Umbau 12: Robot-Kinematics als extends RobotBase

test/KinematicsFactory.test.js

@@ -0,0 +1,69 @@
+const {
+    createRobotFromEnv,
+    loadKinematicsClass,
+    parseParams,
+    DEFAULT_KINEMATICS,
+} = require('../robot/KinematicsFactory');
+
+const Arm3SegmentLinearX = require('../robot/kinematics/Arm3SegmentLinearX');
+const RobotBase = require('../robot/RobotBase');
+
+describe('KinematicsFactory (Roadmap 12, Phase 2)', () => {
+
+    test('Default-Kinematik ohne Env, mit Fallback-Params', () => {
+        const robot = createRobotFromEnv({}, { l1: 250, l2: 264, l3: 100 });
+        expect(robot).toBeInstanceOf(Arm3SegmentLinearX);
+        expect(robot).toBeInstanceOf(RobotBase);
+        expect([robot.l1, robot.l2, robot.l3]).toEqual([250, 264, 100]);
+    });
+
+    test('ROBOT_KINEMATICS_PARAMS überschreibt die Fallback-Params', () => {
+        const robot = createRobotFromEnv(
+            {
+                ROBOT_KINEMATICS: 'arm3segmentlinearx',
+                ROBOT_KINEMATICS_PARAMS: '{"l1":300,"l2":200,"l3":10}',
+            },
+            { l1: 250, l2: 264, l3: 100 }
+        );
+        expect([robot.l1, robot.l2, robot.l3]).toEqual([300, 200, 10]);
+    });
+
+    test('Bezeichner ist case-insensitive', () => {
+        expect(loadKinematicsClass('Arm3SegmentLinearX')).toBe(Arm3SegmentLinearX);
+        expect(loadKinematicsClass(DEFAULT_KINEMATICS)).toBe(Arm3SegmentLinearX);
+    });
+
+    test('Unbekannte Kinematik → klare Fehlermeldung (kein silent fail)', () => {
+        expect(() => createRobotFromEnv({ ROBOT_KINEMATICS: 'doesNotExist' }))
+            .toThrow(/Unbekannte Kinematik "doesNotExist"/);
+    });
+
+    test('Ungültiges JSON in ROBOT_KINEMATICS_PARAMS → klare Fehlermeldung', () => {
+        expect(() => parseParams('{bad json'))
+            .toThrow(/ROBOT_KINEMATICS_PARAMS ist kein gültiges JSON/);
+    });
+
+    test('parseParams: leer/undefined → leeres Objekt', () => {
+        expect(parseParams()).toEqual({});
+        expect(parseParams('')).toEqual({});
+    });
+});
+
+describe('RobotBase ist abstrakt (Roadmap 12, Phase 0)', () => {
+
+    test('calculateAngles3D() wirft, wenn nicht überschrieben', () => {
+        expect(() => new RobotBase().calculateAngles3D())
+            .toThrow(/not implemented/);
+    });
+
+    test('calculatePositionFromMotorAngles() wirft, wenn nicht überschrieben', () => {
+        expect(() => new RobotBase().calculatePositionFromMotorAngles())
+            .toThrow(/not implemented/);
+    });
+
+    test('Arm3SegmentLinearX überschreibt beide Kinematik-Methoden', () => {
+        const robot = new Arm3SegmentLinearX(250, 264, 100);
+        expect(() => robot.calculateAngles3D()).not.toThrow();
+        expect(() => robot.calculatePositionFromMotorAngles()).not.toThrow();
+    });
+});