172 lines
3.8 KiB
JavaScript
172 lines
3.8 KiB
JavaScript
const Robot = require('../robot/Robot')
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const MockCmdReceiver = require('./helpers/mockCmdReceiver')
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describe('Robot.sendCommand & cmdReceivers', () => {
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let robot
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beforeAll(() => {
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jest.spyOn(console, 'log').mockImplementation(() => {})
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})
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afterAll(() => {
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jest.restoreAllMocks()
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})
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beforeEach(() => {
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robot = new Robot(10, 10, 5)
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// definierten Startzustand erzwingen
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robot.xMotor = 1
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robot.alpha = 2
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robot.beta = 3
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robot.a = 4
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robot.b = 5
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robot.c = 6
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robot.eMotor = 7
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})
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test('sendCommand ruft Receiver.moveTo genau einmal auf', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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expect(r.callCount).toBe(1)
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})
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test('moveTo bekommt oldPos und newPos', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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const call = r.lastCall()
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expect(call.oldPos).toBeDefined()
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expect(call.newPos).toBeDefined()
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})
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test('oldPos und newPos sind unterschiedliche Objekte', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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const { oldPos, newPos } = r.lastCall()
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expect(oldPos).not.toBe(newPos)
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})
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test('oldPos enthält vorherige Motorwerte', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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const { oldPos } = r.lastCall()
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expect(oldPos.x).toBe(1)
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expect(oldPos.y).toBe(2)
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expect(oldPos.z).toBe(3)
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})
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test('newPos enthält aktuelle Motorwerte', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.xMotor = 10
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robot.alpha = 20
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robot.sendCommand()
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const { newPos } = r.lastCall()
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expect(newPos.x).toBe(10)
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expect(newPos.y).toBe(20)
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})
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test('mehrere Receiver werden alle benachrichtigt', () => {
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const r1 = new MockCmdReceiver('r1')
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const r2 = new MockCmdReceiver('r2')
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robot.cmdReceivers.push(r1, r2)
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robot.sendCommand()
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expect(r1.callCount).toBe(1)
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expect(r2.callCount).toBe(1)
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})
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test('Receiver-Reihenfolge bleibt erhalten', () => {
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const order = []
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const r1 = { moveTo: () => order.push('r1') }
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const r2 = { moveTo: () => order.push('r2') }
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robot.cmdReceivers.push(r1, r2)
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robot.sendCommand()
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expect(order).toEqual(['r1', 'r2'])
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})
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test('sendCommand funktioniert ohne Receiver (kein Crash)', () => {
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expect(() => robot.sendCommand()).not.toThrow()
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})
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test('mehrere sendCommand Aufrufe triggern mehrere Calls', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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robot.sendCommand()
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expect(r.callCount).toBe(2)
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})
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test('MotorPosition wird neu erstellt bei jedem sendCommand', () => {
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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const first = r.lastCall().newPos
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robot.xMotor = 99
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robot.sendCommand()
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const second = r.lastCall().newPos
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expect(first.x).not.toBe(second.x)
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})
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test('sendCommand ruft Receiver auf ohne Log-Ausgabe', () => {
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const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {})
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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robot.sendCommand()
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expect(r.callCount).toBe(1)
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//expect(logSpy).toHaveBeenCalled(2)
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logSpy.mockRestore()
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})
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test('sendCommand multiple Receivers', () => {
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const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {})
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const r = new MockCmdReceiver()
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robot.cmdReceivers.push(r)
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const r2 = new MockCmdReceiver()
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robot.cmdReceivers.push(r2)
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robot.sendCommand()
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expect(r.callCount).toBe(1)
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expect(r2.callCount).toBe(1)
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//console.log(logSpy)
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//expect(logSpy).toHaveBeenCalled(2)
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logSpy.mockRestore()
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})
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}) |