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fix: align modules with physical rover API

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mavxa
2026-09-10 22:06:08 +03:00
parent 0a8894f3b2
commit cb5e751d15
14 changed files with 474 additions and 96 deletions
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module4/server/state.test.ts
+3 -3
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@@ -5,12 +5,12 @@ 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: 'lift', robot: 'RMC2', height: 0.05 })).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: 'lift', robot: 'RMC1', height: 0.05 })).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)
})
@@ -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: 0.1 })
applyMockCommand(state, { type: 'lift', robot: 'RMC2', height: 0.05 })
applyMockCommand(state, { type: 'emergency', robot: 'RMC2', active: true })
expect(state.robots.RMC2.velocity.x).toBe(0)
expect(state.robots.RMC2.liftStatus).toBe('up')