Made tests run with AxesLocation.

markmaker · May 12, 2020 · 3e72d57 · 3e72d57
1 parent 4dd295d
commit 3e72d57
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Showing 5 changed files with 27 additions and 11 deletions.
diff --git a/src/main/java/org/openpnp/machine/reference/ReferenceMachine.java b/src/main/java/org/openpnp/machine/reference/ReferenceMachine.java
@@ -22,7 +22,6 @@
 import java.io.IOException;
 import java.util.ArrayList;
 import java.util.Arrays;
-import java.util.Collections;
 import java.util.List;
 
 import javax.swing.Action;
@@ -33,12 +32,11 @@
 import org.openpnp.machine.marek.MarekNozzle;
 import org.openpnp.machine.neoden4.NeoDen4Driver;
 import org.openpnp.machine.neoden4.Neoden4Camera;
-import org.openpnp.machine.reference.axis.ReferenceCamCounterClockwiseAxis;
 import org.openpnp.machine.reference.axis.ReferenceCamClockwiseAxis;
+import org.openpnp.machine.reference.axis.ReferenceCamCounterClockwiseAxis;
 import org.openpnp.machine.reference.axis.ReferenceControllerAxis;
 import org.openpnp.machine.reference.axis.ReferenceLinearTransformAxis;
 import org.openpnp.machine.reference.axis.ReferenceMappedAxis;
-import org.openpnp.machine.reference.axis.wizards.ReferenceLinearTransformAxisConfigurationWizard;
 import org.openpnp.machine.reference.camera.ImageCamera;
 import org.openpnp.machine.reference.camera.OnvifIPCamera;
 import org.openpnp.machine.reference.camera.OpenCvCamera;
@@ -52,9 +50,9 @@
 import org.openpnp.machine.reference.feeder.BlindsFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceAutoFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceDragFeeder;
-import org.openpnp.machine.reference.feeder.ReferencePushPullFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceLeverFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceLoosePartFeeder;
+import org.openpnp.machine.reference.feeder.ReferencePushPullFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceRotatedTrayFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceSlotAutoFeeder;
 import org.openpnp.machine.reference.feeder.ReferenceStripFeeder;

diff --git a/src/main/java/org/openpnp/model/AxesLocation.java b/src/main/java/org/openpnp/model/AxesLocation.java
@@ -24,6 +24,7 @@
 import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
+import java.util.Locale;
 import java.util.Map.Entry;
 import java.util.Set;
 import java.util.function.BiFunction;
@@ -166,4 +167,22 @@ public boolean contains(Axis axis) {
         }
         return (location.containsKey(axis));
     }
+
+    @Override
+    public String toString() {
+        StringBuilder str = new StringBuilder();
+        str.append("(");
+        int i = 0;
+        for (Entry<Axis, Double> entry : location.entrySet()) {
+            if (i++ > 0) {
+                str.append(", ");
+            }
+            str.append(entry.getKey().getName());
+            str.append(":");
+            str.append(String.format(Locale.US, "%f", entry.getValue())); 
+        }
+        str.append(")");
+        return str.toString();
+    }
+
 }
diff --git a/src/main/java/org/openpnp/spi/base/AbstractCamera.java b/src/main/java/org/openpnp/spi/base/AbstractCamera.java
@@ -29,7 +29,6 @@
 import org.openpnp.ConfigurationListener;
 import org.openpnp.gui.MainFrame;
 import org.openpnp.gui.support.Icons;
-import org.openpnp.model.AbstractModelObject;
 import org.openpnp.model.Configuration;
 import org.openpnp.model.LengthUnit;
 import org.openpnp.model.Location;

diff --git a/src/main/java/org/openpnp/spi/base/AbstractHeadMountable.java b/src/main/java/org/openpnp/spi/base/AbstractHeadMountable.java
@@ -122,8 +122,8 @@ public Length getEffectiveSafeZ() {
     @Override
     public void moveTo(Location location, double speed, MoveToOption... options) throws Exception {
         Logger.debug("{}.moveTo({}, {})", getName(), location, speed);
-        location = toHeadLocation(location, getLocation());
-        getHead().moveTo(this, location, getHead().getMaxPartSpeed() * speed, options);
+        Location headLocation = toHeadLocation(location, getLocation());
+        getHead().moveTo(this, headLocation, getHead().getMaxPartSpeed() * speed, options);
     }
 
     @Override
@@ -240,7 +240,7 @@ public AxesLocation toRaw(Location location, LocationOption... options)
 
     @Override
     public Location getLocation() {
-        MappedAxes mappedAxes = getMappedAxes(getHead().getMachine());
+        MappedAxes mappedAxes = getMappedAxes(Configuration.get().getMachine());
         Location location = toTransformed(mappedAxes.getLocation());
         // From head to HeadMountable.
         return toHeadMountableLocation(location);

diff --git a/src/test/java/BasicJobTest.java b/src/test/java/BasicJobTest.java
@@ -74,7 +74,7 @@ public void testSimpleJob() throws Exception {
         Nozzle n2 = h1.getNozzle("N2");
         Camera c1 = h1.getCamera("C1");
 
-        delegate.expectMove("Move N1 Nozzle Change Unload", n1,
+        delegate.expectMove("Move N1 Nozzle Change Load", n1,
                 new Location(LengthUnit.Millimeters, 40, 0, 0, 0), 1.0);
         delegate.expectMove("Move N2 Nozzle Change Load", n2,
                 new Location(LengthUnit.Millimeters, 50, 0, 0, 0), 1.0);
@@ -220,8 +220,8 @@ class ExpectedMove extends ExpectedOp {
             public ExpectedMove(String description, HeadMountable headMountable, Location location,
                     double speed) throws Exception {
                 this.headMountable = headMountable;
-                // The expected location is in raw coordinates.  
-                location = headMountable.toHeadLocation(location);
+                // The expected location must be converted into raw coordinates but it is already a head location.  
+                // DO NOT DO THIS: Location headLocation = headMountable.toHeadLocation(location);
                 this.location = headMountable.toRaw(location);
                 this.speed = speed;
                 this.description = description;