\nbar := F[2]\nfoo = !bar"
|
578
|
+
assert_prog "F[1:foo]=(!F[2:bar]) ;\n"
|
579
|
+
end
|
580
|
+
|
581
|
+
def test_bang_with_grouping
|
582
|
+
parse "foo := F[1]\nbar := F[2]\nbaz := F[3]\nfoo = foo || !(bar || baz)"
|
583
|
+
assert_prog "F[1:foo]=(F[1:foo] OR !(F[2:bar] OR F[3:baz])) ;\n"
|
584
|
+
end
|
585
|
+
|
586
|
+
def test_opposite_flag_in_simple_if
|
587
|
+
parse "foo := F[1]\nif foo\n# foo is true\nend"
|
588
|
+
assert_prog "IF (!F[1:foo]),JMP LBL[100] ;\n! foo is true ;\nLBL[100] ;\n"
|
589
|
+
end
|
590
|
+
|
591
|
+
def test_opposite_flag_in_simple_unless
|
592
|
+
parse "foo := F[1]\nunless foo\n# foo is false\nend"
|
593
|
+
assert_prog "IF (F[1:foo]),JMP LBL[100] ;\n! foo is false ;\nLBL[100] ;\n"
|
594
|
+
end
|
595
|
+
|
596
|
+
def test_inline_if_with_flag
|
597
|
+
parse "foo := F[1]\njump_to @end if foo\n@end"
|
598
|
+
assert_prog "IF (F[1:foo]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
599
|
+
end
|
600
|
+
|
601
|
+
def test_inline_unless_with_flag
|
602
|
+
parse "foo := F[1]\njump_to @end unless foo\n@end"
|
603
|
+
assert_prog "IF (!F[1:foo]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
604
|
+
end
|
605
|
+
|
606
|
+
def test_automatic_parens_on_boolean
|
607
|
+
parse "foo := F[1]\njump_to @end if foo || foo\n@end"
|
608
|
+
assert_prog "IF (F[1:foo] OR F[1:foo]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
609
|
+
end
|
610
|
+
|
611
|
+
def test_no_extra_parens_with_booleans
|
612
|
+
parse "foo := F[1]\njump_to @end if foo || foo || foo\n@end"
|
613
|
+
assert_prog "IF (F[1:foo] OR F[1:foo] OR F[1:foo]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
614
|
+
end
|
615
|
+
|
616
|
+
def test_assignment_as_bool_result
|
617
|
+
parse "foo := F[1]\nbar := R[1]\nfoo = bar == 1"
|
618
|
+
assert_prog "F[1:foo]=(R[1:bar]=1) ;\n"
|
619
|
+
end
|
620
|
+
|
621
|
+
def test_args_dont_get_comments
|
622
|
+
parse "foo := AR[1]\njump_to @end if foo == 1\n@end"
|
623
|
+
assert_prog "IF (AR[1]=1),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
624
|
+
end
|
625
|
+
|
626
|
+
def test_indirect_position_assignment
|
627
|
+
parse "foo := PR[1]\nfoo = indirect('position',5)"
|
628
|
+
assert_prog "PR[1:foo]=P[5] ;\n"
|
629
|
+
end
|
630
|
+
|
631
|
+
def test_indirect_indirect_position_assignment
|
632
|
+
parse "foo := PR[1]\nbar := R[1]\nfoo = indirect('position',bar)"
|
633
|
+
assert_prog "PR[1:foo]=P[R[1:bar]] ;\n"
|
634
|
+
end
|
635
|
+
|
636
|
+
def test_indirect_posreg_assignment
|
637
|
+
parse "foo := PR[1]\nfoo = indirect('position_register',5)"
|
638
|
+
assert_prog "PR[1:foo]=PR[5] ;\n"
|
639
|
+
end
|
640
|
+
|
641
|
+
def test_namespace
|
642
|
+
parse "namespace Foo\nbar := R[1]\nend\nFoo::bar = 5"
|
643
|
+
assert_prog "R[1:Foo bar]=5 ;\n"
|
644
|
+
end
|
645
|
+
|
646
|
+
def test_no_namespace_collision
|
647
|
+
parse "namespace Foo\nbar := R[1]\nend\nbar := R[2]\nbar = 2\nFoo::bar = 1"
|
648
|
+
assert_prog "R[2:bar]=2 ;\nR[1:Foo bar]=1 ;\n"
|
649
|
+
end
|
650
|
+
|
651
|
+
def test_namespace_constant_definition
|
652
|
+
parse "namespace Math\nPI := 3.14\nend\nfoo := R[1]\nfoo = Math::PI"
|
653
|
+
assert_prog "R[1:foo]=3.14 ;\n"
|
654
|
+
end
|
655
|
+
|
656
|
+
def test_namespace_swallows_everything
|
657
|
+
parse "namespace Foo\n# this is a comment\n#this is another comment\nend"
|
658
|
+
assert_prog ""
|
659
|
+
end
|
660
|
+
|
661
|
+
def test_nested_namespace
|
662
|
+
parse %(namespace Foo
|
663
|
+
bar := R[1]
|
664
|
+
namespace Bar
|
665
|
+
baz := R[2]
|
666
|
+
end
|
667
|
+
end
|
668
|
+
Foo::bar = 1
|
669
|
+
Foo::Bar::baz = 2)
|
670
|
+
assert_prog "R[1:Foo bar]=1 ;\nR[2:Foo Bar baz]=2 ;\n"
|
671
|
+
end
|
672
|
+
|
673
|
+
def test_load_environment
|
674
|
+
environment = "foo := R[1]\nbar := R[2]\n#asdf\n#asdf"
|
675
|
+
@interpreter.load_environment(environment)
|
676
|
+
parse "foo = 5"
|
677
|
+
assert_prog "R[1:foo]=5 ;\n"
|
678
|
+
assert_equal 1, @interpreter.source_line_count
|
679
|
+
end
|
680
|
+
|
681
|
+
def test_load_environment_only_saves_definitions_etc
|
682
|
+
environment = "foo := R[1]\nbar := R[2]\n#asdf\n#asdf\nfoo=3"
|
683
|
+
@interpreter.load_environment(environment)
|
684
|
+
parse "foo = 5"
|
685
|
+
assert_prog "R[1:foo]=5 ;\n"
|
686
|
+
assert_equal 1, @interpreter.source_line_count
|
687
|
+
end
|
688
|
+
|
689
|
+
|
690
|
+
def test_bad_environment
|
691
|
+
assert_raise(RuntimeError) do
|
692
|
+
@interpreter.load_environment("asdf")
|
693
|
+
end
|
694
|
+
end
|
695
|
+
|
696
|
+
def test_inline_conditional_with_namespaced_var
|
697
|
+
parse "namespace Foo\nbar := DI[1]\nend\njump_to @end unless Foo::bar\n@end"
|
698
|
+
assert_prog "IF (!DI[1:Foo bar]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
699
|
+
end
|
700
|
+
|
701
|
+
def test_namespaced_var_as_condition
|
702
|
+
parse "namespace Foo\nbar := DI[1]\nend\nif Foo::bar\n# bar is on\nend"
|
703
|
+
assert_prog "IF (!DI[1:Foo bar]),JMP LBL[100] ;\n! bar is on ;\nLBL[100] ;\n"
|
704
|
+
end
|
705
|
+
|
706
|
+
def test_reopen_namespace
|
707
|
+
parse "namespace Foo\nbar := R[1]\nend\nnamespace Foo\nbaz := R[2]\nend\nFoo::bar = 1\nFoo::baz = 2"
|
708
|
+
assert_prog "R[1:Foo bar]=1 ;\nR[2:Foo baz]=2 ;\n"
|
709
|
+
end
|
710
|
+
|
711
|
+
def test_eval
|
712
|
+
parse %(eval "R[1]=5")
|
713
|
+
assert_prog "R[1]=5 ;\n"
|
714
|
+
end
|
715
|
+
|
716
|
+
def test_multiline_eval
|
717
|
+
parse %(eval "R[1]=5 ;\nR[2]=3")
|
718
|
+
assert_prog "R[1]=5 ;\nR[2]=3 ;\n"
|
719
|
+
end
|
720
|
+
|
721
|
+
def test_namespaced_position_reg_component
|
722
|
+
parse "namespace Fixture\npick_offset := PR[1]\nend\nFixture::pick_offset.x = 10"
|
723
|
+
assert_prog "PR[1,1:Fixture pick_offset]=10 ;\n"
|
724
|
+
end
|
725
|
+
|
726
|
+
def test_inline_program_call_two
|
727
|
+
parse "foo := R[1]\nbar() if foo >= 5"
|
728
|
+
assert_prog "IF R[1:foo]>=5,CALL BAR ;\n"
|
729
|
+
end
|
730
|
+
|
731
|
+
def test_forlooop
|
732
|
+
parse "foo := R[1]\nfor foo in (1 TO 10)\n# bar\nend"
|
733
|
+
assert_prog "FOR R[1:foo]=1 TO 10 ;\n! bar ;\nENDFOR ;\n"
|
734
|
+
end
|
735
|
+
|
736
|
+
def test_forloop_with_vars
|
737
|
+
parse "foo := R[1]\nmin := R[2]\nmax := R[3]\nfor foo in (min to max)\n#bar\nend"
|
738
|
+
assert_prog "FOR R[1:foo]=R[2:min] TO R[3:max] ;\n! bar ;\nENDFOR ;\n"
|
739
|
+
end
|
740
|
+
|
741
|
+
def test_indirect_flag
|
742
|
+
parse "foo := R[1]\nturn_on indirect('flag',foo)"
|
743
|
+
assert_prog "F[R[1:foo]]=(ON) ;\n"
|
744
|
+
end
|
745
|
+
|
746
|
+
def test_indirect_flag_condition
|
747
|
+
parse "foo := R[1]\njump_to @end if indirect('flag',foo)\n@end"
|
748
|
+
assert_prog "IF (F[R[1:foo]]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
749
|
+
end
|
750
|
+
|
751
|
+
def test_indirect_flag_condition_not_inline
|
752
|
+
parse "foo := R[1]\nif indirect('flag',foo)\n# bar\nend"
|
753
|
+
assert_prog "IF (!F[R[1:foo]]),JMP LBL[100] ;\n! bar ;\nLBL[100] ;\n"
|
754
|
+
end
|
755
|
+
|
756
|
+
def test_indirect_unless_flag_condition
|
757
|
+
parse "foo := R[1]\njump_to @end unless indirect('flag',foo)\n@end"
|
758
|
+
assert_prog "IF (!F[R[1:foo]]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
759
|
+
end
|
760
|
+
|
761
|
+
def test_indirect_flag_with_if_bang
|
762
|
+
parse "foo := R[1]\njump_to @end if !indirect('flag',foo)\n@end"
|
763
|
+
assert_prog "IF (!F[R[1:foo]]),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
764
|
+
end
|
765
|
+
|
766
|
+
def test_while_loop
|
767
|
+
parse "foo := R[1]\nwhile foo < 10\n# bar\nend"
|
768
|
+
assert_prog "LBL[100] ;\nIF R[1:foo]>=10,JMP LBL[101] ;\n! bar ;\nJMP LBL[100] ;\nLBL[101] ;\n"
|
769
|
+
end
|
770
|
+
|
771
|
+
def test_while_with_not_flag
|
772
|
+
parse "foo := F[1]\nwhile !foo\n#bar\nend"
|
773
|
+
assert_prog "LBL[100] ;\nIF (F[1:foo]),JMP LBL[101] ;\n! bar ;\nJMP LBL[100] ;\nLBL[101] ;\n"
|
774
|
+
end
|
775
|
+
|
776
|
+
def test_while_with_flag
|
777
|
+
parse "foo := F[1]\nwhile foo\n#bar\nend"
|
778
|
+
assert_prog "LBL[100] ;\nIF (!F[1:foo]),JMP LBL[101] ;\n! bar ;\nJMP LBL[100] ;\nLBL[101] ;\n"
|
779
|
+
end
|
780
|
+
|
781
|
+
def test_timer_start
|
782
|
+
parse "foo := TIMER[1]\nstart foo"
|
783
|
+
assert_prog "TIMER[1:foo]=START ;\n"
|
784
|
+
end
|
785
|
+
|
786
|
+
def test_timer_reset
|
787
|
+
parse "foo := TIMER[1]\nreset foo"
|
788
|
+
assert_prog "TIMER[1:foo]=RESET ;\n"
|
789
|
+
end
|
790
|
+
|
791
|
+
def test_timer_stop
|
792
|
+
parse "foo := TIMER[1]\nstop foo"
|
793
|
+
assert_prog "TIMER[1:foo]=STOP ;\n"
|
794
|
+
end
|
795
|
+
|
796
|
+
def test_timer_restart
|
797
|
+
parse "foo := TIMER[1]\nrestart foo"
|
798
|
+
assert_prog "TIMER[1:foo]=STOP ;\nTIMER[1:foo]=RESET ;\nTIMER[1:foo]=START ;\n"
|
799
|
+
end
|
800
|
+
|
801
|
+
def test_indirect_timer
|
802
|
+
parse "foo := R[1]\nfoo = indirect('timer', 3)"
|
803
|
+
assert_prog "R[1:foo]=TIMER[3] ;\n"
|
804
|
+
end
|
805
|
+
|
806
|
+
def test_indirect_indirect_timer
|
807
|
+
parse "foo := R[1]\nfoo = indirect('timer', foo)"
|
808
|
+
assert_prog "R[1:foo]=TIMER[R[1:foo]] ;\n"
|
809
|
+
end
|
810
|
+
|
811
|
+
def test_start_indirect_timer
|
812
|
+
parse "start indirect('timer', 3)"
|
813
|
+
assert_prog "TIMER[3]=START ;\n"
|
814
|
+
end
|
815
|
+
|
816
|
+
def test_start_indirect_indirect_timer
|
817
|
+
parse "foo := R[1]\nstart indirect('timer', foo)"
|
818
|
+
assert_prog "TIMER[R[1:foo]]=START ;\n"
|
819
|
+
end
|
820
|
+
|
821
|
+
def test_position_data_does_not_output_with_eval
|
822
|
+
parse %(position_data
|
823
|
+
{
|
824
|
+
'positions': [
|
825
|
+
{
|
826
|
+
'id': 1,
|
827
|
+
'comment': "test",
|
828
|
+
'group': 1,
|
829
|
+
'uframe': 1,
|
830
|
+
'utool': 1,
|
831
|
+
'config': {
|
832
|
+
'flip': true,
|
833
|
+
'up': true,
|
834
|
+
'top': false,
|
835
|
+
'turn_counts': [-1,0,1]
|
836
|
+
},
|
837
|
+
'components': {
|
838
|
+
'x': -50.0,
|
839
|
+
'y': 0.0,
|
840
|
+
'z': 0.0,
|
841
|
+
'w': 0.0,
|
842
|
+
'p': 0.0,
|
843
|
+
'r': 0.0
|
844
|
+
}
|
845
|
+
}
|
846
|
+
]
|
847
|
+
}
|
848
|
+
end)
|
849
|
+
|
850
|
+
assert_prog ""
|
851
|
+
end
|
852
|
+
|
853
|
+
def test_position_data_populates_interpreter_position_data
|
854
|
+
parse %(position_data
|
855
|
+
{
|
856
|
+
'positions': [
|
857
|
+
{
|
858
|
+
'id': 1,
|
859
|
+
'comment': "test",
|
860
|
+
'group': 1,
|
861
|
+
'uframe': 1,
|
862
|
+
'utool': 1,
|
863
|
+
'config': {
|
864
|
+
'flip': true,
|
865
|
+
'up': true,
|
866
|
+
'top': false,
|
867
|
+
'turn_counts': [0,0,0]
|
868
|
+
},
|
869
|
+
'components': {
|
870
|
+
'x': 0.0,
|
871
|
+
'y': 0.0,
|
872
|
+
'z': 0.0,
|
873
|
+
'w': 0.0,
|
874
|
+
'p': 0.0,
|
875
|
+
'r': 0.0
|
876
|
+
}
|
877
|
+
}
|
878
|
+
]
|
879
|
+
}
|
880
|
+
end)
|
881
|
+
|
882
|
+
assert_prog ""
|
883
|
+
assert_equal 1, @interpreter.position_data[:positions].length
|
884
|
+
end
|
885
|
+
|
886
|
+
def test_throws_a_fault_if_position_data_invalid
|
887
|
+
parse %(position_data
|
888
|
+
{
|
889
|
+
'positions' : "asdf"
|
890
|
+
}
|
891
|
+
end)
|
892
|
+
assert_raise(RuntimeError) do
|
893
|
+
@interpreter.eval
|
894
|
+
end
|
895
|
+
end
|
896
|
+
|
897
|
+
def test_outputs_position_data_correctly
|
898
|
+
parse %(position_data
|
899
|
+
{
|
900
|
+
'positions': [
|
901
|
+
{
|
902
|
+
'id': 1,
|
903
|
+
'comment': "test",
|
904
|
+
'group': 1,
|
905
|
+
'uframe': 1,
|
906
|
+
'utool': 1,
|
907
|
+
'config': {
|
908
|
+
'flip': true,
|
909
|
+
'up': true,
|
910
|
+
'top': true,
|
911
|
+
'turn_counts': [0,0,0]
|
912
|
+
},
|
913
|
+
'components': {
|
914
|
+
'x': 0.0,
|
915
|
+
'y': 0.0,
|
916
|
+
'z': 0.0,
|
917
|
+
'w': 0.0,
|
918
|
+
'p': 0.0,
|
919
|
+
'r': 0.0
|
920
|
+
}
|
921
|
+
}
|
922
|
+
]
|
923
|
+
}
|
924
|
+
end)
|
925
|
+
|
926
|
+
assert_prog ""
|
927
|
+
assert_equal %(P[1:"test"]{
|
928
|
+
GP1:
|
929
|
+
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
|
930
|
+
X = 0.0 mm, Y = 0.0 mm, Z = 0.0 mm,
|
931
|
+
W = 0.0 deg, P = 0.0 deg, R = 0.0 deg
|
932
|
+
};\n), @interpreter.pos_section
|
933
|
+
end
|
934
|
+
|
935
|
+
def test_outputs_position_data_correctly_with_two_positions
|
936
|
+
parse %(position_data
|
937
|
+
{
|
938
|
+
'positions': [
|
939
|
+
{
|
940
|
+
'id': 1,
|
941
|
+
'comment': "test",
|
942
|
+
'group': 1,
|
943
|
+
'uframe': 1,
|
944
|
+
'utool': 1,
|
945
|
+
'config': {
|
946
|
+
'flip': true,
|
947
|
+
'up': true,
|
948
|
+
'top': true,
|
949
|
+
'turn_counts': [0,0,0]
|
950
|
+
},
|
951
|
+
'components': {
|
952
|
+
'x': 0.0,
|
953
|
+
'y': 0.0,
|
954
|
+
'z': 0.0,
|
955
|
+
'w': 0.0,
|
956
|
+
'p': 0.0,
|
957
|
+
'r': 0.0
|
958
|
+
}
|
959
|
+
},
|
960
|
+
{
|
961
|
+
'id': 2,
|
962
|
+
'comment': "test2",
|
963
|
+
'group': 1,
|
964
|
+
'uframe': 1,
|
965
|
+
'utool': 1,
|
966
|
+
'config': {
|
967
|
+
'flip': true,
|
968
|
+
'up': true,
|
969
|
+
'top': true,
|
970
|
+
'turn_counts': [0,0,0]
|
971
|
+
},
|
972
|
+
'components': {
|
973
|
+
'x': 0.0,
|
974
|
+
'y': 0.0,
|
975
|
+
'z': 0.0,
|
976
|
+
'w': 0.0,
|
977
|
+
'p': 0.0,
|
978
|
+
'r': 0.0
|
979
|
+
}
|
980
|
+
}
|
981
|
+
]
|
982
|
+
}
|
983
|
+
end)
|
984
|
+
|
985
|
+
assert_prog ""
|
986
|
+
assert_equal %(P[1:"test"]{
|
987
|
+
GP1:
|
988
|
+
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
|
989
|
+
X = 0.0 mm, Y = 0.0 mm, Z = 0.0 mm,
|
990
|
+
W = 0.0 deg, P = 0.0 deg, R = 0.0 deg
|
991
|
+
};
|
992
|
+
P[2:"test2"]{
|
993
|
+
GP1:
|
994
|
+
UF : 1, UT : 1, CONFIG : 'F U T, 0, 0, 0',
|
995
|
+
X = 0.0 mm, Y = 0.0 mm, Z = 0.0 mm,
|
996
|
+
W = 0.0 deg, P = 0.0 deg, R = 0.0 deg
|
997
|
+
};\n), @interpreter.pos_section
|
998
|
+
end
|
999
|
+
|
1000
|
+
def test_simple_pulse
|
1001
|
+
parse "foo := DO[1]\npulse foo"
|
1002
|
+
assert_prog "DO[1:foo]=PULSE ;\n"
|
1003
|
+
end
|
1004
|
+
|
1005
|
+
def test_pulse_for_seconds
|
1006
|
+
parse "foo := DO[1]\npulse(foo,5,'s')"
|
1007
|
+
assert_prog "DO[1:foo]=PULSE,5.0sec ;\n"
|
1008
|
+
end
|
1009
|
+
|
1010
|
+
def test_pulse_for_ms
|
1011
|
+
parse "foo := DO[1]\npulse(foo,500,'ms')"
|
1012
|
+
assert_prog "DO[1:foo]=PULSE,0.5sec ;\n"
|
1013
|
+
end
|
1014
|
+
|
1015
|
+
def test_indirect_numreg
|
1016
|
+
parse "foo := R[1]\nindirect('register',foo) = 5"
|
1017
|
+
assert_prog "R[R[1:foo]]=5 ;\n"
|
1018
|
+
end
|
1019
|
+
|
1020
|
+
def test_raise
|
1021
|
+
parse "my_alarm := UALM[1]\nraise my_alarm"
|
1022
|
+
assert_prog "UALM[1] ;\n"
|
1023
|
+
end
|
1024
|
+
|
1025
|
+
def test_indirect_raise
|
1026
|
+
parse "raise indirect('user_alarm',1)"
|
1027
|
+
assert_prog "UALM[1] ;\n"
|
1028
|
+
end
|
1029
|
+
|
1030
|
+
def test_indirect_indirect_raise
|
1031
|
+
parse "foo := R[1]\nraise indirect('user_alarm',foo)"
|
1032
|
+
assert_prog "UALM[R[1:foo]] ;\n"
|
1033
|
+
end
|
1034
|
+
|
1035
|
+
def test_namespaced_pr_component_assignment
|
1036
|
+
parse "namespace Foo\nbar := PR[1]\nend\nFoo::bar.x = 10"
|
1037
|
+
assert_prog "PR[1,1:Foo bar]=10 ;\n"
|
1038
|
+
end
|
1039
|
+
|
1040
|
+
def test_namespaced_pr_component_plus_equals
|
1041
|
+
parse "namespace Foo\nbar := PR[1]\nend\nFoo::bar.x += 10"
|
1042
|
+
assert_prog "PR[1,1:Foo bar]=PR[1,1:Foo bar]+10 ;\n"
|
1043
|
+
end
|
1044
|
+
|
1045
|
+
def test_namespaced_pr_component_in_expression
|
1046
|
+
parse "namespace Foo\nbar := PR[1]\nend\nFoo::bar.x += Foo::bar.x * 10 \n"
|
1047
|
+
assert_prog "PR[1,1:Foo bar]=(PR[1,1:Foo bar]+PR[1,1:Foo bar]*10) ;\n"
|
1048
|
+
end
|
1049
|
+
|
1050
|
+
def test_namespaced_pr_assignment_then_expression
|
1051
|
+
parse "namespace Foo\nbar := PR[1]\nend\nbaz := P[1]\nFoo::bar = baz\nFoo::bar.x += 5"
|
1052
|
+
assert_prog "PR[1:Foo bar]=P[1:baz] ;\nPR[1,1:Foo bar]=PR[1,1:Foo bar]+5 ;\n"
|
1053
|
+
end
|
1054
|
+
|
1055
|
+
def test_wait_until_does_not_get_inlined
|
1056
|
+
parse "foo := DO[1]\nunless foo\nwait_until(foo)\nend"
|
1057
|
+
assert_prog "IF (DO[1:foo]),JMP LBL[100] ;\nWAIT (DO[1:foo]) ;\nLBL[100] ;\n"
|
1058
|
+
end
|
1059
|
+
|
1060
|
+
def test_wait_for_does_not_get_inlined
|
1061
|
+
parse "foo := DO[1]\nunless foo\nwait_for(1,'s')\nend"
|
1062
|
+
assert_prog "IF (DO[1:foo]),JMP LBL[100] ;\nWAIT 1.00(sec) ;\nLBL[100] ;\n"
|
1063
|
+
end
|
1064
|
+
|
1065
|
+
def test_inline_conditional_does_not_get_inlined
|
1066
|
+
parse "foo := DO[1]\nif foo\nturn_off foo if foo\nend"
|
1067
|
+
assert_prog "IF (!DO[1:foo]),JMP LBL[100] ;\nIF (DO[1:foo]),DO[1:foo]=(OFF) ;\nLBL[100] ;\n"
|
1068
|
+
end
|
1069
|
+
|
1070
|
+
def test_run
|
1071
|
+
parse "run foo()"
|
1072
|
+
assert_prog "RUN FOO ;\n"
|
1073
|
+
end
|
1074
|
+
|
1075
|
+
def test_tp_ignore_pause
|
1076
|
+
parse "TP_IGNORE_PAUSE = true"
|
1077
|
+
assert_prog ""
|
1078
|
+
assert @interpreter.header_data[:ignore_pause]
|
1079
|
+
end
|
1080
|
+
|
1081
|
+
def test_tp_subtype
|
1082
|
+
parse "TP_SUBTYPE = 'macro'"
|
1083
|
+
assert_prog ""
|
1084
|
+
assert_equal :macro, @interpreter.header_data[:subtype]
|
1085
|
+
end
|
1086
|
+
|
1087
|
+
def test_tp_comment
|
1088
|
+
parse %(TP_COMMENT = "foo")
|
1089
|
+
assert_prog ""
|
1090
|
+
assert_equal "foo", @interpreter.header_data[:comment]
|
1091
|
+
end
|
1092
|
+
|
1093
|
+
def test_tp_groupmask
|
1094
|
+
parse %(TP_GROUPMASK = "*,*,*,*,*")
|
1095
|
+
assert_prog ""
|
1096
|
+
assert_equal "*,*,*,*,*", @interpreter.header_data[:group_mask]
|
1097
|
+
end
|
1098
|
+
|
1099
|
+
def test_mixed_logic_or
|
1100
|
+
parse %(foo := DI[1]\nbar := DI[2]\nif foo || bar\n# do something\nend)
|
1101
|
+
assert_prog "IF (!DI[1:foo] AND !DI[2:bar]),JMP LBL[100] ;\n! do something ;\nLBL[100] ;\n"
|
1102
|
+
end
|
1103
|
+
|
1104
|
+
def test_flag_assignment_always_gets_parens
|
1105
|
+
parse %(foo := F[1]\nbar := DI[2]\nfoo = bar)
|
1106
|
+
assert_prog "F[1:foo]=(DI[2:bar]) ;\n"
|
1107
|
+
end
|
1108
|
+
|
1109
|
+
def test_tool_offset
|
1110
|
+
parse %(p := P[1]\ntoff := PR[1]\nlinear_move.to(p).at(2000,'mm/s').term(0).tool_offset(toff))
|
1111
|
+
assert_prog "L P[1:p] 2000mm/sec CNT0 Tool_Offset,PR[1:toff] ;\n"
|
1112
|
+
end
|
1113
|
+
|
1114
|
+
def test_wait_for_digit
|
1115
|
+
parse %(wait_for(1,'s'))
|
1116
|
+
assert_prog "WAIT 1.00(sec) ;\n"
|
1117
|
+
end
|
1118
|
+
|
1119
|
+
def test_wait_for_real
|
1120
|
+
parse %(wait_for(0.5,'s'))
|
1121
|
+
assert_prog "WAIT .50(sec) ;\n"
|
1122
|
+
end
|
1123
|
+
|
1124
|
+
def test_wait_for_real_const
|
1125
|
+
parse %(FOO := 0.5\nwait_for(FOO,'s'))
|
1126
|
+
assert_prog "WAIT .50(sec) ;\n"
|
1127
|
+
end
|
1128
|
+
|
1129
|
+
def test_negative_numbers_have_parens
|
1130
|
+
parse %(foo := R[1]\njump_to @end if foo > -1\njump_to @end if foo > -5.3\n@end)
|
1131
|
+
assert_prog "IF R[1:foo]>(-1),JMP LBL[100] ;\nIF R[1:foo]>(-5.3),JMP LBL[100] ;\nLBL[100:end] ;\n"
|
1132
|
+
end
|
1133
|
+
|
1134
|
+
def test_modulus
|
1135
|
+
parse %(foo := R[1]\nfoo = 5 % 2)
|
1136
|
+
assert_prog "R[1:foo]=5 MOD 2 ;\n"
|
1137
|
+
end
|
1138
|
+
|
1139
|
+
def test_assignment_to_sop
|
1140
|
+
parse %(foo := DO[1]\nbar := SO[1]\nfoo = bar)
|
1141
|
+
assert_prog "DO[1:foo]=(SO[1:bar]) ;\n"
|
1142
|
+
end
|
1143
|
+
|
1144
|
+
def test_assignment_to_di
|
1145
|
+
parse %(foo := DO[1]\nbar := DI[1]\nfoo = bar)
|
1146
|
+
assert_prog "DO[1:foo]=(DI[1:bar]) ;\n"
|
1147
|
+
end
|
1148
|
+
|
1149
|
+
def test_string_register_definition
|
1150
|
+
parse %(foo := SR[1]\nbar := SR[2]\nfoo = bar)
|
1151
|
+
assert_prog "SR[1:foo]=SR[2:bar] ;\n"
|
1152
|
+
end
|
1153
|
+
|
1154
|
+
def test_string_argument
|
1155
|
+
parse %(foo('bar'))
|
1156
|
+
assert_prog "CALL FOO('bar') ;\n"
|
1157
|
+
end
|
1158
|
+
|
1159
|
+
def test_pause
|
1160
|
+
parse %(pause)
|
1161
|
+
assert_prog "PAUSE ;\n"
|
1162
|
+
end
|
1163
|
+
|
1164
|
+
def test_abort
|
1165
|
+
parse %(abort)
|
1166
|
+
assert_prog "ABORT ;\n"
|
1167
|
+
end
|
1168
|
+
end
|