feat(web-platform): release V0.9.3 全模块界面重构
This commit is contained in:
+171
-89
@@ -1,4 +1,4 @@
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import { expect, test } from '@playwright/test';
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import { expect, test, type Page } from '@playwright/test';
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import { readFileSync } from 'node:fs';
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import { fileURLToPath } from 'node:url';
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import { zipSync } from 'fflate';
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@@ -6,6 +6,33 @@ import { zipSync } from 'fflate';
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const fixture = (relative: string) =>
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fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
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async function openProjectPanel(page: Page) {
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const show = page.getByRole('button', { name: '显示工程面板', exact: true });
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if (await show.isVisible()) await show.click();
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}
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async function expectImportedFiles(page: Page, names: string[]) {
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await openProjectPanel(page);
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await page.getByRole('tab', { name: '工程文件', exact: true }).click();
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const tree = page.getByLabel('工程文件树', { exact: true });
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for (const name of names) await expect(tree.getByText(name, { exact: true })).toBeVisible();
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await page.screenshot({ path: test.info().outputPath('imported-project-files.png') });
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}
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async function expectNotificationDetails(
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page: Page,
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messages: RegExp[],
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absentMessages: RegExp[] = [],
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) {
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
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await summary.click();
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for (const message of messages) await expect(notifications).toContainText(message);
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for (const message of absentMessages) await expect(notifications).not.toContainText(message);
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await page.keyboard.press('Escape');
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}
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const SIMPLE_MODEL = `
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<mujoco model="e2e">
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<compiler angle="radian"/>
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@@ -79,7 +106,7 @@ const LARGE_MODEL = `
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test('独立自调参工作台不需要加载 MuJoCo 主应用即可打开', async ({ page }) => {
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await page.goto('/tuning.html');
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await expect(page.getByRole('heading', { name: 'Go2 奖励函数自调参 Agent' })).toBeVisible();
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await expect(page.getByRole('heading', { name: 'Go2 自调参' })).toBeVisible();
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await expect(page.getByText('新建 Unitree-Go2-Flat 调参 Session')).toBeVisible();
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await expect(page.getByLabel('访问令牌（仅当前标签页）')).toBeVisible();
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await expect(page.getByRole('button', { name: '启动自调参' })).toBeVisible();
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@@ -102,20 +129,23 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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const resetCameraBox = await page.getByRole('button', { name: '相机复位' }).boundingBox(),
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playBox = await page.getByRole('button', { name: '▶ 播放' }).boundingBox();
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expect(
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resetCameraBox && playBox && resetCameraBox.x + resetCameraBox.width <= playBox.x,
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resetCameraBox && playBox && resetCameraBox.y + resetCameraBox.height < playBox.y,
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).toBeTruthy();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await expect(page.getByRole('menuitem', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.setViewportSize({ width: 1440, height: 900 });
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await expect(page.getByRole('heading', { name: 'MuJoCo Web 仿真平台' })).toBeVisible();
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await expect(page.getByRole('heading', { name: 'MuJoCo' })).toBeVisible();
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await expect(page.getByRole('main').getByText('拖放模型工程到此处')).toBeVisible();
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await expect(page.getByRole('img', { name: 'XYZ 方向指示器' })).toBeVisible();
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await expect(page.getByRole('button', { name: '切换到白天主题' })).toBeVisible();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await expect(page.getByRole('menuitem', { name: '切换主题' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '布局设置' }).click();
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await expect(page.getByRole('dialog', { name: '布局设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '工作台设置' }).click();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '工作台设置' }).click();
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await expect(page.getByRole('dialog', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.keyboard.press('Control+k');
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@@ -123,16 +153,20 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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await page.getByLabel('搜索命令').fill('复位相机');
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await expect(page.getByRole('option', { name: /复位相机/ })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '进入全屏' }).click();
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await expect(page.getByRole('button', { name: '退出全屏' })).toBeVisible();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '进入全屏' }).click();
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await expect.poll(() => page.evaluate(() => Boolean(document.fullscreenElement))).toBe(true);
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await page.keyboard.press('Control+k');
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await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '退出全屏' }).click();
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await page.getByRole('button', { name: '切换到白天主题' }).click();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '退出全屏' }).click();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '切换主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await expect(page.getByRole('button', { name: '切换到黑夜主题' })).toBeVisible();
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await page.getByRole('button', { name: '切换到黑夜主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '切换主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-dark/);
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await page
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@@ -144,7 +178,7 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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buffer: Buffer.from(SIMPLE_MODEL),
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});
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '显示设置' }).click();
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const displayDialog = page.getByRole('dialog', { name: '视图显示设置' });
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@@ -160,8 +194,9 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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await page.getByText('事件日志').click();
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await expect(page.getByRole('dialog', { name: '诊断与事件日志' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: /FPS .*物理/ }).click();
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await page.getByRole('button', { name: /FPS \d/ }).click();
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await expect(page.getByRole('dialog', { name: '性能详情' })).toBeVisible();
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await expect(page.getByRole('dialog', { name: '性能详情' })).toContainText('WASM已加载');
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await page.keyboard.press('Escape');
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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@@ -171,7 +206,7 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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await expect(tools.getByText('motor', { exact: true })).toBeVisible();
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await expect(tools.getByText('关节：slide', { exact: true })).toBeVisible();
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await page.getByRole('tab', { name: '数据录制' }).click();
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await expect(page.getByRole('tabpanel', { name: '数据录制' })).toContainText('仿真遥测记录');
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await expect(page.getByRole('tabpanel', { name: '数据录制' })).toContainText('仅当前会话保存');
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await expect(page.locator('main canvas')).toBeVisible();
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await page.getByRole('tab', { name: '检查器' }).click();
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const structure = page.getByRole('navigation', { name: '模型结构树' });
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@@ -192,9 +227,9 @@ test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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'aria-pressed',
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'true',
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);
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await expect(page.getByText('已忽略').first()).toBeVisible();
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await expect(page.getByText('已忽略关节限位').first()).toBeVisible();
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await page.getByRole('button', { name: '重置关节' }).click();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
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});
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test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page }) => {
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@@ -204,9 +239,7 @@ test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page
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await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
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await expect(page.getByRole('button', { name: '显示右侧面板' })).toBeVisible();
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await page.getByRole('button', { name: '显示右侧面板' }).click();
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await expect(
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page.getByRole('complementary').filter({ hasText: '导入模型后显示检查器' }),
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).toBeVisible();
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await expect(page.getByRole('complementary').filter({ hasText: '检查器待命' })).toBeVisible();
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});
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test('工作区布局与视口显示偏好在刷新后保留', async ({ page }) => {
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@@ -230,7 +263,8 @@ test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => {
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '工程', exact: true }).click();
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await page.getByRole('button', { name: '源代码' }).click();
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const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await expect(dialog).toBeVisible();
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@@ -245,7 +279,7 @@ test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => {
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timeout: 30_000,
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});
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await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '导出 URDF' })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '导出 MJCF' })).toHaveCount(0);
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});
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@@ -256,7 +290,8 @@ test('关闭已修改的 MJCF 前要求确认', async ({ page }) => {
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '工程', exact: true }).click();
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await page.getByRole('button', { name: '源代码' }).click();
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const editorDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await editorDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
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@@ -287,8 +322,14 @@ test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({ page }) => {
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fixture('mjcf_include/triangle.stl'),
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fixture('mjcf_include/checker.png'),
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]);
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByText('5 个文件')).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expectImportedFiles(page, [
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'model.xml',
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'world.xml',
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'triangle.obj',
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'triangle.stl',
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'checker.png',
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]);
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});
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test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
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@@ -301,16 +342,19 @@ test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
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await expect(options.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
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await expect(options.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
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await options.getByRole('button', { name: '转换并加载' }).click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByText('2 个文件')).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expectImportedFiles(page, ['robot.urdf', 'triangle.obj']);
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await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf');
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await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
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await summary.click();
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await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/);
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await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
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await page.keyboard.press('Escape');
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await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
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await page.getByRole('button', { name: '工程', exact: true }).click();
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await page.getByRole('button', { name: '源代码' }).click();
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const sourceDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible();
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@@ -321,7 +365,7 @@ test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
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await expect(
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sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }),
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).toBeDisabled({ timeout: 30_000 });
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await expect(page.getByText('WASM 已加载')).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
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await sourceDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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});
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@@ -340,13 +384,15 @@ test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', a
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.getByRole('dialog', { name: '配置 URDF 仿真组件' })
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.getByRole('button', { name: '转换并加载' })
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.click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expect(page.getByLabel('摄像头画面')).toBeVisible();
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await page.getByRole('button', { name: '隐藏画面' }).click();
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await page.getByRole('button', { name: '显示摄像头画面' }).click();
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await expect(page.getByLabel('摄像头画面')).toBeVisible();
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
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await summary.click();
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await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器');
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await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
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await page.keyboard.press('Escape');
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@@ -357,8 +403,8 @@ test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', a
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.click();
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await expect(page.getByText('shoulder_motor')).toBeVisible();
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await expect(page.getByText('关节：shoulder')).toBeVisible();
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await expect(page.getByText('N·m', { exact: true })).toBeVisible();
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await page.getByText('常用参数').click();
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await expect(page.locator('output').filter({ hasText: 'N·m' })).toBeVisible();
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await page.getByText('增益与输出限幅').click();
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const kp = page.getByLabel(/kp（MJCF stiffness/),
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kv = page.getByLabel(/kv（MJCF damping/);
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await kp.fill('150');
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@@ -387,7 +433,8 @@ test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }
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.getByRole('dialog', { name: '配置 URDF 仿真组件' })
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.getByRole('button', { name: '转换并加载' })
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.click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '工程', exact: true }).click();
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await page.getByRole('button', { name: '源代码' }).click();
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const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await dialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
|
||||
@@ -397,7 +444,7 @@ test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }
|
||||
await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
|
||||
timeout: 30_000,
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible();
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
await expect(page.getByText('模型编译失败')).toHaveCount(0);
|
||||
});
|
||||
|
||||
@@ -411,7 +458,7 @@ test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ pa
|
||||
mimeType: 'text/xml',
|
||||
buffer: Buffer.from(SLIDE_DIRECTION_MODEL),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByRole('button', { name: '关节拖动' }).click();
|
||||
const canvas = page.locator('main canvas').first(),
|
||||
box = await canvas.boundingBox();
|
||||
@@ -439,7 +486,7 @@ test('可导入并启用 Python 控制器', async ({ page }) => {
|
||||
.locator('input[type="file"]')
|
||||
.first()
|
||||
.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByRole('tab', { name: '控制台' }).click();
|
||||
await page
|
||||
.getByRole('tabpanel', { name: '控制台' })
|
||||
@@ -450,11 +497,13 @@ test('可导入并启用 Python 控制器', async ({ page }) => {
|
||||
.locator('input[accept=".py,text/x-python"]')
|
||||
.setInputFiles({ name: 'balance.py', mimeType: 'text/x-python', buffer: Buffer.from(python) });
|
||||
await expect(page.getByText('测试 PD 控制器', { exact: true })).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByText('脚本详情', { exact: true }).click();
|
||||
await expect(page.getByText('Python / Pyodide')).toBeVisible();
|
||||
await page.getByRole('button', { name: '启用', exact: true }).click();
|
||||
await expect(
|
||||
page.getByRole('tabpanel', { name: '控制台' }).getByRole('button', { name: /Python 脚本控制/ }),
|
||||
).toContainText('运行');
|
||||
await page.screenshot({ path: test.info().outputPath('python-running.png') });
|
||||
});
|
||||
|
||||
test('中等规模模型持续步进并可重复加载', async ({ page }) => {
|
||||
@@ -462,30 +511,33 @@ test('中等规模模型持续步进并可重复加载', async ({ page }) => {
|
||||
const input = page.locator('input[type="file"]').first();
|
||||
const modelFile = { name: 'large.xml', mimeType: 'text/xml', buffer: Buffer.from(LARGE_MODEL) };
|
||||
await input.setInputFiles(modelFile);
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||||
await page.waitForTimeout(2_000);
|
||||
await expect(page.locator('footer')).not.toContainText('时间 0.000 s');
|
||||
await expect(page.getByLabel('视口状态')).not.toContainText('时间 0.000 s');
|
||||
|
||||
// 播放过程中重置必须同时暂停底层会话，之后仍可正常播放和暂停。
|
||||
await page.getByRole('button', { name: '重置', exact: true }).click();
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
|
||||
await expect(page.locator('footer')).toContainText('时间 0.000 s');
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
await expect(page.getByLabel('视口状态')).toContainText('时间 0.000 s');
|
||||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||||
await page.waitForTimeout(500);
|
||||
await page.getByRole('button', { name: '⏸ 暂停' }).click();
|
||||
await page.waitForTimeout(200);
|
||||
const pausedTime = (await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1];
|
||||
const pausedTime = (await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1];
|
||||
expect(Number(pausedTime)).toBeGreaterThan(0);
|
||||
await page.waitForTimeout(500);
|
||||
expect((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(pausedTime);
|
||||
expect((await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(
|
||||
pausedTime,
|
||||
);
|
||||
|
||||
await input.setInputFiles(modelFile);
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await expect(page.getByRole('alert')).toHaveCount(0);
|
||||
});
|
||||
|
||||
test('认证资产可点击创建场景并拖到画布落位', async ({ page }) => {
|
||||
await page.setViewportSize({ width: 1440, height: 900 });
|
||||
await page.goto('/');
|
||||
await page
|
||||
.locator('input[type="file"]')
|
||||
@@ -521,9 +573,11 @@ test('认证资产可点击创建场景并拖到画布落位', async ({ page })
|
||||
const beforeRotation = await gizmoLine.getAttribute('x2');
|
||||
const canvasBox = await page.locator('main canvas').first().boundingBox();
|
||||
expect(canvasBox).not.toBeNull();
|
||||
await page.mouse.move(canvasBox!.x + 24, canvasBox!.y + 24);
|
||||
// 左上现在是可交互状态槽位；从画布空白中部拖动，继续验证真实 OrbitControls。
|
||||
const dragY = canvasBox!.y + canvasBox!.height * 0.35;
|
||||
await page.mouse.move(canvasBox!.x + 24, dragY);
|
||||
await page.mouse.down({ button: 'left' });
|
||||
await page.mouse.move(canvasBox!.x + 104, canvasBox!.y + 50, { steps: 8 });
|
||||
await page.mouse.move(canvasBox!.x + 104, dragY + 26, { steps: 8 });
|
||||
await page.mouse.up({ button: 'left' });
|
||||
await expect.poll(() => gizmoLine.getAttribute('x2')).not.toBe(beforeRotation);
|
||||
await expect(page.getByLabel('对象名称')).toHaveCount(0);
|
||||
@@ -545,16 +599,16 @@ test('认证资产自动打开地图属性并与参数地形一次编译', async
|
||||
|
||||
const library = page.getByLabel('地图资产库');
|
||||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||||
await expect(page.getByText('Map / Object')).toBeVisible();
|
||||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||||
|
||||
const sceneTree = page.getByLabel('场景资产树');
|
||||
await expect(sceneTree.getByText('基础方盒')).toBeVisible();
|
||||
await sceneTree.getByRole('treeitem', { name: 'box', exact: true }).click();
|
||||
await expect(page.getByText('Robot / Body')).toBeVisible();
|
||||
await expect(page.getByText(/^Body #/)).toBeVisible();
|
||||
await sceneTree.getByRole('treeitem', { name: /基础方盒/ }).click();
|
||||
await expect(page.getByText('Map / Object')).toBeVisible();
|
||||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||||
|
||||
await library.getByRole('button', { name: '添加随机粗糙地形' }).click();
|
||||
await page.getByLabel('位置 X（m）').fill('4');
|
||||
@@ -585,8 +639,13 @@ test('认证资产自动打开地图属性并与参数地形一次编译', async
|
||||
await page.getByRole('button', { name: '应用场景' }).click();
|
||||
|
||||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||||
await expect(page.getByText(/已加载工程地图“场景 1”（1 个物理几何/)).toBeVisible();
|
||||
await expect(page.getByText(/已加载随机粗糙地形物理地图/)).toBeVisible();
|
||||
await page.getByRole('button', { name: '通知中心' }).click();
|
||||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||||
await summary.click();
|
||||
await expect(notifications).toContainText(/已加载工程地图“场景 1”（1 个物理几何/);
|
||||
await expect(notifications).toContainText(/已加载随机粗糙地形物理地图/);
|
||||
await page.keyboard.press('Escape');
|
||||
await expect(page.getByLabel('地图来源')).toHaveValue('builtin');
|
||||
|
||||
// 当前仍选中参数地形时，直接点已编译的认证资产也必须反查场景与对象，首次点击即挂载操纵器。
|
||||
@@ -682,8 +741,7 @@ test('工程地图与参数地形共享放置草稿、实例变换和回滚入
|
||||
await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
|
||||
await page.getByRole('button', { name: '应用场景' }).click();
|
||||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||||
await expect(page.getByText(/已加载工程地图“草稿仓库”/)).toBeVisible();
|
||||
await expect(page.getByText(/已加载波浪地形物理地图/)).toBeVisible();
|
||||
await expectNotificationDetails(page, [/已加载工程地图“草稿仓库”/, /已加载波浪地形物理地图/]);
|
||||
|
||||
await page.getByRole('button', { name: '删除地图实例 草稿仓库' }).click();
|
||||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||||
@@ -739,23 +797,26 @@ test('参数化地形可连续拖到画布并一次性编译', async ({ page })
|
||||
await expect(page.getByLabel('场景资产树')).toContainText('波浪地形');
|
||||
|
||||
await page.getByLabel('场景资产树').getByRole('treeitem', { name: 'box' }).click();
|
||||
await expect(page.getByText('Robot / Body')).toBeVisible();
|
||||
await expect(page.getByText(/^Body #/)).toBeVisible();
|
||||
const canvasBox = await page.locator('main canvas').first().boundingBox();
|
||||
expect(canvasBox).not.toBeNull();
|
||||
await page.mouse.click(
|
||||
canvasBox!.x + canvasBox!.width * 0.5,
|
||||
canvasBox!.y + canvasBox!.height * 0.78,
|
||||
);
|
||||
await expect(page.getByText('Map / Instance')).toBeVisible();
|
||||
await expect(page.getByText('参数化地形')).toBeVisible();
|
||||
await expect(page.getByLabel('地图视口工具')).toBeVisible();
|
||||
await expect(page.getByText('地图与对象属性')).toBeVisible();
|
||||
await expect(page.getByLabel('物理地图预设')).toBeVisible();
|
||||
|
||||
await page.getByRole('button', { name: '应用场景' }).click();
|
||||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||||
await expect(page.getByText(/已加载随机粗糙地形物理地图/)).toBeVisible({
|
||||
timeout: 30_000,
|
||||
});
|
||||
await expect(page.getByText(/已加载波浪地形物理地图/)).toBeVisible();
|
||||
await page.getByRole('button', { name: '通知中心' }).click();
|
||||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||||
await summary.click();
|
||||
await expect(notifications).toContainText(/已加载随机粗糙地形物理地图/);
|
||||
await expect(notifications).toContainText(/已加载波浪地形物理地图/);
|
||||
await page.keyboard.press('Escape');
|
||||
});
|
||||
|
||||
test('应用内置 MJCF 楼梯物理地图', async ({ page }) => {
|
||||
@@ -769,13 +830,14 @@ test('应用内置 MJCF 楼梯物理地图', async ({ page }) => {
|
||||
mimeType: 'text/xml',
|
||||
buffer: Buffer.from(SIMPLE_MODEL),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByLabel('地图来源').selectOption('builtin');
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByLabel('地图资产库').getByRole('button', { name: '添加波浪地形' }).click();
|
||||
await page.getByLabel('物理地图预设').selectOption('stairs');
|
||||
await page.getByLabel('台阶数量').fill('6');
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
await expect(page.getByText(/已加载楼梯物理地图/)).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible();
|
||||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||||
await expectNotificationDetails(page, [/已加载楼梯物理地图/]);
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
});
|
||||
|
||||
test('依次应用全部系统参数化地形', async ({ page }) => {
|
||||
@@ -800,19 +862,18 @@ test('依次应用全部系统参数化地形', async ({ page }) => {
|
||||
mimeType: 'text/xml',
|
||||
buffer: Buffer.from(SIMPLE_MODEL),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByLabel('地图来源').selectOption('builtin');
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByLabel('地图资产库').getByRole('button', { name: '添加波浪地形' }).click();
|
||||
for (const [preset, label] of terrains) {
|
||||
await page.getByLabel('物理地图预设').selectOption(preset);
|
||||
await page.getByLabel('地形边长（m）').fill('6');
|
||||
if (preset === 'rough' || preset === 'wave')
|
||||
await page.getByLabel('水平采样间距（m）').fill('0.25');
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
await expect(page.getByText(new RegExp(`已加载${label}物理地图`))).toBeVisible({
|
||||
timeout: 30_000,
|
||||
});
|
||||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||||
await expectNotificationDetails(page, [new RegExp(`已加载${label}物理地图`)]);
|
||||
}
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible();
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
});
|
||||
|
||||
test('导入并应用分层工程地图包', async ({ page }) => {
|
||||
@@ -843,11 +904,18 @@ test('导入并应用分层工程地图包', async ({ page }) => {
|
||||
mimeType: 'application/zip',
|
||||
buffer: Buffer.from(project),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByLabel('地图来源').selectOption({ label: '测试场景' });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page
|
||||
.getByLabel('地图资产库')
|
||||
.getByRole('button', { name: '放置工程地图 测试场景' })
|
||||
.click();
|
||||
// 资产库放置默认不移动机器人；显式选择出生点后仍验证原编译路径。
|
||||
await expect(page.getByLabel('地图出生点')).toHaveValue('');
|
||||
await page.getByLabel('地图出生点').selectOption('start');
|
||||
await expect(page.getByLabel('地图出生点')).toHaveValue('start');
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
await expect(page.getByText(/已加载工程地图“测试场景”/)).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||||
await expectNotificationDetails(page, [/已加载工程地图“测试场景”/], [/视觉地图加载失败/]);
|
||||
await expect(page.getByText(/视觉地图加载失败/)).toHaveCount(0);
|
||||
});
|
||||
|
||||
@@ -877,10 +945,13 @@ test('将受支持的只读物理地图转换为可编辑副本', async ({ page
|
||||
mimeType: 'application/zip',
|
||||
buffer: Buffer.from(project),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByLabel('地图来源').selectOption({ label: '旧版基础场景' });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page
|
||||
.getByLabel('地图资产库')
|
||||
.getByRole('button', { name: '放置工程地图 旧版基础场景' })
|
||||
.click();
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
const editor = page.getByText('认证资产与场景对象属性').locator('..');
|
||||
const editor = page.getByText('源内容修改影响所有同源实例').locator('../..');
|
||||
await expect(editor.getByText(/保持只读/)).toBeVisible({ timeout: 30_000 });
|
||||
await editor.getByRole('button', { name: '创建可编辑副本' }).click();
|
||||
await expect(page.getByText('已创建可编辑地图副本')).toBeVisible({ timeout: 30_000 });
|
||||
@@ -924,10 +995,15 @@ test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
|
||||
mimeType: 'application/zip',
|
||||
buffer: Buffer.from(project),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await page.getByLabel('地图来源').selectOption({ label: '可编辑场景' });
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
await expect(page.getByText('认证资产与场景对象属性')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page
|
||||
.getByLabel('地图资产库')
|
||||
.getByRole('button', { name: '放置工程地图 可编辑场景' })
|
||||
.click();
|
||||
await page.getByRole('button', { name: '应用场景', exact: true }).click();
|
||||
await expect(page.getByText('源内容修改影响所有同源实例', { exact: true })).toBeVisible({
|
||||
timeout: 30_000,
|
||||
});
|
||||
const mapTools = page.getByLabel('地图视口工具');
|
||||
await expect(mapTools.getByRole('button', { name: '移动工具 W' })).toHaveAttribute(
|
||||
'aria-pressed',
|
||||
@@ -955,7 +1031,7 @@ test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
|
||||
).toBeVisible({
|
||||
timeout: 30_000,
|
||||
});
|
||||
await expect(draftStatus).toContainText('地图草稿已同步');
|
||||
await expect(draftStatus).toBeHidden();
|
||||
|
||||
await page
|
||||
.getByLabel('地图对象列表')
|
||||
@@ -969,13 +1045,13 @@ test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
|
||||
.getByRole('button', { name: /box · 方盒/ })
|
||||
.click();
|
||||
await expect(page.getByLabel('对象位置X')).toHaveValue('2');
|
||||
await expect(draftStatus).toContainText('地图草稿已同步');
|
||||
await expect(draftStatus).toBeHidden();
|
||||
|
||||
await page.getByRole('button', { name: '新增', exact: true }).click();
|
||||
await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(2);
|
||||
await page.keyboard.press('Delete');
|
||||
await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(1);
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible();
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
});
|
||||
|
||||
test('工程地图编译失败时保留上一仿真会话', async ({ page }) => {
|
||||
@@ -1004,34 +1080,40 @@ test('工程地图编译失败时保留上一仿真会话', async ({ page }) =>
|
||||
mimeType: 'application/zip',
|
||||
buffer: Buffer.from(project),
|
||||
});
|
||||
await expect(page.getByText('WASM 已加载')).toBeVisible({ timeout: 30_000 });
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||||
await page.waitForTimeout(200);
|
||||
const runningTime = Number(
|
||||
(await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0,
|
||||
(await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0,
|
||||
);
|
||||
await page.getByLabel('地图来源').selectOption({ label: '动态错误地图' });
|
||||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||||
await page
|
||||
.getByLabel('地图资产库')
|
||||
.getByRole('button', { name: '放置工程地图 动态错误地图' })
|
||||
.click();
|
||||
await page.getByRole('button', { name: '应用场景', exact: true }).click();
|
||||
await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
|
||||
await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/invalid/map.json');
|
||||
await expect(page.getByLabel('地图草稿状态')).toContainText('应用失败');
|
||||
await page.screenshot({ path: test.info().outputPath('map-compile-failed.png') });
|
||||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||||
await expect(page.getByLabel('场景资产树')).toContainText('待应用');
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
|
||||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||||
await page.getByRole('button', { name: '关闭错误' }).click();
|
||||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||||
await expect
|
||||
.poll(async () =>
|
||||
Number((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0),
|
||||
Number((await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0),
|
||||
)
|
||||
.toBeGreaterThan(runningTime);
|
||||
await page.getByRole('button', { name: '放弃更改' }).click();
|
||||
await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
|
||||
await expect(page.getByLabel('地图来源')).toHaveValue('none');
|
||||
await expect(page.getByLabel('场景资产树')).not.toContainText('动态错误地图');
|
||||
await expect(page.getByLabel('地图草稿状态')).toBeHidden();
|
||||
});
|
||||
|
||||
test('无效模型显示中文诊断且保留工程树', async ({ page }) => {
|
||||
await page.goto('/');
|
||||
await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml'));
|
||||
await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
|
||||
await expect(page.getByText('invalid.xml', { exact: false }).first()).toBeVisible();
|
||||
await expectImportedFiles(page, ['invalid.xml']);
|
||||
});
|
||||
|
||||
Reference in New Issue
Block a user