Test vom GCode

test/GCode.receiveList.test.js

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+const Robot = require('../robot/Robot.js');
+const GCode = require('../robot/GCode.js');
+
+describe("Robot Gcode receive", () => {
+
+    beforeAll(() => {
+        jest.spyOn(console, 'log').mockImplementation(() => {});
+    });
+
+    afterAll(() => {
+        jest.restoreAllMocks();
+    });
+
+    const geometries = [
+        { L1: 300, L2: 200, L3: 10 },
+        { L1: 240, L2: 260, L3: 10 },
+        { L1: 200, L2: 300, L3: 10 },
+        { L1: 200, L2: 270, L3: 30 },
+        { L1: 300, L2: 300, L3: 40 },
+        { L1: 220, L2: 200, L3: 40 },
+    ];
+
+    const poses = [
+        // stabil mittig
+        { x: 100, y: 100, z: 0, phi: 0.3, theta: 1.0, psi: 0 },
+        { x: 100, y: 200, z: 0, phi: 2, theta: 0.2, psi: 0 },
+        { x: 100, y: 100, z: 30, phi: 0, theta: 0.2, psi: 0 },
+        { x: 100, y: 350, z: 40, phi: 0.1, theta: 1.2, psi: 0 },
+        { x: 100, y: 350, z: 40, phi: 0.1, theta: 1.2, psi: .3 },
+        { x: 100, y: 350, z: 40, phi: 0.1, theta: 1.2, psi: .9 },
+        { x: -100, y: 200, z: -40, phi: 0.1, theta: 1.2, psi: .9 },
+        { x: -100, y: 200, z: -240, phi: 0.1, theta: 1.2, psi: .9 },
+        { x: -100, y: 200, z: -240, phi: -0.5, theta: 1.2, psi: -0.9 },
+        { x: -100, y: 200, z: -240, phi: -0.5, theta: Math.PI - 0.3, psi: .9 },
+    ];
+
+    geometries.forEach(({ L1, L2, L3 }, gIndex) => {
+
+        poses.forEach((pose, pIndex) => {
+
+            test(`Roundtrip G${gIndex} P${pIndex}`, () => {
+
+                const A = new Robot(L1, L2, L3);
+
+                GCode.receiveGCode(A,`G90 G1 x${pose.x} y${pose.y} z${pose.z} a${pose.phi} b${pose.theta} c${pose.psi} f200`);
+                
+                var epsilon = 0.02
+
+                expect(A.x).toBeCloseTo(pose.x, epsilon);
+                expect(A.y).toBeCloseTo(pose.y, epsilon);
+                expect(A.z).toBeCloseTo(pose.z, epsilon);
+                expect(A.phi).toBeCloseTo(pose.phi, epsilon);
+                expect(A.theta).toBeCloseTo(pose.theta, epsilon);
+                expect(A.psi).toBeCloseTo(pose.psi, epsilon);
+            });
+        });
+    });
+});
+

test/GCode.speed.test.js

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+const GCode = require('../robot/GCode.js');
+const Robot = require('../robot/Robot.js');
+const TelnetSender = require('../robot/TelnetSenderGRBL.js');
+
+describe('GCode Speed Tests', () => {
+    beforeAll(() => {
+        jest.spyOn(console, 'log').mockImplementation(() => {});
+    });
+
+    afterAll(() => {
+        jest.restoreAllMocks();
+    });
+
+    test('G1 with Feedrate F300 - TelnetSender1 should include f300', () => {
+        const L1 = 300;
+        const L2 = 300;
+        const L3 = 20;
+
+        const robot = new Robot(L1, L2, L3);
+
+        const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
+        const telnetSender2 = new TelnetSender("test.test", 5000, "a", null, null);
+        const telnetSender3 = new TelnetSender("test.test", 5000, "c", "e", "b");
+
+        robot.cmdReceivers.push(telnetSender1);
+        robot.cmdReceivers.push(telnetSender2);
+        robot.cmdReceivers.push(telnetSender3);
+
+        // G1 with F300
+        GCode.receiveGCode(robot, "G1 x120 y100 z50 f300");
+
+        // Check telnetSender1 (x,y,z axes)
+        expect(telnetSender1.tSocket.written).toContain('G1');
+        expect(telnetSender1.tSocket.written).toContain('f300');
+        expect(telnetSender1.tSocket.written).toMatch(/f300\.00/); // Exact format
+
+        // telnetSender2 and telnetSender3 might not have output if no changes
+        // But since x,y,z changed, telnetSender1 should have the command
+    });
+
+    test('G1 without Feedrate - should use default f200', () => {
+        const L1 = 300;
+        const L2 = 300;
+        const L3 = 20;
+
+        const robot = new Robot(L1, L2, L3);
+
+        const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
+
+        robot.cmdReceivers.push(telnetSender1);
+
+        // G1 without F
+        GCode.receiveGCode(robot, "G1 x120 y100 z50");
+
+        // Check default feedrate
+        expect(telnetSender1.tSocket.written).toContain('G1');
+        expect(telnetSender1.tSocket.written).toContain('f200');
+        expect(telnetSender1.tSocket.written).toMatch(/f200\.00/);
+    });
+
+    test('G1 with different Feedrate F500 - multiple senders', () => {
+        const L1 = 300;
+        const L2 = 300;
+        const L3 = 20;
+
+        const robot = new Robot(L1, L2, L3);
+
+        const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
+        const telnetSender2 = new TelnetSender("test.test", 5000, "a", null, null);
+        const telnetSender3 = new TelnetSender("test.test", 5000, "c", "e", "b");
+
+        robot.cmdReceivers.push(telnetSender1);
+        robot.cmdReceivers.push(telnetSender2);
+        robot.cmdReceivers.push(telnetSender3);
+
+        // G1 with F500
+        GCode.receiveGCode(robot, "G1 x120 y100 z50 a10 b20 c30 f500");
+
+        // telnetSender1 should have f500
+        expect(telnetSender1.tSocket.written).toContain('f500');
+        expect(telnetSender1.tSocket.written).toMatch(/f500\.00/);
+
+        // telnetSender2 (a axis) should have f500 if a changed
+        if (telnetSender2.tSocket.written.length > 0) {
+            expect(telnetSender2.tSocket.written).toContain('f500');
+        }
+
+        // telnetSender3 (c,e,b axes) should have f500 if changed
+        if (telnetSender3.tSocket.written.length > 0) {
+            expect(telnetSender3.tSocket.written).toContain('f500');
+        }
+    });
+});