cleaned up robots/utils, test compose-clean

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Dec 6, 2024 · 66e3398 · 66e3398
1 parent 30a8f17
commit 66e3398
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Showing 4 changed files with 99 additions and 34 deletions.
diff --git a/packages/rmf-dashboard-framework/src/components/robots/utils.ts b/packages/rmf-dashboard-framework/src/components/robots/utils.ts
@@ -1,5 +1,4 @@
 import { ApiServerModelsRmfApiRobotStateStatus as Status2 } from 'api-client';
-import { RobotMode as RmfRobotMode } from 'rmf-models/ros/rmf_fleet_msgs/msg';
 
 /**
  * Returns a uniquely identifiable string representing a robot.
@@ -28,26 +27,3 @@ export function robotStatusToUpperCase(status: Status2): string {
       return `UNKNOWN (${status})`;
   }
 }
-
-export function robotModeToString(robotMode: RmfRobotMode): string {
-  switch (robotMode.mode) {
-    case RmfRobotMode.MODE_CHARGING:
-      return 'Charging';
-    case RmfRobotMode.MODE_DOCKING:
-      return 'Docking';
-    case RmfRobotMode.MODE_EMERGENCY:
-      return 'Emergency';
-    case RmfRobotMode.MODE_GOING_HOME:
-      return 'Going Home';
-    case RmfRobotMode.MODE_IDLE:
-      return 'Idle';
-    case RmfRobotMode.MODE_MOVING:
-      return 'Moving';
-    case RmfRobotMode.MODE_PAUSED:
-      return 'Paused';
-    case RmfRobotMode.MODE_WAITING:
-      return 'Waiting';
-    default:
-      return `Unknown (${robotMode.mode})`;
-  }
-}
diff --git a/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.stories.tsx b/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.stories.tsx
@@ -0,0 +1,19 @@
+import { Meta, StoryObj } from '@storybook/react';
+
+import { ComposeCleanTaskForm, makeDefaultComposeCleanTaskDescription } from './compose-clean';
+
+export default {
+  title: 'Tasks/ComposeCleanTaskForm',
+  component: ComposeCleanTaskForm,
+} satisfies Meta;
+
+type Story = StoryObj<typeof ComposeCleanTaskForm>;
+
+export const Default: Story = {
+  args: {
+    taskDesc: makeDefaultComposeCleanTaskDescription(),
+    cleaningZones: ['clean_zone_1', 'clean_zone_2'],
+    onChange: () => {},
+    onValidate: () => {},
+  },
+};
diff --git a/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.test.tsx b/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.test.tsx
@@ -0,0 +1,66 @@
+import { render, screen } from '@testing-library/react';
+import { describe, expect, it, vi } from 'vitest';
+
+import {
+  ComposeCleanTaskDefinition,
+  ComposeCleanTaskForm,
+  insertCleaningZone,
+  isComposeCleanTaskDescriptionValid,
+  makeComposeCleanTaskBookingLabel,
+  makeComposeCleanTaskShortDescription,
+  makeDefaultComposeCleanTaskDescription,
+} from './compose-clean';
+
+describe('Compose clean task form', () => {
+  it('Renders compose clean task form', () => {
+    const onChange = vi.fn();
+    const onValidate = vi.fn();
+
+    render(
+      <ComposeCleanTaskForm
+        taskDesc={makeDefaultComposeCleanTaskDescription()}
+        cleaningZones={['test_clean_1', 'test_clean_2']}
+        onChange={onChange}
+        onValidate={onValidate}
+      />,
+    );
+
+    expect(screen.getByText('Cleaning Zone')).toBeDefined();
+  });
+
+  it('Insert cleaning zone into task description', () => {
+    const desc = makeDefaultComposeCleanTaskDescription();
+    const insertedDesc = insertCleaningZone(desc, 'clean_zone_3');
+    expect(insertedDesc.phases[0].activity.description.activities[0].description).toBe(
+      'clean_zone_3',
+    );
+    expect(
+      insertedDesc.phases[0].activity.description.activities[1].description
+        .expected_finish_location,
+    ).toBe('clean_zone_3');
+    expect(
+      insertedDesc.phases[0].activity.description.activities[1].description.description.zone,
+    ).toBe('clean_zone_3');
+  });
+
+  it('Validate task description', () => {
+    const desc = makeDefaultComposeCleanTaskDescription();
+    const insertedDesc = insertCleaningZone(desc, 'clean_zone_3');
+    expect(isComposeCleanTaskDescriptionValid(insertedDesc)).toBeTruthy();
+  });
+
+  it('Booking label', () => {
+    const desc = makeDefaultComposeCleanTaskDescription();
+    const insertedDesc = insertCleaningZone(desc, 'clean_zone_3');
+    const bookingLabel = makeComposeCleanTaskBookingLabel(insertedDesc);
+    expect(bookingLabel.task_definition_id).toBe(ComposeCleanTaskDefinition.taskDefinitionId);
+    expect(bookingLabel.destination).toBe('clean_zone_3');
+  });
+
+  it('Short description', () => {
+    const desc = makeDefaultComposeCleanTaskDescription();
+    const insertedDesc = insertCleaningZone(desc, 'clean_zone_3');
+    const defaultShortDesc = makeComposeCleanTaskShortDescription(insertedDesc, undefined);
+    expect(defaultShortDesc).toBe('[Clean] zone [clean_zone_3]');
+  });
+});
diff --git a/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.tsx b/packages/rmf-dashboard-framework/src/components/tasks/types/compose-clean.tsx
@@ -108,6 +108,16 @@ export function makeComposeCleanTaskShortDescription(
   }]`;
 }
 
+export function insertCleaningZone(
+  taskDesc: ComposeCleanTaskDescription,
+  zone: string,
+): ComposeCleanTaskDescription {
+  taskDesc.phases[0].activity.description.activities[0].description = zone;
+  taskDesc.phases[0].activity.description.activities[1].description.expected_finish_location = zone;
+  taskDesc.phases[0].activity.description.activities[1].description.description.zone = zone;
+  return taskDesc;
+}
+
 interface ComposeCleanTaskFormProps {
   taskDesc: ComposeCleanTaskDescription;
   cleaningZones: string[];
@@ -135,19 +145,13 @@ export function ComposeCleanTaskForm({
       value={taskDesc.phases[0].activity.description.activities[0].description}
       onChange={(_ev, newValue) => {
         const zone = newValue ?? '';
-        taskDesc.phases[0].activity.description.activities[0].description = zone;
-        taskDesc.phases[0].activity.description.activities[1].description.expected_finish_location =
-          zone;
-        taskDesc.phases[0].activity.description.activities[1].description.description.zone = zone;
-        onInputChange(taskDesc);
+        const updatedTaskDesc = insertCleaningZone(taskDesc, zone);
+        onInputChange(updatedTaskDesc);
       }}
       onBlur={(ev) => {
         const zone = (ev.target as HTMLInputElement).value;
-        taskDesc.phases[0].activity.description.activities[0].description = zone;
-        taskDesc.phases[0].activity.description.activities[1].description.expected_finish_location =
-          zone;
-        taskDesc.phases[0].activity.description.activities[1].description.description.zone = zone;
-        onInputChange(taskDesc);
+        const updatedTaskDesc = insertCleaningZone(taskDesc, zone);
+        onInputChange(updatedTaskDesc);
       }}
       renderInput={(params) => <TextField {...params} label="Cleaning Zone" required={true} />}
     />