implement driver tests

.github/workflows/build-pr.yml

@@ -1,4 +1,4 @@
-name: Build CI
+name: Lint/Build/Test CI
 
 permissions:
   contents: read
@@ -15,15 +15,16 @@ concurrency: ${{ github.workflow }}-${{ github.ref }}
 jobs:
   release:
     name: Build CI
-    runs-on: ubuntu-latest
+    runs-on: macos-latest
     steps:
       - uses: actions/checkout@v5
       - uses: pnpm/action-setup@v4
       - uses: actions/setup-node@v6
         with:
-          node-version: "lts/*"
+          node-version: "24"
           cache: "pnpm"
       - run: pnpm install --frozen-lockfile
 
       - run: pnpm lint
       - run: pnpm build
+      - run: pnpm test

.github/workflows/changeset-release.yml

@@ -16,7 +16,7 @@ jobs:
       - uses: pnpm/action-setup@v4
       - uses: actions/setup-node@v6
         with:
-          node-version: "lts/*"
+          node-version: "24"
           cache: "pnpm"
       - run: pnpm install --frozen-lockfile
 

.github/workflows/deploy-demo.yml

@@ -25,7 +25,7 @@ jobs:
       - uses: pnpm/action-setup@v4
       - uses: actions/setup-node@v6
         with:
-          node-version: "lts/*"
+          node-version: "24"
           cache: "pnpm"
       - run: pnpm install --frozen-lockfile
 

.gitignore

@@ -1,3 +1,5 @@
 node_modules
 dist
 *.local
+*.tsbuildinfo
+__screenshots__

demo/package.json

@@ -4,7 +4,7 @@
 	"version": "0.0.1",
 	"type": "module",
 	"scripts": {
-		"build": "tsc --build --clean && vite build",
+		"build": "tsc --build && vite build",
 		"clean": "rm -rfv dist",
 		"dev": "vite"
 	},

driver/package.json

@@ -5,8 +5,10 @@
 	"version": "0.0.6",
 	"type": "module",
 	"scripts": {
-		"build": "tsc --build --clean",
+		"build": "tsc --build",
 		"clean": "rm -rfv dist",
+		"test": "vitest run --browser.headless",
+		"pretest": "playwright install chromium",
 		"prepack": "$npm_execpath run clean && $npm_execpath run build"
 	},
 	"files": [

driver/src/camera/deraw/formats.ts

@@ -61,8 +61,8 @@ export const unpackGrayToRgbaFloat16 = (
 };
 
 const BAYER_NORMAL = 1 / 255;
-const BAYER_NORMAL2 = BAYER_NORMAL * 2;
-const BAYER_NORMAL4 = BAYER_NORMAL * 4;
+const BAYER_NORMAL2 = 1 / (255 * 2);
+const BAYER_NORMAL4 = 1 / (255 * 4);
 
 /**
  * Convert Bayer pattern to RGBA float16 format
@@ -172,7 +172,7 @@ const YUV_NORMAL = 1 / 255;
  * @param outBuffer Output buffer
  * @returns RGBA float16 buffer
  */
-export function uyvyToRgbaFloat16(
+export function yuvToRgbaFloat16(
 	uyvyBuffer: ArrayBuffer,
 	outBuffer = new ArrayBuffer(
 		uyvyBuffer.byteLength * 2 * Float16Array.BYTES_PER_ELEMENT,

driver/src/camera/deraw/select-format.ts

@@ -4,7 +4,7 @@ import { selectBpp, selectRes } from "../stream/dimensions.js";
 import {
 	bayerToRgbaFloat16,
 	unpackGrayToRgbaFloat16,
-	uyvyToRgbaFloat16,
+	yuvToRgbaFloat16,
 } from "./formats.js";
 import type { RawToRgba } from "./raw-to-rgba.js";
 
@@ -21,7 +21,7 @@ export const selectRawToRgba = (mode: CamMode): RawToRgba => {
 				case CamFmtVisible.BAYER_8B:
 					return bayerToRgbaFloat16.bind(null, selectRes(mode)[0]);
 				case CamFmtVisible.YUV_16B:
-					return uyvyToRgbaFloat16.bind(null);
+					return yuvToRgbaFloat16.bind(null);
 			}
 	}
 };

driver/src/camera/stream/dimensions.ts

@@ -39,7 +39,7 @@ const irBpp = {
 	[CamFmtInfrared.IR_10B]: 10,
 } as const;
 
-export const selectRes = <M extends CamMode>(mode: M) => {
+export const selectRes = <M extends CamMode>(mode: NonNullable<M>) => {
 	switch (mode?.stream) {
 		case undefined:
 			throw new RangeError("Invalid mode", { cause: mode });
@@ -58,10 +58,8 @@ export const selectRes = <M extends CamMode>(mode: M) => {
 	}
 };
 
-export const selectBpp = <M extends CamMode>(mode: M) => {
-	switch (mode?.stream) {
-		case undefined:
-			throw new RangeError("Invalid mode", { cause: mode });
+export const selectBpp = <M extends CamMode>(mode: NonNullable<M>) => {
+	switch (mode.stream) {
 		case Cam.VISIBLE:
 			return visibleBpp[mode.format] as M extends CamMode<Cam.VISIBLE>
 				? (typeof visibleBpp)[M["format"]]
@@ -77,10 +75,8 @@ export const selectBpp = <M extends CamMode>(mode: M) => {
 	}
 };
 
-export const selectFrameSize = (mode: CamMode) => {
-	switch (mode?.stream) {
-		case undefined:
-			throw new RangeError("Invalid mode", { cause: mode });
+export const selectFrameSize = (mode: NonNullable<CamMode>) => {
+	switch (mode.stream) {
 		case Cam.VISIBLE: {
 			const [width, height] = visibleRes[mode.res];
 			const bpp = visibleBpp[mode.format];

driver/src/motor/motor.ts

@@ -100,7 +100,7 @@ export class Motor {
 	public async setPosition(degrees: number): Promise<void> {
 		await this.ready;
 
-		const halfDegrees = Math.round(degrees * 2);
+		const halfDegrees = Math.trunc(degrees * 2);
 		const limited = Math.max(
 			Math.min(halfDegrees, MOTOR_MAX_TILT),
 			-MOTOR_MAX_TILT,