appRobotDriver/test/InfoServer.test.js

const fs = require('fs');
const https = require('https');
const createInfoServer = require('../server/InfoServer');
const GCode = require('../robot/GCode');

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 request(url) {
  return new Promise((resolve, reject) => {
    const agent = new https.Agent({ rejectUnauthorized: false });
    https.get(url, { agent }, (res) => {
      let data = '';
      res.on('data', (chunk) => {
        data += chunk.toString();
      });
      res.on('end', () => {
        resolve({ statusCode: res.statusCode, body: data });
      });
    }).on('error', reject);
  });
}

function post(url) {
  return new Promise((resolve, reject) => {
    const agent   = new https.Agent({ rejectUnauthorized: false });
    const parsed  = new URL(url);
    const options = {
      hostname: parsed.hostname,
      port:     parsed.port,
      path:     parsed.pathname,
      method:   'POST',
      agent,
      headers:  { 'Content-Length': 0 }
    };
    const req = https.request(options, res => {
      let data = '';
      res.on('data', c => { data += c.toString(); });
      res.on('end', () => resolve({ statusCode: res.statusCode, body: data }));
    });
    req.on('error', reject);
    req.end();
  });
}

describe('InfoServer', () => {
  let server;
  let port;

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

  test('returns status JSON with sender and shared state information', async () => {
    const key = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = {
      connectedClients: ['127.0.0.1'],
      lastCommands: ['G1 X10 Y10'],
      lastPings: ['Ping']
    };

    const robot = {
      x: 1,
      y: 2,
      z: 3,
      phi: 0,
      theta: 0,
      psi: 0
    };

    const senders = [
      { name: 'Base', instance: { tSocket: {} } },
      { name: 'Hand', instance: null }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/status`);
    expect(statusCode).toBe(200);

    const status = JSON.parse(body);
    expect(status.clients).toEqual(['127.0.0.1']);
    expect(status.lastCommands).toEqual(['G1 X10 Y10']);
    expect(status.lastPings).toEqual(['Ping']);

    // Machine-readable top-level health summary (one of two senders connected)
    expect(status.health).toEqual({ ok: false, connectedSenders: 1, totalSenders: 2 });
    expect(typeof status.generatedAt).toBe('string');
    expect(Number.isNaN(Date.parse(status.generatedAt))).toBe(false);

    expect(status.senders).toEqual([
      {
        name: 'Base',
        isGCodeReceiver: true,
        state: 'connected',
        url: null,
        isTestMode: false,
        error: null,
        reconnectAttempt: 0,
        reconnectTimer: false,
        health: 'ok',
        reason: undefined,
        grblState: null,
        machinePosition: null,
        plannerBlocksFree: null,
        rxBytesFree: null,
        lastError: null,
        lastReportAt: null
      },
      {
        name: 'Hand',
        isGCodeReceiver: true,
        state: 'disconnected',
        url: null,
        isTestMode: false,
        error: null,
        reconnectAttempt: 0,
        reconnectTimer: false,
        health: 'disconnected',
        reason: 'no active socket connection',
        grblState: null,
        machinePosition: null,
        plannerBlocksFree: null,
        rxBytesFree: null,
        lastError: null,
        lastReportAt: null
      }
    ]);
  });

  test('returns sender health details from instance.getStatus()', async () => {
    const key = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0 };
    const senders = [
      {
        name: 'Reconnect',
        instance: {
          getStatus: () => ({
            state: 'reconnecting',
            url: 'reconnect.test',
            error: 'timeout',
            isTestMode: false,
            reconnectAttempt: 2,
            reconnectTimer: true
          })
        }
      }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/status`);
    expect(statusCode).toBe(200);

    const status = JSON.parse(body);
    expect(status.senders).toEqual([
      {
        name: 'Reconnect',
        isGCodeReceiver: true,
        state: 'reconnecting',
        url: 'reconnect.test',
        isTestMode: false,
        error: 'timeout',
        reconnectAttempt: 2,
        reconnectTimer: true,
        health: 'warning',
        reason: undefined,
        grblState: null,
        machinePosition: null,
        plannerBlocksFree: null,
        rxBytesFree: null,
        lastError: null,
        lastReportAt: null
      }
    ]);
  });

  test('returns position JSON from GCode.getM114', async () => {
    const key = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    // e = Greifer-Öffnung (mm) → position.e; eMotor = Greifer-Motorwert → motorCounts.e.
    const robot = { x: 10, y: 20, z: 30, phi: 0.1, theta: 0.2, psi: 0.3, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0, e: 2.5, eMotor: 7 };
    const senders = [];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/position`);
    expect(statusCode).toBe(200);

    const json = JSON.parse(body);
    expect(json.position).toEqual({ x: 10, y: 20, z: 30, a: 0.1, b: 0.2, c: 0.3, e: 2.5 });
    expect(json.motorCounts.e).toBe(7); // Motorwert (eMotor), nicht die mm-Öffnung
  });

  test('returns 404 for unknown endpoints', async () => {
    const key = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };
    const senders = [];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode } = await request(`https://127.0.0.1:${port}/api/unknown`);
    expect(statusCode).toBe(404);
  });

  // ── Emergency Stop Endpoints ─────────────────────────────────────────────

  test('POST /api/emergency-stop ruft emergencyStop() auf allen Sendern auf', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const stopA = jest.fn(() => Promise.resolve({ ok: true }));
    const stopB = jest.fn(() => Promise.resolve({ ok: true, skipped: true }));
    const senders = [
      { name: 'Base',          instance: { emergencyStop: stopA, alarmUnlock: jest.fn(() => Promise.resolve({ ok: true })) } },
      { name: 'EmergencyStop', instance: { emergencyStop: stopB, alarmUnlock: jest.fn(() => Promise.resolve({ ok: true, skipped: true })) } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await post(`https://127.0.0.1:${port}/api/emergency-stop`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(true);
    expect(stopA).toHaveBeenCalledTimes(1);
    expect(stopB).toHaveBeenCalledTimes(1);
    expect(json.results).toHaveLength(2);
  });

  test('POST /api/alarm-unlock ruft alarmUnlock() auf allen Sendern auf', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const unlockA = jest.fn(() => Promise.resolve({ ok: true }));
    const unlockB = jest.fn(() => Promise.resolve({ ok: true, skipped: true }));
    const senders = [
      { name: 'Base',          instance: { emergencyStop: jest.fn(() => Promise.resolve({ ok: true })), alarmUnlock: unlockA } },
      { name: 'EmergencyStop', instance: { emergencyStop: jest.fn(() => Promise.resolve({ ok: true })), alarmUnlock: unlockB } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await post(`https://127.0.0.1:${port}/api/alarm-unlock`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(true);
    expect(unlockA).toHaveBeenCalledTimes(1);
    expect(unlockB).toHaveBeenCalledTimes(1);
  });

  test('POST /api/emergency-stop ok=false wenn ein Sender fehlschlägt', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const senders = [
      { name: 'Base', instance: { emergencyStop: () => Promise.resolve({ ok: false, error: 'not connected' }), alarmUnlock: () => Promise.resolve({ ok: true }) } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await post(`https://127.0.0.1:${port}/api/emergency-stop`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(false);
    expect(json.results[0].ok).toBe(false);
  });

  test('GET /api/power-status gibt armed=true zurück wenn Shelly output:true', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const getArmedFn = jest.fn(() => Promise.resolve({ ok: true, armed: true, voltage: 234.9, power: 15.5 }));
    const senders = [
      { name: 'EmergencyStop', instance: { emergencyStop: () => Promise.resolve({ ok: true }), alarmUnlock: () => Promise.resolve({ ok: true }), getArmed: getArmedFn } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/power-status`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(true);
    expect(json.armed).toBe(true);
    expect(getArmedFn).toHaveBeenCalledTimes(1);
  });

  test('GET /api/power-status gibt armed=false zurück wenn kein Shelly konfiguriert', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const senders = [
      { name: 'Base', instance: { emergencyStop: () => Promise.resolve({ ok: true }), alarmUnlock: () => Promise.resolve({ ok: true }) } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await request(`https://127.0.0.1:${port}/api/power-status`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(false);
    expect(json.armed).toBe(false);
    expect(json.error).toMatch(/no shelly/);
  });

  test('POST /api/power-on ruft powerOn() auf Shelly-Sender auf', async () => {
    const key  = fs.readFileSync('https/localhost.key');
    const cert = fs.readFileSync('https/localhost.pem');
    const httpsOptions = { key, cert, passphrase: 'abcd' };

    const sharedState = { connectedClients: [], lastCommands: [], lastPings: [] };
    const robot = { x: 0, y: 0, z: 0, phi: 0, theta: 0, psi: 0, xMotor: 0, alpha: 0, beta: 0, a: 0, b: 0, c: 0 };

    const powerOnFn = jest.fn(() => Promise.resolve({ ok: true, status: 200 }));
    const senders = [
      { name: 'Base',          instance: { emergencyStop: () => Promise.resolve({ ok: true }), alarmUnlock: () => Promise.resolve({ ok: true }) } },
      { name: 'EmergencyStop', instance: { emergencyStop: () => Promise.resolve({ ok: true }), alarmUnlock: () => Promise.resolve({ ok: true }), powerOn: powerOnFn } }
    ];

    server = createInfoServer(httpsOptions, sharedState, robot, GCode, senders);
    port = await listen(server);

    const { statusCode, body } = await post(`https://127.0.0.1:${port}/api/power-on`);
    expect(statusCode).toBe(200);
    const json = JSON.parse(body);
    expect(json.ok).toBe(true);
    expect(powerOnFn).toHaveBeenCalledTimes(1);
  });
});