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fix ROS profiles and simulator reliability

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mavxa
2026-09-11 23:19:19 +03:00
parent cb5e751d15
commit 21ee4b8b26
14 changed files with 77 additions and 50 deletions
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module4/server/state.test.ts
+2 -2
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@@ -5,7 +5,7 @@ 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: 0.05 })).toBe(true)
expect(isCommand({ type: 'lift', robot: 'RMC2', height: 0.1 })).toBe(true)
expect(isCommand({ type: 'gripper', robot: 'RMC1', state: 'closed' })).toBe(true)
})
@@ -23,7 +23,7 @@ describe('mock state', () => {
tickMock(state, 1)
expect(state.robots.RMC2.pose.x).toBeCloseTo(0.5)
applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.05 })
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')