appRobotDriver/test/InputWS.api.test.js

const http = require('http');
const WebSocket = require('ws');
const initInputWS = require('../server/InputWS');
const GCode = require('../robot/GCode');
const createDummyRobot = require('./helpers/createDummyRobot');

/* ---------- helpers ---------- */

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 connect(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 nextMessage(ws) {
  return new Promise((resolve, reject) => {
    const timer = setTimeout(() => reject(new Error('Timeout waiting for message')), 2000);
    ws.once('message', (data) => {
      clearTimeout(timer);
      resolve(data.toString());
    });
  });
}

/** Resolves to true if NO message arrives within `ms`, false otherwise. */
function expectSilence(ws, ms = 200) {
  return new Promise((resolve) => {
    let gotMessage = false;
    const onMessage = () => { gotMessage = true; };
    ws.on('message', onMessage);
    setTimeout(() => {
      ws.off('message', onMessage);
      resolve(!gotMessage);
    }, ms);
  });
}

/* ---------- tests ---------- */

describe('InputWS API response routing', () => {
  let server;

  function startServer(robot, gcode = GCode) {
    server = http.createServer();
    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    initInputWS(server, robot, gcode, sharedState);
    return { sharedState };
  }

  afterEach(async () => {
    if (server) {
      await new Promise((resolve) => server.close(resolve));
      server = null;
    }
  });

  test('Ping is answered to the requester only (not broadcast)', async () => {
    startServer(createDummyRobot());
    const port = await listen(server);

    const a = await connect(port);
    const b = await connect(port);

    const aReply = nextMessage(a);
    const bSilent = expectSilence(b);

    a.send('Ping');

    expect(await aReply).toBe('Ping');
    expect(await bSilent).toBe(true);

    a.close();
    b.close();
  });

  test('M114 status query is answered to the requester only', async () => {
    const robot = createDummyRobot();
    robot.x = 5; robot.y = 6; robot.z = 7;
    startServer(robot);
    const port = await listen(server);

    const a = await connect(port);
    const b = await connect(port);

    const aReply = nextMessage(a);
    const bSilent = expectSilence(b);

    a.send('M114');

    const parsed = JSON.parse(await aReply);
    expect(parsed.position).toEqual({ x: 5, y: 6, z: 7, a: 0, b: 0, c: 0, e: 0 });
    expect(await bSilent).toBe(true);

    a.close();
    b.close();
  });

  test('G-code motion command broadcasts the new position to all clients', async () => {
    const robot = createDummyRobot();
    startServer(robot);
    const port = await listen(server);

    const a = await connect(port);
    const b = await connect(port);

    const aReply = nextMessage(a);
    const bReply = nextMessage(b);

    a.send('G1 X1 Y2 Z3');

    const aParsed = JSON.parse(await aReply);
    const bParsed = JSON.parse(await bReply);
    expect(aParsed.position).toEqual({ x: 1, y: 2, z: 3, a: 0, b: 0, c: 0, e: 0 });
    expect(bParsed.position).toEqual({ x: 1, y: 2, z: 3, a: 0, b: 0, c: 0, e: 0 });
    expect(robot.sendCommand).toHaveBeenCalled();

    a.close();
    b.close();
  });

  test('unknown input returns a machine-readable error to the sender only', async () => {
    startServer(createDummyRobot());
    const port = await listen(server);

    const a = await connect(port);
    const b = await connect(port);

    const aReply = nextMessage(a);
    const bSilent = expectSilence(b);

    a.send('TOTALLY_UNKNOWN');

    const err = JSON.parse(await aReply);
    expect(err).toEqual({
      type: 'error',
      code: 'UNKNOWN_COMMAND',
      message: 'Unrecognized input',
      input: 'TOTALLY_UNKNOWN'
    });
    expect(await bSilent).toBe(true);

    a.close();
    b.close();
  });

  test('G-code processing errors are reported as a machine-readable error', async () => {
    const throwingGCode = {
      containsCommand: () => true,
      ContainsFilesCommand: () => false,
      receiveGCode: () => { throw new Error('boom'); },
      getM114: () => '{}'
    };
    startServer(createDummyRobot(), throwingGCode);
    const port = await listen(server);

    const a = await connect(port);
    const aReply = nextMessage(a);

    a.send('G1 X1');

    const err = JSON.parse(await aReply);
    expect(err).toMatchObject({
      type: 'error',
      code: 'GCODE_ERROR',
      message: 'boom',
      input: 'G1 X1'
    });

    a.close();
  });
});