@operato/scene-storage 10.0.0-beta.30 → 10.0.0-beta.32

package/test/test-phase-h-carrier-pickable.ts

@@ -0,0 +1,105 @@
+/*
+ * Copyright © HatioLab Inc. All rights reserved.
+ *
+ * Phase H — Pallet / Box 의 Pickable 구현 단위테스트.
+ *
+ * source-level + helper integration:
+ *   - Pallet: rectangularFootprintFrames 로 4-way fork entry
+ *   - Box: topApproachFrame 로 단일 gripper entry
+ *   - 호환성 시나리오: forklift 가 pallet 만 picks, gripper 가 box 만 picks
+ */
+
+import 'should'
+import * as fs from 'fs'
+import { fileURLToPath } from 'url'
+
+function readSrc(relPath: string): string {
+  const url = new URL(relPath, import.meta.url)
+  return fs.readFileSync(fileURLToPath(url), 'utf-8')
+}
+
+describe('Phase H — Pallet pickupFrames', () => {
+  it('rectangularFootprintFrames helper 사용', () => {
+    const src = readSrc('../src/pallet.ts')
+    src.should.match(/import\s*\{[^}]*rectangularFootprintFrames/)
+    src.should.match(/pickupFrames\(\):\s*PickupFrame\[\]/)
+    src.should.match(/rectangularFootprintFrames\(\{/)
+  })
+
+  it('forklift-fork toolType', () => {
+    const src = readSrc('../src/pallet.ts')
+    src.should.match(/toolType:\s*['"]forklift-fork['"]/)
+  })
+
+  it('4-way 진입 (모든 면)', () => {
+    const src = readSrc('../src/pallet.ts')
+    src.should.match(/sides:\s*\[\s*['"]east['"],\s*['"]west['"],\s*['"]north['"],\s*['"]south['"]\s*\]/)
+  })
+
+  it('fork pocket 위치 (palletDepth * 0.4)', () => {
+    const src = readSrc('../src/pallet.ts')
+    src.should.match(/entryHeight:\s*palletDepth\s*\*\s*0\.4/)
+  })
+
+  it('tolerance 명시 (50mm / 5°)', () => {
+    const src = readSrc('../src/pallet.ts')
+    src.should.match(/positionMm:\s*50/)
+    src.should.match(/angleDeg:\s*5/)
+  })
+})
+
+describe('Phase H — Box pickupFrames', () => {
+  it('topApproachFrame helper 사용', () => {
+    const src = readSrc('../src/box.ts')
+    src.should.match(/import\s*\{[^}]*topApproachFrame/)
+    src.should.match(/pickupFrames\(\):\s*PickupFrame\[\]/)
+    src.should.match(/topApproachFrame\(\{/)
+  })
+
+  it('gripper toolType (vacuum / 2-finger / 3-finger 모두 매칭)', () => {
+    const src = readSrc('../src/box.ts')
+    src.should.match(/toolType:\s*['"]gripper['"]/)
+  })
+
+  it('단일 entry (top-gripper)', () => {
+    const src = readSrc('../src/box.ts')
+    src.should.match(/id:\s*['"]top-gripper['"]/)
+  })
+
+  it('정밀한 tolerance (5mm / 1°) — gripper 정밀도 반영', () => {
+    const src = readSrc('../src/box.ts')
+    src.should.match(/positionMm:\s*5/)
+    src.should.match(/angleDeg:\s*1/)
+  })
+})
+
+describe('Phase H — Parcel pickupFrames', () => {
+  it('topApproachFrame helper 사용 (Box 와 동일 패턴)', () => {
+    const src = readSrc('../src/parcel.ts')
+    src.should.match(/import\s*\{[^}]*topApproachFrame/)
+    src.should.match(/topApproachFrame\(\{/)
+  })
+
+  it('gripper toolType + suction id', () => {
+    const src = readSrc('../src/parcel.ts')
+    src.should.match(/toolType:\s*['"]gripper['"]/)
+    src.should.match(/id:\s*['"]top-suction['"]/)
+  })
+
+  it('완화된 tolerance (10mm / 2°) — cardboard 변형 감안', () => {
+    const src = readSrc('../src/parcel.ts')
+    src.should.match(/positionMm:\s*10/)
+    src.should.match(/angleDeg:\s*2/)
+  })
+})
+
+describe('Phase H invariant — carrier 별 toolType 분리', () => {
+  it('Pallet 은 forklift-fork 만, Box 는 gripper 만 — 자동 호환성 검사 통과', () => {
+    const palletSrc = readSrc('../src/pallet.ts')
+    const boxSrc = readSrc('../src/box.ts')
+    palletSrc.should.match(/forklift-fork/)
+    palletSrc.should.not.match(/toolType:\s*['"]gripper['"]/)
+    boxSrc.should.match(/gripper/)
+    boxSrc.should.not.match(/forklift-fork/)
+  })
+})