appRobotDriver/test/Robot.sendCommand.test.js

const Robot = require('../robot/kinematics/Arm3SegmentLinearX')
const GCode = require('../robot/GCode.js');
const MockCmdReceiver = require('./helpers/mockCmdReceiver')

describe('Robot.sendCommand & cmdReceivers', () => {

  let robot

  
  beforeAll(() => {
    jest.spyOn(console, 'log').mockImplementation(() => {})
  })

  afterAll(() => {
    jest.restoreAllMocks()
  })


  beforeEach(() => {
    robot = new Robot(10, 10, 5)

    // definierten Startzustand erzwingen
    robot.xMotor = 1
    robot.alpha = 2
    robot.beta = 3
    robot.a = 4
    robot.b = 5
    robot.c = 6
    robot.eMotor = 7
  })

  test('sendCommand ruft Receiver.moveTo genau einmal auf', () => {
    const r = new MockCmdReceiver()

    robot.cmdReceivers.push(r)
    robot.sendCommand()

    expect(r.callCount).toBe(1)
  })

  test('moveTo bekommt oldPos und newPos', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()

    const call = r.lastCall()
    expect(call.oldPos).toBeDefined()
    expect(call.newPos).toBeDefined()
  })

  test('oldPos und newPos sind unterschiedliche Objekte', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()

    const { oldPos, newPos } = r.lastCall()
    expect(oldPos).not.toBe(newPos)
  })

  test('oldPos enthält vorherige Motorwerte', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()

    const { oldPos } = r.lastCall()
    expect(oldPos.x).toBe(1)
    expect(oldPos.y).toBe(2)
    expect(oldPos.z).toBe(3)
  })

  test('newPos enthält aktuelle Motorwerte', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.xMotor = 10
    robot.alpha = 20

    robot.sendCommand()

    const { newPos } = r.lastCall()
    expect(newPos.x).toBe(10)
    expect(newPos.y).toBe(20)
  })

  test('newPos enthält aktuelle Motorwerte GCode', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    GCode.receiveGCode(robot, "G90 G1 x10 y200 z0 f300")

    robot.sendCommand()

    const { newPos } = r.lastCall()
    expect(newPos.x).toBe(5) // Dummy Test, soll eventuell anders sein.
  })

  test('mehrere Receiver werden alle benachrichtigt', () => {
    const r1 = new MockCmdReceiver('r1')
    const r2 = new MockCmdReceiver('r2')

    robot.cmdReceivers.push(r1, r2)
    robot.sendCommand()

    expect(r1.callCount).toBe(1)
    expect(r2.callCount).toBe(1)
  })

  test('Receiver-Reihenfolge bleibt erhalten', () => {
    const order = []

    const r1 = { execCommand: () => order.push('r1') }
    const r2 = { execCommand: () => order.push('r2') }

    robot.cmdReceivers.push(r1, r2)
    robot.sendCommand()

    expect(order).toEqual(['r1', 'r2'])
  })

  test('sendCommand funktioniert ohne Receiver (kein Crash)', () => {
    expect(() => robot.sendCommand()).not.toThrow()
  })

  test('mehrere sendCommand Aufrufe triggern mehrere Calls', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()
    robot.sendCommand()

    expect(r.callCount).toBe(2)
  })

  test('MotorPosition wird neu erstellt bei jedem sendCommand', () => {
    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()
    const first = r.lastCall().newPos

    robot.xMotor = 99
    robot.sendCommand()
    const second = r.lastCall().newPos

    expect(first.x).not.toBe(second.x)
  })


  test('sendCommand ruft Receiver auf ohne Log-Ausgabe', () => {
    const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {})

    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)

    robot.sendCommand()

    expect(r.callCount).toBe(1)

    //expect(logSpy).toHaveBeenCalled(2)
    logSpy.mockRestore()
  })

  test('sendCommand multiple Receivers', () => {
    const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {})

    const r = new MockCmdReceiver()
    robot.cmdReceivers.push(r)
    const r2 = new MockCmdReceiver()
    robot.cmdReceivers.push(r2)

    robot.sendCommand()

    expect(r.callCount).toBe(1)
    expect(r2.callCount).toBe(1)

    //console.log(logSpy)
    //expect(logSpy).toHaveBeenCalled(2)
    logSpy.mockRestore()
  })


})