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/**
* Tests for RoboticsProducer - equivalent to Python's test_producer.py
*/
import { test, expect, describe, beforeEach, afterEach } from "bun:test";
import { robotics } from "../src/index";
import { TEST_SERVER_URL, TestRoomManager, MessageCollector, sleep, assertIsConnected, assertIsDisconnected } from "./setup";
const { RoboticsProducer } = robotics;
describe("RoboticsProducer", () => {
let producer: robotics.RoboticsProducer;
let roomManager: TestRoomManager;
beforeEach(() => {
producer = new RoboticsProducer(TEST_SERVER_URL);
roomManager = new TestRoomManager();
});
afterEach(async () => {
if (producer.isConnected()) {
await producer.disconnect();
}
await roomManager.cleanup(producer);
});
test("producer connection", async () => {
// Create room first
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
expect(producer.isConnected()).toBe(false);
const success = await producer.connect(workspaceId, roomId);
expect(success).toBe(true);
assertIsConnected(producer, workspaceId, roomId);
const info = producer.getConnectionInfo();
expect(info.role).toBe("producer");
await producer.disconnect();
assertIsDisconnected(producer);
});
test("producer connection info", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
const info = producer.getConnectionInfo();
expect(info.connected).toBe(true);
expect(info.room_id).toBe(roomId);
expect(info.workspace_id).toBe(workspaceId);
expect(info.role).toBe("producer");
expect(info.participant_id).toBeTruthy();
expect(info.base_url).toBe(TEST_SERVER_URL);
});
test("send joint update", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
const joints = [
{ name: "shoulder", value: 45.0 },
{ name: "elbow", value: -20.0 },
{ name: "wrist", value: 10.0 }
];
// Should not throw an exception
await producer.sendJointUpdate(joints);
});
test("send state sync", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
const state = { shoulder: 45.0, elbow: -20.0, wrist: 10.0 };
// Should not throw an exception
await producer.sendStateSync(state);
});
test("send emergency stop", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
// Should not throw an exception
await producer.sendEmergencyStop("Test emergency stop");
await producer.sendEmergencyStop(); // Default reason
});
test("producer callbacks", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
let connectedCalled = false;
let disconnectedCalled = false;
let errorCalled = false;
let errorMessage: string | null = null;
producer.onConnected(() => {
connectedCalled = true;
});
producer.onDisconnected(() => {
disconnectedCalled = true;
});
producer.onError((error) => {
errorCalled = true;
errorMessage = error;
});
// Connect and disconnect
await producer.connect(workspaceId, roomId);
await sleep(100); // Give callbacks time to execute
expect(connectedCalled).toBe(true);
await producer.disconnect();
await sleep(100); // Give callbacks time to execute
expect(disconnectedCalled).toBe(true);
});
test("send without connection", async () => {
expect(producer.isConnected()).toBe(false);
await expect(producer.sendJointUpdate([{ name: "test", value: 0 }]))
.rejects.toThrow("Must be connected");
await expect(producer.sendStateSync({ test: 0 }))
.rejects.toThrow("Must be connected");
await expect(producer.sendEmergencyStop())
.rejects.toThrow("Must be connected");
});
test("multiple connections", async () => {
// Connect to first room
const { workspaceId: workspaceId1, roomId: roomId1 } = await producer.createRoom();
roomManager.addRoom(workspaceId1, roomId1);
await producer.connect(workspaceId1, roomId1);
expect(producer.getConnectionInfo().room_id).toBe(roomId1);
expect(producer.getConnectionInfo().workspace_id).toBe(workspaceId1);
// Create second room
const { workspaceId: workspaceId2, roomId: roomId2 } = await producer.createRoom();
roomManager.addRoom(workspaceId2, roomId2);
// Connect to second room (should disconnect from first)
await producer.connect(workspaceId2, roomId2);
expect(producer.getConnectionInfo().room_id).toBe(roomId2);
expect(producer.getConnectionInfo().workspace_id).toBe(workspaceId2);
expect(producer.isConnected()).toBe(true);
});
test("duplicate producer connection", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
const producer2 = new RoboticsProducer(TEST_SERVER_URL);
try {
// First producer connects successfully
const success1 = await producer.connect(workspaceId, roomId);
expect(success1).toBe(true);
// Second producer should fail to connect as producer
const success2 = await producer2.connect(workspaceId, roomId);
expect(success2).toBe(false); // Should fail since room already has producer
} finally {
if (producer2.isConnected()) {
await producer2.disconnect();
}
}
});
test("custom participant id", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
const customId = "custom-producer-123";
await producer.connect(workspaceId, roomId, customId);
const info = producer.getConnectionInfo();
expect(info.participant_id).toBe(customId);
});
test("large joint update", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
// Create a large joint update
const joints = Array.from({ length: 100 }, (_, i) => ({
name: `joint_${i}`,
value: i
}));
// Should handle large updates without issue
await producer.sendJointUpdate(joints);
});
test("rapid updates", async () => {
const { workspaceId, roomId } = await producer.createRoom();
roomManager.addRoom(workspaceId, roomId);
await producer.connect(workspaceId, roomId);
// Send multiple rapid updates
for (let i = 0; i < 10; i++) {
await producer.sendStateSync({ joint1: i, joint2: i * 2 });
await sleep(10); // Small delay
}
});
}); |