139 lines
3.7 KiB
JavaScript
139 lines
3.7 KiB
JavaScript
const GCode = require('../robot/GCode')
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const createDummyRobot = require('./helpers/createDummyRobot')
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describe('GCode.receiveGCode', () => {
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test('G90 setzt Absolutmodus', () => {
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const robot = createDummyRobot()
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robot.moveRelative = true
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GCode.receiveGCode(robot, 'G90')
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expect(robot.moveRelative).toBe(false)
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expect(robot.calculateAngles3D).not.toHaveBeenCalled()
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expect(robot.sendCommand).not.toHaveBeenCalled()
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})
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test('G91 setzt Relativmodus', () => {
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const robot = createDummyRobot()
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GCode.receiveGCode(robot, 'G91')
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expect(robot.moveRelative).toBe(true)
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})
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test('G1 absolut setzt Koordinaten', () => {
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const robot = createDummyRobot()
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GCode.receiveGCode(robot, 'G90 G1 X10 Y20 Z30')
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expect(robot.x).toBe(10)
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expect(robot.y).toBe(20)
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expect(robot.z).toBe(30)
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expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
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expect(robot.sendCommand).toHaveBeenCalledTimes(1)
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})
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test('G1 relativ addiert Koordinaten', () => {
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const robot = createDummyRobot()
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robot.moveRelative = true
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robot.x = 5
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robot.y = 5
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GCode.receiveGCode(robot, 'G1 X2 Y3')
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expect(robot.x).toBe(7)
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expect(robot.y).toBe(8)
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})
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test('G1 ignore Jogg', () => {
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const robot = createDummyRobot()
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robot.moveRelative = true
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robot.x = 5
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robot.y = 5
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GCode.receiveGCode(robot, '$J=G91 G1 X2 Y3')
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expect(robot.x).toBe(7)
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expect(robot.y).toBe(8)
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})
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test('G1 ignore Jogg absolute, G21 = mm ist OK', () => {
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const robot = createDummyRobot()
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robot.moveRelative = true
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robot.x = 5
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robot.y = 5
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GCode.receiveGCode(robot, '$J=G90 G21 G1 X20 Y30')
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expect(robot.x).toBe(20)
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expect(robot.y).toBe(30)
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})
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test('M1 relativ verändert Motorwerte', () => {
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const robot = createDummyRobot()
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robot.moveRelative = true
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GCode.receiveGCode(robot, 'M1 X10 Y20 Z30 A1 B2 C3')
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expect(robot.xMotor).toBe(10)
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expect(robot.alpha).toBe(20)
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expect(robot.beta).toBe(30)
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expect(robot.a).toBe(1)
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expect(robot.b).toBe(2)
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expect(robot.c).toBe(3)
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expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalled()
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expect(robot.sendCommand).toHaveBeenCalled()
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})
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test('G28 setzt Home-Motorwerte direkt (Singularität), lässt aber den Greifer unangetastet', () => {
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const robot = createDummyRobot()
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robot.e = 7 // vorher gesetzte Greifer-Öffnung ...
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robot.eMotor = 3 // ... darf von G28 NICHT bewegt werden (sonst e−b−c-Slam bei b=π)
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GCode.receiveGCode(robot, 'G28')
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// Voll ausgestreckt = Handgelenk-Singularität -> Arm-Motorwerte DIREKT, dann FK (nicht IK).
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expect(robot.xMotor).toBe(0)
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expect(robot.alpha).toBe(0)
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expect(robot.beta).toBe(0)
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expect(robot.a).toBe(0)
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expect(robot.b).toBe(0) // gerade Hand (Phase-2-Konvention: b=0)
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expect(robot.c).toBe(0)
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// Greifer unverändert -> kein Finger-Slam am Anschlag
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expect(robot.e).toBe(7)
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expect(robot.eMotor).toBe(3)
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expect(robot.calculateAngles3D).not.toHaveBeenCalled()
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expect(robot.calculatePositionFromMotorAngles).toHaveBeenCalledTimes(1)
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expect(robot.sendCommand).toHaveBeenCalledTimes(1)
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})
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test('Sende falsches Format', () =>{
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const robot = createDummyRobot();
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GCode.receiveGCode(robot, 'X324');
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})
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test('receiveGCode verarbeitet Buffer korrekt (UTF-8)', () => {
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const robot = createDummyRobot()
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const buffer = Buffer.from('G90 G1 X12 Y34 Z56', 'utf8')
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GCode.receiveGCode(robot, buffer)
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expect(robot.moveRelative).toBe(false)
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expect(robot.x).toBe(12)
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expect(robot.y).toBe(34)
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expect(robot.z).toBe(56)
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expect(robot.calculateAngles3D).toHaveBeenCalledTimes(1)
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expect(robot.sendCommand).toHaveBeenCalledTimes(1)
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})
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}) |