fixing Changed-Flag

test/GCode.test.js

@@ -66,7 +66,7 @@ test('G28 ist ein GCode Command', () => {
         GCode.receiveGCode(robot,"G1 x120");
 
         expect(telnetSender2.tSocket.written.toString().length).toBeGreaterThan(2)
-        expect(telnetSender3.tSocket.written.toString().length).toBe(0)
+        expect(telnetSender3.tSocket.written.toString().length).toBeGreaterThan(0)
     });
 
 

test/Robot.changedFlags.test.js

@@ -0,0 +1,112 @@
+const Robot = require('../robot/Robot')
+const MockCmdReceiver = require('./helpers/mockCmdReceiver')
+
+describe('Robot.createMotorPosition - Changed Flags', () => {
+
+  let robot
+
+  beforeEach(() => {
+    robot = new Robot(10, 10, 5)
+
+    // Set initial motor values
+    robot.xMotor = 1
+    robot.alpha = 2
+    robot.beta = 3
+    robot.a = 4
+    robot.b = 5
+    robot.c = 6
+    robot.eMotor = 7
+  })
+
+  test('sets all Changed flags to true on first sendCommand call', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(true)
+    expect(newPos.yMotorChanged).toBe(true)
+    expect(newPos.zMotorChanged).toBe(true)
+    expect(newPos.aMotorChanged).toBe(true)
+    expect(newPos.bMotorChanged).toBe(true)
+    expect(newPos.cMotorChanged).toBe(true)
+    expect(newPos.eMotorChanged).toBe(true)
+  })
+
+  test('sets Changed flags to false when values do not change', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Second call without changing values
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(false)
+    expect(newPos.zMotorChanged).toBe(false)
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(false)
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+  test('sets Changed flags to true when specific values change', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Change alpha (yMotor)
+    robot.alpha = 2.1
+
+    // Second call
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(true)  // alpha changed
+    expect(newPos.zMotorChanged).toBe(false)
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(false)
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+  test('sets Changed flags correctly for multiple changes', () => {
+    const receiver = new MockCmdReceiver()
+    robot.cmdReceivers.push(receiver)
+
+    // First call
+    robot.sendCommand()
+
+    // Change beta (zMotor) and b
+    robot.beta = 3.5
+    robot.b = 5.2
+
+    // Second call
+    robot.sendCommand()
+
+    const call = receiver.lastCall()
+    const newPos = call.newPos
+
+    expect(newPos.xMotorChanged).toBe(false)
+    expect(newPos.yMotorChanged).toBe(false)
+    expect(newPos.zMotorChanged).toBe(true)  // beta changed
+    expect(newPos.aMotorChanged).toBe(false)
+    expect(newPos.bMotorChanged).toBe(true)  // b changed
+    expect(newPos.cMotorChanged).toBe(false)
+    expect(newPos.eMotorChanged).toBe(false)
+  })
+
+})

test/Sender.Telnet.caseBackward.test.js

@@ -0,0 +1,39 @@
+var TenetSender = require('../robot/TelnetSenderGRBL.js')
+
+
+describe("TelnetSenderGRBL.execCommand - caseBackward", () => {
+
+    test("reproduces the issue with yMotor and zMotor values", () => {
+
+        // Create instance with default axis mappings (xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z")
+        const sender = new TenetSender(urlGRBL = "test.test", maxSpeedF = 100, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
+
+        // Mock tSocket.write
+        sender.tSocket = {
+            written: "",
+            write: function(txt) {
+                this.written = txt;   // store what was written
+            }
+        };
+
+        // Provide the motion data from the log
+        const mOld = { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, e: 0 };   // not used in your code
+        const mNew = { x: 0.000, y: 0.203, z: -0.192, a: 0.000, b: 2.949, c: 1.571, e: -4.520 };
+        mNew.xMotorChanged = true;
+        mNew.yMotorChanged = true;
+        mNew.zMotorChanged = true;
+        mNew.aMotorChanged = true;
+        mNew.bMotorChanged = true;
+        mNew.cMotorChanged = true;
+        mNew.eMotorChanged = true;
+
+        sender.execCommand("G1", mOld, mNew);
+
+        // Expected output: since y and z have changed, both should be included
+        // y: 0.203 * 180 / PI ≈ 11.64
+        // z: (-0.192 * 180 / PI) - (0.203 * 180 / PI) ≈ -10.99 - 11.64 ≈ -22.63
+        console.log("Actual output:", sender.tSocket.written);
+        expect(sender.tSocket.written).toBe("G1 x0.00 y11.63 z-22.63 f100.00\r\n");
+    });
+
+});