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UnitTests

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chk
2026-06-08 15:40:07 +02:00
parent 2e521c510f
commit 172606c7a3
8 changed files with 275 additions and 5 deletions
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6
doc/ToDo_7_Tests.md
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@@ -6,17 +6,17 @@ Testabdeckung und Fehlerbehandlung sollen die Stabilität der Architektur erhöh
## Aufgaben
- [ ] Unit-Tests für `GCodeParser`
- [x] Unit-Tests für `GCodeParser`
- [ ] Unit-Tests für `RobotController`
- [ ] Unit-Tests für `TelnetSenderGRBL`
- Verbindungsstatus
- Fehlerfälle
- korrektes Sendeformat
- [ ] Tests für `InputWS.js`
- [x] Tests für `InputWS.js`
- gültige G-Code-Nachrichten
- Ping-Verarbeitung
- Statusabfragen
- [ ] Tests für `InfoServer`
- [x] Tests für `InfoServer`
- `/api/status`
- `/api/position`
- [ ] Fehlerfälle explizit prüfen

24
logs/gcode_commands.log
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@@ -10156,3 +10156,27 @@
2026-04-26T15:31:01.738Z ::ffff:172.19.0.5: FShow
2026-04-26T15:31:13.510Z ::ffff:172.19.0.5: FShow
2026-04-26T15:31:51.957Z ::ffff:172.19.0.5: FShow
2026-06-08T13:20:36.489Z ::ffff:127.0.0.1: M114
2026-06-08T13:20:50.858Z ::ffff:127.0.0.1: M114
2026-06-08T13:20:58.330Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:01.672Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:07.335Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:17.293Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:30.307Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:32.687Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:35.774Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:38.922Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:41.654Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:48.470Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:48.899Z ::ffff:127.0.0.1: M114
2026-06-08T13:21:55.506Z ::ffff:127.0.0.1: M114
2026-06-08T13:29:57.533Z ::ffff:127.0.0.1: M114
2026-06-08T13:34:40.388Z ::ffff:127.0.0.1: M114
2026-06-08T13:34:41.782Z ::ffff:127.0.0.1: M114
2026-06-08T13:38:28.611Z ::ffff:127.0.0.1: M114
2026-06-08T13:38:33.693Z ::ffff:127.0.0.1: M114
2026-06-08T13:38:38.138Z ::ffff:127.0.0.1: M114
2026-06-08T13:38:46.655Z ::ffff:127.0.0.1: M114
2026-06-08T13:38:50.956Z ::ffff:127.0.0.1: M114
2026-06-08T13:39:19.725Z ::ffff:127.0.0.1: M114
2026-06-08T13:39:55.037Z ::ffff:127.0.0.1: M114

24
logs/pings.log
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@@ -14496,3 +14496,27 @@
2026-04-26T18:07:00.267Z ::ffff:172.19.0.5 : Ping
2026-04-26T18:08:00.272Z ::ffff:172.19.0.5 : Ping
2026-04-26T18:09:00.271Z ::ffff:172.19.0.5 : Ping
2026-06-08T13:20:36.465Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:20:50.833Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:20:58.312Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:01.655Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:07.322Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:17.286Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:30.286Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:32.672Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:35.757Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:38.905Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:41.638Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:48.463Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:48.874Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:21:55.492Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:29:57.521Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:34:40.369Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:34:41.774Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:38:28.593Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:38:33.669Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:38:38.122Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:38:46.632Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:38:50.951Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:39:19.719Z ::ffff:127.0.0.1 : Ping
2026-06-08T13:39:55.032Z ::ffff:127.0.0.1 : Ping

2
robot/GCode.js
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@@ -111,6 +111,8 @@ class GCode{
robot.theta = Math.PI / 2;
robot.psi = 0;
robot.e = 0;
robot.calculateAngles3D();
robot.sendCommand();
return;
}

3
robot/WSSenderGrbl.js
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@@ -19,6 +19,7 @@ module.exports = class TelnetSenderGRBL{
this.receiver = null;
this.urlGRBLstr = urlGRBL;
this.maxSpeedF = maxSpeedF;
this.xAxisGrbl = xAxisGrbl;
this.yAxisGrbl = yAxisGrbl;
this.zAxisGrbl = zAxisGrbl;
@@ -329,7 +330,7 @@ module.exports = class TelnetSenderGRBL{
}
}
data += " f"+(maxSpeedF.toFixed(2).toString())
data += " f"+(this.maxSpeedF.toFixed(2).toString())
if(this.tSocket && data.length > 3){

4
test/GCode.receiveGCode.test.js
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@@ -90,7 +90,7 @@ describe('GCode.receiveGCode', () => {
expect(robot.sendCommand).toHaveBeenCalled()
})
test('G28 setzt Home-Position', () => {
test('G28 setzt Home-Position und löst Bewegung aus', () => {
const robot = createDummyRobot()
GCode.receiveGCode(robot, 'G28')
@@ -100,6 +100,8 @@ describe('GCode.receiveGCode', () => {
expect(robot.y).toBe(robot.l1 + robot.l2 + robot.l3)
expect(robot.phi).toBeCloseTo(-Math.PI / 2)
expect(robot.theta).toBeCloseTo(Math.PI / 2)
expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
expect(robot.sendCommand).toHaveBeenCalledTimes(1)
})
test('Sende falsches Format', () =>{

121
test/InfoServer.test.js Normal file
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@@ -0,0 +1,121 @@
const fs = require('fs');
const https = require('https');
const createInfoServer = require('../server/InfoServer');
const GCode = require('../robot/GCode');
function listen(server) {
return new Promise((resolve, reject) => {
server.listen(0, () => {
const address = server.address();
if (address && address.port) {
resolve(address.port);
} else {
reject(new Error('Failed to get server port'));
}
});
server.on('error', reject);
});
}
function request(url) {
return new Promise((resolve, reject) => {
const agent = new https.Agent({ rejectUnauthorized: false });
https.get(url, { agent }, (res) => {
let data = '';
res.on('data', (chunk) => {
data += chunk.toString();
});
res.on('end', () => {
resolve({ statusCode: res.statusCode, body: data });
});
}).on('error', reject);
});
}
describe('InfoServer', () => {
let server;
let port;
afterEach(async () => {
if (server) {
await new Promise((resolve) => server.close(resolve));
server = null;
}
});
test('returns status JSON with sender and shared state information', async () => {
const key = fs.readFileSync('https/localhost.key');
const cert = fs.readFileSync('https/localhost.pem');
const httpsOptions = { key, cert, passphrase: 'abcd' };
const sharedState = {
connectedClients: ['127.0.0.1'],
lastCommands: ['G1 X10 Y10'],
lastPings: ['Ping']
};
const robot = {
x: 1,
y: 2,
z: 3,
phi: 0,
theta: 0,
psi: 0
};
const senders = [
{ name: 'Base', instance: { tSocket: {} } },
{ name: 'Hand', instance: null }
];
server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
port = await listen(server);
const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/status`);
expect(statusCode).toBe(200);
const status = JSON.parse(body);
expect(status.clients).toEqual(['127.0.0.1']);
expect(status.lastCommands).toEqual(['G1 X10 Y10']);
expect(status.lastPings).toEqual(['Ping']);
expect(status.senders).toEqual([
{ name: 'Base', status: 'connected' },
{ name: 'Hand', status: 'disconnected' }
]);
});
test('returns position JSON from GCode.getM114', async () => {
const key = fs.readFileSync('https/localhost.key');
const cert = fs.readFileSync('https/localhost.pem');
const httpsOptions = { key, cert, passphrase: 'abcd' };
const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
const robot = { x: 10, y: 20, z: 30, phi: 0.1, theta: 0.2, psi: 0.3, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };
const senders = [];
server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
port = await listen(server);
const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/position`);
expect(statusCode).toBe(200);
const json = JSON.parse(body);
expect(json.position).toEqual({ x: 10, y: 20, z: 30, a: 0.1, b: 0.2, c: 0.3 });
});
test('returns 404 for unknown endpoints', async () => {
const key = fs.readFileSync('https/localhost.key');
const cert = fs.readFileSync('https/localhost.pem');
const httpsOptions = { key, cert, passphrase: 'abcd' };
const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };
const senders = [];
server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
port = await listen(server);
const { statusCode } = await request(`https://127.0.0.1:${port}/api/unknown`);
expect(statusCode).toBe(404);
});
});

96
test/InputWS.test.js Normal file
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@@ -0,0 +1,96 @@
const http = require('http');
const WebSocket = require('ws');
const initInputWS = require('../server/InputWS');
const GCode = require('../robot/GCode');
const createDummyRobot = require('./helpers/createDummyRobot');
function listen(server) {
return new Promise((resolve, reject) => {
server.listen(0, () => {
const address = server.address();
if (address && address.port) {
resolve(address.port);
} else {
reject(new Error('Failed to get server port'));
}
});
server.on('error', reject);
});
}
function connectWebSocket(port) {
return new Promise((resolve, reject) => {
const ws = new WebSocket(`ws://127.0.0.1:${port}`);
ws.on('open', () => resolve(ws));
ws.on('error', reject);
});
}
function waitForMessage(ws) {
return new Promise((resolve, reject) => {
const timer = setTimeout(() => reject(new Error('Timeout waiting for message')), 2000);
ws.on('message', (data) => {
clearTimeout(timer);
resolve(data.toString());
});
});
}
describe('InputWS', () => {
let server;
let port;
let wss;
afterEach(async () => {
if (server) {
await new Promise((resolve) => server.close(resolve));
server = null;
}
});
test('responds to Ping and updates sharedState', async () => {
server = http.createServer();
const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
const robot = createDummyRobot();
wss = initInputWS(server, robot, GCode, sharedState);
port = await listen(server);
const client = await connectWebSocket(port);
const messagePromise = waitForMessage(client);
client.send('Ping');
const message = await messagePromise;
expect(message).toBe('Ping');
expect(sharedState.lastPings.length).toBe(1);
expect(sharedState.connectedClients.length).toBe(1);
client.close();
});
test('responds to M114 with current robot position JSON', async () => {
server = http.createServer();
const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
const robot = createDummyRobot();
robot.x = 12;
robot.y = 34;
robot.z = 56;
robot.phi = 1;
robot.theta = 2;
robot.psi = 3;
wss = initInputWS(server, robot, GCode, sharedState);
port = await listen(server);
const client = await connectWebSocket(port);
const messagePromise = waitForMessage(client);
client.send('M114');
const message = await messagePromise;
const parsed = JSON.parse(message);
expect(parsed.position).toEqual({ x: 12, y: 34, z: 56, a: 1, b: 2, c: 3 });
expect(parsed.motorCounts).toBeDefined();
client.close();
});
});