Initiales Projekt-Skelett appRobotFileservice

Ausgelagertes Programm-/File-Handling (vormals GCode.receiveFC im appRobotDriver,
ToDo_4 / ToDo_6b). Express-Service mit .gcode + .json-Storage, aktivem Programm +
Cursor, Teaching (FPoint) und Playback. Speicherung in Grad, driver-nativ (Radian)
zum Driver. Konzept/API unter doc/draft_filehandeling*.md. Tests: jest (13 gruen).

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

test/units.test.js

@@ -0,0 +1,51 @@
+const units = require('../src/gcode/units');
+
+test('degToRad / radToDeg', () => {
+  expect(units.degToRad(180)).toBeCloseTo(Math.PI, 10);
+  expect(units.radToDeg(Math.PI)).toBeCloseTo(180, 10);
+});
+
+test('toExecutable: a/b/c/e Grad→Radian, Kommentar entfernt, mm/Feedrate unverändert', () => {
+  const stored = 'G90 G1 x10 y20 z0 a90.00 b-90.00 c0.00 e0.00 f1000 ;1759566014';
+  const exec = units.toExecutable(stored);
+
+  expect(exec).not.toMatch(/;/); // kein Kommentar mehr
+  expect(exec).toContain('x10'); // mm unverändert
+  expect(exec).toContain('f1000'); // Feedrate unverändert
+  expect(exec.startsWith('G90 G1')).toBe(true);
+
+  const val = (axis) => Number(exec.split(/\s+/).find((t) => t.startsWith(axis)).slice(1));
+  expect(val('a')).toBeCloseTo(Math.PI / 2, 4);
+  expect(val('b')).toBeCloseTo(-Math.PI / 2, 4);
+  expect(val('c')).toBeCloseTo(0, 6);
+});
+
+test('formatPointLine: Grad-Zeile mit Zeitstempel-Kommentar', () => {
+  const pose = { x: 0, y: 300, z: 0, a: Math.PI / 2, b: -Math.PI / 2, c: 0, e: 0 };
+  const line = units.formatPointLine(pose, 1000, 1759566014000);
+  expect(line.startsWith('G90 G1 ')).toBe(true);
+  expect(line).toContain('a90.00');
+  expect(line).toContain('b-90.00');
+  expect(line).toContain('f1000');
+  expect(line).toContain(';1759566014000');
+});
+
+test('Round-trip Pose → gespeichert (Grad) → ausführbar (Radian)', () => {
+  const pose = { x: 5, y: 100, z: -3, a: 1, b: -0.5, c: 0.25, e: 0.1 };
+  const exec = units.toExecutable(units.formatPointLine(pose, 800));
+  const val = (axis) => Number(exec.split(/\s+/).find((t) => t.startsWith(axis)).slice(1));
+  expect(val('a')).toBeCloseTo(1, 3);
+  expect(val('b')).toBeCloseTo(-0.5, 3);
+  expect(val('e')).toBeCloseTo(0.1, 3);
+});
+
+test('Cursor-Marker hinzufügen/entfernen/erkennen', () => {
+  const base = 'G90 G1 x0 y0 z0 a0 b0 c0 e0 f1000 ;123';
+  const withCursor = units.addCursorMarker(base);
+  expect(withCursor.endsWith('!')).toBe(true);
+  expect(units.hasCursorMarker(withCursor)).toBe(true);
+
+  const without = units.removeCursorMarker(withCursor);
+  expect(units.hasCursorMarker(without)).toBe(false);
+  expect(without).toBe(base);
+});