houseplan-card/test/vacuum.test.mjs

import test from 'node:test';
import assert from 'node:assert/strict';
import { solveAffine, applyAffine, affineResidual, readVacTelemetry, autoCalibrate, thinPath, pushTrailPoint, isVacMoving, isVacSourceState, vacMapIdFromAttrs } from '../test-build/vacuum.js';

test('solveAffine recovers rotation+scale+mirror+offset exactly', () => {
  // target = mirror-X, rotate 90°, scale 0.02, offset (300, 400)
  const f = ([x, y]) => [300 + 0.02 * y, 400 + 0.02 * x];
  const src = [[1000, 2000], [8000, 2500], [3000, 9000], [7000, 7000]];
  const m = solveAffine(src.map((p) => [p, f(p)]));
  assert.ok(m);
  for (const p of [[5000, 5000], [0, 0], [12000, 3000]]) {
    const got = applyAffine(m, p[0], p[1]);
    const want = f(p);
    assert.ok(Math.hypot(got[0] - want[0], got[1] - want[1]) < 1e-6, String(p));
  }
  assert.ok(affineResidual(m, src.map((p) => [p, f(p)])) < 1e-6);
});

test('solveAffine rejects degenerate input', () => {
  assert.equal(solveAffine([[[0, 0], [0, 0]], [[1, 1], [1, 1]]]), null); // 2 pairs
  // collinear
  assert.equal(solveAffine([[[0, 0], [0, 0]], [[1, 0], [1, 0]], [[2, 0], [2, 0]]]), null);
  assert.equal(solveAffine([[[0, NaN], [0, 0]], [[1, 0], [1, 0]], [[2, 3], [2, 0]]]), null);
});

test('readVacTelemetry: Map Extractor shape', () => {
  const t = readVacTelemetry({
    vacuum_position: { x: 25500, y: 24800, a: 271 },
    path: [{ x: 25000, y: 24000 }, { x: 25100, y: 24100 }],
    rooms: { 16: { name: 'Kitchen', x0: 20000, y0: 20000, x1: 26000, y1: 25000 } },
    map_name: '0',
  });
  assert.deepEqual(t.pos, { x: 25500, y: 24800, a: 271 });
  assert.deepEqual(t.path, [[25000, 24000], [25100, 24100]]);
  assert.equal(t.rooms[0].name, 'Kitchen');
  assert.equal(t.rooms[0].cx, 23000);
  assert.equal(t.mapId, '0');
});

test('readVacTelemetry: Valetudo/Tasshack shapes + junk safety', () => {
  const t = readVacTelemetry({ robot_position: { x: '120', y: '340', angle: '90' }, rooms: [{ id: 7, name: 'Спальня', cx: 10, cy: 20 }] });
  assert.deepEqual(t.pos, { x: 120, y: 340, a: 90 });
  assert.equal(t.rooms[0].id, '7');
  assert.equal(readVacTelemetry({ vacuum_position: { x: 'nope', y: 1 } }), null);
  assert.equal(readVacTelemetry({}), null);
  assert.equal(readVacTelemetry(null), null);
  assert.ok(isVacSourceState({ attributes: { vacuum_position: { x: 1, y: 2 } } }));
  assert.ok(!isVacSourceState({ attributes: { battery: 1 } }));
});

test('readVacTelemetry: Tasshack room centres come as plain x/y', () => {
  // shape captured from a live Dreame X50 Master (dacha, 2026-07-31)
  const t = readVacTelemetry({
    vacuum_position: { x: 1399, y: -55, a: 181 },
    rooms: { 2: { room_id: 2, name: 'Кладовка', x0: 800, y0: -2000, x1: 4200, y1: 300, x: 2575, y: -825 } },
  });
  assert.equal(t.rooms[0].name, 'Кладовка');
  // bbox wins when present (both are valid anchors); x/y covers bbox-less dialects
  assert.equal(t.rooms[0].cx, 2500);
  const t2 = readVacTelemetry({ vacuum_position: { x: 0, y: 0 }, rooms: { 2: { name: 'Кладовка', x: 2575, y: -825 } } });
  assert.equal(t2.rooms[0].cx, 2575);
});

test('autoCalibrate matches by name and solves', () => {
  const f = ([x, y]) => [0.01 * x + 100, -0.01 * y + 900];
  const vac = [
    { id: '1', name: 'Kitchen', cx: 1000, cy: 2000 },
    { id: '2', name: 'Bed Room', cx: 9000, cy: 2500 },
    { id: '3', name: 'office', cx: 3000, cy: 8000 },
    { id: '4', name: 'Garage', cx: 5000, cy: 5000 }, // no plan match
  ];
  const plan = [
    { name: 'kitchen', cx: f([1000, 2000])[0], cy: f([1000, 2000])[1] },
    { name: 'BEDROOM', cx: f([9000, 2500])[0], cy: f([9000, 2500])[1] },
    { name: 'Office', cx: f([3000, 8000])[0], cy: f([3000, 8000])[1] },
  ];
  const r = autoCalibrate(vac, plan);
  assert.ok(r);
  assert.deepEqual(r.matched, ['Kitchen', 'Bed Room', 'office']);
  assert.ok(r.residual < 1e-6);
  // two matches only -> null
  assert.equal(autoCalibrate(vac.slice(0, 2), plan.slice(0, 2)), null);
});

test('thinPath keeps corners, drops straight-line noise', () => {
  const pts = [];
  for (let i = 0; i <= 100; i++) pts.push([i, 0]);
  for (let i = 1; i <= 100; i++) pts.push([100, i]);
  const out = thinPath(pts, 0.5);
  assert.ok(out.length <= 5, String(out.length));
  assert.deepEqual(out[0], [0, 0]);
  assert.deepEqual(out[out.length - 1], [100, 100]);
  assert.ok(out.some((p) => p[0] === 100 && p[1] === 0)); // the corner survives
});

test('pushTrailPoint dedups and respects the cap', () => {
  let buf = [];
  for (let i = 0; i < 3000; i++) buf = pushTrailPoint(buf, [i, (i * 7) % 13], 0.5);
  assert.ok(buf.length <= 600, String(buf.length));
  buf = pushTrailPoint(buf, buf[buf.length - 1], 0.5); // dup ignored
  assert.ok(buf.length <= 600);
});

test('isVacMoving', () => {
  assert.ok(isVacMoving('cleaning'));
  assert.ok(isVacMoving('returning'));
  assert.ok(!isVacMoving('docked'));
  assert.ok(!isVacMoving('idle'));
  assert.ok(!isVacMoving(undefined));
});

test('fitMatrix/fitFromMatrix round-trip, mirror and quarters', async () => {
  const { fitMatrix, fitFromMatrix, initialFit, reanchorFit } = await import('../test-build/vacuum.js');
  for (const rot of [0, 90, 180, 270]) for (const mir of [false, true]) {
    const p = { ox: 123.4, oy: -55.5, s: 0.083, rot, mir };
    const q = fitFromMatrix(fitMatrix(p));
    assert.equal(q.rot, rot, `rot ${rot} mir ${mir}`);
    assert.equal(q.mir, mir);
    assert.ok(Math.abs(q.s - p.s) < 1e-9 && Math.abs(q.ox - p.ox) < 1e-9 && Math.abs(q.oy - p.oy) < 1e-9);
  }
  // the real X50 matrix shape: X forward, Y flipped == mir + 180? decompose sanity
  const q = fitFromMatrix([0.08, 0, 590, 0, -0.08, 677]);
  assert.equal(q.mir, true);
  // initialFit centres the map bbox on the canvas
  const rooms = [{ id: '1', name: 'A', cx: 500, cy: 500, x0: 0, y0: 0, x1: 1000, y1: 1000 }];
  const f = initialFit(rooms, [0, 0, 1000, 1000]);
  const m = fitMatrix(f);
  const c = applyAffine(m, 500, 500);
  assert.ok(Math.abs(c[0] - 500) < 1e-6 && Math.abs(c[1] - 500) < 1e-6);
  assert.ok(Math.abs(1000 * f.s - 600) < 1e-6); // 60% of the canvas
  assert.equal(f.mir, true);
  // reanchor keeps the chosen source point fixed through a rotation
  const p2 = { ...f, rot: 90 };
  const r2 = reanchorFit(p2, f, 500, 500);
  const c2 = applyAffine(fitMatrix(r2), 500, 500);
  assert.ok(Math.abs(c2[0] - c[0]) < 1e-6 && Math.abs(c2[1] - c[1]) < 1e-6);
});

// HP-1540-02: the map-id contract, mirrored by trails.py resolve_map_id —
// the first value that is not null/undefined wins; zero and '' are valid ids.
test('vacMapIdFromAttrs: first NOT-nullish value wins, zero survives', () => {
  assert.equal(vacMapIdFromAttrs({ map_index: 0 }), '0');
  assert.equal(vacMapIdFromAttrs({ map_index: '0' }), '0');
  assert.equal(vacMapIdFromAttrs({ map_name: '', selected_map: 'Floor' }), '');
  assert.equal(vacMapIdFromAttrs({ map_name: 'A', map_index: 0 }), 'A');
  assert.equal(vacMapIdFromAttrs({ current_map: 2 }), '2');
  assert.equal(vacMapIdFromAttrs({ selected_map: 'Vac' }), 'Vac');
  assert.equal(vacMapIdFromAttrs({}), 'default');
});

test('readVacTelemetry keeps numeric zero map_index as map id (HP-1540-02)', () => {
  const t = readVacTelemetry({ vacuum_position: { x: 1, y: 2 }, map_index: 0 });
  assert.equal(t.mapId, '0');
});