Mujoco_WASM/web_platform/src/robot/RobotRuntime.test.ts

import fixture from '../../../contracts/fixtures/single-joint.json';
import { RobotRuntime } from './RobotRuntime';
import type { RobotAdapter } from './types';
import { validateDescriptor, validateValues } from './validation';

function setup() {
  const descriptor = validateDescriptor(fixture.descriptor);
  let clock = 0,
    paused = false,
    measured = 0.12;
  const adapter: RobotAdapter = {
    describe: () => descriptor,
    readObservation: () => ({ 'slider.position': measured }),
    validateAction: (v) => validateValues(v, descriptor.actionChannels, true),
    applyAction: vi.fn((v) => validateValues(v, descriptor.actionChannels, true)),
    safeStop: vi.fn(),
    reset: () => {
      measured = 0;
    },
    dispose: vi.fn(),
  };
  const fault = vi.fn(() => {
    paused = true;
  });
  const runtime = new RobotRuntime(
    adapter,
    'sim-test',
    () => paused,
    fault,
    () => clock,
  );
  runtime.authorize();
  const identity = runtime.claim('lease-test');
  const action = (seq = 1) => ({ ...fixture.validAction, ...identity, actionSeq: seq });
  return {
    runtime,
    adapter,
    fault,
    action,
    tick: (ms: number) => {
      clock += ms;
    },
    pause: () => {
      paused = true;
    },
  };
}
describe('RobotRuntime bounded mailbox', () => {
  it('applies only at a step, confirms after the step, observations are not targets', async () => {
    const s = setup();
    let confirmed = false;
    const ack = s.runtime.enqueue(s.action()).then((r) => {
      confirmed = true;
      return r;
    });
    expect(s.adapter.applyAction).not.toHaveBeenCalled();
    expect(s.runtime.beforeStep()).toBe(true);
    expect(s.adapter.applyAction).toHaveBeenCalledOnce();
    expect(confirmed).toBe(false);
    s.runtime.afterStep(0.002);
    expect((await ack).values['slider.position']).toBe(0.3);
    expect(s.runtime.latest()?.values['slider.position']).toBe(0.12);
    expect(s.runtime.latest()?.appliedActionSeq).toBe(1);
  });
  it('only newest pending target survives and old sequences cannot replay', async () => {
    const s = setup();
    const old = s.runtime.enqueue(s.action()).catch((e) => e.code);
    const next = s.runtime.enqueue(s.action(2));
    expect(await old).toBe('SUPERSEDED');
    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'STALE' });
    s.runtime.beforeStep();
    s.runtime.afterStep(0.002);
    expect((await next).actionSeq).toBe(2);
  });
  it('wall clock watchdog cancels stale actions before the first resumed step', async () => {
    const s = setup();
    const ack = s.runtime.enqueue(s.action()).catch((e) => e.code);
    s.tick(501);
    expect(s.runtime.beforeStep()).toBe(false);
    expect(await ack).toBe('DISCONNECTED');
    expect(s.adapter.applyAction).not.toHaveBeenCalled();
    expect(s.fault).toHaveBeenCalledOnce();
    expect(s.runtime.status().enabled).toBe(false);
    await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'UNAUTHORIZED' });
  });
  it('a socket event delivered after freeze cannot renew an expired lease', async () => {
    const s = setup();
    s.runtime.capture(0);
    s.tick(501);
    expect(s.runtime.status().observationAgeMs).toBe(501);
    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'TIMEOUT' });
    expect(s.adapter.applyAction).not.toHaveBeenCalled();
    expect(s.fault).toHaveBeenCalledOnce();
    expect(s.runtime.status().enabled).toBe(false);
  });
  it('reset/dispose reject outstanding requests and invalidate epoch', async () => {
    const s = setup();
    const pending = s.runtime.enqueue(s.action()).catch((e) => e.code);
    s.runtime.reset();
    expect(await pending).toBe('DISCONNECTED');
    expect(s.runtime.status().modelEpoch).toBe(1);
    s.runtime.authorize();
    s.runtime.claim('new-lease');
    await expect(s.runtime.enqueue(s.action(2))).rejects.toMatchObject({ code: 'STALE' });
    s.runtime.dispose();
    s.runtime.dispose();
    expect(s.adapter.dispose).toHaveBeenCalledOnce();
  });
  it('paused/multiple owners denied and nonowner revocation does not write', async () => {
    const s = setup();
    expect(() => s.runtime.claim('other')).toThrow(/已有/);
    s.pause();
    await expect(s.runtime.enqueue(s.action())).rejects.toMatchObject({ code: 'PAUSED' });
    vi.mocked(s.adapter.safeStop).mockClear();
    s.runtime.revoke('not owner', false);
    expect(s.adapter.safeStop).not.toHaveBeenCalled();
  });
});