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fixing Changed-Flag

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This commit is contained in:
ChK
2026-04-20 16:07:06 +02:00
parent 5482588566
commit 657f460cf2
7 changed files with 664 additions and 91 deletions
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8
logs/gcode_commands.log
View File

@@ -2513,3 +2513,11 @@
2026-04-20T13:21:53.153Z ::ffff:172.21.0.5: G91 G1 Y-5 F100
2026-04-20T13:21:59.310Z ::ffff:172.21.0.5: G91 G1 Y5 F100
2026-04-20T13:22:03.991Z ::ffff:172.21.0.5: G91 G1 Y5 F100
2026-04-20T13:44:08.329Z ::ffff:172.21.0.5: FShow
2026-04-20T13:44:18.817Z ::ffff:172.21.0.5: G28
2026-04-20T13:44:27.274Z ::ffff:172.21.0.5: G91 G1 Y-10 F100
2026-04-20T13:44:27.492Z ::ffff:172.21.0.5: G91 G1 Y-10 F100
2026-04-20T14:04:27.382Z ::ffff:172.21.0.5: FShow
2026-04-20T14:04:29.744Z ::ffff:172.21.0.5: G28
2026-04-20T14:05:42.215Z ::ffff:172.21.0.5: FShow
2026-04-20T14:05:43.968Z ::ffff:172.21.0.5: G91 G1 Y-5 F100

256
logs/pings.log
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@@ -11680,3 +11680,259 @@
2026-04-20T13:22:52.097Z ::ffff:172.21.0.5: Ping
2026-04-20T13:22:57.088Z ::ffff:172.21.0.5: Ping
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2026-04-20T13:30:42.576Z ::ffff:172.21.0.5: Ping
2026-04-20T13:30:47.591Z ::ffff:172.21.0.5: Ping
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2026-04-20T13:30:57.586Z ::ffff:172.21.0.5: Ping
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2026-04-20T13:31:07.587Z ::ffff:172.21.0.5: Ping
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2026-04-20T14:06:02.575Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:07.578Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:12.584Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:17.574Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:22.584Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:27.585Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:32.584Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:37.576Z ::ffff:172.21.0.5: Ping
2026-04-20T14:06:42.583Z ::ffff:172.21.0.5: Ping

36
robot/Robot.js
View File

@@ -116,13 +116,14 @@ class Robot{
createMotorPosition(){
this.motorPosition = new MotorPosition(this.xMotor, this.alpha, this.beta, this.a, this.b, this.c, this.eMotor);
this.motorPosition.xMotorChanged = this.xMotorChanged;
this.motorPosition.yMotorChanged = this.yMotorChanged;
this.motorPosition.zMotorChanged = this.zMotorChanged;
this.motorPosition.aMotorChanged = this.aMotorChanged;
this.motorPosition.bMotorChanged = this.bMotorChanged;
this.motorPosition.cMotorChanged = this.cMotorChanged;
this.motorPosition.eMotorChanged = this.eMotorChanged;
// Setze Changed-Flags basierend auf Änderungen seit der letzten Position
this.motorPosition.xMotorChanged = this.motorPositionOld ? this.xMotor !== this.motorPositionOld.x : true;
this.motorPosition.yMotorChanged = this.motorPositionOld ? this.alpha !== this.motorPositionOld.y : true;
this.motorPosition.zMotorChanged = this.motorPositionOld ? this.beta !== this.motorPositionOld.z : true;
this.motorPosition.aMotorChanged = this.motorPositionOld ? this.a !== this.motorPositionOld.a : true;
this.motorPosition.bMotorChanged = this.motorPositionOld ? this.b !== this.motorPositionOld.b : true;
this.motorPosition.cMotorChanged = this.motorPositionOld ? this.c !== this.motorPositionOld.c : true;
this.motorPosition.eMotorChanged = this.motorPositionOld ? this.eMotor !== this.motorPositionOld.e : true;
// Setze Handgelenk-Koordinaten (für Speed-Berechnung)
this.motorPosition.pX = this.pX;
@@ -313,10 +314,27 @@ class Robot{
}
sendCommand(cmd="G1"){
if(this.motorPosition == null){this.createMotorPosition() }
this.motorPositionOld = this.motorPosition;
const isFirstCall = !this.motorPosition;
if (isFirstCall) {
this.motorPositionOld = new MotorPosition(this.xMotor, this.alpha, this.beta, this.a, this.b, this.c, this.eMotor);
} else {
this.motorPositionOld = this.motorPosition;
}
this.createMotorPosition()
// Für den ersten Aufruf setze alle Changed-Flags auf true
if (isFirstCall) {
this.motorPosition.xMotorChanged = true;
this.motorPosition.yMotorChanged = true;
this.motorPosition.zMotorChanged = true;
this.motorPosition.aMotorChanged = true;
this.motorPosition.bMotorChanged = true;
this.motorPosition.cMotorChanged = true;
this.motorPosition.eMotorChanged = true;
}
// Berechne Geschwindigkeiten
this.calculateSpeeds(this.motorPositionOld, this.motorPosition);
this.motorPosition.speeds = {...this.motorSpeeds};

300
robot/WSSenderGrbl.js
View File

@@ -60,133 +60,273 @@ module.exports = class TelnetSenderGRBL{
if(this.xAxisGrbl == "x" && Number.isFinite(mNew.x)){
data += " x" + (mNew.x).toFixed(2).toString();
if(this.xAxisGrbl == "x"){
if(Number.isFinite(mNew.x)){
data += " x" + (mNew.x).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.x in execCommand");
}
}
if(this.xAxisGrbl == "y" && Number.isFinite(mNew.y)){
data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.xAxisGrbl == "y"){
if(Number.isFinite(mNew.y)){
data += " x" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.xAxisGrbl == "z" && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
if(this.xAxisGrbl == "z"){
if(Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " x" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.z or mNew.y in execCommand");
}
}
if(this.xAxisGrbl == "a" && Number.isFinite(mNew.a)){
// This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
if(this.xAxisGrbl == "a"){
if(Number.isFinite(mNew.a)){
// This is the case for the Ellbow, when the Motor is connected to the X-Port of the FluidNC
data += " x" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.a in execCommand");
}
}
if(this.xAxisGrbl == "b" && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.xAxisGrbl == "b"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " x" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.xAxisGrbl == "c" && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
// Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
if(this.xAxisGrbl == "c"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
// Runs correctly, substracts the "b" axis, uses the "c" axis to send to the x-Motor wich is in this case the hand-twist
data += " x" + ((-1)*mNew.b * 180 / Math.PI + (mNew.c * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b or mNew.c in execCommand");
}
}
if(this.xAxisGrbl == "e" && Number.isFinite(mNew.b) && Number.isFinite(mNew.c) && Number.isFinite(mNew.e)){
//This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
var handTurn = mNew.c*180/Math.PI ;
data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
if(this.xAxisGrbl == "e"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.c) && Number.isFinite(mNew.e)){
//This is the case for the Hand, when the Open-Close Motor is connected to the X-Port of FluidNC
var handUpDown = mNew.b * 180 * factorTurnLift / Math.PI ;
var handTurn = mNew.c*180/Math.PI ;
data += " x" + ((-1.0*(-1.0*(handUpDown) + handTurn) + mNew.e*handOpenInMM)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b, mNew.c or mNew.e in execCommand");
}
}
if(this.yAxisGrbl == "x" && Number.isFinite(mNew.x)){
data += " y" + (mNew.x ).toFixed(2).toString();
if(this.yAxisGrbl == "x"){
if(Number.isFinite(mNew.x)){
data += " y" + (mNew.x ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.x in execCommand");
}
}
if(this.yAxisGrbl == "y" && Number.isFinite(mNew.y)){
data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.yAxisGrbl == "y"){
if(Number.isFinite(mNew.y)){
data += " y" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.yAxisGrbl == "z" && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
if(this.yAxisGrbl == "z"){
if(Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " y" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.z or mNew.y in execCommand");
}
}
if(this.yAxisGrbl == "a" && Number.isFinite(mNew.a)){
data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
if(this.yAxisGrbl == "a"){
if(Number.isFinite(mNew.a)){
data += " y" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.a in execCommand");
}
}
if(this.yAxisGrbl == "b" && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.yAxisGrbl == "b"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " y" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.yAxisGrbl == "c" && Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
// This is the case if the hand-rotation-turner is connected to the FluidNC-Y
var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
var handTurn = ( mNew.c*180/Math.PI ) ;
data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
if(this.yAxisGrbl == "c"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.c)){
// This is the case if the hand-rotation-turner is connected to the FluidNC-Y
var handUpDown = (mNew.b * 180 / Math.PI ) * factorTurnLift;
var handTurn = ( mNew.c*180/Math.PI ) ;
data += " y" + (-1.0*(handUpDown) + handTurn).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b or mNew.c in execCommand");
}
}
if(this.yAxisGrbl == "e" && Number.isFinite(mNew.e)){
data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
if(this.yAxisGrbl == "e"){
if(Number.isFinite(mNew.e)){
data += " y" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.e in execCommand");
}
}
if(this.zAxisGrbl == "x" && Number.isFinite(mNew.x)){
data += " z" + (mNew.x).toFixed(2).toString();
if(this.zAxisGrbl == "x"){
if(Number.isFinite(mNew.x)){
data += " z" + (mNew.x).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.x in execCommand");
}
}
if(this.zAxisGrbl == "y" && Number.isFinite(mNew.y)){
data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.zAxisGrbl == "y"){
if(Number.isFinite(mNew.y)){
data += " z" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.zAxisGrbl == "z" && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " z" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
if(this.zAxisGrbl == "z"){
if(Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " z" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.z or mNew.y in execCommand");
}
}
if(this.zAxisGrbl == "a" && Number.isFinite(mNew.a)){
data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
if(this.zAxisGrbl == "a"){
if(Number.isFinite(mNew.a)){
data += " z" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.a in execCommand");
}
}
if(this.zAxisGrbl == "b" && Number.isFinite(mNew.b)){
// This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
data += " z" + ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
if(this.zAxisGrbl == "b"){
if(Number.isFinite(mNew.b)){
// This is the case of the Hand, when the Up-Down-Motor is connected to the FluidNC-Z
data += " z" + ( mNew.b * 180 / Math.PI ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b in execCommand");
}
}
if(this.zAxisGrbl == "c" && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.zAxisGrbl == "c"){
if(Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " z" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.c, mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.zAxisGrbl == "e" && Number.isFinite(mNew.e)){
if(this.zAxisGrbl == "e"){
if(Number.isFinite(mNew.e)){
data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
data += " z" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.e in execCommand");
}
}
if(this.aAxisGrbl == "x" && Number.isFinite(mNew.y)){
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.aAxisGrbl == "x"){
if(Number.isFinite(mNew.y)){
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.aAxisGrbl == "y" && Number.isFinite(mNew.y)){
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.aAxisGrbl == "y"){
if(Number.isFinite(mNew.y)){
data += " a" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.aAxisGrbl == "z" && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
if(this.aAxisGrbl == "z"){
if(Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.z or mNew.y in execCommand");
}
}
if(this.aAxisGrbl == "a" && Number.isFinite(mNew.a)){
data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
if(this.aAxisGrbl == "a"){
if(Number.isFinite(mNew.a)){
data += " a" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.a in execCommand");
}
}
if(this.aAxisGrbl == "b" && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.aAxisGrbl == "b"){
if(Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + (mNew.b * 180 / Math.PI+(mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.aAxisGrbl == "c" && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.aAxisGrbl == "c"){
if(Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " a" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.c, mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.aAxisGrbl == "e" && Number.isFinite(mNew.e)){
// ToDo Mai 2024
data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
if(this.aAxisGrbl == "e"){
if(Number.isFinite(mNew.e)){
// ToDo Mai 2024
data += " a" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.e in execCommand");
}
}
if(this.bAxisGrbl == "x" && Number.isFinite(mNew.x)){
data += " b" + (mNew.x).toFixed(2).toString();
if(this.bAxisGrbl == "x"){
if(Number.isFinite(mNew.x)){
data += " b" + (mNew.x).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.x in execCommand");
}
}
if(this.bAxisGrbl == "y" && Number.isFinite(mNew.y)){
data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
if(this.bAxisGrbl == "y"){
if(Number.isFinite(mNew.y)){
data += " b" + (mNew.y * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.y in execCommand");
}
}
if(this.bAxisGrbl == "z" && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " b" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
if(this.bAxisGrbl == "z"){
if(Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " b" + ((mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI) ).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.z or mNew.y in execCommand");
}
}
if(this.bAxisGrbl == "a" && Number.isFinite(mNew.a)){
data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
if(this.bAxisGrbl == "a"){
if(Number.isFinite(mNew.a)){
data += " b" + (mNew.a * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.a in execCommand");
}
}
if(this.bAxisGrbl == "b" && Number.isFinite(mNew.b)){
data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
if(this.bAxisGrbl == "b"){
if(Number.isFinite(mNew.b)){
data += " b" + (mNew.b * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.b in execCommand");
}
}
if(this.bAxisGrbl == "c" && Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
if(this.bAxisGrbl == "c"){
if(Number.isFinite(mNew.c) && Number.isFinite(mNew.b) && Number.isFinite(mNew.z) && Number.isFinite(mNew.y)){
data += " b" + (mNew.c * 180 / Math.PI + (mNew.b * 180 / Math.PI) + (mNew.z * 180 / Math.PI) - (mNew.y * 180 / Math.PI)).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.c, mNew.b, mNew.z or mNew.y in execCommand");
}
}
if(this.bAxisGrbl == "e" && Number.isFinite(mNew.e)){
data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
if(this.bAxisGrbl == "e"){
if(Number.isFinite(mNew.e)){
data += " b" + (mNew.e * 180 / Math.PI).toFixed(2).toString();
} else {
console.log("Non-finite value for mNew.e in execCommand");
}
}
data += " f"+(maxSpeedF.toFixed(2).toString())

2
test/GCode.test.js
View File

@@ -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)
});

112
test/Robot.changedFlags.test.js Normal file
View File

@@ -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)
})
})

39
test/Sender.Telnet.caseBackward.test.js Normal file
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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");
});
});