GCode - BufferType

test/GCode.receiveGCode.test.js

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+const GCode = require('../robot/GCode')
+const createDummyRobot = require('./helpers/createDummyRobot')
+
+describe('GCode.receiveGCode', () => {
+
+  test('G90 setzt Absolutmodus', () => {
+    const robot = createDummyRobot()
+
+    robot.moveRelative = true
+
+    GCode.receiveGCode(robot, 'G90')
+
+    expect(robot.moveRelative).toBe(false)
+    expect(robot.calculateAngles3D).not.toHaveBeenCalled()
+    expect(robot.sendCommand).not.toHaveBeenCalled()
+  })
+
+  test('G91 setzt Relativmodus', () => {
+    const robot = createDummyRobot()
+
+    GCode.receiveGCode(robot, 'G91')
+
+    expect(robot.moveRelative).toBe(true)
+  })
+
+  test('G1 absolut setzt Koordinaten', () => {
+    const robot = createDummyRobot()
+
+    GCode.receiveGCode(robot, 'G90 G1 X10 Y20 Z30')
+
+    expect(robot.x).toBe(10)
+    expect(robot.y).toBe(20)
+    expect(robot.z).toBe(30)
+
+    expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
+    expect(robot.sendCommand).toHaveBeenCalledTimes(1)
+  })
+
+  test('G1 relativ addiert Koordinaten', () => {
+    const robot = createDummyRobot()
+    robot.moveRelative = true
+    robot.x = 5
+    robot.y = 5
+
+    GCode.receiveGCode(robot, 'G1 X2 Y3')
+
+    expect(robot.x).toBe(7)
+    expect(robot.y).toBe(8)
+  })
+
+  test('M1 relativ verändert Motorwerte', () => {
+    const robot = createDummyRobot()
+    robot.moveRelative = true
+
+    GCode.receiveGCode(robot, 'M1 X10 Y20 Z30 A1 B2 C3')
+
+    expect(robot.xMotor).toBe(10)
+    expect(robot.alpha).toBe(20)
+    expect(robot.beta).toBe(30)
+
+    expect(robot.a).toBe(1)
+    expect(robot.b).toBe(2)
+    expect(robot.c).toBe(3)
+
+    expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalled()
+    expect(robot.sendCommand).toHaveBeenCalled()
+  })
+
+  test('G28 setzt Home-Position', () => {
+    const robot = createDummyRobot()
+
+    GCode.receiveGCode(robot, 'G28')
+
+    expect(robot.x).toBe(0)
+    expect(robot.z).toBe(0)
+    expect(robot.y).toBe(robot.l1 + robot.l2 + robot.l3)
+    expect(robot.phi).toBeCloseTo(-Math.PI / 2)
+    expect(robot.theta).toBeCloseTo(Math.PI / 2)
+  })
+
+  test('Sende falsches Format', () =>{
+    const robot = createDummyRobot();
+    GCode.receiveGCode(robot, 'X324');
+  })
+
+  
+  test('receiveGCode verarbeitet Buffer korrekt (UTF-8)', () => {
+    const robot = createDummyRobot()
+
+    const buffer = Buffer.from('G90 G1 X12 Y34 Z56', 'utf8')
+
+    GCode.receiveGCode(robot, buffer)
+
+    expect(robot.moveRelative).toBe(false)
+
+    expect(robot.x).toBe(12)
+    expect(robot.y).toBe(34)
+    expect(robot.z).toBe(56)
+
+    expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
+    expect(robot.sendCommand).toHaveBeenCalledTimes(1)
+  })
+
+
+})

test/helpers/createDummyRobot.js

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+// test/helpers/createDummyRobot.js
+function createDummyRobot() {
+  return {
+    moveRelative: false,
+
+    // kartesische Position
+    x: 0,
+    y: 0,
+    z: 0,
+
+    phi: 0,
+    theta: 0,
+    psi: 0,
+    e: 0,
+
+    // Motoren
+    xMotor: 0,
+    alpha: 0,
+    beta: 0,
+    a: 0,
+    b: 0,
+    c: 0,
+
+    // Geometrie
+    l1: 10,
+    l2: 10,
+    l3: 10,
+
+    // Methoden → jest.fn erlaubt Call-Tracking
+    calculateAngles3D: jest.fn(),
+    calculatePositionFromMotorAngles: jest.fn(),
+    sendCommand: jest.fn()
+  }
+}
+
+module.exports = createDummyRobot