feat(control-station): add rover scene telemetry and guarded keyboard control

apps/control-station/test/boardLayout.test.mjs

@@ -0,0 +1,57 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {readFileSync} from 'node:fs';
+import ts from 'typescript';
+const code=ts.transpileModule(readFileSync(new URL('../../../packages/sensor-ui/src/boardLayout.ts',import.meta.url),'utf8'),{compilerOptions:{module:ts.ModuleKind.ESNext,target:ts.ScriptTarget.ES2022}}).outputText;
+const {createBoardLayoutStore,defaultBoardLayout}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64'));
+const tick=()=>new Promise(resolve=>setImmediate(resolve));
+function server(){
+ let value=structuredClone(defaultBoardLayout);const calls=[];
+ return {calls,read:async()=>structuredClone(value),patch:async(section,open)=>{
+  calls.push({section,open});await tick();
+  value={...value,revision:value.revision+1,open_sections:defaultBoardLayout.open_sections.filter(id=>id===section?open:value.open_sections.includes(id))};
+  return structuredClone(value);
+ }};
+}
+test('rapid toggles persist after navigation and preserve all-closed state',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ const unsubscribe=store.subscribe(()=>{});
+ store.change(['settings','devices']);store.change(['devices']);store.change([]);
+ unsubscribe();
+ while(store.getSnapshot().saving)await tick();
+ const reopened=createBoardLayoutStore(api);await reopened.load();
+ assert.deepEqual(reopened.getSnapshot().value.open_sections,[]);
+ assert.equal(api.calls.length,3);
+});
+test('a later toggle wins while an older patch is still in flight',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ store.change(['settings','devices']);store.change(['computer','settings','devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,defaultBoardLayout.open_sections);
+});
+test('different vehicles and simultaneous section changes do not clobber one another',async()=>{
+ const api=server(),other=server();const a=createBoardLayoutStore(api),b=createBoardLayoutStore(api),c=createBoardLayoutStore(other);
+ await Promise.all([a.load(),b.load(),c.load()]);
+ a.change(['settings','devices']);b.change(['computer','devices']);
+ while(a.getSnapshot().saving||b.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+ assert.deepEqual(c.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+});
+test('failed save reports failure, rolls back, and explicit reload recovers',async()=>{
+ const api=server();let fail=true;
+ const store=createBoardLayoutStore({...api,patch:(...args)=>fail?Promise.reject(new Error('offline')):api.patch(...args)});
+ await store.load();store.change([]);
+ while(store.getSnapshot().saving)await tick();
+ assert.ok(store.getSnapshot().error);
+ assert.deepEqual(store.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+ fail=false;await store.load();store.change(['devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.equal(store.getSnapshot().error,null);
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+});
+test('invalid layout cannot overwrite stored preferences',async()=>{
+ let writes=0;
+ const store=createBoardLayoutStore({read:async()=>({...defaultBoardLayout,open_sections:['motor-start']}),patch:async()=>{writes++;return defaultBoardLayout;}});
+ await store.load();store.change([]);
+ assert.equal(store.getSnapshot().ready,false);assert.ok(store.getSnapshot().error);assert.equal(writes,0);
+});

apps/control-station/test/roverControl.test.mjs

@@ -0,0 +1,157 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+
+async function moduleAt(path) {
+ const result = await build({entryPoints:[new URL(path,import.meta.url).pathname],bundle:true,write:false,format:'esm',platform:'node'});
+ return import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+}
+const {defaultProfile:base,mix,motorDemands,parseProfile}=await moduleAt('../../../packages/rover-control/src/profile.ts');
+const {AuthorityModel}=await moduleAt('../../../packages/rover-control/src/authority.ts');
+const axes=(leftY=0,rightY=0,leftX=0,rightX=0)=>({leftY,rightY,leftX,rightX});
+const profile={...base,deadband:0};
+const arcade={...profile,mode:'arcade'};
+const policy={maxAgeMs:100,neutralMs:200,maxCommandMs:100,monitoredAxes:['leftY','rightY','leftX','rightX']};
+const motors=['a','b','c','d'];
+function frame(now,values=axes(),extra={}) {
+ return {now,link:{state:'live',at:now},
+  axes:Object.fromEntries(Object.entries(values).map(([key,value])=>[key,{value,at:now,sequence:now}])),
+  drives:Object.fromEntries(motors.map(id=>[id,{at:now,healthy:true,stopped:true}])),...extra};
+}
+function ready(p=base) {
+ const model=new AuthorityModel(p,motors,policy,'boot-A');
+ for(let t=0;t<=200;t+=50)model.step(frame(t));
+ return model;
+}
+function core() {
+ const model=ready();
+ const {token}=model.step(frame(250,axes(),{requestCore:{owner:'autonomy',sequence:1,at:250}}));
+ assert.ok(token);return {model,token};
+}
+const command=(token,at,sequence=0)=>({token,at,expires:at+75,sequence,demand:{left:.5,right:.5}});
+
+test('tank keeps the two motor sides independent, including reversal',()=>{
+ assert.deepEqual(mix(profile,axes(.8,-.4)),{left:.8,right:-.4});
+ assert.deepEqual(mix(profile,axes(0,.4)),{left:0,right:.4});
+});
+test('arcade cardinal, diagonal and reverse vectors preserve yaw sign',()=>{
+ for(const [y,x,left,right] of [[0,0,0,0],[1,0,1,1],[-1,0,-1,-1],[0,1,1,-1],[0,-1,-1,1],[1,1,1,0],[1,-1,0,1],[-1,1,0,-1],[-1,-1,-1,0]])
+  assert.deepEqual(mix(arcade,axes(0,y,0,x)),{left,right});
+ assert.deepEqual(mix(arcade,axes(0,.5,0,.5)),{left:.5,right:0});
+});
+test('selected stick defines the axes, not the number or position of motors',()=>{
+ assert.deepEqual(mix({...arcade,stick:'left'},axes(.5,-1,.5,-1)),{left:.5,right:0});
+});
+test('deadband is continuous and rescaled; response and output scale are separate',()=>{
+ assert.deepEqual(mix(base,axes(-.064,.074)),{left:0,right:0});
+ assert.deepEqual(mix({...profile,deadband:.2,response:'squared',outputScale:.5},axes(.6,-1)),{left:.12499999999999997,right:-.5});
+ assert.ok(Math.abs(mix(base,axes(.150001)).left)<.000002);
+});
+test('every point in the input square stays bounded and changes sign symmetrically',()=>{
+ for(let i=-20;i<=20;i++)for(let j=-20;j<=20;j++){
+  const a=mix({...arcade,outputScale:.8},axes(0,i/20,0,j/20));
+  const b=mix({...arcade,outputScale:.8},axes(0,-i/20,0,-j/20));
+  assert.ok(Math.abs(a.left)<=.8+1e-12 && Math.abs(a.right)<=.8+1e-12);
+  assert.ok(Math.abs(a.left+b.left)<1e-12 && Math.abs(a.right+b.right)<1e-12);
+ }
+});
+test('profile JSON rejects unknown fields, malformed numbers and unknown schema',()=>{
+ assert.deepEqual(parseProfile(JSON.parse(JSON.stringify(base))),base);
+ for(const bad of [null,[],{...base,schema:'future'},{...base,revision:1.5},{...base,revision:-1},{...base,deadband:NaN},{...base,outputScale:1.1},{...base,writeVesc:true}])assert.throws(()=>parseProfile(bad));
+ for(const value of [NaN,Infinity,1.01,undefined])assert.throws(()=>mix(profile,{...axes(),leftY:value}));
+});
+test('2, 4 and 10 motors route by identity and explicit direction, never USB position',()=>{
+ for(const n of [2,4,10]){
+  const bindings=Array.from({length:n},(_,i)=>({uuid:i.toString(16).padStart(24,'0'),side:i<n/2?'left':'right',forwardSign:i%2?1:-1}));
+  const result=motorDemands({left:.3,right:-.6},bindings);
+  assert.equal(Object.keys(result).length,n);
+  assert.deepEqual(result,motorDemands({left:.3,right:-.6},bindings.toReversed()));
+ }
+ const b={uuid:'0'.repeat(24),side:'left',forwardSign:1};
+ assert.throws(()=>motorDemands({left:1,right:1},[b]));
+ assert.throws(()=>motorDemands({left:1,right:1},[b,{...b,side:'right'}]));
+});
+test('boot with held stick never permits motion; stable stopped neutral required',()=>{
+ const model=new AuthorityModel(base,motors,policy,'boot');
+ for(let t=0;t<1000;t+=50){const d=model.step(frame(t,axes(1)));assert.equal(d.state,'hold');assert.deepEqual(d.demand,{left:0,right:0});}
+ for(let t=1000;t<1200;t+=50)assert.equal(model.step(frame(t)).state,'hold');
+ assert.equal(model.step(frame(1200)).state,'rc-ready');
+ assert.equal(model.step(frame(1250,axes(1))).state,'rc-manual');
+});
+test('first RC gesture stops Core immediately, held packets never count as second gesture',()=>{
+ const {model,token}=core();
+ assert.equal(model.step(frame(300,axes(),{command:command(token,300)})).state,'core');
+ const first=model.step(frame(350,axes(.5),{command:command(token,350,1)}));
+ assert.equal(first.reason,'rc-takeover');assert.ok(first.stopAll&&first.flushMotionQueue&&first.cancelMotionTasks);
+ for(let t=400;t<1500;t+=50)assert.deepEqual(model.step(frame(t,axes(.5))).demand,{left:0,right:0});
+ for(let t=1500;t<=1700;t+=50)model.step(frame(t));
+ const second=model.step(frame(1750,axes(.5)));
+ assert.equal(second.state,'rc-manual');assert.ok(second.demand.left>0);
+ assert.equal(model.step(frame(1800)).state,'rc-manual');
+ assert.equal(model.step(frame(1850,axes(0,.5),{command:command(token,1850,2)})).state,'rc-manual');
+});
+test('neutral of one channel or a single moving member never completes rearming',()=>{
+ for(const kind of ['axis','drive']){
+  const {model}=core();model.step(frame(300,axes(1)));
+  for(let t=350;t<=1500;t+=50){const f=frame(t,kind==='axis'?axes(0,.2):axes());if(kind==='drive')f.drives.d.stopped=false;assert.equal(model.step(f).state,'hold');}
+ }
+});
+test('loss of any of four controllers stops all sides and invalidates Core',()=>{
+ for(const id of motors){const {model,token}=core();const f=frame(300,axes(),{command:command(token,300)});delete f.drives[id];const d=model.step(f);assert.equal(d.reason,'drive-unverified');assert.ok(d.cancelMotionTasks);assert.deepEqual(d.demand,{left:0,right:0});}
+});
+test('unknown/lost radio cannot be treated as neutral even with fresh zero PWM reads',()=>{
+ for(const state of ['lost','unknown']){const {model,token}=core();const d=model.step(frame(300,axes(),{link:{state,at:300},command:command(token,300)}));assert.equal(d.reason,'receiver-unverified');assert.ok(d.stopAll);}
+});
+test('old decoded PPM, future samples, modified repeats and sequence rollback are rejected',()=>{
+ for(const patch of [{at:0},{at:351},{sequence:249},{value:.4,at:250,sequence:250},{value:NaN}]){
+  const {model}=core();const f=frame(350);Object.assign(f.axes.leftY,patch);assert.equal(model.step(f).reason,'axis-invalid');
+ }
+});
+test('one repeated neutral sample cannot qualify stable neutral',()=>{
+ const model=new AuthorityModel(base,motors,{...policy,neutralMs:50},'boot');
+ model.step(frame(0));const f=frame(50);f.axes.leftY={at:0,sequence:0,value:0};
+ assert.equal(model.step(f).state,'hold');
+});
+test('receiver reconnect while held stays stopped until neutral and a new gesture',()=>{
+ const model=ready();model.step(frame(250,axes(.5)));model.step(frame(300,axes(),{link:{state:'lost',at:300}}));
+ for(let t=350;t<1000;t+=50)assert.equal(model.step(frame(t,axes(.5))).state,'hold');
+ for(let t=1000;t<=1200;t+=50)model.step(frame(t));
+ assert.equal(model.step(frame(1250,axes(.5))).state,'rc-manual');
+});
+test('Core expiry/replay/wrong boot token/missing commands all require rearming',()=>{
+ for(const change of [c=>({...c,expires:300}),c=>({...c,expires:500}),c=>({...c,token:'old-boot:1'}),()=>undefined,c=>({...c,demand:{left:Infinity,right:0}})]){
+  const {model,token}=core();assert.equal(model.step(frame(300,axes(),{command:change(command(token,300))})).reason,'core-command-invalid');
+ }
+ const {model,token}=core();model.step(frame(300,axes(),{command:command(token,300,1)}));
+ assert.equal(model.step(frame(350,axes(),{command:command(token,350,1)})).reason,'core-command-invalid');
+});
+test('clock rewind and missing observation interval cannot bypass the stop gate',()=>{
+ for(const time of [249,500,NaN]){const {model,token}=core();const d=model.step(frame(time,axes(),{command:command(token,time)}));assert.equal(d.state,'hold');assert.ok(d.cancelMotionTasks);}
+});
+test('premature or replayed Core request does not acquire authority after neutral',()=>{
+ const model=new AuthorityModel(base,motors,policy,'boot');
+ for(let t=0;t<=300;t+=50){const d=model.step(frame(t,axes(),{requestCore:{owner:'remote',sequence:1,at:t}}));assert.notEqual(d.state,'core');}
+ assert.equal(model.step(frame(350,axes(),{requestCore:{owner:'remote',sequence:2,at:350}})).state,'core');
+});
+test('reboot cannot restore authority from serialized profile or old grant',()=>{
+ const {token}=core(), model=ready();
+ assert.equal(model.step(frame(250,axes(),{command:command(token,250)})).state,'rc-ready');
+ const next=new AuthorityModel(base,motors,policy,'boot-B');
+ for(let t=0;t<=200;t+=50)next.step(frame(t));
+ const grant=next.step(frame(250,axes(),{requestCore:{owner:'remote',sequence:1,at:250}}));
+ assert.notEqual(grant.token,token);
+ assert.equal(next.step(frame(300,axes(),{command:command(token,300)})).state,'hold');
+});
+test('profile limits do not mask RC takeover intent at zero output scale',()=>{
+ const model=ready({...base,outputScale:0});const grant=model.step(frame(250,axes(),{requestCore:{owner:'remote',sequence:1,at:250}}));
+ assert.ok(grant.token);assert.equal(model.step(frame(300,axes(.5))).reason,'rc-takeover');
+});
+
+test('non-driving stick still takes over in Arcade and every monitored axis must return',()=>{
+ const model=ready({...base,mode:'arcade',stick:'right'});
+ model.step(frame(250,axes(),{requestCore:{owner:'autonomy',sequence:1,at:250}}));
+ assert.equal(model.step(frame(300,axes(.5))).reason,'rc-takeover');
+ for(let t=350;t<800;t+=50)assert.equal(model.step(frame(t,axes(0,0,.5))).state,'hold');
+ const f=frame(800);delete f.axes.leftX;assert.equal(model.step(f).reason,'axis-invalid');
+ assert.throws(()=>new AuthorityModel(base,motors,{...policy,monitoredAxes:['leftY']},'boot'));
+});

apps/control-station/test/roverControlFocus.test.mjs

@@ -0,0 +1,49 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){
+ b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'}));
+ b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`}));
+}}]});
+const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const flush=()=>new Promise(resolve=>setImmediate(resolve));
+async function fixture(run){
+ const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]]));
+ let focus=true,hidden=false;const calls=[],timers=[];globalThis.roverEffects=[];
+ globalThis.window={addEventListener(){},removeEventListener(){}};
+ globalThis.document={get hidden(){return hidden;},hasFocus:()=>focus,addEventListener(){},removeEventListener(){}};
+ globalThis.setInterval=(f,ms)=>{const timer={f,ms};timers.push(timer);return timer;};globalThis.clearInterval=()=>{};
+ globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body});return {ok:true,json:async()=>url.endsWith('/arm')?{session_id:'fixture-session'}:{fresh:true,controlling:true,snapshot:{state:'ready'}}};};
+ const c=useRoverControl('fixture',true);const cleanup=globalThis.roverEffects.map(f=>f());
+ try{await flush();await c.arm(30,2000);await flush();await run({c,calls,timers,blur:()=>{focus=false;},focus:()=>{focus=true;},hide:()=>{hidden=true;}});}
+ finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}}
+}
+test('command heartbeat sends neutral on lost blur, keeps session, and accepts new focused input',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush();
+ assert.equal(f.calls.at(-1).body.left,1);f.blur();f.timers.find(t=>t.ms===100).f();await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,0);
+ f.focus();f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1);
+ assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1);
+}));
+test('expired physical input prevents heartbeat from renewing remembered demand',async()=>fixture(async f=>{
+ let valid=true;f.c.setInputGuard(()=>valid);f.c.setDemand({left:1,right:-1});await flush();valid=false;
+ f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.stop,false);
+}));
+test('no registered input scope cannot issue motion',async()=>fixture(async f=>{
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.stop,false);
+ assert.equal(f.calls.some(x=>x.body?.left===1),false);
+}));
+test('hidden document sends only neutral without a visibility event',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.hide();f.c.setDemand({left:1,right:1});await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.some(x=>x.body?.left===1),false);
+}));
+
+test('explicit pause clears demand without revoking session; explicit stop still revokes it',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush();f.c.pauseInput();await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1);
+ f.c.stop();await flush();assert.equal(f.calls.at(-1).body.stop,true);
+ const count=f.calls.length;f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.length,count);
+}));

apps/control-station/test/roverControlStartup.test.mjs

@@ -0,0 +1,49 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){
+ b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'}));
+ b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`}));
+}}]});
+const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const flush=()=>new Promise(resolve=>setImmediate(resolve));
+const deferred=()=>{let resolve;const promise=new Promise(r=>resolve=r);return {promise,resolve};};
+const response=value=>({ok:true,json:async()=>value});
+const idle={fresh:true,controlling:false,snapshot:{supported:true,state:'observing'}};
+async function fixture(run){
+ const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]]));
+ const calls=[],timers=[];globalThis.roverEffects=[];
+ globalThis.window={addEventListener(){},removeEventListener(){}};globalThis.document={hidden:false,hasFocus:()=>true,addEventListener(){},removeEventListener(){}};
+ globalThis.setInterval=(f,ms)=>{timers.push({f,ms});return timers.length;};globalThis.clearInterval=()=>{};
+ let armResponse=null,nextPoll=null;
+ globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body});
+  if(url.endsWith('/arm'))return armResponse?armResponse.promise:response({session_id:'new-session'});
+  if(!body)return nextPoll?nextPoll.promise:response(idle);
+  return response({accepted_sequence:body.sequence});
+ };
+ const c=useRoverControl('fixture',true),cleanup=globalThis.roverEffects.map(f=>f());
+ try{await flush();await run({c,calls,poll:()=>timers.find(t=>t.ms===200).f(),heartbeat:()=>timers.find(t=>t.ms===100).f(),delayArm:()=>armResponse=deferred(),delayPoll:()=>nextPoll=deferred()});}
+ finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}}
+}
+test('idle poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{
+ const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll();
+ a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush();
+ p.resolve(response(idle));await flush();f.heartbeat();await flush();
+ assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old idle poll revoked the new session');
+ assert.equal(f.calls.at(-1).body.session_id,'new-session');
+}));
+test('failed poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{
+ const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll();
+ a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush();
+ p.resolve({ok:false,json:async()=>({detail:'stale read failure'})});await flush();
+ assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old failed poll revoked the new session');
+}));
+test('a current poll still revokes control when server reports lease lost',async()=>fixture(async f=>{
+ assert.equal(await f.c.arm(30,2000),true);await flush();f.poll();await flush();
+ assert.equal(f.calls.at(-1).body.stop,true);
+}));
+test('duplicate arm clicks while request pending create exactly one lease request',async()=>fixture(async f=>{
+ const a=f.delayArm();const first=f.c.arm(30,2000),second=f.c.arm(30,2000);
+ a.resolve(response({session_id:'new-session'}));await Promise.all([first,second]);await flush();
+ assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1);
+}));

apps/control-station/test/roverHoldInput.test.mjs

@@ -0,0 +1,85 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/roverHoldInput.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm'});
+const {bindRoverHoldInput}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+class Events {
+ listeners=new Map();timers=new Map();next=0;
+ addEventListener(type,fn){if(!this.listeners.has(type))this.listeners.set(type,new Set());this.listeners.get(type).add(fn);}
+ removeEventListener(type,fn){this.listeners.get(type)?.delete(fn);}
+ emit(type,detail={}){const e={target:this,isTrusted:true,preventDefault(){},...detail};for(const fn of [...(this.listeners.get(type)??[])])fn(e);}
+ setInterval(fn){const id=++this.next;this.timers.set(id,fn);return id;}
+ clearInterval(id){this.timers.delete(id);}
+ tick(){for(const fn of this.timers.values())fn();}
+}
+function fixture(mode='arcade'){
+ let time=0,focus=true;const win=new Events(),doc=new Events();doc.defaultView=win;doc.hidden=false;doc.hasFocus=()=>focus;
+ const scope={ownerDocument:doc,closest:()=>null},child={closest:()=>null};scope.contains=x=>x===scope||x===child;doc.activeElement=scope;
+ const states=[],demands=[];let stops=0,pauses=0;
+ const binding=bindRoverHoldInput(scope,mode,{held:k=>states.push([...k]),demand:d=>demands.push(d),stop:()=>stops++,pause:()=>{pauses++;demands.push({left:0,right:0});}},()=>time);
+ const key=(code,repeat=false)=>win.emit('keydown',{code,repeat,target:scope});
+ return {win,doc,scope,child,binding,states,demands,key,stops:()=>stops,pauses:()=>pauses,advance:ms=>{time+=ms;win.tick();},loseFocus:()=>{focus=false;},restoreFocus:()=>{focus=true;},up:code=>win.emit('keyup',{code,target:scope})};
+}
+test('blur clears D, ignores a late repeat, but accepts a fresh press without rearming',()=>{
+ const f=fixture();f.key('KeyD');assert.deepEqual(f.demands.at(-1),{left:1,right:-1});
+ f.win.emit('blur');assert.equal(f.pauses(),1);assert.equal(f.stops(),0);assert.deepEqual(f.states.at(-1),[]);
+ assert.deepEqual(f.demands.at(-1),{left:0,right:0});const count=f.demands.length;
+ f.key('KeyD',true);assert.equal(f.demands.length,count);
+ f.key('KeyW');assert.deepEqual(f.demands.at(-1),{left:1,right:1});assert.equal(f.binding.valid(),true);f.binding.dispose();
+});
+test('heartbeat validity catches missing blur event using document focus',()=>{
+ const f=fixture();f.key('KeyD');f.loseFocus();assert.equal(f.binding.valid(),false);assert.equal(f.pauses(),1);
+ f.restoreFocus();assert.equal(f.binding.valid(),true);f.binding.dispose();
+});
+test('focus polling catches missing event or moving to another control',()=>{
+ const f=fixture();f.key('KeyW');f.doc.activeElement={};f.advance(50);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('lost keyup AND missing focus notifications still expire repeated D',()=>{
+ const f=fixture();f.key('KeyD');f.advance(500);f.key('KeyD',true);f.advance(299);assert.equal(f.pauses(),0);
+ f.advance(1);assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.key('KeyD',true);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('first press allows OS repeat delay but never an indefinite hold',()=>{
+ const f=fixture();f.key('KeyW');f.advance(999);assert.equal(f.pauses(),0);f.advance(1);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('continuous repeat renews hold; keyup immediately sends neutral',()=>{
+ const f=fixture();f.key('KeyW');f.advance(600);
+ for(let i=0;i<30;i++){f.key('KeyW',true);f.advance(100);}
+ assert.equal(f.pauses(),0);f.up('KeyW');assert.deepEqual(f.demands.at(-1),{left:0,right:0});f.advance(1200);assert.equal(f.pauses(),0);f.binding.dispose();
+});
+test('diagonal input survives single-key OS repeat; release recomputes demand',()=>{
+ const f=fixture();f.key('KeyW');f.key('KeyA');
+ for(let i=0;i<20;i++){f.key('KeyA',true);f.advance(100);}
+ assert.equal(f.pauses(),0);assert.deepEqual(f.demands.at(-1),{left:0,right:1});
+ f.up('KeyA');assert.deepEqual(f.demands.at(-1),{left:1,right:1});f.up('KeyW');f.binding.dispose();
+});
+test('repeat without a fresh press and untrusted events never command motion',()=>{
+ const f=fixture();f.key('KeyD',true);f.win.emit('keydown',{code:'KeyW',isTrusted:false,target:f.scope});assert.equal(f.demands.length,0);f.binding.dispose();
+});
+test('focus inside the view is allowed; leaving or hiding it stops',()=>{
+ for(const event of ['focusout','visibilitychange','pagehide','outside']){
+  const f=fixture();f.key('KeyW');f.doc.emit('focusout',{target:f.scope,relatedTarget:f.child});assert.equal(f.pauses(),0);
+  if(event==='focusout')f.doc.emit(event,{target:f.scope,relatedTarget:null});
+  else if(event==='visibilitychange'){f.doc.hidden=true;f.doc.emit(event);}
+  else if(event==='pagehide')f.win.emit(event);
+  else f.doc.emit('pointerdown',{target:{}});
+  assert.equal(event==='pagehide'?f.stops():f.pauses(),1,event);f.binding.dispose();
+ }
+});
+test('pointer capture lost or cancelled releases every input',()=>{
+ for(const mode of ['arcade','tank']){
+  const f=fixture(mode);f.binding.pointerDown(1,mode==='arcade'?'KeyW':'KeyQ');f.binding.pointerCancel(1);
+  assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.binding.dispose();
+ }
+});
+test('document pointerup releases even if button handler does not receive it',()=>{
+ const f=fixture();f.binding.pointerDown(1,'KeyD');f.doc.emit('pointerup',{pointerId:1});assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.pauses(),0);f.binding.dispose();
+});
+test('modifier shortcuts pause; cleanup removes listeners, timer and held demand',()=>{
+ const f=fixture();f.key('KeyD');f.win.emit('keydown',{code:'Tab',metaKey:true,target:f.scope});assert.equal(f.pauses(),1);f.binding.dispose();
+ assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.win.timers.size,0);
+ assert.equal([...f.win.listeners.values(),...f.doc.listeners.values()].reduce((sum,x)=>sum+x.size,0),0);
+});
+
+test('Space and Escape remain explicit session stops',()=>{
+ for(const code of ['Space','Escape']){const f=fixture();f.key('KeyW');f.key(code);assert.equal(f.stops(),1);assert.equal(f.binding.valid(),false);f.binding.dispose();}
+});

apps/control-station/test/roverInput.test.mjs

@@ -0,0 +1,23 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/roverInput.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm'});
+const {keyDemand,roverSettings}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const keys=(...k)=>new Set(k.map(v=>'Key'+v));
+test('arcade mixes directions and opposite keys cancel',()=>{
+ assert.deepEqual(keyDemand('arcade',keys('W')),{left:1,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('A')),{left:-1,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('W','A')),{left:0,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('W','S','A','D')),{left:0,right:0});
+});
+test('tank sides and backwards remain independent',()=>{
+ assert.deepEqual(keyDemand('tank',keys('Q','D')),{left:1,right:-1});
+ assert.deepEqual(keyDemand('tank',keys('A','D')),{left:-1,right:-1});
+ assert.deepEqual(keyDemand('tank',keys('Q','A')),{left:0,right:0});
+});
+test('invalid stored settings never grant motion or invalid limits',()=>{
+ assert.equal(roverSettings({version:1,currentA:Infinity}).currentA,30);
+ assert.equal(roverSettings({version:1,maxErpm:999999}).maxErpm,3000);
+ assert.equal(roverSettings({version:1,model:'https://other/model.glb'}).model,'');
+ assert.deepEqual(keyDemand('arcade',new Set()),{left:0,right:0});
+});

apps/control-station/test/vescUi.test.mjs

@@ -0,0 +1,70 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {readFileSync} from 'node:fs';
+import ts from 'typescript';
+
+const source=readFileSync(new URL('../../../plugins/vesc/frontend/src/model.ts',import.meta.url),'utf8');
+const code=ts.transpileModule(source,{compilerOptions:{module:ts.ModuleKind.ESNext}}).outputText;
+const {vescLabel,testInput,speedInput,rotationResult,driveTestIds}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64'));
+const controller={online:true,prepared:true,verified:true,vesc_status:{identity:{uuid:'synthetic'},readable:true}};
+
+test('speed mode requires board capability and reports measured rotation time',()=>{
+ assert.ok(speedInput('1200',undefined).error);
+ const bounds={min_erpm:300,max_erpm:3000,duration_basis:'measured_speed'};
+ assert.equal(speedInput('1200',bounds).error,null);
+ for(const value of ['', 'NaN','299','3001'])assert.ok(speedInput(value,bounds).error);
+ const text=rotationResult({outcome:'stopped',rotation_s:2.5,release_confirmed:true,limits_restored:true});
+ assert.match(text,/2,5 с/);
+ assert.match(text,/Проверка остановлена/);
+ assert.doesNotMatch(text,/время вращения набрано/);
+});
+
+test('USB discovery and model preparation never claim a verified VESC',()=>{
+ assert.equal(vescLabel({...controller,prepared:false},true).label,'Требуется подготовка');
+ assert.equal(vescLabel({...controller,vesc_status:{identity:null,readable:false}},true).tone,'warning');
+});
+test('fresh read capability is distinct from unsupported firmware and offline state',()=>{
+ assert.equal(vescLabel(controller,true).label,'Готов к чтению');
+ assert.equal(vescLabel(controller,false).label,'Нет связи');
+ assert.equal(vescLabel({...controller,online:false},true).label,'Нет связи');
+ assert.equal(vescLabel({...controller,vesc_status:{identity:{uuid:'synthetic'},readable:false}},true).label,'Прошивка не поддерживается');
+});
+
+test('test fields accept entered values only inside the board capability bounds',()=>{
+ const bounds={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10};
+ assert.equal(testInput('3.7','7.2',bounds).valid,true);
+ assert.equal(testInput('5','10',bounds).valid,true);
+ for(const [amps,seconds] of [['','5'],['5',''],['60','10'],['5','11'],['NaN','1'],['Infinity','1']])assert.equal(testInput(amps,seconds,bounds).valid,false);
+ assert.equal(testInput('2','1.5',undefined).valid,false);
+ const overlong=testInput('5','15',bounds);
+ assert.equal(overlong.valid,false);
+ assert.equal(overlong.currentError,null);
+ assert.equal(overlong.durationError,'Длительность должна быть от 0,5 до 10 с.');
+ assert.equal(testInput('5','10',bounds).durationError,null);
+});
+
+// Capabilities come from the installed board: a newer Core must retain old bounds.
+test('extended board accepts 30 A / 30 s without changing older board bounds',()=>{
+ const old={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10};
+ const expanded={...old,max_current_a:30,max_duration_s:30,continuous_current:true};
+ assert.equal(testInput('30','30',expanded).valid,true);
+ assert.equal(testInput('30.1','30',expanded).valid,false);
+ assert.equal(testInput('30','30.1',expanded).valid,false);
+ assert.equal(testInput('30','30',old).valid,false);
+});
+
+
+test('group spin requires a complete unique profile containing the selected controller',()=>{
+ const profile={layout:'1x1',revision:3,bindings:{'left.1':{device_id:'left',uuid:'a'},'right.1':{device_id:'right',uuid:'b'}}};
+ assert.deepEqual(driveTestIds(profile,'left'),['left','right']);
+ assert.deepEqual(driveTestIds(profile,'unassigned'),[]);
+ assert.deepEqual(driveTestIds({...profile,bindings:{'left.1':profile.bindings['left.1']}},'left'),[]);
+ assert.deepEqual(driveTestIds({...profile,bindings:{...profile.bindings,'right.1':profile.bindings['left.1']}},'left'),[]);
+ assert.deepEqual(driveTestIds(undefined,'left'),[]);
+});
+
+test('four-wheel profile preserves front and rear membership for common testing',()=>{
+ const ids=['lf','lr','rf','rr'];
+ const bindings=Object.fromEntries(['left.1','left.2','right.1','right.2'].map((slot,i)=>[slot,{device_id:ids[i],uuid:ids[i]}]));
+ assert.deepEqual(driveTestIds({layout:'2x2',revision:4,bindings},'rf'),ids);
+});