bj_power/bj_power_mes/internal/robot/robot_test.go

package robot

import (
	"context"
	"testing"
	"time"
)

func TestRobotDock2TempStation(t *testing.T) {
	setup(t, "192.168.1.130:102")
	defer teardown()

	err := robot.FetchWorkpieceFromDock(context.Background(), 1, 1, 1)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(3 * time.Second)
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 1)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(3 * time.Second)
	err = robot.FetchWorkpieceFromDock(context.Background(), 1, 1, 2)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(3 * time.Second)
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 2)
	if err != nil {
		t.Fatal(err)
	}
	//err = robot.FetchWorkpieceFromDock(context.Background(), 1, 1, 3)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 3)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//err = robot.FetchWorkpieceFromDock(context.Background(), 1, 1, 4)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 4)
	//if err != nil {
	//	t.Fatal(err)
	//}
}

func TestRobotTempStation2CNC(t *testing.T) {
	setup(t, "192.168.1.130:102")
	defer teardown()

	// 上料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 1)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(3 * time.Second)
	//err = robot.PlaceWorkpieceToMachine(context.Background(), 1, 4)
	//if err != nil {
	//	t.Fatal(err)
	//}

	// 换料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 2)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(3 * time.Second)
	//err := robot.ExchangeWorkpieceToMachine(context.Background(), 1, 4)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(3 * time.Second)
	//err := robot.PlaceWorkpieceToTempStation(context.Background(), 1, 2)
	//if err != nil {
	//	t.Fatal(err)
	//}

	//下料
	err := robot.FetchWorkpieceFromMachine(context.Background(), 1, 4)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(3 * time.Second)
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 1)
	if err != nil {
		t.Fatal(err)
	}
}

func TestRobotTempStation2Washer(t *testing.T) {
	setup(t, "192.168.1.130:102")
	defer teardown()

	// 上料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 2)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(6 * time.Second)
	//err = robot.PlaceWorkpieceToMachine(context.Background(), 1, 5, 2)
	//if err != nil {
	//	t.Fatal(err)
	//}

	// 换料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 2)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(6 * time.Second)
	//err = robot.ExchangeWorkpieceToMachine(context.Background(), 1, 5, 1)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(6 * time.Second)
	//err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 1)
	//if err != nil {
	//	t.Fatal(err)
	//}

	//下料
	err := robot.FetchWorkpieceFromMachine(context.Background(), 1, 5, 1)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(6 * time.Second)
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 2)
	if err != nil {
		t.Fatal(err)
	}
}

func TestRobotTempStation2Durr(t *testing.T) {
	setup(t, "192.168.1.130:102")
	defer teardown()

	// 上料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 1)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(6 * time.Second)
	//err = robot.PlaceWorkpieceToMachine(context.Background(), 1, 6)
	//if err != nil {
	//	t.Fatal(err)
	//}

	//下料
	err := robot.FetchWorkpieceFromMachine(context.Background(), 1, 6)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(6 * time.Second)
	// 去毛刺机，放到随行暂存台时 slot位置需要+8
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 9)
	if err != nil {
		t.Fatal(err)
	}
}

func TestRobotTempStation2Sampling(t *testing.T) {
	setup(t, "192.168.1.130:102")
	defer teardown()

	// 上料
	//err := robot.FetchWorkpieceFromTempStation(context.Background(), 1, 1)
	//if err != nil {
	//	t.Fatal(err)
	//}
	//time.Sleep(6 * time.Second)
	//err = robot.PlaceWorkpieceToMachine(context.Background(), 1, 6)
	//if err != nil {
	//	t.Fatal(err)
	//}

	//下料
	err := robot.FetchWorkpieceFromMachine(context.Background(), 1, 6)
	if err != nil {
		t.Fatal(err)
	}
	time.Sleep(6 * time.Second)
	// 去毛刺机，放到随行暂存台时 slot位置需要+8
	err = robot.PlaceWorkpieceToTempStation(context.Background(), 1, 9)
	if err != nil {
		t.Fatal(err)
	}
}