95 lines
4.7 KiB
JavaScript
95 lines
4.7 KiB
JavaScript
const assert = require('node:assert/strict');
|
|
const fs = require('node:fs');
|
|
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, mkmini = !yahboom) {
|
|
const handlers = {}, messages = [], intervals = new Map();
|
|
let id = 0;
|
|
const context = vm.createContext({
|
|
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},
|
|
window: {addEventListener: (name, fn) => handlers[name] = fn,
|
|
setInterval: fn => {intervals.set(++id, fn); return id;}, clearInterval: id => intervals.delete(id),
|
|
setTimeout: () => ++id, clearTimeout: () => {}},
|
|
console, Date,
|
|
});
|
|
vm.runInContext(code, context);
|
|
const key = (type, value, extra = {}) => handlers[type]({key: value, target: {tagName: 'CANVAS'}, preventDefault() {}, ...extra});
|
|
return {context, handlers, messages, intervals, key};
|
|
}
|
|
let t = create();
|
|
t.key('keydown', 'i');
|
|
assert.equal(t.messages.at(-1).linear, 0.1);
|
|
assert.equal(t.messages.at(-1).deadman, true);
|
|
t.key('keyup', 'i', {target: {tagName: 'INPUT'}});
|
|
assert.equal(t.messages.at(-1).linear, 0);
|
|
assert.equal(t.intervals.size, 0);
|
|
for (const key of ['j', 'l', ',', 'u', 'o', 'm', '.']) {
|
|
t.key('keydown', key); t.key('keyup', key);
|
|
assert.equal(t.messages.at(-1).linear, 0);
|
|
assert.equal(t.messages.at(-1).angular, 0);
|
|
}
|
|
t.key('keydown', 'i'); t.handlers.blur();
|
|
assert.equal(t.messages.at(-1).linear, 0);
|
|
t.key('keydown', 'i'); t.context.document.hidden = true; t.handlers.visibilitychange();
|
|
assert.equal(t.messages.at(-1).linear, 0);
|
|
t = create();
|
|
t.key('keydown', 'i'); t.context.latestSlamStateReceivedAt = 0;
|
|
for (const tick of t.intervals.values()) tick();
|
|
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, 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: Yahboom/MK-mini deadman, combined steering, arrows/reverse, release/focus/stale-state stops, speed cap, legacy/read-only blocking, simulation unchanged');
|