Tests

CalculateAngles verpacken

package.json

@@ -13,7 +13,7 @@
     "test:coverage": "jest --coverage"
   },
   "jest": {
-    "testEnvironment": "jsdom"
+    "testEnvironment": "node"
   },
   "dependencies": {
     "dotenv": "^16.4.5",

public/calculateAngles.cjs

@@ -0,0 +1,3 @@
+
+const { calculate } = require('./calculateAngles.js');
+module.exports = { calculate };

public/calculateAngles.js

@@ -0,0 +1,43 @@
+/**
+ * calculateAngles module
+ *
+ * Browser + Server + Jest (CJS) kompatibel
+ */
+
+function calculate(foundMarkers, jsonRobot) {
+  // --- X of the Hand-Joint ---
+  const validOns = new Set(['Base', 'Arm1', 'Joint1']);
+  const foundById = new Map(foundMarkers.map(f => [f.id, f]));
+
+  const markersMovingFixedX = jsonRobot.Marker.filter(m => validOns.has(m.on));
+  const markersXPosition = new Map();
+
+  const xs = markersMovingFixedX
+    .map(m => {
+      const f = foundById.get(m.id);
+      return f ? f.position[0] - m.relPos[0] : null;
+    })
+    .filter(x => x !== null);
+
+  const xAvg = xs.length
+    ? xs.reduce((a, b) => a + b, 0) / xs.length
+    : 0;
+
+  return {
+    meta: {
+      module: 'calculateAngles',
+      timestamp: new Date().toISOString()
+    },
+    inputs: {
+      markers: foundMarkers ?? null,
+      robot: jsonRobot ?? null
+    },
+    status: 'ok',
+    result: {
+      xAvg
+    }
+  };
+}
+
+
+module.exports = { calculate };

public/calculateAnglesBrowser.js

@@ -0,0 +1,9 @@
+
+import { calculate } from './calculateAngles.js';
+
+if (typeof window !== 'undefined') {
+  window.calculateAngles = window.calculateAngles || {};
+  window.calculateAngles.calculate = calculate;
+}
+
+export { calculate };

public/robot.json

@@ -1,5 +1,11 @@
 {
     "Elements":["Board","Base","Arm1","Joint1","Arm2","Finger1","Finger2"], 
+    "Joints":{
+        "jointA":{"name":"Slider",  "type":"lninear", "axis":[1,0,0],"parent":"Board","child":"Base"},
+        "jointB":{"name":"Shoulder","type":"revolute","axis":[1,0,0],"parent":"Base","child":"Arm1","origin":[-89.5, 115, 61]},
+        "jointC":{"name":"EllbowLift","type":"revolute","axis":[1,0,0],"parent":"Arm1","child":"Joint1"},
+        "jointD":{"name":"EllbowTwist","type":"revolute","axis":[0,1,0],"parent":"Joint1","child":"Arm2"}
+    },
     "MarkerType":"DICT_4X4_250",
     "Marker":[
         {"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},        

test/calculateAngles.test.js

@@ -0,0 +1,55 @@
+const fs = require('fs');
+const path = require('path');
+const { calculate } = require('../public/calculateAngles.cjs');
+
+/* -------------------------
+   Hilfsfunktionen
+------------------------- */
+
+function loadMarkersFromCSV(filePath) {
+  const text = fs.readFileSync(filePath, 'utf8');
+
+  const [header, ...lines] = text
+    .split('\n')
+    .map(l => l.trim())
+    .filter(Boolean);
+
+  return lines.map(line => {
+    const [
+      id,
+      x, y, z,
+      roll, pitch, yaw,
+      seen_by
+    ] = line.split(',');
+
+    return {
+      id: Number(id),
+      position: [Number(x), Number(y), Number(z)],
+      rotation: [Number(roll), Number(pitch), Number(yaw)],
+      seen_by: Number(seen_by)
+    };
+  });
+}
+
+function loadJSON(filePath) {
+  return JSON.parse(fs.readFileSync(filePath, 'utf8'));
+}
+
+/* -------------------------
+   Tests
+------------------------- */
+
+describe('calculateAngles.calculate', () => {
+  test('berechnet X-Durchschnitt für Base / Arm1 / Joint1', async () => {
+    const markersPath = path.resolve('./test/snapshots/snapshot_video0_1774805028717_two_cam.csv');
+    const robotPath   = path.resolve('./public/robot.json');
+
+    const foundMarkers = loadMarkersFromCSV(markersPath);
+    const jsonRobot    = loadJSON(robotPath);
+
+    const result = await calculate(foundMarkers, jsonRobot);
+
+    expect(result.status).toBe('ok');
+    expect(result.result).toBeDefined();
+  });
+});