init

2026-09-09 16:31:27 +03:00
commit 0a8894f3b2
100 changed files with 5091 additions and 0 deletions
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+import { describe, expect, test } from 'bun:test'
+import { isCommand } from './commands'
+import { applyMockCommand, initialState, tickMock } from './state'
+
+describe('command validation', () => {
+  test('accepts valid commands', () => {
+    expect(isCommand({ type: 'manual', robot: 'RMC1', x: 0.4, y: 0.2, yaw: 0 })).toBe(true)
+    expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.1 })).toBe(true)
+    expect(isCommand({ type: 'gripper', robot: 'RMC1', state: 'closed' })).toBe(true)
+  })
+
+  test('rejects wrong robot tools and non-finite coordinates', () => {
+    expect(isCommand({ type: 'lift', robot: 'RMC1', height: 0.1 })).toBe(false)
+    expect(isCommand({ type: 'gripper', robot: 'RMC2', state: 'open' })).toBe(false)
+    expect(isCommand({ type: 'set_goal', robot: 'RMC1', pose: { x: Number.NaN, y: 0, yaw: 0 } })).toBe(false)
+  })
+})
+
+describe('mock state', () => {
+  test('emergency stop blocks motion and tool state is retained', () => {
+    const state = initialState('mock')
+    applyMockCommand(state, { type: 'manual', robot: 'RMC2', x: 0.5, y: 0, yaw: 0 })
+    tickMock(state, 1)
+    expect(state.robots.RMC2.pose.x).toBeCloseTo(0.5)
+
+    applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.1 })
+    applyMockCommand(state, { type: 'emergency', robot: 'RMC2', active: true })
+    expect(state.robots.RMC2.velocity.x).toBe(0)
+    expect(state.robots.RMC2.liftStatus).toBe('up')
+  })
+})