/*
* Switch extruders, with the following special cases:
* - No retraction distance.
*/
TEST_F(GCodeExportTest, SwitchExtruderSimple)
{
Scene& scene = Application::getInstance().current_slice->scene;
scene.extruders.emplace_back(0, nullptr);
ExtruderTrain& train1 = scene.extruders.back();
train1.settings.add("machine_extruder_start_code", ";FIRST EXTRUDER START G-CODE!");
train1.settings.add("machine_extruder_end_code", ";FIRST EXTRUDER END G-CODE!");
train1.settings.add("machine_firmware_retract", "True");
train1.settings.add("retraction_enable", "True");
scene.extruders.emplace_back(1, nullptr);
ExtruderTrain& train2 = scene.extruders.back();
train2.settings.add("machine_extruder_start_code", ";SECOND EXTRUDER START G-CODE!");
train2.settings.add("machine_extruder_end_code", ";SECOND EXTRUDER END G-CODE!");
train2.settings.add("machine_firmware_retract", "True");
train2.settings.add("retraction_enable", "True");
RetractionConfig no_retraction;
no_retraction.distance = 0;
EXPECT_CALL(*mock_communication, setExtruderForSend(testing::_));
EXPECT_CALL(*mock_communication, sendCurrentPosition(testing::_));
gcode.switchExtruder(1, no_retraction);
EXPECT_EQ(std::string("G92 E0\n;FIRST EXTRUDER END G-CODE!\nT1\nG92 E0\n;SECOND EXTRUDER START G-CODE!\n"), output.str());
}
void Test::test()
{
// sendHearbeat(false, MAV_STATE_STANDBY);
// battery
updateUI();
sendSystemStatus(100, 12.4);
updateUI();
sendHomePosition(
getRadians(59, 57, 11.44), // 59�'11.44"N
getRadians(30, 18, 51.69), // 30�'51.69"E
0);
updateUI();
sendCurrentPosition(
getRadians(59, 57, 11.44), // 59�'11.44"N
getRadians(30, 18, 51.69), // 30�'51.69"E
200);
updateUI();
sendVfrHud(
10, // ground speed 10 m/s
180, // heading south (180 deg)
70, // 70% throttle
2); // climb rate 2 m/s down
updateUI();
sendEkfStatusReport(0.9);
updateUI();
// Base parameters
sendParameter("WPNAV_SPEED", 500);
sendParameter("WPNAV_SPEED_UP", 250);
sendParameter("WPNAV_SPEED_DN", 150);
sendParameter("RTL_ALT", 1500);
sendParameter("RTL_ALT_FINAL", 0);
sendParameter("LAND_SPEED", 50);
sendParameter("BATT_CAPACITY", 5000);
sendParameter("FS_BATT_MAH", 1000);
sendParameter("FS_BATT_VOLTAGE", 13);
updateUI();
//sendHearbeat(true);
/* sendCurrentPosition(
getRadians(59, 57, 37.56), // 59�'37.56"N
getRadians(30, 18, 47.24), // 30�'47.24"E
10); */
// sendHearbeat(true, MAV_STATE_CRITICAL);
sendStatusText(MAV_SEVERITY_CRITICAL, "Some very very very long status text.");
updateUI();
sendStatusText(MAV_SEVERITY_CRITICAL, "TEST");
updateUI();
sendChannels(1100, 1500);
updateUI();
sendHearbeat(true, MAV_STATE_ACTIVE);
}
