Heartbeat

test/RobotConfig.test.js

@@ -69,6 +69,12 @@ describe('RobotConfig.load — Vollständige robot.json', () => {
     expect(cfg.controllers.hand.ip).toBe('fluidNcHand.local');
   });
 
+  test('heartbeatInterval Default wenn nicht in robot.json', () => {
+    expect(cfg.controllers.base.heartbeatInterval).toBe(DEFAULTS.controllers.base.heartbeatInterval);
+    expect(cfg.controllers.elbow.heartbeatInterval).toBe(DEFAULTS.controllers.elbow.heartbeatInterval);
+    expect(cfg.controllers.hand.heartbeatInterval).toBe(DEFAULTS.controllers.hand.heartbeatInterval);
+  });
+
   test('axesByController gibt korrektes Array zurück', () => {
     expect(cfg.axesByController('base')).toEqual(['x', 'y', 'z']);
     expect(cfg.axesByController('elbow')).toEqual(['a', null, null]);
@@ -148,3 +154,26 @@ describe('RobotConfig.load — speedMode correct', () => {
     expect(cfg.motion.useSpeedCalc).toBe(true);
   });
 });
+
+describe('RobotConfig.load — heartbeatInterval', () => {
+  test('heartbeatInterval aus robot.json überschreibt Default', () => {
+    const json = {
+      ...FULL_ROBOT_JSON,
+      controllers: {
+        ...FULL_ROBOT_JSON.controllers,
+        base:  { ...FULL_ROBOT_JSON.controllers.base,  heartbeatInterval: 5000 },
+        elbow: { ...FULL_ROBOT_JSON.controllers.elbow, heartbeatInterval: 30000 },
+      }
+    };
+    const cfg = load(makeFs(JSON.stringify(json)), {}, log);
+    expect(cfg.controllers.base.heartbeatInterval).toBe(5000);
+    expect(cfg.controllers.elbow.heartbeatInterval).toBe(30000);
+    // hand nicht gesetzt → Default
+    expect(cfg.controllers.hand.heartbeatInterval).toBe(DEFAULTS.controllers.hand.heartbeatInterval);
+  });
+
+  test('fehlende heartbeatInterval → Default (10 000 ms)', () => {
+    const cfg = load(makeFailFs(), {}, log);
+    expect(cfg.controllers.base.heartbeatInterval).toBe(10000);
+  });
+});