Emergency Stop

test/RobotConfig.test.js

@@ -177,3 +177,39 @@ describe('RobotConfig.load — heartbeatInterval', () => {
     expect(cfg.controllers.base.heartbeatInterval).toBe(10000);
   });
 });
+
+describe('RobotConfig.load — emergencyStop (Shelly)', () => {
+  test('DEFAULTS.controllers.emergencyStop hat protocol=shelly und url=null', () => {
+    expect(DEFAULTS.controllers.emergencyStop.protocol).toBe('shelly');
+    expect(DEFAULTS.controllers.emergencyStop.url).toBeNull();
+  });
+
+  test('emergencyStop.url aus robot.json wird übernommen', () => {
+    const shellyUrl = 'http://shelly.local/rpc/Switch.Set?id=0&on=false';
+    const json = {
+      ...FULL_ROBOT_JSON,
+      controllers: {
+        ...FULL_ROBOT_JSON.controllers,
+        emergencyStop: { protocol: 'shelly', url: shellyUrl }
+      }
+    };
+    const cfg = load(makeFs(JSON.stringify(json)), {}, log);
+    expect(cfg.controllers.emergencyStop.protocol).toBe('shelly');
+    expect(cfg.controllers.emergencyStop.url).toBe(shellyUrl);
+  });
+
+  test('fehlendes emergencyStop in robot.json → url=null (Default)', () => {
+    // FULL_ROBOT_JSON hat kein emergencyStop → fällt auf Default zurück
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), {}, log);
+    expect(cfg.controllers.emergencyStop.protocol).toBe('shelly');
+    expect(cfg.controllers.emergencyStop.url).toBeNull();
+  });
+
+  test('emergencyStop hat keine ip/port/axes/heartbeatInterval Felder', () => {
+    const cfg = load(makeFailFs(), {}, log);
+    expect(cfg.controllers.emergencyStop.ip).toBeUndefined();
+    expect(cfg.controllers.emergencyStop.port).toBeUndefined();
+    expect(cfg.controllers.emergencyStop.axes).toBeUndefined();
+    expect(cfg.controllers.emergencyStop.heartbeatInterval).toBeUndefined();
+  });
+});