@robotical/raftjs 2.1.0 → 2.1.3

package/src/RaftDeviceManager.test.ts

@@ -0,0 +1,164 @@
+import { DeviceManager } from "./RaftDeviceManager";
+import { DeviceTypeInfo } from "./RaftDeviceInfo";
+import RaftSystemUtils from "./RaftSystemUtils";
+
+function makeTypeInfo(name: string, respBytes: number, attrs: Array<{ n: string; t: string }>): DeviceTypeInfo {
+    return {
+        name,
+        desc: name,
+        manu: "Robotical",
+        type: name,
+        resp: {
+            b: respBytes,
+            a: attrs.map(attr => ({ ...attr, u: "", r: [0, 0] }))
+        }
+    };
+}
+
+async function makeDeviceManager(typeInfos: Record<string, DeviceTypeInfo>): Promise<DeviceManager> {
+    const msgHandler = {
+        sendRICRESTURL: jest.fn(async (cmd: string) => {
+            const deviceType = new URLSearchParams(cmd.split("?")[1]).get("type");
+            const devinfo = deviceType ? typeInfos[deviceType] : undefined;
+            return devinfo ? { rslt: "ok", devinfo } : { rslt: "fail" };
+        })
+    };
+    const systemUtils = {
+        getMsgHandler: () => msgHandler,
+        getPublishTopicName: () => "devbin"
+    } as unknown as RaftSystemUtils;
+
+    const deviceManager = new DeviceManager();
+    await deviceManager.setup(systemUtils);
+    return deviceManager;
+}
+
+describe("DeviceManager binary devbin parsing", () => {
+    const accelInfo = makeTypeInfo("MXC400xXC", 7, [
+        { n: "x", t: ">h" },
+        { n: "y", t: ">h" },
+        { n: "z", t: ">h" },
+        { n: "status", t: "B" }
+    ]);
+
+    it("decodes current length-prefixed records", async () => {
+        const deviceManager = await makeDeviceManager({ "4": accelInfo });
+        const rxMsg = Uint8Array.from([
+            0x00, 0x80,
+            0xDB, 0xFF, 0x00,
+            0x00, 0x12,
+            0x81,
+            0x00, 0x00, 0x00, 0x15,
+            0x00, 0x04,
+            0x05,
+            0x09,
+            0x00, 0x01,
+            0x00, 0x01,
+            0x00, 0x02,
+            0x00, 0x03,
+            0x04
+        ]);
+
+        await deviceManager.handleClientMsgBinary(rxMsg);
+
+        const deviceState = deviceManager.getDeviceState("1_15");
+        expect(deviceState.deviceType).toBe("MXC400xXC");
+        expect(deviceState.deviceTimeline.totalSamplesAdded).toBe(1);
+        expect(deviceState.deviceAttributes.x.values).toEqual([1]);
+        expect(deviceState.deviceAttributes.y.values).toEqual([2]);
+        expect(deviceState.deviceAttributes.z.values).toEqual([3]);
+        expect(deviceState.deviceAttributes.status.values).toEqual([4]);
+    });
+
+    it("decodes Cog v1.9.5 legacy raw accelerometer records", async () => {
+        const deviceManager = await makeDeviceManager({ "4": accelInfo });
+        const rxMsg = Uint8Array.from([
+            0x00, 0x80,
+            0x00, 0x10,
+            0x81,
+            0x00, 0x00, 0x00, 0x15,
+            0x00, 0x04,
+            0x00, 0x01,
+            0x00, 0x01,
+            0x00, 0x02,
+            0x00, 0x03,
+            0x04
+        ]);
+
+        await deviceManager.handleClientMsgBinary(rxMsg);
+
+        const deviceState = deviceManager.getDeviceState("1_15");
+        expect(deviceState.deviceType).toBe("MXC400xXC");
+        expect(deviceState.deviceTimeline.totalSamplesAdded).toBe(1);
+        expect(deviceState.deviceAttributes.x.values).toEqual([1]);
+        expect(deviceState.deviceAttributes.y.values).toEqual([2]);
+        expect(deviceState.deviceAttributes.z.values).toEqual([3]);
+        expect(deviceState.deviceAttributes.status.values).toEqual([4]);
+    });
+
+    it("decodes Cog v1.9.5 legacy raw records inside a devbin envelope", async () => {
+        const deviceManager = await makeDeviceManager({ "4": accelInfo });
+        const rxMsg = Uint8Array.from([
+            0x00, 0x80,
+            0xDB, 0xFF, 0x00,
+            0x00, 0x10,
+            0x81,
+            0x00, 0x00, 0x00, 0x15,
+            0x00, 0x04,
+            0x00, 0x01,
+            0x00, 0x01,
+            0x00, 0x02,
+            0x00, 0x03,
+            0x04
+        ]);
+
+        await deviceManager.handleClientMsgBinary(rxMsg);
+
+        const deviceState = deviceManager.getDeviceState("1_15");
+        expect(deviceState.deviceType).toBe("MXC400xXC");
+        expect(deviceState.deviceTimeline.totalSamplesAdded).toBe(1);
+        expect(deviceState.deviceAttributes.x.values).toEqual([1]);
+        expect(deviceState.deviceAttributes.y.values).toEqual([2]);
+        expect(deviceState.deviceAttributes.z.values).toEqual([3]);
+        expect(deviceState.deviceAttributes.status.values).toEqual([4]);
+    });
+
+    it("keeps Cog v1.9.5 direct device records distinct when bus and address are both zero", async () => {
+        const lightInfo = makeTypeInfo("LightSensors", 16, [
+            { n: "ch0", t: ">H" },
+            { n: "ch1", t: ">H" },
+            { n: "ch2", t: ">H" },
+            { n: "ch3", t: ">H" }
+        ]);
+        const powerInfo = makeTypeInfo("Power", 1, [
+            { n: "battery", t: "B" }
+        ]);
+        const deviceManager = await makeDeviceManager({ "2": lightInfo, "3": powerInfo });
+        const rxMsg = Uint8Array.from([
+            0x00, 0x80,
+            0x00, 0x11,
+            0x80,
+            0x00, 0x00, 0x00, 0x00,
+            0x00, 0x02,
+            0x00, 0x01,
+            0x00, 0x0a,
+            0x00, 0x0b,
+            0x00, 0x0c,
+            0x00, 0x0d,
+            0x00, 0x0a,
+            0x80,
+            0x00, 0x00, 0x00, 0x00,
+            0x00, 0x03,
+            0x00, 0x02,
+            0x63
+        ]);
+
+        await deviceManager.handleClientMsgBinary(rxMsg);
+
+        const devicesState = deviceManager.getDevicesState();
+        expect(devicesState["0_0_2"].deviceType).toBe("LightSensors");
+        expect(devicesState["0_0_2"].deviceAttributes.ch0.values).toEqual([10]);
+        expect(devicesState["0_0_3"].deviceType).toBe("Power");
+        expect(devicesState["0_0_3"].deviceAttributes.battery.values).toEqual([99]);
+    });
+});