Konfig in robot.json

test/RobotConfig.test.js

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+'use strict';
+const { load, DEFAULTS } = require('../robot/RobotConfig');
+
+function makeFs(content) {
+  return {
+    readFileSync: jest.fn(() => content)
+  };
+}
+
+function makeFailFs() {
+  return {
+    readFileSync: jest.fn(() => { throw new Error('ENOENT'); })
+  };
+}
+
+const log = { warn: jest.fn(), log: jest.fn(), error: jest.fn() };
+
+const FULL_ROBOT_JSON = {
+  kinematics: { type: 'arm3segmentlinearx' },
+  motion: { defaultFeedrate: 2300, speedMode: 'legacy', speedModeOptions: ['legacy', 'correct'] },
+  controllers: {
+    base:  { ip: 'fluidNcBase.local',   port: 2300, protocol: 'telnet', axes: ['x', 'y', 'z']   },
+    elbow: { ip: 'fluidNcEllbow.local', port: 5000, protocol: 'telnet', axes: ['a', null, null]  },
+    hand:  { ip: 'fluidNcHand.local',   port: 5000, protocol: 'telnet', axes: ['c', 'e', 'b']   }
+  },
+  links: {
+    Arm1:   { skeleton: { from: [0,0,0], to: [0,-250,0] } },
+    Arm2:   { skeleton: { from: [0,0,0], to: [0,-250,0] } },
+    Ellbow: { skeleton: { from: [0,0,0], to: [90,0,0]   } }
+  }
+};
+
+describe('RobotConfig.load — Vollständige robot.json', () => {
+  let cfg;
+  beforeEach(() => {
+    cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), {}, log);
+  });
+
+  test('kinematics.type aus robot.json', () => {
+    expect(cfg.kinematics.type).toBe('arm3segmentlinearx');
+  });
+
+  test('l1/l2 aus links.Arm1/Arm2.skeleton.to[1] (Betrag)', () => {
+    expect(cfg.kinematics.l1).toBe(250);
+    expect(cfg.kinematics.l2).toBe(250);
+  });
+
+  test('l3 aus links.Ellbow.skeleton.to[0]', () => {
+    expect(cfg.kinematics.l3).toBe(90);
+  });
+
+  test('motion.defaultFeedrate aus robot.json', () => {
+    expect(cfg.motion.defaultFeedrate).toBe(2300);
+  });
+
+  test('motion.speedMode aus robot.json', () => {
+    expect(cfg.motion.speedMode).toBe('legacy');
+  });
+
+  test('motion.useSpeedCalc false für legacy', () => {
+    expect(cfg.motion.useSpeedCalc).toBe(false);
+  });
+
+  test('controllers enthält alle drei Endpunkte', () => {
+    expect(cfg.controllers.base.ip).toBe('fluidNcBase.local');
+    expect(cfg.controllers.base.port).toBe(2300);
+    expect(cfg.controllers.base.protocol).toBe('telnet');
+    expect(cfg.controllers.elbow.port).toBe(5000);
+    expect(cfg.controllers.hand.ip).toBe('fluidNcHand.local');
+  });
+
+  test('axesByController gibt korrektes Array zurück', () => {
+    expect(cfg.axesByController('base')).toEqual(['x', 'y', 'z']);
+    expect(cfg.axesByController('elbow')).toEqual(['a', null, null]);
+    expect(cfg.axesByController('hand')).toEqual(['c', 'e', 'b']);
+  });
+
+  test('axesByController gibt [] für unbekannten Key zurück', () => {
+    expect(cfg.axesByController('unknown')).toEqual([]);
+  });
+});
+
+describe('RobotConfig.load — Fehlerbehandlung', () => {
+  test('fehlende robot.json → Defaults', () => {
+    const cfg = load(makeFailFs(), {}, log);
+    expect(cfg.kinematics.l1).toBe(DEFAULTS.kinematics.l1);
+    expect(cfg.motion.defaultFeedrate).toBe(DEFAULTS.motion.defaultFeedrate);
+    expect(cfg.controllers.base.ip).toBe(DEFAULTS.controllers.base.ip);
+  });
+
+  test('ungültiges JSON → Defaults', () => {
+    const cfg = load(makeFs('{ not valid json }'), {}, log);
+    expect(cfg.kinematics.type).toBe(DEFAULTS.kinematics.type);
+  });
+
+  test('fehlende links → kinematics-Defaults', () => {
+    const json = { ...FULL_ROBOT_JSON };
+    delete json.links;
+    const cfg = load(makeFs(JSON.stringify(json)), {}, log);
+    expect(cfg.kinematics.l1).toBe(DEFAULTS.kinematics.l1);
+    expect(cfg.kinematics.l3).toBe(DEFAULTS.kinematics.l3);
+  });
+});
+
+describe('RobotConfig.load — Env-Override', () => {
+  test('ROBOT_DEFAULT_FEEDRATE überschreibt robot.json', () => {
+    const env = { ROBOT_DEFAULT_FEEDRATE: '5000' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.motion.defaultFeedrate).toBe(5000);
+  });
+
+  test('ROBOT_SPEED_MODE=correct setzt useSpeedCalc=true', () => {
+    const env = { ROBOT_SPEED_MODE: 'correct' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.motion.speedMode).toBe('correct');
+    expect(cfg.motion.useSpeedCalc).toBe(true);
+  });
+
+  test('GRBL_BASE_IP überschreibt controller.base.ip', () => {
+    const env = { GRBL_BASE_IP: '192.168.1.10' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.controllers.base.ip).toBe('192.168.1.10');
+  });
+
+  test('GRBL_ELLBOW_IP überschreibt controller.elbow.ip', () => {
+    const env = { GRBL_ELLBOW_IP: '192.168.1.11' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.controllers.elbow.ip).toBe('192.168.1.11');
+  });
+
+  test('GRBL_HAND_IP überschreibt controller.hand.ip', () => {
+    const env = { GRBL_HAND_IP: '192.168.1.12' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.controllers.hand.ip).toBe('192.168.1.12');
+  });
+});
+
+describe('RobotConfig.load — speedMode correct', () => {
+  test('speedMode correct aus robot.json setzt useSpeedCalc=true', () => {
+    const json = { ...FULL_ROBOT_JSON, motion: { ...FULL_ROBOT_JSON.motion, speedMode: 'correct' } };
+    const cfg = load(makeFs(JSON.stringify(json)), {}, log);
+    expect(cfg.motion.useSpeedCalc).toBe(true);
+  });
+
+  test('ROBOT_USE_SPEED_CALC=true setzt useSpeedCalc', () => {
+    const env = { ROBOT_USE_SPEED_CALC: 'true' };
+    const cfg = load(makeFs(JSON.stringify(FULL_ROBOT_JSON)), env, log);
+    expect(cfg.motion.useSpeedCalc).toBe(true);
+  });
+});