feat: release v1.0.2 LeKiwi 语言控制与网站嵌入

集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。
2026-09-24 15:29:49 +08:00
parent f3a8a38acd
commit 0d986f60bd
93 changed files with 5166 additions and 1094 deletions
@@ -0,0 +1,88 @@
+import { expect, test } from '@playwright/test';
+import { writeFile } from 'node:fs/promises';
+import { loadWebsiteRobot, runWebsiteCommand } from './website.helpers';
+
+test('显式授权：公网内置模型，前进/转向/抓放，无手填密钥或自动重试', async ({ page }, info) => {
+  test.skip(process.env.CADWORLD_LIVE_API !== '1', '仅经用户授权后运行，会消耗服务器公共额度');
+  test.setTimeout(360000);
+  const calls = { command: 0, plan: 0, decide: 0, blocked: 0 };
+  let csrf = '',
+    cleanup = false;
+  await page.route('**/api/decision/v1/**', async (route) => {
+    const endpoint = new URL(route.request().url()).pathname.split('/').at(-1);
+    if (endpoint === 'command' || endpoint === 'plan' || endpoint === 'decide') {
+      const limit = { command: 3, plan: 1, decide: 13 };
+      if (calls[endpoint] >= limit[endpoint]) {
+        calls.blocked++;
+        await route.abort();
+        return;
+      }
+      calls[endpoint]++;
+    } else if (endpoint === 'test') {
+      calls.blocked++;
+      await route.abort();
+      return;
+    }
+    await route.continue();
+  });
+  let capture: Promise<void> | undefined;
+  const captureSession = () =>
+    page
+      .waitForResponse((r) => r.url().endsWith('/session') && r.request().method() === 'POST')
+      .then(async (r) => {
+        csrf = (await r.json()).csrfToken;
+      })
+      .catch(() => undefined);
+  // Observe capture on all outcomes; no pre-existing keys/Cookies or storage state used.
+  try {
+    await loadWebsiteRobot(page);
+    capture = captureSession();
+    const move = await runWebsiteCommand(page, '前进0.5米', info, 'live-forward');
+    expect(move.distance).toBeGreaterThan(0.49);
+    expect(move.distance).toBeLessThan(0.51);
+    const turn = await runWebsiteCommand(page, '左转90度', info, 'live-turn');
+    expect(turn.turnDegrees).toBeGreaterThan(89);
+    expect(turn.turnDegrees).toBeLessThan(91);
+    expect(turn.start.x).toBeCloseTo(move.sample.x, 2);
+    const panel = page.getByLabel('机器人语言控制', { exact: true });
+    await panel.getByRole('button', { name: '载入预设场景' }).click();
+    await expect(panel.getByRole('status')).toContainText('预设已载入', { timeout: 90000 });
+    const grasp = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'live-pick-place');
+    expect(grasp.transported).toBeGreaterThanOrEqual(0.5);
+    expect(grasp.sample.onGoalSupport).toBe(true);
+    expect(calls).toEqual({ command: 3, plan: 1, decide: 13, blocked: 0 });
+    await page.screenshot({ path: info.outputPath('hosted-control.png') });
+  } finally {
+    await capture;
+    if (csrf)
+      cleanup = await page
+        .evaluate(
+          async (token) =>
+            (
+              await fetch('/api/decision/v1/session', {
+                method: 'DELETE',
+                headers: { 'Content-Type': 'application/json', 'X-CSRF-Token': token },
+                body: '{}',
+              })
+            ).status === 200,
+          csrf,
+        )
+        .catch(() => false);
+    await page.close();
+    await writeFile(
+      info.outputPath('hosted-live-summary.json'),
+      JSON.stringify(
+        {
+          calls,
+          sessionDestroyed: cleanup,
+          maximumUpstreamCalls: { llm: 4, jev: 16 },
+          retries: 0,
+          credentialInput: false,
+        },
+        null,
+        2,
+      ),
+    );
+  }
+  expect(cleanup).toBe(true);
+});