@wandelbots/wandelbots-js-react-components 3.4.0-pr.feat-yaskawa-gp200s.437.1b5737e → 3.4.0-pr.feat-add-yaskawa-gp200s.438.c416a9e

package/src/lib/JoggerConnection.test.ts

@@ -1,120 +0,0 @@
-import { NovaClient } from "@wandelbots/nova-js/v2"
-import { expect, test, vi } from "vitest"
-import { delay } from "../components/utils/errorHandling"
-import { JoggerConnection } from "./JoggerConnection"
-import { jointValuesEqual } from "./motionStateUpdate"
-
-// Notes:
-// - In mock mode, no joint comparison takes place (always successful)
-// - To test with real (virtual or physical) instance, set an INSTANCE_URL
-
-const INSTANCE_URL = undefined // This could be read from ENV in future
-const MOCK = !INSTANCE_URL
-
-test("jog a robot somewhat", async () => {
-  const nova = new NovaClient({
-    instanceUrl: MOCK ? "https://mock.example.com" : INSTANCE_URL,
-  })
-
-  // Find a virtual robot we can jog
-  const controllerNames = await nova.api.controller.listRobotControllers()
-  const firstControllerName = controllerNames[0]
-
-  if (!firstControllerName) {
-    throw new Error("No robot controllers found on instance")
-  }
-
-  const controllerConfig =
-    await nova.api.controller.getRobotController(firstControllerName)
-  const controllerState =
-    await nova.api.controller.getCurrentRobotControllerState(
-      firstControllerName,
-    )
-  console.log("verify, got controller config and state", {
-    controllerConfig,
-    controllerState,
-  })
-
-  if (!controllerConfig || !controllerState) {
-    throw new Error(
-      `Could not get controller config and state for ${firstControllerName}`,
-    )
-  }
-
-  if (controllerConfig.configuration.kind !== "VirtualController") {
-    throw new Error(
-      `Controller ${firstControllerName} is not a VirtualController, it's a ${controllerConfig.configuration.kind}`,
-    )
-  }
-
-  if (controllerState.last_error?.[0]) {
-    throw new Error(
-      `Controller ${firstControllerName} has error: ${controllerState.last_error[0]}`,
-    )
-  }
-
-  const virtualMotionGroup = controllerState.motion_groups[0]
-
-  if (!virtualMotionGroup) {
-    throw new Error(
-      `Could not find a joggable motion group. Saw controller: ${firstControllerName}`,
-    )
-  }
-
-  const jogger = await JoggerConnection.open(
-    nova,
-    virtualMotionGroup.motion_group,
-  )
-
-  function getJoints() {
-    return jogger.motionStream.rapidlyChangingMotionState.joint_position
-  }
-
-  let joints = getJoints()
-
-  await jogger.setJoggingMode("jogging")
-
-  await jogger.rotateJoints({
-    joint: 0,
-    direction: "+",
-    velocityRadsPerSec: 0.1,
-  })
-
-  await delay(500)
-  await jogger.stop()
-
-  if (!MOCK) {
-    // Only verify joint movement in non-mock mode
-    await expect.poll(() => getJoints()[0]).toBeGreaterThan(joints[0] + 0.01)
-    expect(getJoints()[1]).toBeCloseTo(joints[1])
-  }
-
-  joints = getJoints()
-
-  await jogger.rotateJoints({
-    joint: 0,
-    direction: "-",
-    velocityRadsPerSec: 0.1,
-  })
-  await delay(500)
-  await jogger.stop()
-
-  await expect.poll(() => getJoints()[0]).toBeLessThan(joints[0] + 0.01)
-  expect(getJoints()[1]).toBeCloseTo(joints[1])
-
-  if (MOCK) {
-    return
-  }
-
-  // Wait for motion to stop
-  await vi.waitUntil(
-    async () => {
-      const joints = getJoints()
-      await jogger.motionStream.motionStateSocket.nextMessage()
-      return jointValuesEqual(joints, getJoints(), 0.0001)
-    },
-    {
-      timeout: 3000,
-    },
-  )
-})