UnitTests

test/InputWS.test.js

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+const http = require('http');
+const WebSocket = require('ws');
+const initInputWS = require('../server/InputWS');
+const GCode = require('../robot/GCode');
+const createDummyRobot = require('./helpers/createDummyRobot');
+
+function listen(server) {
+  return new Promise((resolve, reject) => {
+    server.listen(0, () => {
+      const address = server.address();
+      if (address && address.port) {
+        resolve(address.port);
+      } else {
+        reject(new Error('Failed to get server port'));
+      }
+    });
+    server.on('error', reject);
+  });
+}
+
+function connectWebSocket(port) {
+  return new Promise((resolve, reject) => {
+    const ws = new WebSocket(`ws://127.0.0.1:${port}`);
+    ws.on('open', () => resolve(ws));
+    ws.on('error', reject);
+  });
+}
+
+function waitForMessage(ws) {
+  return new Promise((resolve, reject) => {
+    const timer = setTimeout(() => reject(new Error('Timeout waiting for message')), 2000);
+    ws.on('message', (data) => {
+      clearTimeout(timer);
+      resolve(data.toString());
+    });
+  });
+}
+
+describe('InputWS', () => {
+  let server;
+  let port;
+  let wss;
+
+  afterEach(async () => {
+    if (server) {
+      await new Promise((resolve) => server.close(resolve));
+      server = null;
+    }
+  });
+
+  test('responds to Ping and updates sharedState', async () => {
+    server = http.createServer();
+    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
+    const robot = createDummyRobot();
+    wss = initInputWS(server, robot, GCode, sharedState);
+
+    port = await listen(server);
+    const client = await connectWebSocket(port);
+
+    const messagePromise = waitForMessage(client);
+    client.send('Ping');
+
+    const message = await messagePromise;
+    expect(message).toBe('Ping');
+    expect(sharedState.lastPings.length).toBe(1);
+    expect(sharedState.connectedClients.length).toBe(1);
+
+    client.close();
+  });
+
+  test('responds to M114 with current robot position JSON', async () => {
+    server = http.createServer();
+    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
+    const robot = createDummyRobot();
+    robot.x = 12;
+    robot.y = 34;
+    robot.z = 56;
+    robot.phi = 1;
+    robot.theta = 2;
+    robot.psi = 3;
+
+    wss = initInputWS(server, robot, GCode, sharedState);
+    port = await listen(server);
+    const client = await connectWebSocket(port);
+
+    const messagePromise = waitForMessage(client);
+    client.send('M114');
+
+    const message = await messagePromise;
+    const parsed = JSON.parse(message);
+    expect(parsed.position).toEqual({ x: 12, y: 34, z: 56, a: 1, b: 2, c: 3 });
+    expect(parsed.motorCounts).toBeDefined();
+
+    client.close();
+  });
+});