Speed testen (anfang)

test/GCode.speed.test.js

@@ -38,6 +38,45 @@ describe('GCode Speed Tests', () => {
         // But since x,y,z changed, telnetSender1 should have the command
     });
 
+
+    test('G1 with Feedrate F300 - mit env', () => {
+
+        
+        const previousValue = process.env.ROBOT_USE_SPEED_CALC;
+        process.env.ROBOT_USE_SPEED_CALC = 'true';
+
+
+        const L1 = 300;
+        const L2 = 300;
+        const L3 = 20;
+
+        const Robot2 = require('../robot/Robot'); // neu geladen
+        const robot = new Robot2(L1, L2, L3);
+
+        const telnetSender1 = new TelnetSender("test.test", 5000, "x", "y", "z");
+
+        robot.cmdReceivers.push(telnetSender1);
+
+        // G1 with F300
+        robot.useSpeedCalc = true; // Aktiviere die neue Logik
+        GCode.receiveGCode(robot, "G90 G1 x0   f700"); // Absolut!!
+        GCode.receiveGCode(robot, "G91 G1 x120  f700"); // relativ!!
+
+        // Check telnetSender1 (x,y,z axes)
+        expect(telnetSender1.tSocket.written).toContain('G1');
+        expect(telnetSender1.tSocket.written).toContain('f700');
+        expect(telnetSender1.tSocket.written).toMatch(/f700\.00/); // Exact format
+
+        // telnetSender2 and telnetSender3 might not have output if no changes
+        // But since x,y,z changed, telnetSender1 should have the command
+        if (previousValue === undefined) {
+            delete process.env.ROBOT_USE_SPEED_CALC;
+        } else {
+            process.env.ROBOT_USE_SPEED_CALC = previousValue;
+        }
+
+    });
+
     test('G1 without Feedrate - should use default f200', () => {
         const L1 = 300;
         const L2 = 300;

test/Robot.sendCommand.test.js

@@ -1,4 +1,5 @@
 const Robot = require('../robot/Robot')
+const GCode = require('../robot/GCode.js');
 const MockCmdReceiver = require('./helpers/mockCmdReceiver')
 
 describe('Robot.sendCommand & cmdReceivers', () => {
@@ -84,6 +85,18 @@ describe('Robot.sendCommand & cmdReceivers', () => {
     expect(newPos.y).toBe(20)
   })
 
+  test('newPos enthält aktuelle Motorwerte GCode', () => {
+    const r = new MockCmdReceiver()
+    robot.cmdReceivers.push(r)
+
+    GCode.receiveGCode(robot, "G90 G1 x10 y200 z0 f300")
+
+    robot.sendCommand()
+
+    const { newPos } = r.lastCall()
+    expect(newPos.x).toBe(5) // Dummy Test, soll eventuell anders sein.
+  })
+
   test('mehrere Receiver werden alle benachrichtigt', () => {
     const r1 = new MockCmdReceiver('r1')
     const r2 = new MockCmdReceiver('r2')