// __tests__/Robot.inverseKinematics.test.js
const Robot = require('../robot/Robot.js');
const GCode = require('../robot/GCode.js');

describe("Robot G92", () => {

    test("ReadPosition -> calculatePositionFromMotorAngles()", () => {

        // === Instanz A: Vorwärts-Kinematik (XYZ -> Motorwinkel) ===
        const L1 = 300;
        const L2 = 200;
        const L3 = 10;


        const A = new Robot(L1, L2, L3)

        // Beispiel-Eingabe
        A.x = 0;
        A.y = 310;
        A.z = 0;

        A.phi   = -Math.PI/2;
        A.theta = Math.PI/2;
        A.psi   = 0;
        A.e     = 0;

        A.calculateAngles3D();

        var strGCode = `G92 X${A.xMotor} Y${A.alpha} Z${A.beta} A${A.a} B${A.b} C${A.c}`


        const T = new Robot(L1, L2, L3)
        console.log("GCode: " + strGCode);
        GCode.receiveGCode(T, strGCode);

        
        const EPS = 0.01;  // 1/1000 mm Genauigkeit
        expect(T.xMotor).toBeCloseTo(A.xMotor, EPS);
        expect(T.alpha).toBeCloseTo(A.alpha, EPS);
        expect(T.beta).toBeCloseTo(A.beta, EPS);
        expect(T.x).toBeCloseTo(A.x, EPS);
        expect(T.y).toBeCloseTo(A.y, EPS);
        expect(T.z).toBeCloseTo(A.z, EPS);


    });
});