ChK/appRobotDriver
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

nur wenn xyz genaendert, dann senden

Browse Source
This commit is contained in:
ChK
2026-04-07 09:30:46 +02:00
parent 3d33ecd747
commit a47c168a22
11 changed files with 250 additions and 159 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
test/GCode.receiveGCode.G92.test.js
View File

@@ -55,7 +55,7 @@ describe("Robot G92", () => {
});
// G92 y2.8 z131.0
test("ReadPosition -> G92()", () => {
test("ReadPosition -> G92() test ob nur bestimmte Achsen gesendet werden", () => {
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
const L1 = 300;
@@ -75,14 +75,43 @@ describe("Robot G92", () => {
GCode.receiveGCode(robot,"M92 y0.049 z2.286");
const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
//const strExpect1 = 'G92 x0.00 y2.81 z128.17\r\n';
const strExpect1 = 'G92 y2.81 z128.17\r\n'; // x soll eben nicht gesendet werden.
const strExpect2 = 'G92 y2.81 z128.17\r\n';
allowedValues = [strExpect1, strExpect2];
expect(allowedValues).toContain(telnetSender1.tSocket.written);
expect(telnetSender2.tSocket.written.length).toBe(0); // kein GCode für Ellbow
// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
});
// G92 y2.8 z131.0
test("ReadPosition -> G92() test ob nur bestimmte Achsen gesendet werden", () => {
// === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
const L1 = 300;
const L2 = 300;
const L3 = 20;
const robot = new Robot(L1, L2, L3)
var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
robot.cmdReceivers.push(telnetSender1);
robot.cmdReceivers.push(telnetSender2);
robot.cmdReceivers.push(telnetSender3);
GCode.receiveGCode(robot,"M92 a0.20");
expect(telnetSender1.tSocket.written.length).toBe(0); // kein GCode für XYZ
expect(telnetSender2.tSocket.written).toBe('G92 x11.46\r\n');
expect(telnetSender3.tSocket.written.length).toBe(0); // kein GCode für XYZ
// ("Wenn nur G92 x3 gegeben wird, dann wird trotzdem auch y und z gesendet. schlecht." );
});
});

36
test/GCode.test.js
View File

@@ -1,5 +1,6 @@
const GCode = require('../robot/GCode.js');
const Robot = require('../robot/Robot.js');
var TenetSender = require('../robot/TelnetSenderGRBL.js')
test('G91 ist ein GCode Command', () => {
var x = GCode.containsCommand("G91") ;
@@ -12,4 +13,37 @@ test('G28 ist ein GCode Command', () => {
});
beforeAll(() => {
jest.spyOn(console, 'log').mockImplementation(() => {})
})
afterAll(() => {
jest.restoreAllMocks()
})
test("ReadPosition -> G1", () => {
const L1 = 300;
const L2 = 300;
const L3 = 20;
const robot = new Robot(L1, L2, L3)
var telnetSender1 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 2300, xAxisGrbl = "x", yAxisGrbl = "y", zAxisGrbl = "z");
var telnetSender2 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "a", yAxisGrbl = null, zAxisGrbl = null);
var telnetSender3 = new TenetSender(urlGRBL = "test.test", maxSpeedF = 5000, xAxisGrbl = "c", yAxisGrbl = "e", zAxisGrbl = "b");
robot.cmdReceivers.push(telnetSender1);
robot.cmdReceivers.push(telnetSender2);
robot.cmdReceivers.push(telnetSender3);
GCode.receiveGCode(robot,"G1 x120");
expect(telnetSender1.tSocket.written).toContain('G1 x1')
});

4
test/Robot.sendCommand.test.js
View File

@@ -98,8 +98,8 @@ describe('Robot.sendCommand & cmdReceivers', () => {
test('Receiver-Reihenfolge bleibt erhalten', () => {
const order = []
const r1 = { moveTo: () => order.push('r1') }
const r2 = { moveTo: () => order.push('r2') }
const r1 = { execCommand: () => order.push('r1') }
const r2 = { execCommand: () => order.push('r2') }
robot.cmdReceivers.push(r1, r2)
robot.sendCommand()

11
test/Sender.Telnet.test.js
View File

@@ -19,6 +19,9 @@ describe("TelnetSenderGRBL.execCommand", () => {
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: Math.PI/2, z: 0, a:0, b:0, c:0, e:0 };
mNew.xMotorChanged = true;
mNew.yMotorChanged = true;
mNew.zMotorChanged = true;
sender.execCommand("G1", mOld, mNew);
@@ -44,6 +47,11 @@ describe("TelnetSenderGRBL.execCommand", () => {
const mOld = { x: 0, y: 0, z: 0, a:Math.PI, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: Math.PI/2, z: 0, a:Math.PI/8, b:0, c:0, e:0 };
mNew.xMotorChanged = true;
mNew.yMotorChanged = true;
mNew.zMotorChanged = true;
mNew.aMotorChanged = true;
sender.execCommand("G1", mOld, mNew);
// ✅ verify output
@@ -66,6 +74,9 @@ describe("TelnetSenderGRBL.execCommand", () => {
// Provide some sample motion data
const mOld = { x: 0, y: 0, z: 0, a:0, b:0, c:0, e:0 }; // not used in your code
const mNew = { x: 12.34, y: 1.0, z: 2.0, a:0, b:0, c:0, e:0 };
mNew.xMotorChanged = true;
mNew.yMotorChanged = true;
mNew.zMotorChanged = true;
sender.execCommand("G92", mOld, mNew);

10
test/helpers/mockCmdReceiver.js
View File

@@ -11,6 +11,16 @@ class MockCmdReceiver {
})
}
execCommand(cmd, oldPos, newPos) {
this.calls.push({
cmd,
oldPos,
newPos
})
}
get callCount() {
return this.calls.length
}