refactor: release v1.0.5 安全精简与网站发布

2026-09-29 09:55:08 +08:00
parent 7ebe9092ba
commit 26bb5634bd
64 changed files with 9048 additions and 3688 deletions
@@ -0,0 +1,164 @@
+import type { RefObject } from 'react';
+import type { MainThreadPhysicsAdapter } from '../../simulation/PhysicsAdapter';
+import type { ActuatorParameters, SimulationSession } from '../../simulation/SimulationSession';
+import type { ProjectManifest } from '../../project/types';
+import type { PickPlaceTaskConfig } from '../../mobile/agent/PickPlaceScene';
+import type { DataRecorderConfig } from '../../telemetry/DataRecorder';
+import type { InteractionMode } from '../../viewer/MuJoCoViewer';
+import type { useAppStore } from '../../stores/useAppStore';
+import { downloadBytes } from '../../project/cachedFiles';
+import { diagnostic, type useWorkbenchFeedback } from './useWorkbenchFeedback';
+
+/** UI 意图委托，不拥有物理时钟或控制权算法。 */
+export function useSimulationActions({
+  state,
+  adapterRef,
+  manifestRef,
+  agentSceneSessionRef,
+  lastAgentConfigRef,
+  prepareAgentScene,
+  ignoreJointLimits,
+  setIgnoreJointLimits,
+  setGeneratedMjcf,
+  notify,
+}: {
+  state: Pick<
+    ReturnType<typeof useAppStore.getState>,
+    | 'paused'
+    | 'snapshot'
+    | 'selectedEntry'
+    | 'setPaused'
+    | 'setSnapshot'
+    | 'setSpeed'
+    | 'setMode'
+    | 'setDiagnostic'
+  >;
+  adapterRef: RefObject<MainThreadPhysicsAdapter>;
+  manifestRef: RefObject<ProjectManifest | null>;
+  agentSceneSessionRef: RefObject<SimulationSession | undefined>;
+  lastAgentConfigRef: RefObject<PickPlaceTaskConfig>;
+  prepareAgentScene(config: PickPlaceTaskConfig): Promise<SimulationSession>;
+  ignoreJointLimits: boolean;
+  setIgnoreJointLimits(value: boolean): void;
+  setGeneratedMjcf(value: string): void;
+  notify: ReturnType<typeof useWorkbenchFeedback>['notify'];
+}) {
+  const togglePause = () => {
+    const value = !state.paused;
+    state.setPaused(value);
+    adapterRef.current.setPaused(value);
+  };
+  const reset = () => {
+    if (
+      agentSceneSessionRef.current &&
+      agentSceneSessionRef.current === adapterRef.current.session
+    ) {
+      void prepareAgentScene(lastAgentConfigRef.current).catch(() => undefined);
+      return;
+    }
+    adapterRef.current.setPaused(true);
+    adapterRef.current.reset();
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+    state.setPaused(true);
+  };
+  const singleStep = () => {
+    adapterRef.current.singleStep();
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const changeSpeed = (value: number) => {
+    state.setSpeed(value);
+    adapterRef.current.setSpeed(value);
+  };
+  const jointPoseEditingDisabled = Boolean(
+    state.snapshot?.robot ||
+    state.snapshot?.mobileRobotId ||
+    (state.snapshot?.controlOwner && state.snapshot.controlOwner !== 'manual'),
+  );
+  const mode = (value: InteractionMode) => {
+    if (value === 'joint' && jointPoseEditingDisabled) return;
+    state.setMode(value);
+  };
+  const resetJoints = () => {
+    adapterRef.current.resetJoints();
+    state.setPaused(true);
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const toggleJointLimits = () => {
+    const next = !ignoreJointLimits;
+    adapterRef.current.setIgnoreJointLimits(next);
+    setIgnoreJointLimits(next);
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const setActuator = (id: number, value: number) => {
+    adapterRef.current.setActuator(id, value);
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const setActuatorParameters = (id: number, parameters: ActuatorParameters) => {
+    if (!adapterRef.current.setActuatorParameters(id, parameters)) return;
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+    try {
+      setGeneratedMjcf(new TextDecoder().decode(adapterRef.current.exportMjcf()));
+    } catch (error) {
+      console.warn('[MuJoCo] 无法刷新驱动器参数源码', error);
+    }
+  };
+  const setJoint = (id: number, value: number) => {
+    adapterRef.current.setJointPosition(id, value);
+    state.setPaused(true);
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const configureDataRecorder = (patch: Partial<DataRecorderConfig>) => {
+    try {
+      adapterRef.current.configureDataRecorder(patch);
+      state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+    } catch (error) {
+      state.setDiagnostic(diagnostic('仿真', error, state.selectedEntry));
+    }
+  };
+  const startDataRecording = () => {
+    adapterRef.current.startDataRecording();
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const stopDataRecording = () => {
+    adapterRef.current.stopDataRecording();
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const clearDataRecording = () => {
+    adapterRef.current.clearDataRecording();
+    state.setSnapshot(adapterRef.current.snapshot() ?? undefined);
+  };
+  const exportDataRecording = (format: 'csv' | 'json') => {
+    try {
+      const stem =
+        (manifestRef.current?.name ?? 'simulation')
+          .replace(/\.(?:zip|xml|urdf)$/i, '')
+          .replace(/[^\p{L}\p{N}._-]+/gu, '_') || 'simulation';
+      downloadBytes(
+        adapterRef.current.exportDataRecording(format),
+        `${stem}-telemetry.${format}`,
+        format === 'csv' ? 'text/csv' : 'application/json',
+      );
+      notify(`遥测 ${format.toUpperCase()} 已导出`, `${stem}-telemetry.${format}`);
+    } catch (error) {
+      state.setDiagnostic(diagnostic('仿真', error, state.selectedEntry));
+    }
+  };
+  return {
+    togglePause,
+    reset,
+    singleStep,
+    changeSpeed,
+    jointPoseEditingDisabled,
+    mode,
+    resetJoints,
+    toggleJointLimits,
+    setActuator,
+    setActuatorParameters,
+    setJoint,
+    configureDataRecorder,
+    startDataRecording,
+    stopDataRecording,
+    clearDataRecording,
+    exportDataRecording,
+  };
+}