appRobotDriver/test/FCodeClient.test.js

const FCodeClient = require('../robot/FCodeClient');

const robot = {
  x: 0, y: 300, z: 0,
  phi: Math.PI / 2, theta: -Math.PI / 2, psi: 0, e: 0,
  feedrate: 1000,
};

function mockOk(data) {
  global.fetch = jest.fn().mockResolvedValue({
    ok: true, status: 200, statusText: 'OK',
    json: () => Promise.resolve(data),
  });
}

function mockErr(status, code, message) {
  global.fetch = jest.fn().mockResolvedValue({
    ok: false, status, statusText: 'Error',
    json: () => Promise.resolve({ code, message }),
  });
}

afterEach(() => { delete global.fetch; });

/* ---------- isFCode ---------- */

describe('isFCode', () => {
  test('erkennt alle bekannten FCodes', () => {
    for (const f of ['FList','FShow','FLoad demo','FSave Name','FClear','FPoint','FPlus','FMinus','FFirst','FLast','FGoto 3','FPlay','FStop']) {
      expect(FCodeClient.isFCode(f)).toBe(true);
    }
  });

  test('erkennt Nicht-FCodes nicht', () => {
    expect(FCodeClient.isFCode('G1 X100')).toBe(false);
    expect(FCodeClient.isFCode('F1000')).toBe(false);
    expect(FCodeClient.isFCode('M114')).toBe(false);
    expect(FCodeClient.isFCode('Ping')).toBe(false);
    expect(FCodeClient.isFCode('')).toBe(false);
  });
});

/* ---------- handle: Listing / Info ---------- */

test('FList → GET /api/programs, type list', async () => {
  mockOk([{ id: 'a', name: 'A' }]);
  const result = await FCodeClient.handle(robot, 'FList');
  expect(result.type).toBe('list');
  expect(global.fetch).toHaveBeenCalledWith(
    expect.stringContaining('/api/programs'),
    expect.objectContaining({ method: 'GET' })
  );
  expect(JSON.parse(result.data)).toEqual([{ id: 'a', name: 'A' }]);
});

test('FShow ohne id → GET /api/active', async () => {
  mockOk({ programId: 'x', cursor: 0 });
  const result = await FCodeClient.handle(robot, 'FShow');
  expect(global.fetch).toHaveBeenCalledWith(expect.stringContaining('/api/active'), expect.anything());
  expect(result.type).toBe('show');
});

test('FShow mit id → GET /api/programs/:id', async () => {
  mockOk({ id: 'demo', name: 'Demo' });
  await FCodeClient.handle(robot, 'FShow demo');
  expect(global.fetch).toHaveBeenCalledWith(expect.stringContaining('/api/programs/demo'), expect.anything());
});

/* ---------- handle: Teaching ---------- */

test('FPoint → POST /api/active/points mit Roboterpose (Radian)', async () => {
  mockOk({ index: 0, line: 'G90 G1 x0 y300 z0 a1.5708 b-1.5708 c0 e0 f1000' });
  const result = await FCodeClient.handle(robot, 'FPoint');
  expect(result.type).toBe('point');
  const call = global.fetch.mock.calls[0];
  expect(call[1].method).toBe('POST');
  const body = JSON.parse(call[1].body);
  expect(body.pose.a).toBeCloseTo(Math.PI / 2, 4);
  expect(body.pose.b).toBeCloseTo(-Math.PI / 2, 4);
  expect(body.feedrate).toBe(1000);
});

/* ---------- handle: Program management ---------- */

test('FLoad → PUT /api/active mit id', async () => {
  mockOk({ programId: 'mein_prog', cursor: 0, lineCount: 5 });
  const result = await FCodeClient.handle(robot, 'FLoad mein_prog');
  expect(result.type).toBe('ok');
  const body = JSON.parse(global.fetch.mock.calls[0][1].body);
  expect(body).toEqual({ id: 'mein_prog' });
});

test('FSave → POST /api/programs mit name und fromActive:true', async () => {
  mockOk({ id: 'test_prog', name: 'Test Prog' });
  await FCodeClient.handle(robot, 'FSave Test Prog');
  const body = JSON.parse(global.fetch.mock.calls[0][1].body);
  expect(body.name).toBe('Test Prog');
  expect(body.fromActive).toBe(true);
});

test('FClear → POST /api/active/clear', async () => {
  mockOk({ ok: true });
  await FCodeClient.handle(robot, 'FClear');
  expect(global.fetch).toHaveBeenCalledWith(expect.stringContaining('/api/active/clear'), expect.objectContaining({ method: 'POST' }));
});

/* ---------- handle: Stepping → type step ---------- */

test('FPlus → POST /api/active/next → type step mit Zeile', async () => {
  mockOk({ cursor: 1, line: 'G90 G1 x10 y300 z0 a1.5708 b-1.5708 c0 e0 f1000' });
  const result = await FCodeClient.handle(robot, 'FPlus');
  expect(result.type).toBe('step');
  expect(result.line).toContain('G1');
});

test('FMinus → POST /api/active/prev', async () => {
  mockOk({ cursor: 0, line: 'G90 G1 x0 y300 z0 a0 b0 c0 e0 f1000' });
  const result = await FCodeClient.handle(robot, 'FMinus');
  expect(result.type).toBe('step');
});

test('FFirst / FLast', async () => {
  mockOk({ cursor: 0, line: 'G90 G1 x0 y0 z0 a0 b0 c0 e0 f1000' });
  const r1 = await FCodeClient.handle(robot, 'FFirst');
  expect(r1.type).toBe('step');

  mockOk({ cursor: 4, line: 'G90 G1 x5 y0 z0 a0 b0 c0 e0 f1000' });
  const r2 = await FCodeClient.handle(robot, 'FLast');
  expect(r2.type).toBe('step');
});

test('FGoto N → POST /api/active/goto mit index', async () => {
  mockOk({ cursor: 3, line: 'G90 G1 x3 y0 z0 a0 b0 c0 e0 f1000' });
  await FCodeClient.handle(robot, 'FGoto 3');
  const body = JSON.parse(global.fetch.mock.calls[0][1].body);
  expect(body.index).toBe(3);
});

/* ---------- Fehlerbehandlung ---------- */

test('Fileservice-Fehler → wirft mit code und status', async () => {
  mockErr(404, 'PROGRAM_NOT_FOUND', 'not found');
  await expect(FCodeClient.handle(robot, 'FLoad nichtda')).rejects.toMatchObject({
    code: 'PROGRAM_NOT_FOUND',
    status: 404,
  });
});

test('Unbekannter FCode → wirft', async () => {
  await expect(FCodeClient.handle(robot, 'FUnbekannt')).rejects.toThrow('Unbekannter FCode');
});