feat: add weekly curriculum cover image upload and display

tests/yahboom-teleop.cjs

@@ -4,12 +4,13 @@ const vm = require('node:vm');
 const path = require('node:path');
 const html = fs.readFileSync(path.join(__dirname, '../src/renderer/public/slam-viewer/index.html'), 'utf8');
 const code = html.slice(html.indexOf('let maxLinear ='), html.indexOf('// A static Gazebo model'));
-function create(real = true, yahboom = true) {
+function create(real = true, yahboom = true, mkmini = !yahboom) {
   const handlers = {}, messages = [], intervals = new Map();
   let id = 0;
   const context = vm.createContext({
-    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_YAHBOOM_TELEOP: real && yahboom,
-    USE_MKMINI_MODEL: !yahboom, DIRECT_BRIDGE: true,
+    REAL_RUNTIME: real, USE_YAHBOOM_MODEL: yahboom, REAL_TELEOP: real && (yahboom || mkmini),
+    REAL_MKMINI_TELEOP: real && mkmini, EDITOR_MODE: false,
+    USE_MKMINI_MODEL: mkmini, DIRECT_BRIDGE: true,
     latestSlamState: {teleop_deadman: true}, latestSlamStateReceivedAt: Date.now(),
     controlSocket: {readyState: 1, bufferedAmount: 0, send: data => messages.push(JSON.parse(data)), close() {this.readyState = 3;}},
     WebSocket: {OPEN: 1}, document: {hidden: false, hasFocus: () => true, addEventListener: (name, fn) => handlers[name] = fn},
@@ -45,8 +46,49 @@ assert.equal(t.messages.at(-1).linear, 0);
 assert.equal(t.intervals.size, 0);
 t = create(); t.context.latestSlamState.teleop_deadman = false; t.key('keydown', 'i');
 assert.equal(t.messages.length, 0);
-t = create(true, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+t = create(true, false, false); t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+for (const [forward, left, reverse] of [['i', 'j', ','], ['ArrowUp', 'ArrowLeft', 'ArrowDown']]) {
+  t = create(true, false);
+  t.key('keydown', left);
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.messages.at(-1).angular, 0);
+  t.key('keydown', forward);
+  assert.equal(t.messages.at(-1).linear, 0.1);
+  assert.equal(t.messages.at(-1).angular, 0.08);
+  assert.equal(t.messages.at(-1).deadman, true);
+  t.key('keyup', left, {target: {tagName: 'INPUT'}});
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.intervals.size, 0);
+  t.key('keydown', reverse);
+  t.key('keydown', 'l');
+  assert.equal(t.messages.at(-1).linear, -0.1);
+  assert.equal(t.messages.at(-1).angular, -0.08);
+  t.key('keydown', ' ');
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.messages.at(-1).angular, 0);
+}
+for (const event of ['blur', 'pagehide', 'visibilitychange']) {
+  t = create(true, false);
+  t.key('keydown', 'i');
+  if (event === 'visibilitychange') t.context.document.hidden = true;
+  t.handlers[event]();
+  assert.equal(t.messages.at(-1).linear, 0);
+  assert.equal(t.intervals.size, 0);
+}
+t = create(true, false);
+t.key('keydown', 'q'); t.key('keydown', 'i');
+assert.equal(t.messages.at(-1).linear, 0.1);
+t.context.latestSlamStateReceivedAt = 0;
+for (const tick of t.intervals.values()) tick();
+assert.equal(t.messages.at(-1).linear, 0);
+t = create(true, false); t.context.latestSlamState.teleop_deadman = false;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+t = create(true, false); t.context.controlSocket.bufferedAmount = 1;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
+assert.equal(t.context.controlSocket.readyState, 3);
+t = create(true, false); t.context.EDITOR_MODE = true;
+t.key('keydown', 'i'); assert.equal(t.messages.length, 0);
 t = create(false); t.key('keydown', 'i'); t.key('keyup', 'i');
 assert.equal(t.messages.at(-1).linear, 0.22);
 assert.equal(t.intervals.size, 1);
-console.log('PASS: deadman release, focus/visibility/stale-state stops, legacy bridge and other real vehicles blocked, simulation unchanged');
+console.log('PASS: Yahboom/MK-mini deadman, combined steering, arrows/reverse, release/focus/stale-state stops, speed cap, legacy/read-only blocking, simulation unchanged');