132 lines
4.6 KiB
JavaScript
132 lines
4.6 KiB
JavaScript
const GCode = require('../robot/GCode.js');
|
|
const Robot = require('../robot/kinematics/Arm3SegmentLinearX');
|
|
const TelnetSender = require('../robot/TelnetSenderGRBL.js');
|
|
|
|
describe('GCode Speed Tests', () => {
|
|
beforeAll(() => {
|
|
jest.spyOn(console, 'log').mockImplementation(() => {});
|
|
});
|
|
|
|
afterAll(() => {
|
|
jest.restoreAllMocks();
|
|
});
|
|
|
|
test('G1 with Feedrate F300 - TelnetSender1 should include f300', () => {
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const robot = new Robot(L1, L2, L3);
|
|
|
|
const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
|
|
const telnetSender2 = new TelnetSender("test.test", 5000, "a", null, null);
|
|
const telnetSender3 = new TelnetSender("test.test", 5000, "c", "e", "b");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
robot.cmdReceivers.push(telnetSender2);
|
|
robot.cmdReceivers.push(telnetSender3);
|
|
|
|
// G1 with F300
|
|
GCode.receiveGCode(robot, "G1 x120 y100 z50 f300");
|
|
|
|
// Check telnetSender1 (x,y,z axes)
|
|
expect(telnetSender1.tSocket.written).toContain('G1');
|
|
expect(telnetSender1.tSocket.written).toContain('f300');
|
|
expect(telnetSender1.tSocket.written).toMatch(/f300\.00/); // Exact format
|
|
|
|
// telnetSender2 and telnetSender3 might not have output if no changes
|
|
// But since x,y,z changed, telnetSender1 should have the command
|
|
});
|
|
|
|
|
|
test('G1 with Feedrate F300 - mit env', () => {
|
|
|
|
|
|
const previousValue = process.env.ROBOT_USE_SPEED_CALC;
|
|
process.env.ROBOT_USE_SPEED_CALC = 'true';
|
|
|
|
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const Robot2 = require('../robot/kinematics/Arm3SegmentLinearX'); // neu geladen
|
|
const robot = new Robot2(L1, L2, L3);
|
|
|
|
const telnetSender1 = new TelnetSender("test.test", 5000, "x", "y", "z");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
|
|
// G1 with F300
|
|
robot.useSpeedCalc = true; // Aktiviere die neue Logik
|
|
GCode.receiveGCode(robot, "G90 G1 x0 f700"); // Absolut!!
|
|
GCode.receiveGCode(robot, "G91 G1 x120 f700"); // relativ!!
|
|
|
|
// Check telnetSender1 (x,y,z axes)
|
|
expect(telnetSender1.tSocket.written).toContain('G1');
|
|
expect(telnetSender1.tSocket.written).toContain('f700');
|
|
expect(telnetSender1.tSocket.written).toMatch(/f700\.00/); // Exact format
|
|
|
|
// telnetSender2 and telnetSender3 might not have output if no changes
|
|
// But since x,y,z changed, telnetSender1 should have the command
|
|
if (previousValue === undefined) {
|
|
delete process.env.ROBOT_USE_SPEED_CALC;
|
|
} else {
|
|
process.env.ROBOT_USE_SPEED_CALC = previousValue;
|
|
}
|
|
|
|
});
|
|
|
|
test('G1 without Feedrate - should use default f1000', () => {
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const robot = new Robot(L1, L2, L3);
|
|
|
|
const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
|
|
// G1 without F
|
|
GCode.receiveGCode(robot, "G1 x120 y100 z50");
|
|
|
|
// Check default feedrate
|
|
expect(telnetSender1.tSocket.written).toContain('G1');
|
|
expect(telnetSender1.tSocket.written).toContain('f1000');
|
|
expect(telnetSender1.tSocket.written).toMatch(/f1000\.00/);
|
|
});
|
|
|
|
test('G1 with different Feedrate F500 - multiple senders', () => {
|
|
const L1 = 300;
|
|
const L2 = 300;
|
|
const L3 = 20;
|
|
|
|
const robot = new Robot(L1, L2, L3);
|
|
|
|
const telnetSender1 = new TelnetSender("test.test", 2300, "x", "y", "z");
|
|
const telnetSender2 = new TelnetSender("test.test", 5000, "a", null, null);
|
|
const telnetSender3 = new TelnetSender("test.test", 5000, "c", "e", "b");
|
|
|
|
robot.cmdReceivers.push(telnetSender1);
|
|
robot.cmdReceivers.push(telnetSender2);
|
|
robot.cmdReceivers.push(telnetSender3);
|
|
|
|
// G1 with F500
|
|
GCode.receiveGCode(robot, "G1 x120 y100 z50 a10 b20 c30 f500");
|
|
|
|
// telnetSender1 should have f500
|
|
expect(telnetSender1.tSocket.written).toContain('f500');
|
|
expect(telnetSender1.tSocket.written).toMatch(/f500\.00/);
|
|
|
|
// telnetSender2 (a axis) should have f500 if a changed
|
|
if (telnetSender2.tSocket.written.length > 0) {
|
|
expect(telnetSender2.tSocket.written).toContain('f500');
|
|
}
|
|
|
|
// telnetSender3 (c,e,b axes) should have f500 if changed
|
|
if (telnetSender3.tSocket.written.length > 0) {
|
|
expect(telnetSender3.tSocket.written).toContain('f500');
|
|
}
|
|
});
|
|
}); |