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UnitTest aktualisieren

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ChK
2026-04-23 20:45:49 +02:00
parent a16eb53aeb
commit 355925ebb4
8 changed files with 1660 additions and 16 deletions
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@@ -12882,3 +12882,164 @@
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6
robot/GCode.js
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@@ -85,7 +85,7 @@ class GCode{
if(g == undefined) return; if(g == undefined) return;
if(g.length == 0) return; if(g.length == 0) return;
console.log("🔵 GCode.receiveGCode: Incoming command: " + g); // console.log("🔵 GCode.receiveGCode: Incoming command: " + g); // Moved to InputWS
g = g.toString("utf8"); g = g.toString("utf8");
@@ -129,7 +129,7 @@ class GCode{
if(s.toUpperCase().includes("B")){ robot.theta += Number(s.substring(1, s.length)); robot.bMotorChanged = true;} if(s.toUpperCase().includes("B")){ robot.theta += Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
if(s.toUpperCase().includes("C")){ robot.psi += Number(s.substring(1, s.length)); robot.cMotorChanged = true;} if(s.toUpperCase().includes("C")){ robot.psi += Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;} if(s.toUpperCase().includes("E")){ robot.e += Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length)); console.log(" 📌 Feedrate set to: " + robot.feedrate); } if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length));}
}); });
} }
else if(g[0] == "M1" && robot.moveRelative){ else if(g[0] == "M1" && robot.moveRelative){
@@ -156,7 +156,7 @@ class GCode{
if(s.toUpperCase().includes("B")){ robot.theta = Number(s.substring(1, s.length)); robot.bMotorChanged = true;} if(s.toUpperCase().includes("B")){ robot.theta = Number(s.substring(1, s.length)); robot.bMotorChanged = true;}
if(s.toUpperCase().includes("C")){ robot.psi = Number(s.substring(1, s.length)); robot.cMotorChanged = true;} if(s.toUpperCase().includes("C")){ robot.psi = Number(s.substring(1, s.length)); robot.cMotorChanged = true;}
if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;} if(s.toUpperCase().includes("E")){ robot.e = Number(s.substring(1, s.length)); robot.eMotorChanged = true;}
if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length)); console.log(" 📌 Feedrate set to: " + robot.feedrate); } if(s.toUpperCase().includes("F")){ robot.feedrate = Number(s.substring(1, s.length)); }
}); });
} }
else if(g[0] == "M1" && !robot.moveRelative){ else if(g[0] == "M1" && !robot.moveRelative){

2
robot/TelnetSenderGRBL.js
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@@ -216,7 +216,7 @@ module.exports = class TelnetSenderGRBL{
// abhngig vom FluidNC und dessen speed interpretation ist. // abhngig vom FluidNC und dessen speed interpretation ist.
} }
if(data.indexOf("G90") == -1){ if(data.indexOf("G90") == -1 && data.indexOf("G1 ") > 0){
data = "G90 " + data; data = "G90 " + data;
} }

11
robot/WSSenderGrbl.js
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@@ -331,17 +331,16 @@ module.exports = class TelnetSenderGRBL{
data += " f"+(maxSpeedF.toFixed(2).toString()) data += " f"+(maxSpeedF.toFixed(2).toString())
dataStr = data.toString("utf-8");
if(this.tSocket && dataStr.length > 3){ if(this.tSocket && data.length > 3){
// Ensure that the command starts with G90 (absolute positioning) if it's not already included // Ensure that the command starts with G90 (absolute positioning) if it's not already included
if(dataStr.indexOf("G90") == -1){ if(data.indexOf("G90") == -1){
dataStr = "G90 " + dataStr; data = "G90 " + data;
} }
console.log("Driver send to 🤖 " + this.urlGRBLstr + " the message: " + data.toString("utf-8")) console.log("Driver send to 🤖 " + this.urlGRBLstr + " the message: " + data)
this.tSocket.write( data.toString("utf-8") + "\r\n"); this.tSocket.write( data + "\r\n");
} }
} }
} }

2
server/InputWS.js
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@@ -28,7 +28,7 @@ function initInputWS(server, robot, GCode, sharedState) {
/* ---------- GCode ---------- */ /* ---------- GCode ---------- */
if (GCode.containsCommand(message)) { if (GCode.containsCommand(message)) {
logCommand(sharedState, clientIP, message); console.log("🔵 GCode.receiveGCode: Incoming command: " + message);
GCode.receiveGCode(robot, message); GCode.receiveGCode(robot, message);
broadcast(wss, GCode.getM114(robot)); broadcast(wss, GCode.getM114(robot));
return; return;

2
test/Sender.Telnet.caseBackward.test.js
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@@ -33,7 +33,7 @@ describe("TelnetSenderGRBL.execCommand - caseBackward", () => {
// y: 0.203 * 180 / PI ≈ 11.64 // y: 0.203 * 180 / PI ≈ 11.64
// z: (-0.192 * 180 / PI) - (0.203 * 180 / PI) ≈ -10.99 - 11.64 ≈ -22.63 // z: (-0.192 * 180 / PI) - (0.203 * 180 / PI) ≈ -10.99 - 11.64 ≈ -22.63
console.log("Actual output:", sender.tSocket.written); console.log("Actual output:", sender.tSocket.written);
expect(sender.tSocket.written).toBe("G1 x0.00 y11.63 z-22.63 f100.00\r\n"); expect(sender.tSocket.written.replace("G90 ","")).toBe("G1 x0.00 y11.63 z-22.63 f100.00\r\n");
}); });
}); });

6
test/Sender.WS.test.js
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@@ -23,7 +23,7 @@ describe("WS-SenderGRBL.execCommand", () => {
sender.execCommand("G1", mOld, mNew); sender.execCommand("G1", mOld, mNew);
// ✅ verify output // ✅ verify output
expect(sender.tSocket.written).toBe("G1 x12.34 y57.30 z57.30 f2300.00\r\n"); expect(sender.tSocket.written).toBe("G90 G1 x12.34 y57.30 z57.30 f2300.00\r\n");
}); });
@@ -47,7 +47,7 @@ describe("WS-SenderGRBL.execCommand", () => {
sender.execCommand("G1", mOld, mNew); sender.execCommand("G1", mOld, mNew);
// ✅ verify output // ✅ verify output
expect(sender.tSocket.written).toBe("G1 x22.50 f2300.00\r\n"); expect(sender.tSocket.written).toBe("G90 G1 x22.50 f2300.00\r\n");
}); });
test("writes correct G-code G92 to mocked WS tSocket", () => { test("writes correct G-code G92 to mocked WS tSocket", () => {
@@ -70,7 +70,7 @@ describe("WS-SenderGRBL.execCommand", () => {
sender.execCommand("G92", mOld, mNew); sender.execCommand("G92", mOld, mNew);
// ✅ verify output // ✅ verify output
expect(sender.tSocket.written).toBe("G92 x12.34 y57.30 z57.30 f2300.00\r\n"); expect(sender.tSocket.written.replace("G90 ","")).toBe("G92 x12.34 y57.30 z57.30 f2300.00\r\n");
}); });
}); });