b68bdfa9b4
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>
52 lines
2.1 KiB
JavaScript
52 lines
2.1 KiB
JavaScript
const units = require('../src/gcode/units');
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test('degToRad / radToDeg', () => {
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expect(units.degToRad(180)).toBeCloseTo(Math.PI, 10);
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expect(units.radToDeg(Math.PI)).toBeCloseTo(180, 10);
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});
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test('toExecutable: a/b/c/e Grad→Radian, Kommentar entfernt, mm/Feedrate unverändert', () => {
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const stored = 'G90 G1 x10 y20 z0 a90.00 b-90.00 c0.00 e0.00 f1000 ;1759566014';
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const exec = units.toExecutable(stored);
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expect(exec).not.toMatch(/;/); // kein Kommentar mehr
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expect(exec).toContain('x10'); // mm unverändert
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expect(exec).toContain('f1000'); // Feedrate unverändert
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expect(exec.startsWith('G90 G1')).toBe(true);
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const val = (axis) => Number(exec.split(/\s+/).find((t) => t.startsWith(axis)).slice(1));
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expect(val('a')).toBeCloseTo(Math.PI / 2, 4);
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expect(val('b')).toBeCloseTo(-Math.PI / 2, 4);
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expect(val('c')).toBeCloseTo(0, 6);
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});
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test('formatPointLine: Grad-Zeile mit Zeitstempel-Kommentar', () => {
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const pose = { x: 0, y: 300, z: 0, a: Math.PI / 2, b: -Math.PI / 2, c: 0, e: 0 };
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const line = units.formatPointLine(pose, 1000, 1759566014000);
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expect(line.startsWith('G90 G1 ')).toBe(true);
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expect(line).toContain('a90.00');
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expect(line).toContain('b-90.00');
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expect(line).toContain('f1000');
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expect(line).toContain(';1759566014000');
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});
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test('Round-trip Pose → gespeichert (Grad) → ausführbar (Radian)', () => {
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const pose = { x: 5, y: 100, z: -3, a: 1, b: -0.5, c: 0.25, e: 0.1 };
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const exec = units.toExecutable(units.formatPointLine(pose, 800));
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const val = (axis) => Number(exec.split(/\s+/).find((t) => t.startsWith(axis)).slice(1));
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expect(val('a')).toBeCloseTo(1, 3);
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expect(val('b')).toBeCloseTo(-0.5, 3);
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expect(val('e')).toBeCloseTo(0.1, 3);
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});
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test('Cursor-Marker hinzufügen/entfernen/erkennen', () => {
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const base = 'G90 G1 x0 y0 z0 a0 b0 c0 e0 f1000 ;123';
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const withCursor = units.addCursorMarker(base);
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expect(withCursor.endsWith('!')).toBe(true);
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expect(units.hasCursorMarker(withCursor)).toBe(true);
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const without = units.removeCursorMarker(withCursor);
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expect(units.hasCursorMarker(without)).toBe(false);
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expect(without).toBe(base);
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});
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