diff --git a/app/.meteor/packages b/app/.meteor/packages index eea51b52..8f51ac74 100644 --- a/app/.meteor/packages +++ b/app/.meteor/packages @@ -28,12 +28,11 @@ service-configuration rspack@1.3.0 # Integrate Rspack into Meteor for client and server app bundling aldeed:collection2 -aldeed:simple-schema percolate:migrations reywood:publish-composite meteortesting:mocha lmieulet:meteor-coverage -http accounts-passwordless email +aldeed:simple-schema@2.0.0 diff --git a/app/.meteor/versions b/app/.meteor/versions index 3a48992f..76e1cc12 100644 --- a/app/.meteor/versions +++ b/app/.meteor/versions @@ -3,8 +3,8 @@ accounts-github@1.5.1 accounts-google@1.4.1 accounts-oauth@1.4.7 accounts-passwordless@3.1.1 -aldeed:collection2@4.1.5 -aldeed:simple-schema@1.13.1 +aldeed:collection2@4.2.2 +aldeed:simple-schema@2.0.0 allow-deny@2.1.1 autoupdate@2.0.1 babel-compiler@7.15.1 @@ -47,7 +47,7 @@ logging@1.3.6 meteor@2.3.1 meteor-base@1.5.2 meteortesting:browser-tests@1.8.0 -meteortesting:mocha@3.3.0 +meteortesting:mocha@3.4.0 meteortesting:mocha-core@8.2.0 minifier-css@2.0.2 minifier-js@3.3.1 diff --git a/app/imports/server/rest_api.js b/app/imports/server/rest_api.js index 9475b732..9ec8cf4c 100644 --- a/app/imports/server/rest_api.js +++ b/app/imports/server/rest_api.js @@ -24,7 +24,6 @@ import { Meteor } from 'meteor/meteor'; import { Accounts } from 'meteor/accounts-base'; import { WebApp } from 'meteor/webapp'; import bodyParser from 'body-parser'; -import URL from 'url'; import { isFunction } from 'lodash'; // ORO modules import { Robot } from './model'; @@ -259,8 +258,9 @@ async function validateApiKey(req, res) { * from the URL search string "?..." for convenience */ function routeRequest(req) { - const url = URL.parse(req.url); - const queryParams = new URLSearchParams(url.query); + // Base is irrelevant: req.url is path+query only, and we only read pathname and search + const url = new URL(req.url, 'http://localhost'); + const queryParams = url.searchParams; for (const route of routes) { const { method, path, accept } = route; if (method == req.method) { diff --git a/app/package-lock.json b/app/package-lock.json index 146ce714..d181c787 100644 --- a/app/package-lock.json +++ b/app/package-lock.json @@ -87,9 +87,9 @@ } }, "node_modules/@babel/compat-data": { - "version": "7.29.0", - "resolved": "https://registry.npmjs.org/@babel/compat-data/-/compat-data-7.29.0.tgz", - "integrity": "sha512-T1NCJqT/j9+cn8fvkt7jtwbLBfLC/1y1c7NtCeXFRgzGTsafi68MRv8yzkYSapBnFA6L3U2VSc02ciDzoAJhJg==", + "version": "7.29.7", + "resolved": "https://registry.npmjs.org/@babel/compat-data/-/compat-data-7.29.7.tgz", + "integrity": "sha512-locTkQyKvwIEgBzVrn8693ebc97F2U8ZHjbXwDXJ5Fn2TCpNwTlKcaKLkdHop5c/icOFE7qt7Q9JC5hnKNa6Gg==", "dev": true, "license": "MIT", "engines": { @@ -97,21 +97,21 @@ } }, "node_modules/@babel/core": { - 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"dev": true, + "node_modules/zod": { + "version": "3.25.76", + "resolved": "https://registry.npmjs.org/zod/-/zod-3.25.76.tgz", + "integrity": "sha512-gzUt/qt81nXsFGKIFcC3YnfEAx5NkunCfnDlvuBSSFS02bcXu4Lmea0AFIUwbLWxWPx3d9p8S5QoaujKcNQxcQ==", "license": "MIT", - "engines": { - "node": ">=10" - }, "funding": { - "url": "https://github.com/sponsors/sindresorhus" + "url": "https://github.com/sponsors/colinhacks" } } } diff --git a/ingest/package.json b/ingest/package.json index 7d28976b..de9cd98e 100644 --- a/ingest/package.json +++ b/ingest/package.json @@ -7,8 +7,8 @@ "scripts": { "build": "node scripts/build.js", "test": "npm run test:unit -- $@", - "test:unit": "NODE_PRESERVE_SYMLINKS=1 mocha -t 5000 --require @babel/register --require test/it-helper --delay --exit \"test/**/*.test.js\" ", - "test:unit:report": "NODE_PRESERVE_SYMLINKS=1 mocha -t 5000 --reporter mocha-junit-reporter --reporter-options mochaFile=junit_ingest.xml --require @babel/register --require test/it-helper --delay --exit \"test/**/*.test.js\" ", + "test:unit": "NODE_PRESERVE_SYMLINKS=1 mocha -t 5000 --require @babel/register --require test/it-helper.js --exit \"test/**/*.test.js\" ", + "test:unit:report": "NODE_PRESERVE_SYMLINKS=1 mocha -t 5000 --reporter xunit --reporter-option output=junit_ingest.xml --require @babel/register --require test/it-helper.js --exit \"test/**/*.test.js\" ", "dev-start": "NODE_PRESERVE_SYMLINKS=1 NODE_OPTIONS=--unhandled-rejections=warn nodemon --watch src --watch /packages --exec babel-node src/main.js" }, "author": "", @@ -21,9 +21,9 @@ "@openrobops/iso21423": "^0.1.0", "axios": "^1.20.0", "convert-units": "^2.3.4", - "expr-eval": "^2.0.2", + "expr-eval-fork": "^3.0.3", "image-size": "^2.0.4", - "jimp": "^0.22.12", + "jimp": "^1.6.1", "js-yaml": "^4.3.2", "lodash": "^4.18.1", "moment": "^2.31.0", @@ -35,9 +35,7 @@ "devDependencies": { "chai": "^4.3.7", "chai-as-promised": "^7.1.1", - "mocha": "^11.8.0", - "mocha-junit-reporter": "^2.2.1", - "mocha-prepare": "^0.1.0", + "mocha": "^12.0.3", "mongo-unit": "^3.5.1", "nodemon": "^3.1.14", "sinon": "^21.1.2" diff --git a/ingest/src/server/modules/localization.js b/ingest/src/server/modules/localization.js index 82c2b728..2be44029 100644 --- a/ingest/src/server/modules/localization.js +++ b/ingest/src/server/modules/localization.js @@ -17,7 +17,7 @@ /** * Ingest-side implementation of the Localization agent module */ -import Jimp from 'jimp'; +import { Jimp, JimpMime } from 'jimp'; import moment from 'moment'; import { _ } from 'lodash'; import Long from 'long'; @@ -525,81 +525,74 @@ export default class RobotLocalizationModule { // gradient, restore transparency and convert back to PNG. // TODO(Joaker): Perform the same size check performed in onMapV2 to make sure costmap size // does not exceed mongo's limit - Jimp.read(Buffer.from(decodedMsg.pixels), (err, img) => { - img.rgba(true); // Set RGB mode - costmaps are sent greyscale - img.scan(0, 0, img.bitmap.width, img.bitmap.height, function (x, y, idx) { - // x, y is the position of this pixel on the image - // idx is the start position of this rgba tuple in the bitmap Buffer - // this is the image - // => R is [idx], G is [idx+1], B is [idx+2], A is [idx+3] - // rgba values run from 0 - 255 - - // Costmap cell value in the range 0-254 - const value = this.bitmap.data[idx]; - - // The agent sends the alpha channel as 0 for unknown cells. - // We represent that always as a transparent pixel. - if (this.bitmap.data[idx + 3] == 0) { - this.bitmap.data[idx + 3] = 0; - // No further processing required - return; - } + const img = await Jimp.read(Buffer.from(decodedMsg.pixels)); + img.scan(0, 0, img.bitmap.width, img.bitmap.height, function (x, y, idx) { + // x, y is the position of this pixel on the image + // idx is the start position of this rgba tuple in the bitmap Buffer + // this is the image + // => R is [idx], G is [idx+1], B is [idx+2], A is [idx+3] + // rgba values run from 0 - 255 + + // Costmap cell value in the range 0-254 + const value = this.bitmap.data[idx]; + + // The agent sends the alpha channel as 0 for unknown cells. + // We represent that always as a transparent pixel. + if (this.bitmap.data[idx + 3] == 0) { + this.bitmap.data[idx + 3] = 0; + // No further processing required + return; + } - // Otherwise, alpha is calculated according to the configuration - if (isAlphaGradient) { - // Use the color intensity (probability of obstacle) as alpha. - // This will make 'no obstacle' zones completely transparent and - // 'walls' completely opaque. - this.bitmap.data[idx + 3] = value * alphaValue; - } else { - this.bitmap.data[idx + 3] = 255 * alphaValue; - } + // Otherwise, alpha is calculated according to the configuration + if (isAlphaGradient) { + // Use the color intensity (probability of obstacle) as alpha. + // This will make 'no obstacle' zones completely transparent and + // 'walls' completely opaque. + this.bitmap.data[idx + 3] = value * alphaValue; + } else { + this.bitmap.data[idx + 3] = 255 * alphaValue; + } - // scale values from 0-254 to 0-100 for color ranges - const scaledValue = value / 2.54; - // Lethal obstacles range - if (lethalThreshold && scaledValue >= lethalThreshold) { - this.bitmap.data[idx] = lethalColor[0]; - this.bitmap.data[idx + 1] = lethalColor[1]; - this.bitmap.data[idx + 2] = lethalColor[2]; - // Border/edge obstacles range - } else if (borderThreshold && scaledValue >= borderThreshold - && scaledValue < lethalThreshold) { - this.bitmap.data[idx] = borderColor[0]; - this.bitmap.data[idx + 1] = borderColor[1]; - this.bitmap.data[idx + 2] = borderColor[2]; - // Gradient range - } else { - // Gradient between gradientStartColor and gradientEndColor based on - // the value of the occupancy grid cell - const p = value / 254; - const q = 1 - p; - for (let rgb = 0; rgb < 3; rgb++) { - this.bitmap.data[idx + rgb] = gradientEndColor[rgb] * p + gradientStartColor[rgb] * q; - } + // scale values from 0-254 to 0-100 for color ranges + const scaledValue = value / 2.54; + // Lethal obstacles range + if (lethalThreshold && scaledValue >= lethalThreshold) { + this.bitmap.data[idx] = lethalColor[0]; + this.bitmap.data[idx + 1] = lethalColor[1]; + this.bitmap.data[idx + 2] = lethalColor[2]; + // Border/edge obstacles range + } else if (borderThreshold && scaledValue >= borderThreshold + && scaledValue < lethalThreshold) { + this.bitmap.data[idx] = borderColor[0]; + this.bitmap.data[idx + 1] = borderColor[1]; + this.bitmap.data[idx + 2] = borderColor[2]; + // Gradient range + } else { + // Gradient between gradientStartColor and gradientEndColor based on + // the value of the occupancy grid cell + const p = value / 254; + const q = 1 - p; + for (let rgb = 0; rgb < 3; rgb++) { + this.bitmap.data[idx + rgb] = gradientEndColor[rgb] * p + gradientStartColor[rgb] * q; } - }); - // Get the images's buffer and write to DB - // NOTE(diegobatt): This callback is not awaiting the db update - img.getBuffer(Jimp.MIME_PNG, (err2, buffer) => { - if (err2) { - console.error('Could not write costmap jimp buffer', err2); - return; - } - const ts = decodedMsg.ts.toNumber(); - const costmapUpdates = { - x: decodedMsg.x, - y: decodedMsg.y, - theta: decodedMsg.theta, - width: decodedMsg.width, - height: decodedMsg.height, - resolution: decodedMsg.resolution, - ts, - data: buffer.toString('base64') // it was a node Buffer object - }; - this._doUpdate(robotId, costmapUpdates, LOCALIZATION_SUBOBJECTS.COSTMAP, ts); - }); + } }); + // Get the images's buffer and write to DB + // NOTE(diegobatt): Not awaiting the db update + const buffer = await img.getBuffer(JimpMime.png); + const ts = decodedMsg.ts.toNumber(); + const costmapUpdates = { + x: decodedMsg.x, + y: decodedMsg.y, + theta: decodedMsg.theta, + width: decodedMsg.width, + height: decodedMsg.height, + resolution: decodedMsg.resolution, + ts, + data: buffer.toString('base64') // it was a node Buffer object + }; + this._doUpdate(robotId, costmapUpdates, LOCALIZATION_SUBOBJECTS.COSTMAP, ts); } catch (error) { throw Error('Error handling costmap', error); } diff --git a/ingest/src/services/derivedAttributes/expressions.js b/ingest/src/services/derivedAttributes/expressions.js index 83ef4ab8..58a5dc4e 100644 --- a/ingest/src/services/derivedAttributes/expressions.js +++ b/ingest/src/services/derivedAttributes/expressions.js @@ -25,7 +25,7 @@ * math (unary, binary, ternary operators), injecting variables (`args`) and functions (such * as `hasTag`, injected from svc-derived-attributes) */ -import { Parser } from 'expr-eval'; +import { Parser } from 'expr-eval-fork'; import { isObject, isString } from 'lodash'; import { FUNCTIONS_DICT } from './functions'; diff --git a/ingest/test/it-helper.js b/ingest/test/it-helper.js index a1fd3655..54b471a3 100644 --- a/ingest/test/it-helper.js +++ b/ingest/test/it-helper.js @@ -21,7 +21,6 @@ * Adapted from: * https://www.toptal.com/nodejs/integration-and-e2e-tests-nodejs-mongodb */ -import prepare from 'mocha-prepare'; import mongoUnit from 'mongo-unit'; // NOTE+HACK(herchu) Do NOT do // import MongoManager from '../src/mongo'; @@ -30,15 +29,18 @@ import mongoUnit from 'mongo-unit'; // changes. Since we use singletons (particularly MongoManager from here), then the module // import and initialization of MongoManager must happen for *for every new module loaded*: // For this reason doing an `import` on top of this file does not work, and we need to do a -// "dynamic" require() every time this code runs (see prepare() code below). +// "dynamic" require() every time this code runs (see mochaGlobalSetup() code below). // Note that with the regular import, tests run ok *just once*, but not in `--watch` mode. // To test this out, add a `this.rnd = Math.random();` to MongoManager constructor and do -// a console log of `mongoMgr.rnd` in prepare() and in test cases -- and verify the instance on -// the tests are different every time, while the instance used in prepare() in this file is always -// the same. +// a console log of `mongoMgr.rnd` in mochaGlobalSetup() and in test cases -- and verify the +// instance on the tests are different every time, while the instance used in +// mochaGlobalSetup() in this file is always the same. // Thanks, Mocha. This is fun. -prepare(done => mongoUnit.start().then(async testMongoUrl => { +// Mocha "global fixture": runs once before any test file executes. +// https://mochajs.org/#global-fixtures +export async function mochaGlobalSetup() { + const testMongoUrl = await mongoUnit.start(); console.info("Initializing mongo with url", testMongoUrl); // HACK(herchu): Dynamically importing mongoManager to reload it every time. See comment above. try { @@ -47,11 +49,9 @@ prepare(done => mongoUnit.start().then(async testMongoUrl => { await mongoMgr.init({ url: testMongoUrl }); - done(); } catch (error) { console.error("Failed to initialize mongo-unit. If this was about libcrypto, you need to install libssl1.1. See .github/workflows/test.yml for details."); console.error("Error initializing mongo", error); - done(error); + throw error; } - run(); -})) +} diff --git a/ingest/test/localization-costmap.test.js b/ingest/test/localization-costmap.test.js new file mode 100644 index 00000000..91ffbdef --- /dev/null +++ b/ingest/test/localization-costmap.test.js @@ -0,0 +1,67 @@ +/** + * Copyright 2026 InOrbit, Inc. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/** + * Unit test for costmap image post-processing in the Robot Localization module. + */ +import { expect } from "chai"; +import * as sinon from "sinon"; +import { Jimp, JimpMime, rgbaToInt } from "jimp"; +import MqttMock from "./mocks/mqtt"; +import RobotLocalizationModule from "../src/server/modules/localization"; + +describe("RobotLocalizationModule: costmap", () => { + let loc; + let mqtt; + let sandbox; + let doUpdate; + + beforeEach(async () => { + mqtt = new MqttMock(); + loc = new RobotLocalizationModule({ mqtt }); + await loc.load(); + sandbox = sinon.createSandbox(); + sandbox.stub(loc.uiPreferencesCfgCache, "get").resolves({ + map: { costmap: { gradientEndColor: [10, 20, 30], alphaValue: 1, isAlphaGradient: true } } + }); + doUpdate = sandbox.stub(loc, "_doUpdate").resolves(); + }); + + afterEach(() => sandbox.restore()); + + it("colorizes the greyscale costmap and keeps unknown cells transparent", async () => { + // 2x1 greyscale costmap: cell 0 is a known obstacle (254), cell 1 is unknown (alpha 0) + const src = new Jimp({ width: 2, height: 1 }); + src.setPixelColor(rgbaToInt(254, 254, 254, 255), 0, 0); + src.setPixelColor(rgbaToInt(0, 0, 0, 0), 1, 0); + const pixels = await src.getBuffer(JimpMime.png); + const msg = mqtt.lookupType("oro.MapMessage").encode({ + width: 2, height: 1, pixels, x: 1, y: 2, theta: 0.5, resolution: 0.05, ts: 1712870181770 + }).finish(); + + await loc.onCostmap("r0", msg); + + expect(doUpdate.calledOnce).to.equal(true); + const [robotId, updates, subobject, ts] = doUpdate.firstCall.args; + expect(robotId).to.equal("r0"); + expect(subobject).to.equal("costmap"); + expect(ts).to.equal(1712870181770); + expect(updates).to.include({ width: 2, height: 1, ts: 1712870181770 }); + const out = await Jimp.read(Buffer.from(updates.data, "base64")); + expect(Array.from(out.bitmap.data.subarray(0, 4))).to.deep.equal([10, 20, 30, 254]); + expect(out.bitmap.data[7]).to.equal(0); + }); +});