G92 > send-to-ESP

2026-04-06 05:24:41 +02:00
parent 3e874e70c9
commit 3d33ecd747
12 changed files with 3337 additions and 20 deletions
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -11,6 +11,22 @@
      "remoteRoot": "/usr/src/app",
      "restart": true,
      "timeout": 10000
+    },
+    {
+      "name": "Debug npm test",
+      "type": "node",
+      "request": "launch",
+      "runtimeExecutable": "npm",
+      "runtimeArgs": ["run", "test"],
+      "console": "integratedTerminal"
+    },    
+    {
+      "name": "Debug current test file",
+      "type": "node",
+      "request": "launch",
+      "program": "${workspaceFolder}/node_modules/jest/bin/jest.js",
+      "args": ["--runInBand", "${file}"],
+      "console": "integratedTerminal"
    }
  ]
 }
--- a/logs/gcode_commands.log
+++ b/logs/gcode_commands.log
@@ -2192,3 +2192,5 @@
 2026-04-04T21:04:06.177Z ::ffff:172.21.0.5: G91 G1 Y-5 F100
 2026-04-04T21:04:06.206Z ::ffff:172.21.0.5: G91 G1 Y-5 F100
 2026-04-04T21:04:06.238Z ::ffff:172.21.0.5: G91 G1 Y-5 F100
+2026-04-05T03:31:21.526Z ::ffff:172.21.0.5: FShow
+2026-04-05T03:32:57.698Z ::ffff:172.21.0.5: FShow
--- a/logs/pings.log
+++ b/logs/pings.log
--- a/public/allApps.css
+++ b/public/allApps.css
@@ -0,0 +1,113 @@
+/* =========================================================
+   allApps.css — Gemeinsames UI-Fundament für alle Robot-Apps
+   (layout-neutral)
+   ========================================================= */
+
+/* ---------- Design Tokens ---------- */
+:root {
+    --bg: #0b1c2d;
+    --panel: #132c44;
+    --border: #0e1822;
+    --text: #e0e6ed;
+    --muted: #9aa6b2;
+    --accent: #a4bbd4;
+
+    --radius: 8px;
+    --gap: 16px;
+    --border-subtle: rgba(255,255,255,0.08);
+}
+
+/* ---------- Reset & Base ---------- */
+* {
+    box-sizing: border-box;
+}
+
+html, body {
+    min-height: 100%;
+}
+
+body {
+    margin: 16px;
+    font-family: system-ui, -apple-system, BlinkMacSystemFont,
+                 "Segoe UI", Roboto, Inter, Arial, sans-serif;
+    background: linear-gradient(
+        to bottom,
+        #dddddd -20%,
+        var(--bg) 130%
+    );
+    color: var(--text);
+    font-size: 14px;
+}
+
+/* ---------- Headings ---------- */
+h1 {
+    margin: 0 0 16px;
+    font-size: 20px;
+    color: var(--accent);
+}
+
+h2 {
+    margin: 0;
+    font-size: 15px;
+    color: var(--accent);
+}
+
+/* ---------- Sections Container ---------- */
+/* Grid-Spalten werden von der jeweiligen App definiert */
+.sections {
+    display: grid;
+    gap: var(--gap);
+}
+
+/* ---------- Section Card ---------- */
+.section {
+    background: var(--panel);
+    border: 1px solid var(--border);
+    border-radius: var(--radius);
+    padding: 22px 20px;
+}
+
+/* Semantische Breitenklassen (wirken nur,
+   wenn die App ein entsprechendes Grid definiert) */
+.section.full    {}
+.section.half    {}
+.section.quarter {}
+.section.eighth  {}
+
+/* ---------- Section Header / Collapse ---------- */
+.section > h2 {
+    cursor: pointer;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    user-select: none;
+}
+
+/* Collapse Arrow */
+.section > h2::after {
+    content: "▼";
+    font-size: 12px;
+    transition: transform 0.2s ease;
+}
+
+/* Collapsed state */
+.section.collapsed > h2::after {
+    transform: rotate(-90deg);
+}
+
+/* Hide content when collapsed */
+.section.collapsed > :not(h2) {
+    display: none;
+}
+
+/* ---------- Generic Lists ---------- */
+.section ul {
+    margin: 10px 0 0;
+    padding: 0;
+    list-style: none;
+}
+
+.section li {
+    padding: 4px 0;
+    border-bottom: 1px solid var(--border-subtle);
+}
--- a/public/index.html
+++ b/public/index.html
@@ -5,25 +5,26 @@
    <meta name="viewport" content="width=device-width, initial-scale=1.0">
    <title>Robot Driver Info</title>
    <link href="https://fonts.googleapis.com/css2?family=Noto+Sans+Math&display=swap" rel="stylesheet">
+    <link rel="stylesheet" href="allApps.css">
    <link rel="stylesheet" href="style.css">
 </head>
 <body>
-    <h1>Robot Driver Status</h1>
+    <!--<h1>Robot Driver Status</h1>-->

    <div class="sections">
        <div id="status" class="section half" data-id="clients">
-            <h2>Verbundene WebClients</h2>
+            <h2>WebClients</h2>
            <ul id="clients"></ul>
        </div>

        <div id="senders" class="section half" data-id="senders">
-            <h2>Verbundene FluidNC-Controller</h2>
+            <h2>FluidNC-Controller</h2>
            <ul id="senderList"></ul>
        </div>

        
        <div id="driverState" class="section half" data-id="driver">
-            <h2>Zustand Driver</h2>
+            <h2>Position Driver</h2>
            <ul class="state-grid">
                <li><span>X</span><span id="state-x">–</span></li>
                <li><span>Y</span><span id="state-y">–</span></li>
@@ -40,7 +41,7 @@

        
        <div id="motorState" class="section half" data-id="motors">
-            <h2>Zustand Motoren</h2>
+            <h2>Postion Motoren</h2>
            <ul class="state-grid">
                <li><span>X</span><span id="motor-x">–</span></li>
                <li><span>Y</span><span id="motor-y">–</span></li>
@@ -57,12 +58,12 @@


        <div id="commands" class="section" data-id="commands">
-            <h2>Letzte Commands</h2>
+            <h2>Commands</h2>
            <ul id="commandList"></ul>
        </div>

        <div id="pings" class="section" data-id="pings">
-            <h2>Letzte Ping Nachrichten</h2>
+            <h2>Ping Messages</h2>
            <ul id="pingList"></ul>
        </div>
    </div>
--- a/public/style.css
+++ b/public/style.css
@@ -1,9 +1,9 @@
 :root {
    --bg: #0b1c2d;
    --panel: #132c44;
-    --border: #1e3b58;
+    --border: #0e1822;
    --text: #e0e6ed;
-    --accent: #6fb3ff;
+    --accent: #a4bbd4;
 }

 * {
--- a/robot/GCode.js
+++ b/robot/GCode.js
@@ -202,7 +202,8 @@ class GCode{
                if(s.includes("e")){ robot.e = Number(s.substring(1, s.length));}
            });
        }
-        else if(g[0] == "G92"){  // G92 - Set Position
+        else if(g[0] == "M92"){  // G92 - Set Position --- M92 in Radiant
+            robot.createMotorPosition();
            g.forEach((s) => { 
                if(s.includes("X")){ robot.xMotor = Number(s.substring(1, s.length));}
                if(s.includes("x")){ robot.xMotor = Number(s.substring(1, s.length));}
@@ -226,6 +227,7 @@ class GCode{

            // ToDo: Send Command to update Position of Robot, because G92 should 
            // set the current Position to the given Coordinates without moving the Robot.
+            robot.sendCommand("G92");
        }

        if(calculateNew && !calculateFromMotorCoordinates){  
--- a/robot/Robot.js
+++ b/robot/Robot.js
@@ -180,7 +180,7 @@ class Robot{
        while(this.theta < -Math.PI){this.theta += 2*Math.PI}
    }
    
-    sendCommand(){
+    sendCommand(cmd="G1"){
        if(this.motorPosition == null){this.createMotorPosition() }
        this.motorPositionOld = this.motorPosition;
        this.createMotorPosition()
@@ -188,7 +188,12 @@ class Robot{
        console.log("Robot.sendCommand: Motor-Pos: x=", this.motorPosition.x.toFixed(3), "yMotor=",this.motorPosition.y.toFixed(3), "zMotor=",this.motorPosition.z.toFixed(3), "aM=", this.motorPosition.a.toFixed(3), "bM=", this.motorPosition.b.toFixed(3), "cM=", this.motorPosition.c.toFixed(3), " e=", this.motorPosition.e.toFixed(3));
       
        this.cmdReceivers.forEach(receiver => {
-            receiver.moveTo(this.motorPositionOld, this.motorPosition);
+            if(cmd == "G1"){
+                receiver.moveTo(this.motorPositionOld, this.motorPosition);
+            }
+            else{
+                receiver.execCommand(cmd,this.motorPositionOld, this.motorPosition);
+            }   
        });
    }
 }
--- a/robot/TelnetSenderGRBL.js
+++ b/robot/TelnetSenderGRBL.js
@@ -204,8 +204,9 @@ module.exports = class TelnetSenderGRBL{
            data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
        }

-        data += " f"+(maxSpeedF.toFixed(2).toString())
-
+        if(strCommand == "G1"){
+            data += " f"+(maxSpeedF.toFixed(2).toString())
+        }
        
        if(this.tSocket && data.toString("utf-8").length > 3){
            if(!this.isTestMode){ console.log("" + this.urlGRBLstr + " gets the message: " + data.toString("utf-8"))}
--- a/startRobot.js
+++ b/startRobot.js
@@ -187,6 +187,15 @@ const infoServer = https.createServer(httpsOptions, (req, res) => {
        res.writeHead(200, {'Content-Type': 'text/css'});
        res.end(data);
      }
+  });  } else if (req.url === '/allApps.css') {
+    fs.readFile('./public/allApps.css', (err, data) => {
+      if (err) {
+        res.writeHead(404);
+        res.end('Not found');
+      } else {
+        res.writeHead(200, {'Content-Type': 'text/css'});
+        res.end(data);
+      }
    });
  } else if (req.url === '/api/status') {
    const status = {
@@ -196,8 +205,8 @@ const infoServer = https.createServer(httpsOptions, (req, res) => {
        {name: 'Elbow', status: telnetSender2?.tSocket ? 'connected' : 'disconnected'},
        {name: 'Hand', status: telnetSender3?.tSocket ? 'connected' : 'disconnected'}
      ],
-      lastCommands: getLastLines('./logs/gcode_commands.log', 10),
-      lastPings: getLastLines('./logs/pings.log', 10)
+      lastCommands: getLastLines('./logs/gcode_commands.log', 15),
+      lastPings: getLastLines('./logs/pings.log', 15)
    };
    res.writeHead(200, {'Content-Type': 'application/json'});
    res.end(JSON.stringify(status));
--- a/test/GCode.receiveGCode.G92.test.js
+++ b/test/GCode.receiveGCode.G92.test.js
@@ -1,9 +1,18 @@
 // __tests__/Robot.inverseKinematics.test.js
 const Robot = require('../robot/Robot.js');
 const GCode = require('../robot/GCode.js');
+var TenetSender = require('../robot/TelnetSenderGRBL.js')

 describe("Robot G92", () => {

+    beforeAll(() => {
+        jest.spyOn(console, 'log').mockImplementation(() => {})
+    })
+
+    afterAll(() => {
+        jest.restoreAllMocks()
+    })
+
    test("ReadPosition -> calculatePositionFromMotorAngles()", () => {

        // === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
@@ -26,7 +35,7 @@ describe("Robot G92", () => {

        A.calculateAngles3D();

-        var strGCode = `G92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`
+        var strGCode = `M92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`


        const T = new Robot(L1, L2, L3)
@@ -44,5 +53,36 @@ describe("Robot G92", () => {


    });
+
+    // G92 y2.8 z131.0
+    test("ReadPosition -> G92()", () => {
+
+        // === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
+        const L1 = 300;
+        const L2 = 300;
+        const L3 = 20;
+
+        const robot = new Robot(L1, L2, L3)
+
+        var telnetSender1 = new TenetSender(urlGRBL = "test.test",   maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+        var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
+        var telnetSender3 = new TenetSender(urlGRBL = "test.test",   maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
+
+        robot.cmdReceivers.push(telnetSender1);
+        robot.cmdReceivers.push(telnetSender2);
+        robot.cmdReceivers.push(telnetSender3);
+
+        
+        GCode.receiveGCode(robot,"M92 y0.049 z2.286");
+
+        const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
+        const strExpect2 = 'G92 y2.81 z128.17\r\n';
+        
+        allowedValues = [strExpect1, strExpect2];
+        expect(allowedValues).toContain(telnetSender1.tSocket.written);
+
+        // ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem  auch y und z gesendet. schlecht."  );
+    });
+
 });

--- a/test/Sender.Telnet.test.js
+++ b/test/Sender.Telnet.test.js
@@ -70,7 +70,7 @@ describe("TelnetSenderGRBL.execCommand", () => {
        sender.execCommand("G92", mOld, mNew);

        // ✅ verify output
-        expect(sender.tSocket.written).toBe("G92 x12.34 y57.30 z57.30 f2300.00\r\n");
+        expect(sender.tSocket.written).toBe("G92 x12.34 y57.30 z57.30\r\n");
    });

 });