@operato/scene-storage 10.0.0-beta.28 → 10.0.0-beta.30

package/test/test-asrs-crane.ts

@@ -0,0 +1,319 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * AsrsCrane integration tests — pick/place data-flow for the ASRS crane.
+ *
+ * Uses fake/minimal containers (no DOM, no Three.js, no RAF) so they run in
+ * Node with tsx.
+ *
+ * Test infrastructure mirrors test-transfer-scenarios.ts in scene-base:
+ *   - FakeBase: minimal child-tracking container with setState support
+ *   - FakeCrane: Mover(ContainerCapacity(FakeBase)) — instant moveTo, AsrsCrane
+ *     engage() semantics (status + carriageHeight), slots = [{id:'forks', maxCount:1}]
+ *   - FakeRackCell: mimics RackCell.receive / dispatch / canReceive protocol
+ */
+
+import 'should'
+import { ContainerCapacity, TRANSFER_SLOT_KEY } from '@hatiolab/things-scene'
+import Mover from '../../scene-base/src/mover.js'
+
+// ── Shared fake infrastructure ─────────────────────────────────────────────────
+
+class FakeBase {
+  _components: any[] = []
+  state: Record<string, any>
+  parent: any = null
+  root: any = null
+
+  constructor(state: Record<string, any> = {}) {
+    this.state = state
+  }
+
+  get components() {
+    return this._components
+  }
+
+  setState(keyOrObj: string | Record<string, any>, value?: any) {
+    if (typeof keyOrObj === 'object') {
+      Object.assign(this.state, keyOrObj)
+    } else {
+      this.state[keyOrObj as string] = value
+    }
+  }
+
+  getState(key: string) {
+    return this.state[key]
+  }
+
+  addComponent(child: any) {
+    if (child.parent && child.parent !== this) {
+      const idx = child.parent._components?.indexOf(child) ?? -1
+      if (idx >= 0) child.parent._components.splice(idx, 1)
+      child.parent = null
+    }
+    if (!this._components.includes(child)) {
+      this._components.push(child)
+    }
+    child.parent = this
+  }
+
+  removeComponent(child: any) {
+    const idx = this._components.indexOf(child)
+    if (idx >= 0) this._components.splice(idx, 1)
+    if (child.parent === this) child.parent = null
+  }
+
+  reparent(child: any, _options?: any) {
+    this.addComponent(child)
+  }
+
+  trigger(_name: string, ..._args: any[]) {}
+}
+
+function makeCarrier(zPos?: number) {
+  return {
+    parent: null as any,
+    state: { type: 'pallet', ...(zPos !== undefined ? { zPos } : {}) },
+    type: 'pallet',
+    [TRANSFER_SLOT_KEY]: undefined as any,
+    setState(_s: any) {}
+  }
+}
+
+// FakeCrane: Mover(ContainerCapacity(FakeBase)) with instant moveTo +
+// AsrsCrane engage() semantics (status + carriageHeight snap from carrier.state.zPos).
+const FakeCraneBase = Mover(ContainerCapacity(FakeBase as any))
+
+class FakeCrane extends (FakeCraneBase as any) {
+  constructor(state: Record<string, any> = {}) {
+    super({ status: 'idle', carriageHeight: 0, ...state })
+  }
+
+  get slots() {
+    return [{ id: 'forks', maxCount: 1 }]
+  }
+
+  moveTo(_target: any, _options: any = {}): Promise<void> {
+    return Promise.resolve()
+  }
+
+  async engage(target: any, kind: 'pick' | 'place'): Promise<void> {
+    if (kind === 'pick') {
+      this.state.status = 'loading'
+      const carrierY = target?.state?.zPos ?? null
+      if (carrierY !== null) this.state.carriageHeight = carrierY
+    } else {
+      this.state.status = 'unloading'
+    }
+  }
+
+  /** Semantic alias for pick (matches AsrsCrane.fetch). */
+  fetch(carrier: any, options?: any): Promise<void> {
+    return (this as any).pick(carrier, options)
+  }
+
+  /** Semantic alias for place (matches AsrsCrane.deposit). */
+  deposit(carrier: any, cell: any, options?: any): Promise<void> {
+    return (this as any).place(carrier, cell, options)
+  }
+}
+
+// FakeRackCell: mimics RackCell.receive / dispatch / canReceive protocol.
+// capacity=1 (single-slot cell).
+class FakeRackCell extends FakeBase {
+  cellId: string
+
+  constructor(state: Record<string, any> = {}) {
+    super(state)
+    this.cellId = (state.cellId as string) || 'cell-0-0-0'
+  }
+
+  canReceive(_component?: any): boolean {
+    return this._components.length < 1
+  }
+
+  async receive(carrier: any, options: any = {}): Promise<void> {
+    if (!this.canReceive(carrier)) return
+    carrier[TRANSFER_SLOT_KEY] = this.cellId
+    this.reparent(carrier, options)
+  }
+
+  async dispatch(carrier: any, target: any, options: any = {}): Promise<void> {
+    this.removeComponent(carrier)
+    if (typeof target?.receive === 'function') {
+      await target.receive(carrier, options)
+    } else {
+      target?.reparent?.(carrier, options)
+    }
+  }
+}
+
+// ── Scenario 1: fetch (pick) ──────────────────────────────────────────────────
+
+describe('AsrsCrane: fetch (pick)', () => {
+  it('fetch 후 carrier가 crane의 child', async () => {
+    const crane = new FakeCrane()
+    const carrier = makeCarrier()
+
+    await crane.fetch(carrier)
+
+    crane._components.should.containEql(carrier)
+  })
+
+  it('fetch 후 TRANSFER_SLOT_KEY = forks', async () => {
+    const crane = new FakeCrane()
+    const carrier = makeCarrier()
+
+    await crane.fetch(carrier)
+
+    carrier[TRANSFER_SLOT_KEY].should.equal('forks')
+  })
+
+  it('fetch engage → status loading', async () => {
+    const crane = new FakeCrane()
+    const carrier = makeCarrier()
+
+    await crane.fetch(carrier)
+
+    crane.state.status.should.equal('loading')
+  })
+
+  it('carrier에 zPos 있으면 carriageHeight 스냅', async () => {
+    const crane = new FakeCrane()
+    const carrier = makeCarrier(1500)
+
+    await crane.fetch(carrier)
+
+    crane.state.carriageHeight.should.equal(1500)
+  })
+
+  it('zPos 없으면 carriageHeight 변경 없음', async () => {
+    const crane = new FakeCrane({ carriageHeight: 500 })
+    const carrier = makeCarrier() // no zPos
+
+    await crane.fetch(carrier)
+
+    crane.state.carriageHeight.should.equal(500)
+  })
+
+  it('fetch 전에 carrier가 rack cell에 있었으면 거기서 제거', async () => {
+    const crane = new FakeCrane()
+    const cell = new FakeRackCell({ cellId: 'cell-0-0-0' })
+    const carrier = makeCarrier()
+    await cell.receive(carrier)
+
+    await crane.fetch(carrier)
+
+    crane._components.should.containEql(carrier)
+    cell._components.should.not.containEql(carrier)
+  })
+
+  it('maxCount(1) 가득 차면 canReceive false', async () => {
+    const crane = new FakeCrane()
+    const c1 = makeCarrier()
+    const c2 = makeCarrier()
+
+    await crane.fetch(c1)
+    ;(crane as any).canReceive(c2).should.be.false()
+  })
+})
+
+// ── Scenario 2: deposit (place) ───────────────────────────────────────────────
+
+describe('AsrsCrane: deposit (place)', () => {
+  it('deposit 후 carrier가 rackCell의 child', async () => {
+    const crane = new FakeCrane()
+    const cell = new FakeRackCell({ cellId: 'cell-1-0-2' })
+    const carrier = makeCarrier()
+
+    crane.addComponent(carrier)
+    carrier[TRANSFER_SLOT_KEY] = 'forks'
+
+    await crane.deposit(carrier, cell)
+
+    cell._components.should.containEql(carrier)
+    crane._components.should.not.containEql(carrier)
+  })
+
+  it('deposit engage → status unloading', async () => {
+    const crane = new FakeCrane()
+    const cell = new FakeRackCell()
+    const carrier = makeCarrier()
+
+    crane.addComponent(carrier)
+    carrier[TRANSFER_SLOT_KEY] = 'forks'
+
+    await crane.deposit(carrier, cell)
+
+    crane.state.status.should.equal('unloading')
+  })
+
+  it('deposit 후 TRANSFER_SLOT_KEY = cellId', async () => {
+    const crane = new FakeCrane()
+    const cell = new FakeRackCell({ cellId: 'cell-3-0-1' })
+    const carrier = makeCarrier()
+
+    crane.addComponent(carrier)
+    carrier[TRANSFER_SLOT_KEY] = 'forks'
+
+    await crane.deposit(carrier, cell)
+
+    carrier[TRANSFER_SLOT_KEY].should.equal('cell-3-0-1')
+  })
+})
+
+// ── Scenario 3: fetch → deposit 전체 사이클 ──────────────────────────────────
+
+describe('AsrsCrane: fetch → deposit 전체 사이클', () => {
+  it('cell-A → crane → cell-B', async () => {
+    const crane = new FakeCrane()
+    const cellA = new FakeRackCell({ cellId: 'cell-0-0-0' })
+    const cellB = new FakeRackCell({ cellId: 'cell-5-0-3' })
+    const carrier = makeCarrier()
+
+    // Pre-place carrier in cellA
+    await cellA.receive(carrier)
+    cellA._components.should.containEql(carrier)
+    carrier[TRANSFER_SLOT_KEY].should.equal('cell-0-0-0')
+
+    // Fetch from cellA
+    await crane.fetch(carrier)
+    crane._components.should.containEql(carrier)
+    cellA._components.should.not.containEql(carrier)
+    carrier[TRANSFER_SLOT_KEY].should.equal('forks')
+
+    // Deposit into cellB
+    await crane.deposit(carrier, cellB)
+    cellB._components.should.containEql(carrier)
+    crane._components.should.not.containEql(carrier)
+    carrier[TRANSFER_SLOT_KEY].should.equal('cell-5-0-3')
+  })
+
+  it('fetch → deposit 후 status 순서: loading → unloading', async () => {
+    const crane = new FakeCrane()
+    const cell = new FakeRackCell({ cellId: 'cell-0-0-0' })
+    const carrier = makeCarrier()
+
+    await crane.fetch(carrier)
+    crane.state.status.should.equal('loading')
+
+    await crane.deposit(carrier, cell)
+    crane.state.status.should.equal('unloading')
+  })
+
+  it('pickAndPlace: carrier를 cellA에서 cellB로 한 번에', async () => {
+    const crane = new FakeCrane()
+    const cellA = new FakeRackCell({ cellId: 'cell-2-0-1' })
+    const cellB = new FakeRackCell({ cellId: 'cell-7-0-3' })
+    const carrier = makeCarrier()
+
+    await cellA.receive(carrier)
+
+    await (crane as any).pickAndPlace(carrier, cellB)
+
+    cellB._components.should.containEql(carrier)
+    cellA._components.should.not.containEql(carrier)
+    crane._components.should.not.containEql(carrier)
+    carrier[TRANSFER_SLOT_KEY].should.equal('cell-7-0-3')
+  })
+})

package/tsconfig.json

@@ -19,5 +19,6 @@
     "incremental": true,
     "skipLibCheck": true
   },
-  "include": ["**/*.ts", "*.d.ts"]
+  "include": ["src/**/*.ts"],
+  "exclude": ["dist/**", "test/**", "node_modules"]
 }