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('G1 ignore Jogg', () => {
    const robot = createDummyRobot()
    robot.moveRelative = true
    robot.x = 5
    robot.y = 5

    GCode.receiveGCode(robot, '$J=G91 G1 X2 Y3')

    expect(robot.x).toBe(7)
    expect(robot.y).toBe(8)
  })

  test('G1 ignore Jogg absolute, G21 = mm ist OK', () => {
    const robot = createDummyRobot()
    robot.moveRelative = true
    robot.x = 5
    robot.y = 5

    GCode.receiveGCode(robot, '$J=G90 G21 G1 X20 Y30')

    expect(robot.x).toBe(20)
    expect(robot.y).toBe(30)
  })

  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-Motorwerte direkt (Singularität), lässt aber den Greifer unangetastet', () => {
    const robot = createDummyRobot()
    robot.e = 7          // vorher gesetzte Greifer-Öffnung ...
    robot.eMotor = 3     // ... darf von G28 NICHT bewegt werden (sonst e−b−c-Slam bei b=π)

    GCode.receiveGCode(robot, 'G28')

    // Voll ausgestreckt = Handgelenk-Singularität -> Arm-Motorwerte DIREKT, dann FK (nicht IK).
    expect(robot.xMotor).toBe(0)
    expect(robot.alpha).toBe(0)
    expect(robot.beta).toBe(0)
    expect(robot.a).toBe(0)
    expect(robot.b).toBe(0)               // gerade Hand (Phase-2-Konvention: b=0)
    expect(robot.c).toBe(0)
    // Greifer unverändert -> kein Finger-Slam am Anschlag
    expect(robot.e).toBe(7)
    expect(robot.eMotor).toBe(3)
    expect(robot.calculateAngles3D).not.toHaveBeenCalled()
    expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalledTimes(1)
    expect(robot.sendCommand).toHaveBeenCalledTimes(1)
  })

  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)
  })


})