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985c397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 | # -*- coding: utf-8 -*-
# ***************************************************************************
# * Copyright (c) 2025 Brad Collette *
# * *
# * This program is free software; you can redistribute it and/or modify *
# * it under the terms of the GNU Lesser General Public License (LGPL) *
# * as published by the Free Software Foundation; either version 2 of *
# * the License, or (at your option) any later version. *
# * for detail see the LICENCE text file. *
# * *
# ***************************************************************************
import FreeCAD
import Part
import CAMTests.PathTestUtils as PathTestUtils
import Path.Base.Generator.linking as generator
import unittest
class TestGetLinkingMoves(PathTestUtils.PathTestBase):
def setUp(self):
self.start = FreeCAD.Vector(0, 0, 0)
self.target = FreeCAD.Vector(10, 0, 0)
self.local_clearance = 2.0
self.global_clearance = 5.0
self.tool = Part.makeCylinder(1, 5)
def test_simple_move(self):
cmds = generator.get_linking_moves(
start_position=self.start,
target_position=self.target,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
solids=[],
)
self.assertGreater(len(cmds), 0)
self.assertEqual(cmds[0].Name, "G0")
def test_same_position_returns_empty(self):
cmds = generator.get_linking_moves(
start_position=self.start,
target_position=self.start,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
solids=[],
)
self.assertEqual(len(cmds), 0)
def test_negative_retract_offset_raises(self):
with self.assertRaises(ValueError):
generator.get_linking_moves(
start_position=self.start,
target_position=self.target,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
retract_height_offset=-1,
)
def test_clearance_violation_raises(self):
with self.assertRaises(ValueError):
generator.get_linking_moves(
start_position=self.start,
target_position=self.target,
local_clearance=10.0,
global_clearance=5.0,
tool_shape=self.tool,
)
def test_path_blocked_by_solid(self):
blocking_box = Part.makeBox(20, 20, 10)
blocking_box.translate(FreeCAD.Vector(-5, -5, 0))
with self.assertRaises(RuntimeError):
generator.get_linking_moves(
start_position=self.start,
target_position=self.target,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
solids=[blocking_box],
)
def test_plunge_to_zero_depth(self):
"""Test that plunge moves correctly go to Z=0 (regression test for depth==0 bug)"""
start = FreeCAD.Vector(0, 0, 1) # Start below clearance
target = FreeCAD.Vector(10, 10, 0) # Target depth is 0
cmds = generator.get_linking_moves(
start_position=start,
target_position=target,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
solids=[],
)
# Verify we got commands
self.assertGreater(len(cmds), 0)
# All commands should have complete XYZ coordinates
for cmd in cmds:
self.assertIn("X", cmd.Parameters, "Command missing X coordinate")
self.assertIn("Y", cmd.Parameters, "Command missing Y coordinate")
self.assertIn("Z", cmd.Parameters, "Command missing Z coordinate")
# The last command should be the plunge to target depth (Z=0)
last_cmd = cmds[-1]
self.assertAlmostEqual(last_cmd.Parameters["X"], target.x, places=5)
self.assertAlmostEqual(last_cmd.Parameters["Y"], target.y, places=5)
self.assertAlmostEqual(
last_cmd.Parameters["Z"],
target.z,
places=5,
msg="Final plunge should go to target Z=0, not clearance height",
)
def test_plunge_to_negative_depth(self):
"""Test that plunge moves correctly go to negative Z depths"""
start = FreeCAD.Vector(0, 0, 1) # Start below clearance
target = FreeCAD.Vector(10, 10, -2) # Target depth is negative
cmds = generator.get_linking_moves(
start_position=start,
target_position=target,
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
solids=[],
)
# The last command should be the plunge to target depth (Z=-2)
last_cmd = cmds[-1]
self.assertAlmostEqual(
last_cmd.Parameters["Z"],
target.z,
places=5,
msg="Final plunge should go to target Z=-2",
)
@unittest.skip("not yet implemented")
def test_zero_retract_offset_uses_local_clearance(self):
cmds = generator.get_linking_moves(
start_position=self.start,
target_position=FreeCAD.Vector(10, 0, 5),
local_clearance=self.local_clearance,
global_clearance=self.global_clearance,
tool_shape=self.tool,
retract_height_offset=0,
)
self.assertTrue(any(cmd for cmd in cmds if cmd.Parameters.get("Z") == self.local_clearance))
@unittest.skip("not yet implemented")
def test_path_generated_without_local_safe(self):
pass
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