@wandelbots/wandelbots-js-react-components 5.5.1 → 5.5.2

package/src/components/jogging/JoggingPanel.test.tsx

@@ -1,645 +0,0 @@
-import { render, screen, within } from "@testing-library/react"
-import type {
-  CoordinateSystem,
-  MotionGroupDescription,
-  MotionGroupState,
-  RobotTcp,
-} from "@wandelbots/nova-js/v2"
-import { JointTypeEnum } from "@wandelbots/nova-js/v2"
-import { I18nextProvider } from "react-i18next"
-import { beforeEach, describe, expect, it, vi } from "vitest"
-import { i18n } from "../../i18n/config"
-import type { JoggerConnection as JoggerConnectionType } from "../../lib/JoggerConnection"
-import { JoggerConnection } from "../../lib/JoggerConnection"
-import type { MotionStreamConnection } from "../../lib/MotionStreamConnection"
-import {
-  linearAxisDescription,
-  linearAxisMotionGroupState,
-  turnMockDescription,
-  turnMockMotionGroupState,
-  ur5eDescription,
-  ur5eMotionGroupState,
-} from "./__fixtures__/motionStreamMockData"
-import { JoggingCartesianTab } from "./JoggingCartesianTab"
-import { JoggingJointTab } from "./JoggingJointTab"
-import { JoggingStore } from "./JoggingStore"
-
-// ---------- helpers ----------
-
-function createMockMotionStream(
-  motionGroupState: MotionGroupState,
-  description: MotionGroupDescription,
-  tcpOverride?: string,
-): MotionStreamConnection {
-  const jointPositions = motionGroupState.joint_position as number[]
-
-  return {
-    nova: {},
-    controller: { controller: motionGroupState.controller },
-    motionGroup: {
-      ...motionGroupState,
-      tcp: tcpOverride,
-    } as unknown as MotionGroupState,
-    description,
-    initialMotionState: motionGroupState,
-    motionStateSocket: {
-      addEventListener: vi.fn(),
-      changeUrl: vi.fn(),
-      close: vi.fn(),
-    },
-    rapidlyChangingMotionState: { ...motionGroupState },
-    motionGroupId: motionGroupState.motion_group,
-    controllerId: motionGroupState.controller,
-    joints: jointPositions.map((_: number, i: number) => ({ index: i })),
-    dispose: vi.fn(),
-  } as unknown as MotionStreamConnection
-}
-
-function createMockJogger(
-  motionStream: MotionStreamConnection,
-): JoggerConnectionType {
-  return {
-    nova: motionStream.nova,
-    motionStream,
-    motionGroupId: motionStream.motionGroupId,
-    mode: "off" as const,
-    tcp: "Flange",
-    orientation: "coordsys" as const,
-    numJoints: motionStream.joints.length,
-    stop: vi.fn().mockResolvedValue(undefined),
-    dispose: vi.fn().mockResolvedValue(undefined),
-    rotateJoints: vi.fn().mockResolvedValue(undefined),
-    translateTCP: vi.fn().mockResolvedValue(undefined),
-    rotateTCP: vi.fn().mockResolvedValue(undefined),
-    setOptions: vi.fn(),
-    setJoggingMode: vi.fn().mockResolvedValue(undefined),
-    initializeJoggingWebsocket: vi.fn().mockResolvedValue(undefined),
-    onBlocked: undefined,
-  } as unknown as JoggerConnectionType
-}
-
-/** Create a JoggingStore from real captured motion group state data */
-function createJoggingStore(opts: {
-  motionGroupState: MotionGroupState
-  description: MotionGroupDescription
-  inverseSolver?: string | null | undefined
-}): JoggingStore {
-  const motionStream = createMockMotionStream(
-    opts.motionGroupState,
-    opts.description,
-  )
-  const jogger = createMockJogger(motionStream)
-
-  const coordSystems: CoordinateSystem[] = [
-    { coordinate_system: "world", name: "World" } as CoordinateSystem,
-  ]
-
-  const tcps: RobotTcp[] = [
-    {
-      id: "Flange",
-      readable_name: "Flange",
-      position: [0, 0, 0],
-      orientation: [0, 0, 0],
-    } as unknown as RobotTcp,
-  ]
-
-  return new JoggingStore(
-    jogger,
-    coordSystems,
-    opts.description,
-    tcps,
-    opts.inverseSolver !== undefined ? opts.inverseSolver : "some-solver",
-  )
-}
-
-/** Shorthand: create a UR5e-based store (6 revolute joints) with optional overrides */
-function createUr5eStore(inverseSolver?: string | null | undefined) {
-  return createJoggingStore({
-    motionGroupState: ur5eMotionGroupState,
-    description: ur5eDescription,
-    inverseSolver,
-  })
-}
-
-function renderWithI18n(ui: React.ReactElement) {
-  return render(<I18nextProvider i18n={i18n}>{ui}</I18nextProvider>)
-}
-
-// ---------- tests ----------
-
-describe("JoggingPanel", () => {
-  beforeEach(() => {
-    localStorage.clear()
-  })
-
-  // ---- Tab visibility (cartesian tab shown / hidden) ----
-
-  describe("Cartesian tab visibility", () => {
-    it("shows both Cartesian and Joint tabs when inverseSolver is defined (string)", () => {
-      const store = createUr5eStore("some-ik-solver")
-      expect(store.tabs).toHaveLength(2)
-      expect(store.tabs.map((t) => t.id)).toContain("cartesian")
-      expect(store.tabs.map((t) => t.id)).toContain("joint")
-    })
-
-    it("shows both Cartesian and Joint tabs when inverseSolver is undefined (could not be loaded)", () => {
-      const store = createUr5eStore(undefined)
-      expect(store.tabs).toHaveLength(2)
-      expect(store.tabs.map((t) => t.id)).toContain("cartesian")
-    })
-
-    it("hides Cartesian tab when inverseSolver is null (explicitly no solver)", () => {
-      const store = createUr5eStore(null)
-      expect(store.tabs).toHaveLength(1)
-      expect(store.tabs[0]?.id).toBe("joint")
-      expect(store.tabs.map((t) => t.id)).not.toContain("cartesian")
-    })
-
-    it("defaults to cartesian tab when solver is available", () => {
-      const store = createUr5eStore("solver")
-      expect(store.currentTab.id).toBe("cartesian")
-    })
-
-    it("defaults to joint tab when solver is null", () => {
-      const store = createUr5eStore(null)
-      expect(store.currentTab.id).toBe("joint")
-    })
-  })
-
-  // ---- 6-joint revolute motion group (UR5e) ----
-
-  describe("6-joint revolute motion group (UR5e)", () => {
-    let store: JoggingStore
-
-    beforeEach(() => {
-      store = createJoggingStore({
-        motionGroupState: ur5eMotionGroupState,
-        description: ur5eDescription,
-        inverseSolver: "ik-solver",
-      })
-    })
-
-    it("has the correct joint type", () => {
-      expect(store.jointType).toBe(JointTypeEnum.RevoluteJoint)
-    })
-
-    it("displays 6 joint controls in the joint tab", () => {
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-
-      const wrapper = screen.getByTestId("jogging-joint-value-controls-wrapper")
-      for (let i = 0; i < 6; i++) {
-        expect(
-          within(wrapper).getByTestId(`jogging-joint-value-control-${i}`),
-        ).toBeInTheDocument()
-      }
-    })
-
-    it("renders the joint tab", () => {
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-      expect(screen.getByTestId("jogging-joint-tab")).toBeInTheDocument()
-    })
-
-    it("renders the cartesian tab with translate/rotate toggle", () => {
-      renderWithI18n(<JoggingCartesianTab store={store}></JoggingCartesianTab>)
-      expect(screen.getByTestId("jogging-cartesian-tab")).toBeInTheDocument()
-    })
-
-    it("shows X, Y, Z axis controls in cartesian tab", () => {
-      renderWithI18n(<JoggingCartesianTab store={store}></JoggingCartesianTab>)
-      for (const axis of ["x", "y", "z"]) {
-        expect(
-          screen.getByTestId(`jogging-cartesian-axis-control-${axis}`),
-        ).toBeInTheDocument()
-      }
-    })
-
-    it("has both cartesian and joint tabs available", () => {
-      expect(store.tabs).toHaveLength(2)
-    })
-  })
-
-  // ---- Prismatic motion group (linear axis) ----
-
-  describe("Prismatic motion group (linear axis)", () => {
-    let store: JoggingStore
-
-    beforeEach(() => {
-      store = createJoggingStore({
-        motionGroupState: linearAxisMotionGroupState,
-        description: linearAxisDescription,
-        inverseSolver: null,
-      })
-    })
-
-    it("has the correct joint type", () => {
-      expect(store.jointType).toBe(JointTypeEnum.PrismaticJoint)
-    })
-
-    it("only shows joint tab (no cartesian) when solver is null", () => {
-      expect(store.tabs).toHaveLength(1)
-      expect(store.tabs[0]?.id).toBe("joint")
-    })
-
-    it("uses mm/s as velocity unit for prismatic joints", () => {
-      const useDegree = store.jointType === JointTypeEnum.RevoluteJoint
-      expect(useDegree).toBe(false)
-    })
-
-    it("renders 1 joint control for single-axis prismatic group", () => {
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-
-      const wrapper = screen.getByTestId("jogging-joint-value-controls-wrapper")
-      expect(
-        within(wrapper).getByTestId("jogging-joint-value-control-0"),
-      ).toBeInTheDocument()
-      expect(
-        within(wrapper).queryByTestId("jogging-joint-value-control-1"),
-      ).not.toBeInTheDocument()
-    })
-  })
-
-  // ---- 2-joint motion group (turn mock) ----
-
-  describe("2-joint motion group (turn mock)", () => {
-    let store: JoggingStore
-
-    beforeEach(() => {
-      store = createJoggingStore({
-        motionGroupState: turnMockMotionGroupState,
-        description: turnMockDescription,
-        inverseSolver: "solver-2j",
-      })
-    })
-
-    it("has the correct joint type", () => {
-      expect(store.jointType).toBe(JointTypeEnum.RevoluteJoint)
-    })
-
-    it("displays exactly 2 joint controls", () => {
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-
-      const wrapper = screen.getByTestId("jogging-joint-value-controls-wrapper")
-      expect(
-        within(wrapper).getByTestId("jogging-joint-value-control-0"),
-      ).toBeInTheDocument()
-      expect(
-        within(wrapper).getByTestId("jogging-joint-value-control-1"),
-      ).toBeInTheDocument()
-      expect(
-        within(wrapper).queryByTestId("jogging-joint-value-control-2"),
-      ).not.toBeInTheDocument()
-    })
-
-    it("has cartesian tab available when solver is present", () => {
-      expect(store.tabs.map((t) => t.id)).toContain("cartesian")
-    })
-  })
-
-  // ---- Locking / Unlocking ----
-
-  describe("Locking", () => {
-    it("starts unlocked", () => {
-      const store = createUr5eStore()
-      expect(store.isLocked).toBe(false)
-    })
-
-    it("can be locked and unlocked via external lock", () => {
-      const store = createUr5eStore()
-      store.lock("external")
-      expect(store.isLocked).toBe(true)
-
-      store.unlock("external")
-      expect(store.isLocked).toBe(false)
-    })
-
-    it("supports multiple simultaneous locks", () => {
-      const store = createUr5eStore()
-      store.lock("lock-a")
-      store.lock("lock-b")
-      expect(store.isLocked).toBe(true)
-
-      store.unlock("lock-a")
-      expect(store.isLocked).toBe(true) // still locked by lock-b
-
-      store.unlock("lock-b")
-      expect(store.isLocked).toBe(false)
-    })
-  })
-
-  // ---- Blocking ----
-
-  describe("Blocking", () => {
-    it("starts unblocked", () => {
-      const store = createUr5eStore()
-      expect(store.blocked).toBe(false)
-    })
-
-    it("can be blocked and unblocked", () => {
-      const store = createUr5eStore()
-      store.block()
-      expect(store.blocked).toBe(true)
-
-      store.unblock()
-      expect(store.blocked).toBe(false)
-    })
-  })
-
-  // ---- Tab switching ----
-
-  describe("Tab switching", () => {
-    it("can switch from cartesian to joint tab", () => {
-      const store = createUr5eStore("solver")
-      expect(store.currentTab.id).toBe("cartesian")
-
-      store.onTabChange({} as React.SyntheticEvent, 1)
-      expect(store.currentTab.id).toBe("joint")
-    })
-
-    it("can switch back to cartesian tab", () => {
-      const store = createUr5eStore("solver")
-      store.onTabChange({} as React.SyntheticEvent, 1)
-      expect(store.currentTab.id).toBe("joint")
-
-      store.onTabChange({} as React.SyntheticEvent, 0)
-      expect(store.currentTab.id).toBe("cartesian")
-    })
-
-    it("falls back to first tab when selected tab is invalid", () => {
-      const store = createUr5eStore(null)
-      // biome-ignore lint/suspicious/noExplicitAny: intentionally setting invalid tab id to test fallback
-      store.selectedTabId = "cartesian" as any
-      expect(store.currentTab.id).toBe("joint")
-    })
-  })
-
-  // ---- Velocity settings ----
-
-  describe("Velocity settings", () => {
-    it("has default translation velocity", () => {
-      const store = createUr5eStore()
-      expect(store.translationVelocityMmPerSec).toBe(10)
-    })
-
-    it("has default rotation velocity", () => {
-      const store = createUr5eStore()
-      expect(store.rotationVelocityDegPerSec).toBe(1)
-    })
-
-    it("converts rotation velocity to radians correctly", () => {
-      const store = createUr5eStore()
-      store.rotationVelocityDegPerSec = 180
-      expect(store.rotationVelocityRadsPerSec).toBeCloseTo(Math.PI)
-    })
-
-    it("updates translation velocity via slider setter", () => {
-      const store = createUr5eStore()
-      store.setVelocityFromSlider(50, false)
-      expect(store.translationVelocityMmPerSec).toBe(50)
-    })
-
-    it("updates rotation velocity via slider setter", () => {
-      const store = createUr5eStore()
-      store.setVelocityFromSlider(30, true)
-      expect(store.rotationVelocityDegPerSec).toBe(30)
-    })
-  })
-
-  // ---- Cartesian motion type ----
-
-  describe("Cartesian motion type", () => {
-    it("defaults to translate", () => {
-      const store = createUr5eStore()
-      expect(store.selectedCartesianMotionType).toBe("translate")
-    })
-
-    it("can switch to rotate", () => {
-      const store = createUr5eStore()
-      store.setSelectedCartesianMotionType("rotate")
-      expect(store.selectedCartesianMotionType).toBe("rotate")
-    })
-  })
-
-  // ---- Orientation & coordinate system ----
-
-  describe("Orientation and coordinate system", () => {
-    it("defaults to coordsys orientation", () => {
-      const store = createUr5eStore()
-      expect(store.selectedOrientation).toBe("coordsys")
-    })
-
-    it("can switch to tool orientation", () => {
-      const store = createUr5eStore()
-      store.setSelectedOrientation("tool")
-      expect(store.selectedOrientation).toBe("tool")
-      expect(store.activeCoordSystemId).toBe("tool")
-    })
-
-    it("uses selected coordinate system when not in tool orientation", () => {
-      const store = createUr5eStore()
-      expect(store.activeCoordSystemId).toBe("world")
-    })
-  })
-
-  // ---- Increment options ----
-
-  describe("Increment options", () => {
-    it("defaults to continuous jogging", () => {
-      const store = createUr5eStore()
-      expect(store.selectedIncrementId).toBe("continuous")
-    })
-
-    it("has no active discrete increment when continuous", () => {
-      const store = createUr5eStore()
-      expect(store.activeDiscreteIncrement).toBeUndefined()
-    })
-
-    it("has active discrete increment when a discrete option is selected", () => {
-      const store = createUr5eStore()
-      store.setSelectedIncrementId("1")
-      expect(store.activeDiscreteIncrement).toBeDefined()
-      expect(store.activeDiscreteIncrement?.mm).toBe(1)
-    })
-
-    it("disables discrete increment when in tool orientation", () => {
-      const store = createUr5eStore()
-      store.setSelectedIncrementId("1")
-      store.setSelectedOrientation("tool")
-      expect(store.activeDiscreteIncrement).toBeUndefined()
-    })
-  })
-
-  // ---- Joint legends ----
-
-  describe("Joint legends", () => {
-    it("shows joint labels when showJointsLegend is enabled", () => {
-      const store = createJoggingStore({
-        motionGroupState: turnMockMotionGroupState,
-        description: turnMockDescription,
-      })
-      store.showJointsLegend = true
-
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-
-      expect(screen.getByText("G1")).toBeInTheDocument()
-      expect(screen.getByText("G2")).toBeInTheDocument()
-    })
-
-    it("hides joint labels when showJointsLegend is disabled", () => {
-      const store = createJoggingStore({
-        motionGroupState: turnMockMotionGroupState,
-        description: turnMockDescription,
-      })
-      store.showJointsLegend = false
-
-      renderWithI18n(<JoggingJointTab store={store}></JoggingJointTab>)
-
-      expect(screen.queryByText("G1")).not.toBeInTheDocument()
-    })
-  })
-
-  // ---- Dispose ----
-
-  describe("Dispose", () => {
-    it("disposes the jogger connection when store is disposed", () => {
-      const motionStream = createMockMotionStream(
-        ur5eMotionGroupState,
-        ur5eDescription,
-      )
-      const jogger = createMockJogger(motionStream)
-
-      const store = new JoggingStore(
-        jogger,
-        [{ coordinate_system: "world", name: "World" } as CoordinateSystem],
-        ur5eDescription,
-        [],
-        "solver",
-      )
-
-      store.dispose()
-      expect(jogger.dispose).toHaveBeenCalled()
-    })
-  })
-
-  // ---- Velocity unit conversions ----
-
-  describe("Velocity unit conversions (mm/deg)", () => {
-    it("rotationVelocityRadsPerSec converts degrees to radians correctly", () => {
-      const store = createUr5eStore("solver")
-
-      // Default is 1 °/s
-      expect(store.rotationVelocityRadsPerSec).toBeCloseTo(Math.PI / 180)
-
-      store.rotationVelocityDegPerSec = 180
-      expect(store.rotationVelocityRadsPerSec).toBeCloseTo(Math.PI)
-
-      store.rotationVelocityDegPerSec = 90
-      expect(store.rotationVelocityRadsPerSec).toBeCloseTo(Math.PI / 2)
-    })
-
-    it("velocityInDisplayUnits returns deg/s when useDegree=true, mm/s when false", () => {
-      const store = createUr5eStore("solver")
-
-      store.translationVelocityMmPerSec = 42
-      store.rotationVelocityDegPerSec = 15
-
-      expect(store.velocityInDisplayUnits(false)).toBe(42)
-      expect(store.velocityInDisplayUnits(true)).toBe(15)
-    })
-
-    it("setVelocityFromSlider updates the correct velocity field", () => {
-      const store = createUr5eStore("solver")
-
-      store.setVelocityFromSlider(50, false)
-      expect(store.translationVelocityMmPerSec).toBe(50)
-      expect(store.rotationVelocityDegPerSec).toBe(1)
-
-      store.setVelocityFromSlider(30, true)
-      expect(store.rotationVelocityDegPerSec).toBe(30)
-      expect(store.translationVelocityMmPerSec).toBe(50)
-    })
-
-    it("minVelocityInDisplayUnits and maxVelocityInDisplayUnits return correct bounds", () => {
-      const store = createUr5eStore("solver")
-
-      expect(store.minVelocityInDisplayUnits(false)).toBe(
-        store.minTranslationVelocityMmPerSec,
-      )
-      expect(store.maxVelocityInDisplayUnits(false)).toBe(
-        store.maxTranslationVelocityMmPerSec,
-      )
-      expect(store.minVelocityInDisplayUnits(true)).toBe(
-        store.minRotationVelocityDegPerSec,
-      )
-      expect(store.maxVelocityInDisplayUnits(true)).toBe(
-        store.maxRotationVelocityDegPerSec,
-      )
-    })
-  })
-
-  // ---- JoggerConnection TCP resolution ----
-
-  describe("JoggerConnection TCP resolution", () => {
-    it("6-joint revolute defaults to 'Flange' TCP from motionGroup.tcp", () => {
-      const ms = createMockMotionStream(
-        ur5eMotionGroupState,
-        ur5eDescription,
-        "Flange",
-      )
-      const jogger = new JoggerConnection(ms)
-      expect(jogger.tcp).toBe("Flange")
-    })
-
-    it("1-joint prismatic without motionGroup.tcp gets undefined (NO_TCP)", () => {
-      const ms = createMockMotionStream(
-        linearAxisMotionGroupState,
-        linearAxisDescription,
-      )
-      const jogger = new JoggerConnection(ms)
-      expect(jogger.tcp).toBeUndefined()
-    })
-
-    it("1-joint prismatic with motionGroup.tcp keeps tcp", () => {
-      const ms = createMockMotionStream(
-        linearAxisMotionGroupState,
-        linearAxisDescription,
-        "PrismaticTCP",
-      )
-      const jogger = new JoggerConnection(ms)
-      expect(jogger.tcp).toBe("PrismaticTCP")
-    })
-
-    it("2-joint revolute without motionGroup.tcp gets undefined (NO_TCP)", () => {
-      const ms = createMockMotionStream(
-        turnMockMotionGroupState,
-        turnMockDescription,
-      )
-      const jogger = new JoggerConnection(ms)
-      expect(jogger.tcp).toBeUndefined()
-    })
-
-    it("explicit tcp option overrides any default", () => {
-      const ms = createMockMotionStream(
-        linearAxisMotionGroupState,
-        linearAxisDescription,
-      )
-      const jogger = new JoggerConnection(ms, { tcp: "MyCustomTool" })
-      expect(jogger.tcp).toBe("MyCustomTool")
-    })
-
-    it("6-joint revolute with explicit tcp option uses the provided value", () => {
-      const ms = createMockMotionStream(
-        ur5eMotionGroupState,
-        ur5eDescription,
-        "Flange",
-      )
-      const jogger = new JoggerConnection(ms, { tcp: "GripperTCP" })
-      expect(jogger.tcp).toBe("GripperTCP")
-    })
-
-    it("6-joint revolute with no motionGroup.tcp falls back to DEFAULT_TCP", () => {
-      const ms = createMockMotionStream(ur5eMotionGroupState, ur5eDescription)
-      const jogger = new JoggerConnection(ms)
-      expect(jogger.tcp).toBe("Flange")
-    })
-  })
-})