Update of the GCodeProcessor #54
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- the GCode Processor was improved in many way - usage of more dicionary methods
- g_code was changed to an array[dictionary] format - this enables a better handling of the g_code inside and outside of the processor
- adjusting test method
- test class was adapted to dictionary format
- adding empty line
New GCodeProcessor Function: - read_g_code method reads in every command, including unknown - read_g_code method reads in joint_movement commands for example "G0 RA1=4.23 ..." - Jointposition commands can be played Test GCodeProcessor: - Correction G54 Bug
- old changes were overwritten - this is the correct version
- implementing g-code with Joint Positions into the test class
- a joint position call was added to the g_code_processor example code
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #54 +/- ##
==========================================
+ Coverage 86.66% 87.26% +0.60%
==========================================
Files 15 15
Lines 930 966 +36
==========================================
+ Hits 806 843 +37
+ Misses 124 123 -1 ☔ View full report in Codecov by Sentry. |
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@liquidcronos @MaHajo Best regards Philipp |
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Description
The GCodeProcessor underwent two significant updates:
read_g_codemethod was modified to utilize an array of dictionaries for storing G-code, enhancing its structure for better manipulation.create_joint_movement_operations(), was implemented to enable efficient execution of joint movements within the class.Motivation and Context
These changes aim to enhance the GCodeProcessor's functionality and flexibility. By restructuring the
read_g_codemethod, the codebase's readability and maintainability are improved. Additionally, the implementation ofcreate_joint_movement_operations()expands the class's capabilities, enabling it to handle joint movements effectively.How has this been tested?
To validate the new changes, updates were made to
test_g_code_processor.py. A series of tests, including a short sequence to verify joint positions retrieval and movement execution, were added. These tests cover various scenarios and edge cases, ensuring the reliability and correctness of the modifications. Testing was conducted locally and in continuous integration environments to verify consistent behavior across different setups and platforms.Screenshots (if appropriate):
N/A
Types of changes
Checklist: