Merge branch 'feat/gesture-ui-cb' of git.science.uu.nl:ics/sp/2025/n25b/pepperplus-ui into feat/gesture-ui-cb

ref: N25B-345

src/App.tsx

@@ -7,6 +7,7 @@ import ConnectedRobots from './pages/ConnectedRobots/ConnectedRobots.tsx'
 import VisProg from "./pages/VisProgPage/VisProg.tsx";
 import {useState} from "react";
 import Logging from "./components/Logging/Logging.tsx";
+import GesturePage from './pages/GesturePage/GesturePage.tsx';
 
 function App(){
   const [showLogs, setShowLogs] = useState(false);
@@ -25,6 +26,7 @@ function App(){
             <Route path="/editor" element={<VisProg />} />
             <Route path="/robot" element={<Robot />} />
             <Route path="/ConnectedRobots" element={<ConnectedRobots />} />
+            <Route path="/GesturePage" element={<GesturePage />} />
         </Routes>
         </main>
         {showLogs && <Logging />}

src/components/TextField.tsx

@@ -1,4 +1,4 @@
-import {useState} from "react";
+import {useEffect, useState} from "react";
 import styles from "./TextField.module.css";
 
 /**
@@ -105,6 +105,10 @@ export function TextField({
 }) {
   const [inputValue, setInputValue] = useState(value);
 
+  useEffect(() => {
+    setInputValue(value);
+  }, [value]);
+
   const onCommit = () => setValue(inputValue);
 
   return <RealtimeTextField

src/pages/GesturePage/GesturePage.tsx

@@ -0,0 +1,68 @@
+import { useState } from 'react'
+
+/**
+ * 
+ * @returns A JSX element representing the app’s gesture page.
+ */
+export default function GesturePage() {
+
+  const [tags, setTags] = useState(["hello","happy","meditate","winner","crazy", "affirmative", "once upon a time"])
+  const [selectedTag, setSelectedTag] = useState("");
+
+  async function getTags() {
+    try {
+      // You can optionally use a query parameter: `commands/gesture/tags/?count=<number>`.
+      // This will yield a list of tags with that count.
+      const res = await fetch("http://localhost:8000/robot/commands/gesture/tags/"); 
+      if (!res.ok) throw new Error("Failed communicating with the backend.");
+      const jsonRes = await res.json();
+      setTags(jsonRes["available_gesture_tags"]);
+    } catch (err) {
+      console.error("Failed to fetch tags:", err);
+    }
+  }
+
+  async function doGesture() {
+    if (!selectedTag) {
+      alert("Please select a gesture first.");
+      return;
+    }
+
+    const gesture = { endpoint: "actuate/gesture/tag", data: selectedTag };
+
+    try {
+      const res = await fetch("http://localhost:8000/robot/command/gesture", {
+        method: "POST",
+        headers: { "Content-Type": "application/json" },
+        body: JSON.stringify(gesture),
+      });
+      if (!res.ok) throw new Error("Failed communicating with the backend.");
+      console.log(`Successfully sent gesture '${selectedTag}' to the backend.`);
+    } catch (err) {
+      console.error("Failed to send gesture command:", err);
+    }
+  }
+
+  return (
+    <div className="card p-4 space-y-4">
+      <button onClick={getTags}>Get Tags</button>
+
+      <select
+        value={selectedTag}
+        onChange={(e) => setSelectedTag(e.target.value)}
+        disabled={tags.length === 0}
+      >
+        <option value="">
+          {tags.length === 0 ? "No tags loaded yet" : "-- Select a gesture --"}
+        </option>
+        {tags.map((tag) => (
+          <option key={tag} value={tag}>
+            {tag}
+          </option>
+        ))}
+      </select>
+
+      <button onClick={doGesture}>Do Gesture</button>
+    </div>
+  );
+}

src/pages/Home/Home.tsx

@@ -23,6 +23,7 @@ function Home() {
         <Link to={"/editor"}>Editor →</Link>
         <Link to={"/template"}>Template →</Link>
         <Link to={"/ConnectedRobots"}>Connected Robots →</Link>
+        <Link to={"/GesturePage"}>Gesture Robot →</Link>
       </div>
     </div>
   )

src/pages/VisProgPage/VisProg.tsx

@@ -7,6 +7,7 @@ import {
   MarkerType,
 } from '@xyflow/react';
 import '@xyflow/react/dist/style.css';
+import {useEffect} from "react";
 import {useShallow} from 'zustand/react/shallow';
 import {DndToolbar} from './visualProgrammingUI/components/DragDropSidebar.tsx';
 import useFlowStore from './visualProgrammingUI/VisProgStores.tsx';
@@ -41,7 +42,11 @@ const selector = (state: FlowState) => ({
   onConnect: state.onConnect,
   onReconnectStart: state.onReconnectStart,
   onReconnectEnd: state.onReconnectEnd,
-  onReconnect: state.onReconnect
+  onReconnect: state.onReconnect,
+  undo: state.undo,
+  redo: state.redo,
+  beginBatchAction: state.beginBatchAction,
+  endBatchAction: state.endBatchAction
 });
 
 // --| define ReactFlow editor |--
@@ -60,9 +65,23 @@ const VisProgUI = () => {
     onConnect,
     onReconnect,
     onReconnectStart,
-    onReconnectEnd
+    onReconnectEnd,
+    undo,
+    redo,
+    beginBatchAction,
+    endBatchAction
   } = useFlowStore(useShallow(selector)); // instructs the editor to use the corresponding functions from the FlowStore
 
+  // adds ctrl+z and ctrl+y support to respectively undo and redo actions
+  useEffect(() => {
+    const handler = (e: KeyboardEvent) => {
+      if (e.ctrlKey && e.key === 'z') undo();
+      if (e.ctrlKey && e.key === 'y') redo();
+    };
+    window.addEventListener('keydown', handler);
+    return () => window.removeEventListener('keydown', handler);
+  });
+
   return (
     <div className={`${styles.innerEditorContainer} round-lg border-lg`}>
       <ReactFlow
@@ -76,6 +95,8 @@ const VisProgUI = () => {
         onReconnectStart={onReconnectStart}
         onReconnectEnd={onReconnectEnd}
         onConnect={onConnect}
+        onNodeDragStart={beginBatchAction}
+        onNodeDragStop={endBatchAction}
         snapToGrid
         fitView
         proOptions={{hideAttribution: true}}
@@ -83,6 +104,10 @@ const VisProgUI = () => {
         <Panel position="top-center" className={styles.dndPanel}>
           <DndToolbar/> {/* contains the drag and drop panel for nodes */}
         </Panel>
+        <Panel position="bottom-center">
+          <button onClick={() => undo()}>undo</button>
+          <button onClick={() => redo()}>Redo</button>
+        </Panel>
         <Controls/>
         <Background/>
       </ReactFlow>
@@ -90,8 +115,6 @@ const VisProgUI = () => {
   );
 };
 
-
-
 /**
  * Places the VisProgUI component inside a ReactFlowProvider
  *

src/pages/VisProgPage/visualProgrammingUI/EditorUndoRedo.ts

@@ -0,0 +1,129 @@
+import type {Edge, Node} from "@xyflow/react";
+import type {StateCreator, StoreApi } from 'zustand/vanilla';
+import type {FlowState} from "./VisProgTypes.tsx";
+
+export type FlowSnapshot = {
+  nodes: Node[];
+  edges: Edge[];
+}
+
+/**
+ * A reduced version of the flowState type,
+ * This removes the functions that are provided by UndoRedo from the expected input type
+ */
+type BaseFlowState = Omit<FlowState, 'undo' | 'redo' | 'pushSnapshot' | 'beginBatchAction' | 'endBatchAction'>;
+
+
+/**
+ * UndoRedo is implemented as a middleware for the FlowState store,
+ * this allows us to keep the undo redo logic separate from the flowState,
+ * and thus from the internal editor logic
+ *
+ * Allows users to undo and redo actions in the visual programming editor
+ *
+ * @param {(set: StoreApi<FlowState>["setState"], get: () => FlowState, api: StoreApi<FlowState>) => BaseFlowState} config
+ * @returns {StateCreator<FlowState>}
+ * @constructor
+ */
+export const UndoRedo = (
+  config: (
+    set: StoreApi<FlowState>['setState'],
+    get: () => FlowState,
+    api: StoreApi<FlowState>
+  ) => BaseFlowState ) : StateCreator<FlowState> => (set, get, api) => {
+  let batchTimeout: number | null = null;
+
+  /**
+   * Captures the current state for
+   *
+   * @param {BaseFlowState} state - the current state of the editor
+   * @returns {FlowSnapshot} - returns a snapshot of the current editor state
+   */
+  const getSnapshot = (state : BaseFlowState) : FlowSnapshot => ({
+    nodes: state.nodes,
+    edges: state.edges
+  });
+
+  const initialState = config(set, get, api);
+
+  return {
+    ...initialState,
+
+    /**
+     *  Adds a snapshot of the current state to the undo history
+     */
+    pushSnapshot: () => {
+      const state = get();
+      // we don't add new snapshots during an ongoing batch action
+      if (!state.isBatchAction) {
+        set({
+          past: [...state.past, getSnapshot(state)],
+          future: []
+        });
+      }
+
+    },
+
+    /**
+     * Undoes the last action from the editor,
+     * The state before undoing is added to the future for potential redoing
+     */
+    undo: () => {
+      const state = get();
+      if (!state.past.length) return;
+
+      const snapshot = state.past.pop()!; // pop last snapshot
+      const currentSnapshot: FlowSnapshot = getSnapshot(state);
+
+      set({
+        nodes: snapshot.nodes,
+        edges: snapshot.edges,
+      });
+
+      state.future.push(currentSnapshot); // push current to redo
+    },
+
+    /**
+     * redoes the last undone action,
+     * The state before redoing is added to the past for potential undoing
+     */
+    redo: () => {
+      const state = get();
+      if (!state.future.length) return;
+
+      const snapshot = state.future.pop()!; // pop last redo
+      const currentSnapshot: FlowSnapshot = getSnapshot(state);
+
+      set({
+        nodes: snapshot.nodes,
+        edges: snapshot.edges,
+      });
+
+      state.past.push(currentSnapshot); // push current to undo
+    },
+
+    /**
+     * Begins a batched action
+     *
+     * An example of a batched action is dragging a node in the editor,
+     * where we want the entire action of moving a node to a different position
+     * to be covered by one undoable snapshot
+     */
+    beginBatchAction: () => {
+      get().pushSnapshot();
+      set({ isBatchAction: true });
+      if (batchTimeout) clearTimeout(batchTimeout);
+    },
+
+    /**
+     * Ends a batched action,
+     * a very short timeout is used to prevent new snapshots from being added
+     * until we are certain that the batch event is finished
+     */
+    endBatchAction: () => {
+      batchTimeout = window.setTimeout(() => {
+        set({ isBatchAction: false });
+      }, 10);
+    }
+  }
+}

src/pages/VisProgPage/visualProgrammingUI/NodeRegistry.ts

@@ -68,7 +68,7 @@ export const NodeConnects = {
   phase: PhaseConnects,
   norm: NormConnects,
   goal: GoalConnects,
-  trigger: TriggerConnects,
+  trigger: TriggerConnects, 
 }
 
 /**
@@ -79,6 +79,7 @@ export const NodeConnects = {
 export const NodeDeletes = {
   start: () => false,
   end: () => false,
+  test: () => false, // Used for coverage of universal/ undefined nodes
 }
 
 /**
@@ -91,4 +92,5 @@ export const NodesInPhase = {
   start: () => false,
   end: () => false,
   phase: () => false,
+  test: () => false, // Used for coverage of universal/ undefined nodes
 }

src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx

@@ -10,6 +10,7 @@ import {
 } from '@xyflow/react';
 import type { FlowState } from './VisProgTypes';
 import { NodeDefaults, NodeConnects, NodeDeletes } from './NodeRegistry';
+import { UndoRedo } from "./EditorUndoRedo.ts";
 
 
 /**
@@ -34,7 +35,7 @@ function createNode(id: string, type: string, position: XYPosition, data: Record
   return {...defaultData, ...newData}
 }
 
-//* Initial nodes to populate the flow at startup.
+//* Initial nodes, created by using createNode. */
 const initialNodes : Node[] = [
     createNode('start', 'start', {x: 100, y: 100}, {label: "Start"}, false),
     createNode('end', 'end', {x: 500, y: 100}, {label: "End"}, false),
@@ -42,7 +43,7 @@ const initialNodes : Node[] = [
     createNode('norms-1', 'norm',  {x:-200, y:100}, {label: "Initial Norms", normList: ["Be a robot", "get good"]}),     
 ];
 
-//* Initial edges to connect the startup nodes.
+// * Initial edges * /
 const initialEdges: Edge[] = [
   { id: 'start-phase-1', source: 'start', target: 'phase-1' },
   { id: 'phase-1-end', source: 'phase-1', target: 'end' },
@@ -50,17 +51,17 @@ const initialEdges: Edge[] = [
 
 
 /**
- * How we have defined the functions for our FlowState. 
- * We have the normal functionality of a default FlowState with some exceptions to account for extra functionality.
- * The biggest changes are in onConnect and onDelete, which we have given extra functionality based on the nodes defined functions.
- * 
+ * useFlowStore contains the implementation for all editor functionality
+ * and stores the current state of the visual programming editor
+ *
  *  * Provides:
  * - Node and edge state management
  * - Node creation, deletion, and updates
  * - Custom connection handling via NodeConnects
  * - Edge reconnection handling
+ * - Undo Redo functionality through custom middleware
  */
-const useFlowStore = create<FlowState>((set, get) => ({
+const useFlowStore = create<FlowState>(UndoRedo((set, get) => ({
   nodes: initialNodes,
   edges: initialEdges,
   edgeReconnectSuccessful: true,
@@ -68,8 +69,7 @@ const useFlowStore = create<FlowState>((set, get) => ({
    /**
    * Handles changes to nodes triggered by ReactFlow.
    */
-  onNodesChange: (changes) =>
-  set({nodes: applyNodeChanges(changes, get().nodes)}),
+  onNodesChange: (changes) => set({nodes: applyNodeChanges(changes, get().nodes)}),
 
   /**
    * Handles changes to edges triggered by ReactFlow.
@@ -81,28 +81,34 @@ const useFlowStore = create<FlowState>((set, get) => ({
    * Updates edges and calls the node-specific connection functions.
    */
   onConnect: (connection) => {
-  const edges = addEdge(connection, get().edges);
-  const nodes = get().nodes;
-  // connection has: { source, sourceHandle, target, targetHandle }
-  // Let's find the source and target ID's.
-  const sourceNode = nodes.find((n) => n.id == connection.source);
-  const targetNode = nodes.find((n) => n.id == connection.target);
-  
-  // In case the nodes weren't found, return basic functionality.
-  if (sourceNode == undefined || targetNode == undefined || sourceNode.type == undefined || targetNode.type == undefined) {
-    set({ nodes, edges });
-    return;
-  }
+    get().pushSnapshot();
 
-  // We should find out how their data changes by calling their respective functions.
-  const sourceConnectFunction = NodeConnects[sourceNode.type as keyof typeof NodeConnects]
-  const targetConnectFunction = NodeConnects[targetNode.type as keyof typeof NodeConnects]
-  
-  // We're going to have to update their data based on how they want to update it.
-  sourceConnectFunction(sourceNode, targetNode, true)
-  targetConnectFunction(targetNode, sourceNode, false)
-  set({ nodes, edges });
-},
+    const edges = addEdge(connection, get().edges);
+    const nodes = get().nodes;
+    // connection has: { source, sourceHandle, target, targetHandle }
+    // Let's find the source and target ID's.
+    const sourceNode = nodes.find((n) => n.id == connection.source);
+    const targetNode = nodes.find((n) => n.id == connection.target);
+
+    // In case the nodes weren't found, return basic functionality.
+    if ( sourceNode == undefined
+      || targetNode == undefined
+      || sourceNode.type == undefined
+      || targetNode.type == undefined
+    ){
+      set({ nodes, edges });
+      return;
+    }
+
+    // We should find out how their data changes by calling their respective functions.
+    const sourceConnectFunction = NodeConnects[sourceNode.type as keyof typeof NodeConnects]
+    const targetConnectFunction = NodeConnects[targetNode.type as keyof typeof NodeConnects]
+
+    // We're going to have to update their data based on how they want to update it.
+    sourceConnectFunction(sourceNode, targetNode, true)
+    targetConnectFunction(targetNode, sourceNode, false)
+    set({ nodes, edges });
+  },
 
   /**
    * Handles reconnecting an edge between nodes.
@@ -112,19 +118,32 @@ const useFlowStore = create<FlowState>((set, get) => ({
     set({ edges: reconnectEdge(oldEdge, newConnection, get().edges) });
   },
 
-  onReconnectStart: () => set({ edgeReconnectSuccessful: false }),
+  onReconnectStart: () => {
+    get().pushSnapshot();
+    set({ edgeReconnectSuccessful: false })
+  },
+
+  /**
+   * handles potential dropping (deleting) of an edge
+   * if it is not reconnected to a node after detaching it
+   *
+   * @param _evt - the event
+   * @param {{id: string}} edge - the described edge
+   */
   onReconnectEnd: (_evt, edge) => {
     if (!get().edgeReconnectSuccessful) {
       set({ edges: get().edges.filter((e) => e.id !== edge.id) });
     }
     set({ edgeReconnectSuccessful: true });
   },
-  
+
   /**
    * Deletes a node by ID, respecting NodeDeletes rules.
    * Also removes all edges connected to that node.
    */
   deleteNode: (nodeId) => {
+    get().pushSnapshot();
+
     // Let's find our node to check if they have a special deletion function
     const ourNode = get().nodes.find((n)=>n.id==nodeId);
     const ourFunction = Object.entries(NodeDeletes).find(([t])=>t==ourNode?.type)?.[1]
@@ -135,7 +154,7 @@ const useFlowStore = create<FlowState>((set, get) => ({
       nodes: get().nodes.filter((n) => n.id !== nodeId),
       edges: get().edges.filter((e) => e.source !== nodeId && e.target !== nodeId),
       })}
-    },
+  },
 
   /**
    * Replaces the entire nodes array in the store.
@@ -151,6 +170,7 @@ const useFlowStore = create<FlowState>((set, get) => ({
    * Updates the data of a node by merging new data with existing data.
    */
   updateNodeData: (nodeId, data) => {
+    get().pushSnapshot();
     set({
       nodes: get().nodes.map((node) => {
         if (node.id === nodeId) {
@@ -165,8 +185,15 @@ const useFlowStore = create<FlowState>((set, get) => ({
    * Adds a new node to the flow store.
    */
   addNode: (node: Node) => {
+    get().pushSnapshot();
     set({ nodes: [...get().nodes, node] });
   },
-}));
+
+  // undo redo default values
+  past: [],
+  future: [],
+  isBatchAction: false,
+  }))
+);
 
 export default useFlowStore;

src/pages/VisProgPage/visualProgrammingUI/VisProgTypes.tsx

@@ -1,6 +1,8 @@
 // VisProgTypes.ts
 import type { Edge, OnNodesChange, OnEdgesChange, OnConnect, OnReconnect, Node } from '@xyflow/react';
 import type { NodeTypes } from './NodeRegistry';
+import type {FlowSnapshot} from "./EditorUndoRedo.ts";
+
 
 /**
  * Type representing all registered node types.
@@ -74,4 +76,14 @@ export type FlowState = {
    * @param node - the Node object to add
    */
   addNode: (node: Node) => void;
+
+  // UndoRedo Types
+  past: FlowSnapshot[];
+  future: FlowSnapshot[];
+  pushSnapshot: () => void;
+  isBatchAction: boolean;
+  beginBatchAction: () => void;
+  endBatchAction: () => void;
+  undo: () => void;
+  redo: () => void;
 };

src/pages/VisProgPage/visualProgrammingUI/components/DragDropSidebar.tsx

@@ -47,7 +47,11 @@ function DraggableNode({ className, children, nodeType, onDrop }: DraggableNodeP
   });
 
   return (
-    <div className={className} ref={draggableRef}>
+    <div className={className} 
+    ref={draggableRef} 
+    id={`draggable-${nodeType}`}
+    data-testid={`draggable-${nodeType}`}
+    >
       {children}
     </div>
   );
@@ -64,8 +68,8 @@ function DraggableNode({ className, children, nodeType, onDrop }: DraggableNodeP
  * @param nodeType - The type of node to create (from `NodeTypes`).
  * @param position - The XY position in the flow canvas where the node will appear.
  */
-function addNode(nodeType: keyof typeof NodeTypes, position: XYPosition) {
-  const { nodes, setNodes } = useFlowStore.getState();
+function addNodeToFlow(nodeType: keyof typeof NodeTypes, position: XYPosition) {
+  const { nodes, addNode } = useFlowStore.getState();
 
   // Load any predefined data for this node type.
   const defaultData = NodeDefaults[nodeType] ?? {}
@@ -90,7 +94,7 @@ function addNode(nodeType: keyof typeof NodeTypes, position: XYPosition) {
     position,
     data: {...defaultData}
   }
-  setNodes([...nodes, newNode]);
+  addNode(newNode);
 }
 
 /**
@@ -125,7 +129,7 @@ export function DndToolbar() {
 
       if (isInFlow) {
         const position = screenToFlowPosition(screenPosition);
-        addNode(nodeType, position);
+        addNodeToFlow(nodeType, position);
       }
     },
     [screenToFlowPosition],
@@ -149,6 +153,7 @@ export function DndToolbar() {
         {/* Maps over all the nodes that are droppable, and puts them in the panel */}
         {droppableNodes.map(({type, data}) => (
           <DraggableNode
+            key={type}
             className={styles[`draggable-node-${type}`]} // Our current style signature for nodes
             nodeType={type}
             onDrop={handleNodeDrop}

src/pages/VisProgPage/visualProgrammingUI/nodes/EndNode.tsx

@@ -40,14 +40,11 @@ export default function EndNode(props: NodeProps<EndNode>) {
 /**
  * Functionality for reducing this node into its more compact json program
  * @param node the node to reduce
- * @param nodes all nodes present
+ * @param _nodes all nodes present
  * @returns Dictionary, {id: node.id}
  */
-export function EndReduce(node: Node, nodes: Node[]) {
+export function EndReduce(node: Node, _nodes: Node[]) {
   // Replace this for nodes functionality
-  if (nodes.length <= -1) { 
-    console.warn("Impossible nodes length in EndReduce") 
-  } 
   return {
     id: node.id
   }
@@ -55,13 +52,9 @@ export function EndReduce(node: Node, nodes: Node[]) {
 
 /**
  * Any connection functionality that should get called when a connection is made to this node type (end)
- * @param thisNode the node of which the functionality gets called
- * @param otherNode the other node which has connected
- * @param isThisSource whether this node is the one that is the source of the connection
+ * @param _thisNode the node of which the functionality gets called
+ * @param _otherNode the other node which has connected
+ * @param _isThisSource whether this node is the one that is the source of the connection
  */
-export function EndConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
-  // Replace this for connection logic
-  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
-    console.warn("Impossible node connection called in EndConnects")
-  }
+export function EndConnects(_thisNode: Node, _otherNode: Node, _isThisSource: boolean) {
 }

src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx

@@ -32,23 +32,22 @@ export type GoalNode = Node<GoalNodeData>
  * @param props NodeProps, like id, label, children
  * @returns React.JSX.Element
  */
-export default function GoalNode(props: NodeProps<GoalNode>) {
-  const data = props.data
+export default function GoalNode({id, data}: NodeProps<GoalNode>) {
   const {updateNodeData} = useFlowStore();
 
-  const text_input_id = `goal_${props.id}_text_input`;
-  const checkbox_id = `goal_${props.id}_checkbox`;
+  const text_input_id = `goal_${id}_text_input`;
+  const checkbox_id = `goal_${id}_checkbox`;
 
   const setDescription = (value: string) => {
-    updateNodeData(props.id, {...data, description: value});
+    updateNodeData(id, {...data, description: value});
   }
 
   const setAchieved = (value: boolean) => {
-    updateNodeData(props.id, {...data, achieved: value});
+    updateNodeData(id, {...data, achieved: value});
   }
 
   return <>
-    <Toolbar nodeId={props.id} allowDelete={true}/>
+    <Toolbar nodeId={id} allowDelete={true}/>
     <div className={`${styles.defaultNode} ${styles.nodeGoal} flex-col gap-sm`}>
       <div className={"flex-row gap-md"}>
         <label htmlFor={text_input_id}>Goal:</label>
@@ -64,7 +63,7 @@ export default function GoalNode(props: NodeProps<GoalNode>) {
         <input
           id={checkbox_id}
           type={"checkbox"}
-          value={data.achieved ? "checked" : ""}
+          checked={data.achieved || false}
           onChange={(e) => setAchieved(e.target.checked)}
         />
       </div>
@@ -77,13 +76,9 @@ export default function GoalNode(props: NodeProps<GoalNode>) {
 /**
  * Reduces each Goal, including its children down into its relevant data.
  * @param node: The Node Properties of this node.
- * @param nodes: all the nodes in the graph
+ * @param _nodes: all the nodes in the graph
  */
-export function GoalReduce(node: Node, nodes: Node[]) {
-  // Replace this for nodes functionality
-  if (nodes.length <= -1) { 
-    console.warn("Impossible nodes length in GoalReduce") 
-  } 
+export function GoalReduce(node: Node, _nodes: Node[]) {
   const data = node.data as GoalNodeData;
     return {
       id: node.id,
@@ -95,13 +90,10 @@ export function GoalReduce(node: Node, nodes: Node[]) {
 
 /**
  * This function is called whenever a connection is made with this node type (Goal)
- * @param thisNode the node of this node type which function is called
- * @param otherNode the other node which was part of the connection
- * @param isThisSource whether this instance of the node was the source in the connection, true = yes.
+ * @param _thisNode the node of this node type which function is called
+ * @param _otherNode the other node which was part of the connection
+ * @param _isThisSource whether this instance of the node was the source in the connection, true = yes.
  */
-export function GoalConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
+export function GoalConnects(_thisNode: Node, _otherNode: Node, _isThisSource: boolean) {
   // Replace this for connection logic
-  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
-    console.warn("Impossible node connection called in EndConnects")
-  }
 }

src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode.tsx

@@ -61,13 +61,9 @@ export default function NormNode(props: NodeProps<NormNode>) {
 /**
  * Reduces each Norm, including its children down into its relevant data.
  * @param node: The Node Properties of this node.
- * @param nodes: all the nodes in the graph
+ * @param _nodes: all the nodes in the graph
  */
-export function NormReduce(node: Node, nodes: Node[]) {
-  // Replace this for nodes functionality
-  if (nodes.length <= -1) { 
-    console.warn("Impossible nodes length in NormReduce") 
-  } 
+export function NormReduce(node: Node, _nodes: Node[]) {
   const data = node.data as NormNodeData;
     return {
       id: node.id,
@@ -78,13 +74,9 @@ export function NormReduce(node: Node, nodes: Node[]) {
 
 /**
  * This function is called whenever a connection is made with this node type (Norm)
- * @param thisNode the node of this node type which function is called
- * @param otherNode the other node which was part of the connection
- * @param isThisSource whether this instance of the node was the source in the connection, true = yes.
+ * @param _thisNode the node of this node type which function is called
+ * @param _otherNode the other node which was part of the connection
+ * @param _isThisSource whether this instance of the node was the source in the connection, true = yes.
  */
-export function NormConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
-  // Replace this for connection logic
-  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
-    console.warn("Impossible node connection called in EndConnects")
-  }
+export function NormConnects(_thisNode: Node, _otherNode: Node, _isThisSource: boolean) {
 }

src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx

@@ -78,8 +78,10 @@ export function PhaseReduce(node: Node, nodes: Node[]) {
         .filter(([t]) => !nodesNotInPhase.includes(t))
         .map(([t]) => t);
 
-    // children nodes
-    const childrenNodes = nodes.filter((node) => data.children.includes(node.id));
+    // children nodes - make sure to check for empty arrays
+    let childrenNodes: Node[] = [];
+    if (data.children) 
+      childrenNodes = nodes.filter((node) => data.children.includes(node.id));
 
     // Build the result object
     const result: Record<string, unknown> = {

src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode.tsx

@@ -40,14 +40,11 @@ export default function StartNode(props: NodeProps<StartNode>) {
 /**
  * The reduce function for this node type.
  * @param node this node
- * @param nodes all the nodes in the graph
+ * @param _nodes all the nodes in the graph
  * @returns a reduced structure of this node
  */
-export function StartReduce(node: Node, nodes: Node[]) {
+export function StartReduce(node: Node, _nodes: Node[]) {
   // Replace this for nodes functionality
-  if (nodes.length <= -1) { 
-    console.warn("Impossible nodes length in StartReduce") 
-  } 
   return {
     id: node.id
   }
@@ -55,13 +52,9 @@ export function StartReduce(node: Node, nodes: Node[]) {
 
 /**
  * This function is called whenever a connection is made with this node type (start)
- * @param thisNode the node of this node type which function is called
- * @param otherNode the other node which was part of the connection
- * @param isThisSource whether this instance of the node was the source in the connection, true = yes.
+ * @param _thisNode the node of this node type which function is called
+ * @param _otherNode the other node which was part of the connection
+ * @param _isThisSource whether this instance of the node was the source in the connection, true = yes.
  */
-export function StartConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
-  // Replace this for connection logic
-  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
-    console.warn("Impossible node connection called in EndConnects")
-  }
+export function StartConnects(_thisNode: Node, _otherNode: Node, _isThisSource: boolean) {
 }

src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx

@@ -80,14 +80,10 @@ export default function TriggerNode(props: NodeProps<TriggerNode>) {
 /**
  * Reduces each Trigger, including its children down into its core data.
  * @param node - The Trigger node to reduce.
- * @param nodes - The list of all nodes in the current flow graph.
+ * @param _nodes - The list of all nodes in the current flow graph.
  * @returns A simplified object containing the node label and its list of triggers.
  */
-export function TriggerReduce(node: Node, nodes: Node[]) {
-  // Replace this for nodes functionality
-  if (nodes.length <= -1) { 
-    console.warn("Impossible nodes length in TriggerReduce") 
-  } 
+export function TriggerReduce(node: Node, _nodes: Node[]) {
   const data = node.data;
   switch (data.triggerType) {
     case "keywords":
@@ -106,17 +102,13 @@ export function TriggerReduce(node: Node, nodes: Node[]) {
 }
 
 /**
- * Handles logic that occurs when a connection is made involving a Trigger node.
- *
- * @param thisNode - The current Trigger node being connected.
- * @param otherNode - The other node involved in the connection.
- * @param isThisSource - Whether this node was the source of the connection.
+ * This function is called whenever a connection is made with this node type (trigger)
+ * @param _thisNode the node of this node type which function is called
+ * @param _otherNode the other node which was part of the connection
+ * @param _isThisSource whether this instance of the node was the source in the connection, true = yes.
  */
-export function TriggerConnects(thisNode: Node, otherNode: Node, isThisSource: boolean) {
-  // Replace this for connection logic
-  if (thisNode == undefined && otherNode == undefined && isThisSource == false) { 
-    console.warn("Impossible node connection called in EndConnects")
-  }
+export function TriggerConnects(_thisNode: Node, _otherNode: Node, _isThisSource: boolean) {
+  
 }
 
 // Definitions for the possible triggers, being keywords and emotions

test/components/Logging/Logging.test.tsx

@@ -127,10 +127,10 @@ describe("Logging component", () => {
 
     render(<Logging/>);
 
-    expect(screen.getByText("Logs")).toBeInTheDocument();
-    expect(screen.getByText("WARNING")).toBeInTheDocument();
-    expect(screen.getByText("logging")).toBeInTheDocument();
-    expect(screen.getByText("Ping")).toBeInTheDocument();
+    expect(screen.getByText("Logs")).toBeDefined();
+    expect(screen.getByText("WARNING")).toBeDefined();
+    expect(screen.getByText("logging")).toBeDefined();
+    expect(screen.getByText("Ping")).toBeDefined();
 
     let timestamp = screen.queryByText("ABS TIME");
     if (!timestamp) {
@@ -141,7 +141,7 @@ describe("Logging component", () => {
     }
 
     await user.click(timestamp);
-    expect(screen.getByText("00:00:12.345")).toBeInTheDocument();
+    expect(screen.getByText("00:00:12.345")).toBeDefined();
   });
 
   it("shows the scroll-to-bottom button after a manual scroll and scrolls when clicked", async () => {
@@ -188,7 +188,7 @@ describe("Logging component", () => {
       logCell.set({...current, message: "Updated"});
     });
 
-    expect(screen.getByText("Updated")).toBeInTheDocument();
+    expect(screen.getByText("Updated")).toBeDefined();
     await waitFor(() => {
       expect(scrollSpy).toHaveBeenCalledTimes(1);
     });

test/pages/GesturePage/GesturePage.test.tsx

@@ -0,0 +1 @@
+// maybe later idk

test/pages/robot/Robot.test.tsx

@@ -0,0 +1,167 @@
+import { render, screen, act, cleanup, fireEvent } from '@testing-library/react';
+import Robot from '../../../src/pages/Robot/Robot';
+
+// Mock EventSource
+const mockInstances: MockEventSource[] = [];
+class MockEventSource {
+  url: string;
+  onmessage: ((event: MessageEvent) => void) | null = null;
+  closed = false;
+
+  constructor(url: string) {
+    this.url = url;
+    mockInstances.push(this);
+  }
+
+  sendMessage(data: string) {
+    this.onmessage?.({ data } as MessageEvent);
+  }
+
+  close() {
+    this.closed = true;
+  }
+}
+
+// Mock global EventSource
+beforeAll(() => {
+  (globalThis as any).EventSource = jest.fn((url: string) => new MockEventSource(url));
+});
+
+// Mock fetch
+beforeEach(() => {
+  globalThis.fetch = jest.fn(() =>
+    Promise.resolve({
+      json: () => Promise.resolve({ reply: 'ok' }),
+    })
+  ) as jest.Mock;
+});
+
+// Cleanup
+afterEach(() => {
+  cleanup();
+  jest.restoreAllMocks();
+  mockInstances.length = 0;
+});
+
+describe('Robot', () => {
+  test('renders initial state', () => {
+    render(<Robot />);
+    expect(screen.getByText('Robot interaction')).toBeInTheDocument();
+    expect(screen.getByText('Force robot speech')).toBeInTheDocument();
+    expect(screen.getByText('Listening 🔴')).toBeInTheDocument();
+    expect(screen.getByPlaceholderText('Enter a message')).toBeInTheDocument();
+  });
+
+  test('sends message via button', async () => {
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    const button = screen.getByText('Speak');
+
+    fireEvent.change(input, { target: { value: 'Hello' } });
+    await act(async () => fireEvent.click(button));
+
+    expect(globalThis.fetch).toHaveBeenCalledWith(
+      'http://localhost:8000/message',
+      expect.objectContaining({
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ message: 'Hello' }),
+      })
+    );
+  });
+
+  test('sends message via Enter key', async () => {
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    fireEvent.change(input, { target: { value: 'Hi Enter' } });
+
+    await act(async () =>
+      fireEvent.keyDown(input, { key: 'Enter', code: 'Enter', charCode: 13 })
+    );
+
+    expect(globalThis.fetch).toHaveBeenCalledWith(
+      'http://localhost:8000/message',
+      expect.objectContaining({
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify({ message: 'Hi Enter' }),
+      })
+    );
+    expect((input as HTMLInputElement).value).toBe('');
+  });
+
+  test('handles fetch errors', async () => {
+    globalThis.fetch = jest.fn(() => Promise.reject('Network error')) as jest.Mock;
+    const consoleSpy = jest.spyOn(console, 'error').mockImplementation(() => {});
+
+    render(<Robot />);
+    const input = screen.getByPlaceholderText('Enter a message');
+    const button = screen.getByText('Speak');
+    fireEvent.change(input, { target: { value: 'Error test' } });
+
+    await act(async () => fireEvent.click(button));
+
+    expect(consoleSpy).toHaveBeenCalledWith(
+      'Error sending message: ',
+      'Network error'
+    );
+  });
+
+  test('updates conversation on SSE', async () => {
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () => {
+      eventSource.sendMessage(JSON.stringify({ voice_active: true }));
+      eventSource.sendMessage(JSON.stringify({ speech: 'User says hi' }));
+      eventSource.sendMessage(JSON.stringify({ llm_response: 'Assistant replies' }));
+    });
+
+    expect(screen.getByText('Listening 🟢')).toBeInTheDocument();
+    expect(screen.getByText('User says hi')).toBeInTheDocument();
+    expect(screen.getByText('Assistant replies')).toBeInTheDocument();
+  });
+
+  test('handles invalid SSE JSON', async () => {
+    const logSpy = jest.spyOn(console, 'log').mockImplementation(() => {});
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () => eventSource.sendMessage('bad-json'));
+
+    expect(logSpy).toHaveBeenCalledWith('Unparsable SSE message:', 'bad-json');
+  });
+
+  test('resets conversation with Reset button', async () => {
+    render(<Robot />);
+    const eventSource = mockInstances[0];
+
+    await act(async () =>
+      eventSource.sendMessage(JSON.stringify({ speech: 'Hello' }))
+    );
+    expect(screen.getByText('Hello')).toBeInTheDocument();
+
+    fireEvent.click(screen.getByText('Reset'));
+    expect(screen.queryByText('Hello')).not.toBeInTheDocument();
+  });
+
+  test('toggles conversationIndex with Stop/Start button', () => {
+    render(<Robot />);
+    const stopButton = screen.getByText('Stop');
+    fireEvent.click(stopButton);
+    expect(screen.getByText('Start')).toBeInTheDocument();
+
+    fireEvent.click(screen.getByText('Start'));
+    expect(screen.getByText('Stop')).toBeInTheDocument();
+  });
+
+  test('closes EventSource on unmount', () => {
+    const { unmount } = render(<Robot />);
+    const eventSource = mockInstances[0];
+    const closeSpy = jest.spyOn(eventSource, 'close');
+
+    unmount();
+    expect(closeSpy).toHaveBeenCalled();
+    expect(eventSource.closed).toBe(true);
+  });
+});

test/pages/visProgPage/visualProgrammingUI/EditorUndoRedo.test.ts

@@ -0,0 +1,239 @@
+import {act} from '@testing-library/react';
+import useFlowStore from '../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores.tsx';
+import { mockReactFlow } from '../../../setupFlowTests.ts';
+
+
+beforeAll(() => {
+  mockReactFlow();
+});
+
+describe("UndoRedo Middleware", () => {
+  beforeEach(() => {
+    jest.useFakeTimers();
+  });
+
+  test("pushSnapshot adds a snapshot to past and clears future", () => {
+    const store = useFlowStore;
+
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: [],
+      past: [],
+      future: [{
+        nodes: [
+          {
+            id: 'A',
+            type: 'default',
+            position: {x: 0, y: 0},
+            data: {label: 'A'}
+          },
+        ],
+        edges: []
+      }],
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+    })
+
+    const state = store.getState();
+    expect(state.past.length).toBe(1);
+    expect(state.past[0]).toEqual({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: []
+    });
+    expect(state.future).toEqual([]);
+  });
+
+  test("pushSnapshot does nothing during batch action", () => {
+    const store = useFlowStore;
+
+    act(() => {
+      store.setState({ isBatchAction: true });
+      store.getState().pushSnapshot();
+    })
+
+    expect(store.getState().past.length).toBe(0);
+  });
+
+  test("undo restores last snapshot and pushes current snapshot to future", () => {
+    const store = useFlowStore;
+
+    // initial state
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: []
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+
+      // modified state
+      store.setState({
+        nodes: [{
+          id: 'B',
+          type: 'default',
+          position: {x: 0, y: 0},
+          data: {label: 'B'}
+        }],
+        edges: []
+      });
+
+      store.getState().undo();
+    })
+
+    expect(store.getState().nodes).toEqual([{
+      id: 'A',
+      type: 'default',
+      position: {x: 0, y: 0},
+      data: {label: 'A'}
+    }]);
+    expect(store.getState().future.length).toBe(1);
+    expect(store.getState().future[0]).toEqual({
+      nodes: [{
+        id: 'B',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'B'}
+      }],
+      edges: []
+    });
+  });
+
+  test("undo does nothing when past is empty", () => {
+    const store = useFlowStore;
+
+    store.setState({past: []});
+
+    act(() => { store.getState().undo(); });
+
+    expect(store.getState().nodes).toEqual([]);
+    expect(store.getState().future).toEqual([]);
+  });
+
+  test("redo restores last future snapshot and pushes current to past", () => {
+    const store = useFlowStore;
+
+    // initial
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: []
+    });
+
+    act(() => {
+      store.getState().pushSnapshot();
+      store.setState({
+        nodes: [{
+          id: 'B',
+          type: 'default',
+          position: {x: 0, y: 0},
+          data: {label: 'B'}
+        }],
+        edges: []
+      });
+
+
+      store.getState().undo();
+
+      // redo should restore node with id 'B'
+      store.getState().redo();
+    })
+
+    expect(store.getState().nodes).toEqual([{
+      id: 'B',
+      type: 'default',
+      position: {x: 0, y: 0},
+      data: {label: 'B'}
+    }]);
+    expect(store.getState().past.length).toBe(1); // snapshot A stored
+    expect(store.getState().past[0]).toEqual({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: []
+    });
+  });
+
+  test("redo does nothing when future is empty", () => {
+    const store = useFlowStore;
+
+    store.setState({past: []});
+    act(() => { store.getState().redo(); });
+
+    expect(store.getState().nodes).toEqual([]);
+  });
+
+  test("beginBatchAction pushes snapshot and sets isBatchAction=true", () => {
+    const store = useFlowStore;
+
+    store.setState({
+      nodes: [{
+        id: 'A',
+        type: 'default',
+        position: {x: 0, y: 0},
+        data: {label: 'A'}
+      }],
+      edges: []
+    });
+
+    act(() => { store.getState().beginBatchAction(); });
+
+    expect(store.getState().isBatchAction).toBe(true);
+    expect(store.getState().past.length).toBe(1);
+  });
+
+  test("endBatchAction sets isBatchAction=false after timeout", () => {
+    const store = useFlowStore;
+
+    store.setState({ isBatchAction: true });
+    act(() => { store.getState().endBatchAction(); });
+
+    // isBatchAction should remain true before the timer has advanced
+    expect(store.getState().isBatchAction).toBe(true);
+
+    jest.advanceTimersByTime(10);
+
+    // it should now be set to false as the timer has advanced enough
+    expect(store.getState().isBatchAction).toBe(false);
+  });
+
+  test("multiple beginBatchAction calls clear the timeout", () => {
+    const store = useFlowStore;
+
+    act(() => {
+      store.getState().beginBatchAction();
+      store.getState().endBatchAction(); // starts timeout
+      store.getState().beginBatchAction(); // should clear previous timeout
+    });
+
+
+    jest.advanceTimersByTime(10);
+
+    // After advancing the timers, isBatchAction should still be true,
+    // as the timeout should have been cleared
+    expect(store.getState().isBatchAction).toBe(true);
+  });
+});

test/pages/visProgPage/visualProgrammingUI/components/DragDropSidebar.test.tsx

@@ -1,5 +1,106 @@
-describe('Not implemented', () => {
-  test('nothing yet', () => {
-    expect(true)
-  });
+import { getByTestId, render } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import VisProgPage from '../../../../../src/pages/VisProgPage/VisProg';
+
+
+
+class ResizeObserver {
+  observe() {}
+  unobserve() {}
+  disconnect() {}
+}
+window.ResizeObserver = ResizeObserver;
+
+jest.mock('@neodrag/react', () => ({
+  useDraggable: (ref: React.RefObject<HTMLElement>, options: any) => {
+    // We access the real useEffect from React to attach a listener
+    // This bridges the gap between the test's userEvent and the component's logic
+    const { useEffect } = jest.requireActual('react');
+    
+    useEffect(() => {
+      const element = ref.current;
+      if (!element) return;
+
+      // When the test fires a "pointerup" (end of click/drag), 
+      // we manually trigger the library's onDragEnd callback.
+      const handlePointerUp = (e: PointerEvent) => {
+        if (options.onDragEnd) {
+          options.onDragEnd({ event: e });
+        }
+      };
+
+      element.addEventListener('pointerup', handlePointerUp as EventListener);
+      return () => {
+        element.removeEventListener('pointerup', handlePointerUp as EventListener);
+      };
+    }, [ref, options]);
+  },
+}));
+
+// We will mock @xyflow/react so we control screenToFlowPosition
+jest.mock('@xyflow/react', () => {
+  const actual = jest.requireActual('@xyflow/react');
+  return {
+    ...actual,
+    useReactFlow: () => ({
+      screenToFlowPosition: ({ x, y }: { x: number; y: number }) => ({
+        x: x - 100,
+        y: y - 100,
+      }),
+    }),
+  };
 });
+
+describe("Drag & drop node creation", () => {
+
+  test("drops a phase node inside the canvas and adds it with transformed position", async () => {
+    const user = userEvent.setup();
+
+    const { container } = render(<VisProgPage />);
+
+    // --- Mock ReactFlow bounding box ---
+    // Your DndToolbar checks these values:
+    const flowEl = container.querySelector('.react-flow');
+    jest.spyOn(flowEl!, 'getBoundingClientRect').mockReturnValue({
+      left: 0,
+      right: 800,
+      top: 0,
+      bottom: 600,
+      width: 800,
+      height: 600,
+      x: 0,
+      y: 0,
+      toJSON: () => {},
+    });
+
+  
+    const phaseLabel = getByTestId(container, 'draggable-phase')
+  
+    await user.pointer([
+      // touch the screen at element1
+      {keys: '[TouchA>]', target: phaseLabel},
+      // move the touch pointer to element2
+      {pointerName: 'TouchA', coords: {x: 300, y: 250}},
+      // release the touch pointer at the last position (element2)
+      {keys: '[/TouchA]'},
+    ]);
+
+    // Read the Zustand store
+    const { nodes } = useFlowStore.getState();
+
+    // --- Assertions ---
+    expect(nodes.length).toBe(1);
+
+    const node = nodes[0];
+
+    expect(node.type).toBe("phase");
+    expect(node.id).toBe("phase-1");
+
+    // screenToFlowPosition was mocked to subtract 100
+    expect(node.position).toEqual({
+      x: 200,
+      y: 150,
+    });
+  });
+});

test/pages/visProgPage/visualProgrammingUI/components/ScrollIntoView.test.tsx

@@ -0,0 +1,14 @@
+import { render } from '@testing-library/react';
+import { act } from '@testing-library/react';
+import ScrollIntoView from '../../../../../src/components/ScrollIntoView';
+
+test('scrolls the element into view on render', () => {
+  const scrollMock = jest.fn();
+  HTMLElement.prototype.scrollIntoView = scrollMock;
+
+  act(() => {
+    render(<ScrollIntoView />);
+  });
+
+  expect(scrollMock).toHaveBeenCalledWith({ behavior: 'smooth' });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/NormNode.test.tsx

@@ -0,0 +1,744 @@
+import { describe, it, beforeEach } from '@jest/globals';
+import { screen, waitFor } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { renderWithProviders } from '../.././/./../../test-utils/test-utils';
+import NormNode, { NormReduce, NormConnects, type NormNodeData } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/NormNode'
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import type { Node } from '@xyflow/react';
+import '@testing-library/jest-dom'
+
+
+
+describe('NormNode', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+
+  beforeEach(() => {
+    user = userEvent.setup();
+  });
+
+  describe('Rendering', () => {
+    it('should render the norm node with default data', () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByPlaceholderText('Pepper should ...')).toBeInTheDocument();
+    });
+
+    it('should render with pre-populated norm text', () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Be respectful to humans',
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('Be respectful to humans');
+      expect(input).toBeInTheDocument();
+    });
+
+    it('should render with selected state', () => {
+      const mockNode: Node<NormNodeData> = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders( 
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const norm = screen.getByText("Norm :")
+      expect(norm).toBeInTheDocument();
+    });
+
+    it('should render with dragging state', () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Dragged norm',
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('Dragged norm');
+      expect(input).toBeInTheDocument();
+    });
+  });
+
+  describe('User Interactions', () => {
+    it('should update norm text when user types in the input field', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+      await user.type(input, 'Be polite to guests{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'norm-1');
+        expect(updatedNode?.data.norm).toBe('Be polite to guests');
+      });
+    });
+
+    it('should handle clearing the norm text', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Initial norm text',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('Initial norm text') as HTMLInputElement;
+
+      // clearing the norm text is the same as just deleting all characters one by one
+      // TODO: FIGURE OUT A MORE EFFICIENT WAY, I"M SORRY, user.clear() just doesn't work:/
+      for (let a = 0; a < 'Initial norm text'.length; a++){
+        await user.type(input, '{backspace}')
+      }
+      await user.type(input,'{enter}')
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNode = state.nodes.find(n => n.id === 'norm-1');
+        expect(updatedNode?.data.norm).toBe('');
+      });
+    });
+
+    it('should update norm text multiple times', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+      await user.type(input, 'First norm{enter}');
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('First norm');
+      });
+
+
+      // TODO: FIGURE OUT A MORE EFFICIENT WAY, I"M SORRY, user.clear() just doesn't work:/
+      for (let a = 0; a < 'First norm'.length; a++){
+        await user.type(input, '{backspace}')
+      }
+
+      await user.type(input, 'Second norm{enter}');
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('Second norm');
+      });
+    });
+
+    it('should handle special characters in norm text', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+      await user.type(input, "Don't harm & be nice!{enter}" );
+
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe("Don't harm & be nice!");
+      });
+    });
+
+    it('should handle long norm text', async () => {
+      const longText = 'Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua.';
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+      await user.type(input, longText);
+      await user.type(input, "{enter}")
+
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe(longText);
+      });
+    });
+  });
+
+  describe('NormReduce Function', () => {
+    it('should reduce a norm node to its essential data', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Safety Norm',
+          droppable: true,
+          norm: 'Never harm humans',
+          hasReduce: true,
+        },
+      };
+
+      const allNodes: Node[] = [normNode];
+      const result = NormReduce(normNode, allNodes);
+
+      expect(result).toEqual({
+        id: 'norm-1',
+        label: 'Safety Norm',
+        norm: 'Never harm humans',
+      });
+    });
+
+    it('should reduce multiple norm nodes independently', () => {
+      const norm1: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Norm 1',
+          droppable: true,
+          norm: 'Be helpful',
+          hasReduce: true,
+        },
+      };
+
+      const norm2: Node = {
+        id: 'norm-2',
+        type: 'norm',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Norm 2',
+          droppable: true,
+          norm: 'Be honest',
+          hasReduce: true,
+        },
+      };
+
+      const allNodes: Node[] = [norm1, norm2];
+
+      const result1 = NormReduce(norm1, allNodes);
+      const result2 = NormReduce(norm2, allNodes);
+
+      expect(result1.id).toBe('norm-1');
+      expect(result1.norm).toBe('Be helpful');
+      expect(result2.id).toBe('norm-2');
+      expect(result2.norm).toBe('Be honest');
+    });
+
+    it('should handle empty norm text', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Empty Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      const result = NormReduce(normNode, [normNode]);
+
+      expect(result.norm).toBe('');
+      expect(result.id).toBe('norm-1');
+    });
+
+    it('should preserve node label in reduction', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Custom Label',
+          droppable: false,
+          norm: 'Test norm',
+          hasReduce: false,
+        },
+      };
+
+      const result = NormReduce(normNode, [normNode]);
+
+      expect(result.label).toBe('Custom Label');
+    });
+  });
+
+  describe('NormConnects Function', () => {
+    it('should handle connection without errors', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Test',
+          hasReduce: true,
+        },
+      };
+
+      const phaseNode: Node = {
+        id: 'phase-1',
+        type: 'phase',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Phase 1',
+          droppable: true,
+          children: [],
+          hasReduce: true,
+        },
+      };
+
+      expect(() => {
+        NormConnects(normNode, phaseNode, true);
+      }).not.toThrow();
+    });
+
+    it('should handle connection when norm is target', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Test',
+          hasReduce: true,
+        },
+      };
+
+      const phaseNode: Node = {
+        id: 'phase-1',
+        type: 'phase',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Phase 1',
+          droppable: true,
+          children: [],
+          hasReduce: true,
+        },
+      };
+
+      expect(() => {
+        NormConnects(normNode, phaseNode, false);
+      }).not.toThrow();
+    });
+
+    it('should handle self-connection', () => {
+      const normNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'Test',
+          hasReduce: true,
+        },
+      };
+
+      expect(() => {
+        NormConnects(normNode, normNode, true);
+      }).not.toThrow();
+    });
+  });
+
+  describe('Integration with Store', () => {
+    it('should properly update the store when editing norm text', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: '',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+
+      // TODO: FIGURE OUT A MORE EFFICIENT WAY, I"M SORRY, user.clear() just doesn't work:/
+      for (let a = 0; a < 20; a++){
+        await user.type(input, '{backspace}')
+      }
+      await user.type(input, 'New norm value{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        expect(state.nodes).toHaveLength(1);
+        expect(state.nodes[0].id).toBe('norm-1');
+        expect(state.nodes[0].data.norm).toBe('New norm value');
+      });
+    });
+
+    it('should not affect other nodes when updating one norm node', async () => {
+      const norm1: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Norm 1',
+          droppable: true,
+          norm: 'Original norm 1',
+          hasReduce: true,
+        },
+      };
+
+      const norm2: Node = {
+        id: 'norm-2',
+        type: 'norm',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Norm 2',
+          droppable: true,
+          norm: 'Original norm 2',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [norm1, norm2],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={norm1.id}
+          type={norm1.type as string}
+          data={norm1.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('Original norm 1') as HTMLInputElement;
+
+
+      // TODO: FIGURE OUT A MORE EFFICIENT WAY, I"M SORRY, user.clear() just doesn't work:/
+      for (let a = 0; a < 20; a++){
+        await user.type(input, '{backspace}')
+      }
+      await user.type(input, 'Updated norm 1{enter}');
+
+      await waitFor(() => {
+        const state = useFlowStore.getState();
+        const updatedNorm1 = state.nodes.find(n => n.id === 'norm-1');
+        const unchangedNorm2 = state.nodes.find(n => n.id === 'norm-2');
+
+        expect(updatedNorm1?.data.norm).toBe('Updated norm 1');
+        expect(unchangedNorm2?.data.norm).toBe('Original norm 2');
+      });
+    });
+
+    it('should maintain data consistency with multiple rapid updates', async () => {
+      const mockNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Test Norm',
+          droppable: true,
+          norm: 'haa haa fuyaaah - link',
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({
+        nodes: [mockNode],
+        edges: [],
+      });
+
+      renderWithProviders(
+        <NormNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('Pepper should ...');
+
+      await user.type(input, 'a');
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
+      });
+
+      await user.type(input, 'b');
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
+      });
+
+      await user.type(input, 'c');
+      await waitFor(() => {
+        expect(useFlowStore.getState().nodes[0].data.norm).toBe('haa haa fuyaaah - link');
+      }, { timeout: 3000 });
+    });
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/StartNode.test.tsx

@@ -0,0 +1,98 @@
+import { describe, it } from '@jest/globals';
+import '@testing-library/jest-dom';
+import { screen } from '@testing-library/react';
+import type { Node } from '@xyflow/react';
+import { renderWithProviders } from '../.././/./../../test-utils/test-utils';
+import StartNode, { StartReduce, StartConnects } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/StartNode';
+
+
+describe('StartNode', () => {
+
+
+  describe('Rendering', () => {
+    it('renders the StartNode correctly', () => {
+      const mockNode: Node = {
+        id: 'start-1',
+        type: 'start', // TypeScript now knows this is a string
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Start Node',
+          droppable: false,
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <StartNode
+            id={mockNode.id}
+            type={mockNode.type!} // <--- fix here
+            data={mockNode.data as any}
+            selected={false}
+            isConnectable={true}
+            zIndex={0}
+            dragging={false}
+            selectable={true}
+            deletable={false}
+            draggable={true}
+            positionAbsoluteX={0}
+            positionAbsoluteY={0}
+        />
+        );
+
+
+        expect(screen.getByText('Start')).toBeInTheDocument();
+
+        // The handle should exist in the DOM
+        expect(document.querySelector('[data-handleid="source"]')).toBeInTheDocument();
+
+    });
+  });
+
+  describe('StartReduce Function', () => {
+    it('reduces the StartNode to its minimal structure', () => {
+      const mockNode: Node = {
+        id: 'start-1',
+        type: 'start',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Start Node',
+          droppable: false,
+          hasReduce: true,
+        },
+      };
+
+      const result = StartReduce(mockNode, [mockNode]);
+      expect(result).toEqual({ id: 'start-1' });
+    });
+  });
+
+  describe('StartConnects Function', () => {
+    it('handles connections without throwing', () => {
+      const startNode: Node = {
+        id: 'start-1',
+        type: 'start',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Start Node',
+          droppable: false,
+          hasReduce: true,
+        },
+      };
+
+      const otherNode: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Norm Node',
+          droppable: true,
+          norm: 'test',
+          hasReduce: true,
+        },
+      };
+
+      expect(() => StartConnects(startNode, otherNode, true)).not.toThrow();
+      expect(() => StartConnects(startNode, otherNode, false)).not.toThrow();
+    });
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/TriggerNode.test.tsx

@@ -0,0 +1,246 @@
+import { describe, it, beforeEach } from '@jest/globals';
+import { screen, waitFor } from '@testing-library/react';
+import userEvent from '@testing-library/user-event';
+import { renderWithProviders } from '../.././/./../../test-utils/test-utils';
+import TriggerNode, { TriggerReduce, TriggerConnects, TriggerNodeCanConnect, type TriggerNodeData } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+import type { Node } from '@xyflow/react';
+import '@testing-library/jest-dom';
+
+describe('TriggerNode', () => {
+  let user: ReturnType<typeof userEvent.setup>;
+
+  beforeEach(() => {
+    user = userEvent.setup();
+  });
+
+  describe('Rendering', () => {
+    it('should render TriggerNode with keywords type', () => {
+      const mockNode: Node<TriggerNodeData> = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Keyword Trigger',
+          droppable: true,
+          triggerType: 'keywords',
+          triggers: [],
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <TriggerNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByText(/Triggers when the keyword is spoken/i)).toBeInTheDocument();
+      expect(screen.getByPlaceholderText('...')).toBeInTheDocument();
+    });
+
+    it('should render TriggerNode with emotion type', () => {
+      const mockNode: Node<TriggerNodeData> = {
+        id: 'trigger-2',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Emotion Trigger',
+          droppable: true,
+          triggerType: 'emotion',
+          triggers: [],
+          hasReduce: true,
+        },
+      };
+
+      renderWithProviders(
+        <TriggerNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      expect(screen.getByText(/Emotion\?/i)).toBeInTheDocument();
+    });
+  });
+
+  describe('User Interactions', () => {
+    it('should add a new keyword', async () => {
+      const mockNode: Node<TriggerNodeData> = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Keyword Trigger',
+          droppable: true,
+          triggerType: 'keywords',
+          triggers: [],
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({ nodes: [mockNode], edges: [] });
+
+      renderWithProviders(
+        <TriggerNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByPlaceholderText('...');
+      await user.type(input, 'hello{enter}');
+
+      await waitFor(() => {
+        const node = useFlowStore.getState().nodes.find(n => n.id === 'trigger-1') as Node<TriggerNodeData> | undefined;
+        expect(node?.data.triggers.length).toBe(1);
+        expect(node?.data.triggers[0].keyword).toBe('hello');
+      });
+
+    });
+
+    it('should remove a keyword when cleared', async () => {
+      const mockNode: Node<TriggerNodeData> = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Keyword Trigger',
+          droppable: true,
+          triggerType: 'keywords',
+          triggers: [{ id: 'kw1', keyword: 'hello' }],
+          hasReduce: true,
+        },
+      };
+
+      useFlowStore.setState({ nodes: [mockNode], edges: [] });
+
+      renderWithProviders(
+        <TriggerNode
+          id={mockNode.id}
+          type={mockNode.type as string}
+          data={mockNode.data as any}
+          selected={false}
+          isConnectable={true}
+          zIndex={0}
+          dragging={false}
+          selectable={true}
+          deletable={true}
+          draggable={true}
+          positionAbsoluteX={0}
+          positionAbsoluteY={0}
+        />
+      );
+
+      const input = screen.getByDisplayValue('hello');
+      for (let i = 0; i < 'hello'.length; i++) {
+        await user.type(input, '{backspace}');
+      }
+      await user.type(input, '{enter}');
+
+      await waitFor(() => {
+        const node = useFlowStore.getState().nodes.find(n => n.id === 'trigger-1') as Node<TriggerNodeData> | undefined;
+        expect(node?.data.triggers.length).toBe(0);
+        });
+
+    });
+  });
+
+  describe('TriggerReduce Function', () => {
+    it('should reduce a trigger node to its essential data', () => {
+      const triggerNode: Node = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Keyword Trigger',
+          droppable: true,
+          triggerType: 'keywords',
+          triggers: [{ id: 'kw1', keyword: 'hello' }],
+          hasReduce: true,
+        },
+      };
+
+    const allNodes: Node[] = [triggerNode];
+    const result = TriggerReduce(triggerNode, allNodes);
+
+    expect(result).toEqual({
+      id: 'trigger-1',
+      type: 'keywords',
+      label: 'Keyword Trigger',
+      keywords: [{ id: 'kw1', keyword: 'hello' }],
+    });
+    });
+  });
+
+
+  describe('TriggerConnects Function', () => {
+    it('should handle connection without errors', () => {
+      const node1: Node = {
+        id: 'trigger-1',
+        type: 'trigger',
+        position: { x: 0, y: 0 },
+        data: {
+          label: 'Trigger 1',
+          droppable: true,
+          triggerType: 'keywords',
+          triggers: [],
+          hasReduce: true,
+        },
+      };
+
+      const node2: Node = {
+        id: 'norm-1',
+        type: 'norm',
+        position: { x: 100, y: 0 },
+        data: {
+          label: 'Norm 1',
+          droppable: true,
+          norm: 'test',
+          hasReduce: true,
+        },
+      };
+
+      expect(() => {
+        TriggerConnects(node1, node2, true);
+        TriggerConnects(node1, node2, false);
+      }).not.toThrow();
+    });
+
+    it('should return true for TriggerNodeCanConnect if connection exists', () => {
+      const connection = { source: 'trigger-1', target: 'norm-1' };
+      expect(TriggerNodeCanConnect(connection as any)).toBe(true);
+    });
+  });
+});

test/pages/visProgPage/visualProgrammingUI/nodes/UniversalNodes.test.tsx

@@ -0,0 +1,151 @@
+import { describe, beforeEach } from '@jest/globals';
+import { screen } from '@testing-library/react';
+import { renderWithProviders } from '../.././/./../../test-utils/test-utils';
+import type { XYPosition } from '@xyflow/react';
+import { NodeTypes, NodeDefaults, NodeConnects, NodeReduces, NodesInPhase } from '../../../../../src/pages/VisProgPage/visualProgrammingUI/NodeRegistry';
+import '@testing-library/jest-dom'
+import { createElement } from 'react';
+import useFlowStore from '../../../../../src/pages/VisProgPage/visualProgrammingUI/VisProgStores';
+
+
+describe('NormNode', () => {
+  beforeEach(() => {
+    jest.clearAllMocks();
+  });
+
+  function createNode(id: string, type: string, position: XYPosition, data: Record<string, unknown>, deletable?: boolean) {
+    const defaultData = NodeDefaults[type as keyof typeof NodeDefaults]
+    const newData = {
+        id: id,
+        type: type,
+        position: position,
+        data: data,
+        deletable: deletable,
+    }
+    return {...defaultData, ...newData}
+  }  
+
+
+    /**
+   * Reduces the graph into its phases' information and recursively calls their reducing function
+   */ 
+  function graphReducer() {
+    const { nodes } = useFlowStore.getState();
+    return nodes
+      .filter((n) => n.type == 'phase')
+      .map((n) => {
+        const reducer = NodeReduces['phase'];
+        return reducer(n, nodes)
+      }); 
+  }
+
+  function getAllTypes() {
+    return Object.entries(NodeTypes).map(([t])=>t)
+  }
+    
+  describe('Rendering', () => {
+    test.each(getAllTypes())('it should render %s node with the default data', (nodeType) => {
+    const lengthBefore = screen.getAllByText(/.*/).length;
+
+    const newNode = createNode(nodeType + "1", nodeType, {x: 200, y:200}, {});
+
+    const found = Object.entries(NodeTypes).find(([t]) => t === nodeType);
+    const uiElement = found ? found[1] : null;
+
+    expect(uiElement).not.toBeNull();
+    const props = {
+      id: newNode.id,
+      type: newNode.type as string,
+      data: newNode.data as any,
+      selected: false,
+      isConnectable: true,
+      zIndex: 0,
+      dragging: false,
+      selectable: true,
+      deletable: true,
+      draggable: true,
+      positionAbsoluteX: 0,
+      positionAbsoluteY: 0,
+    };
+
+    renderWithProviders(createElement(uiElement as React.ComponentType<any>, props));
+    const lengthAfter = screen.getAllByText(/.*/).length;
+
+    expect(lengthBefore + 1 === lengthAfter);
+  });
+  
+  });
+
+
+  describe('Connecting', () => {
+    test.each(getAllTypes())('it should call the connect function when %s node is connected', (nodeType) => {
+      // Create two nodes - one of the current type and one to connect to
+      const sourceNode = createNode('source-1', nodeType, {x: 100, y: 100}, {});
+      const targetNode = createNode('target-1', 'end', {x: 300, y: 100}, {});
+      
+      // Add nodes to store
+      useFlowStore.setState({ nodes: [sourceNode, targetNode] });
+
+      // Spy on the connect functions
+      const sourceConnectSpy = jest.spyOn(NodeConnects, nodeType as keyof typeof NodeConnects);
+      const targetConnectSpy = jest.spyOn(NodeConnects, 'end');
+
+      // Simulate connection
+      useFlowStore.getState().onConnect({
+        source: 'source-1',
+        target: 'target-1',
+        sourceHandle: null,
+        targetHandle: null,
+      });
+
+      // Verify the connect functions were called
+      expect(sourceConnectSpy).toHaveBeenCalledWith(sourceNode, targetNode, true);
+      expect(targetConnectSpy).toHaveBeenCalledWith(targetNode, sourceNode, false);
+
+      sourceConnectSpy.mockRestore();
+      targetConnectSpy.mockRestore();
+    }); 
+  });
+
+  describe('Reducing', () => {
+    test.each(getAllTypes())('it should correctly call/ not call the reduce function when %s node is in a phase', (nodeType) => {
+      // Create a phase node and a node of the current type
+      const phaseNode = createNode('phase-1', 'phase', {x: 200, y: 100}, { label: 'Test Phase', children: [] });
+      const testNode = createNode('node-1', nodeType, {x: 100, y: 100}, {});
+      
+      // Add the test node as a child of the phase
+      (phaseNode.data as any).children.push(testNode.id);
+      
+      // Add nodes to store
+      useFlowStore.setState({ nodes: [phaseNode, testNode] });
+
+      // Spy on the reduce functions
+      const phaseReduceSpy = jest.spyOn(NodeReduces, 'phase');
+      const nodeReduceSpy = jest.spyOn(NodeReduces, nodeType as keyof typeof NodeReduces);
+
+      // Simulate reducing - using the graphReducer
+      const result = graphReducer();
+
+      // Verify the reduce functions were called
+      expect(phaseReduceSpy).toHaveBeenCalledWith(phaseNode, [phaseNode, testNode]);
+      // Check if this node type is in NodesInPhase and returns false
+      const nodesInPhaseFunc = NodesInPhase[nodeType as keyof typeof NodesInPhase];
+      if (nodesInPhaseFunc && nodesInPhaseFunc() === false && nodeType !== 'phase') {
+        // Node is NOT in phase, so it should NOT be called
+        expect(nodeReduceSpy).not.toHaveBeenCalled();
+      } else {
+        // Node IS in phase, so it SHOULD be called
+        expect(nodeReduceSpy).toHaveBeenCalled();
+      }
+
+      // Verify the correct structure is present using NodesInPhase
+      expect(result).toHaveLength(nodeType !== 'phase' ? 1 : 2);
+      expect(result[0]).toHaveProperty('id', 'phase-1');
+      expect(result[0]).toHaveProperty('label', 'Test Phase');
+
+      // Restore mocks
+      phaseReduceSpy.mockRestore();
+      nodeReduceSpy.mockRestore();
+    }); 
+  });
+});

test/setupFlowTests.ts

@@ -69,6 +69,9 @@ beforeAll(() => {
   useFlowStore.setState({
     nodes: [],
     edges: [],
+    past: [],
+    future: [],
+    isBatchAction: false,
     edgeReconnectSuccessful: true
   });
 });
@@ -78,6 +81,9 @@ afterEach(() => {
   useFlowStore.setState({
     nodes: [],
     edges: [],
+    past: [],
+    future: [],
+    isBatchAction: false,
     edgeReconnectSuccessful: true
   });
 });

test/test-utils/mocks.ts

@@ -0,0 +1,41 @@
+import { jest } from '@jest/globals';
+import React from 'react';
+import '@testing-library/jest-dom';
+
+/**
+ * Mock for @xyflow/react
+ * Provides simplified versions of React Flow hooks and components
+ */
+jest.mock('@xyflow/react', () => ({
+  useReactFlow: jest.fn(() => ({
+    screenToFlowPosition: jest.fn((pos: any) => pos),
+    getNode: jest.fn(),
+    getNodes: jest.fn(() => []),
+    getEdges: jest.fn(() => []),
+    setNodes: jest.fn(),
+    setEdges: jest.fn(),
+  })),
+  ReactFlowProvider: ({ children }: { children: React.ReactNode }) =>
+    React.createElement('div', { 'data-testid': 'react-flow-provider' }, children),
+  ReactFlow: ({ children, ...props }: any) =>
+    React.createElement('div', { 'data-testid': 'react-flow', ...props }, children),
+  Handle: ({ type, position, id }: any) =>
+    React.createElement('div', { 'data-testid': `handle-${type}-${id}`, 'data-position': position }),
+  Panel: ({ children, position }: any) =>
+    React.createElement('div', { 'data-testid': 'panel', 'data-position': position }, children),
+  Controls: () => React.createElement('div', { 'data-testid': 'controls' }),
+  Background: () => React.createElement('div', { 'data-testid': 'background' }),
+}));
+
+/**
+ * Mock for @neodrag/react
+ * Simplifies drag behavior for testing
+ */
+jest.mock('@neodrag/react', () => ({
+  useDraggable: jest.fn((ref: any, options?: any) => {
+    // Store the options so we can trigger them in tests
+    if (ref && ref.current) {
+      (ref.current as any)._dragOptions = options;
+    }
+  }),
+}));

test/test-utils/test-utils.tsx

@@ -0,0 +1,24 @@
+// __tests__/utils/test-utils.tsx
+import { render, type RenderOptions } from '@testing-library/react';
+import { type ReactElement, type ReactNode } from 'react';
+import { ReactFlowProvider } from '@xyflow/react';
+
+/**
+ * Custom render function that wraps components with necessary providers
+ * This ensures all components have access to ReactFlow context
+ */
+export function renderWithProviders(
+  ui: ReactElement,
+  options?: Omit<RenderOptions, 'wrapper'>
+) {
+  function Wrapper({ children }: { children: ReactNode }) {
+    return <ReactFlowProvider>{children}</ReactFlowProvider>;
+  }
+
+  return render(ui, { wrapper: Wrapper, ...options });
+}
+
+
+// Re-export everything from testing library
+//eslint-disable-next-line react-refresh/only-export-components
+export * from '@testing-library/react';