feat(web-platform): release V0.7 地图模块

web_platform/src/project/importer.test.ts

@@ -35,15 +35,39 @@ describe('project importer', () => {
     expect(entries).toHaveLength(3);
     expect(choosePreferredEntry(entries)).toBe('model.xml');
   });
-  it('解压 ZIP 并保留二进制数据', async () => {
+  it('异步解压 ZIP、保留二进制数据并报告阶段进度', async () => {
     const zipped = zipSync({
       'robot/model.urdf': encode('<robot name="r"/>'),
       'robot/mesh.obj': encode('v 0 0 0'),
     });
     const file = new File([zipped], 'robot.zip', { type: 'application/zip' });
-    const result = await importBrowserFiles([file]);
+    const phases: string[] = [];
+    const result = await importBrowserFiles([file], undefined, (progress) =>
+      phases.push(`${progress.phase}:${progress.completed}`),
+    );
     expect(result.files.map((f) => f.path)).toContain('robot/mesh.obj');
     expect(result.selectedEntry).toBe('robot/model.urdf');
+    expect(phases).toContain('extracting:0');
+    expect(phases.at(-1)).toBe('indexing:1');
+  });
+  it('发现工程地图且不会将 map.json 当作模型入口', async () => {
+    const mapJson = JSON.stringify({
+      schemaVersion: 1,
+      id: 'room',
+      name: '房间',
+      coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
+      physics: { source: 'world.xml' },
+      spawnPoints: [],
+    });
+    const result = await importBrowserFiles([
+      new File(['<mujoco><worldbody/></mujoco>'], 'model.xml'),
+      new File([mapJson], 'map.json'),
+      new File(['<mujoco><worldbody/></mujoco>'], 'world.xml'),
+    ]);
+    expect(result.maps).toEqual([
+      expect.objectContaining({ descriptorPath: 'map.json', id: 'room', name: '房间' }),
+    ]);
+    expect(result.entries.map((entry) => entry.path)).toEqual(['model.xml']);
   });
   it('拒绝 ZIP 路径穿越', async () => {
     const zipped = zipSync({ '../model.xml': encode('<mujoco/>') });
@@ -56,8 +80,9 @@ describe('project importer', () => {
     const b = new File(['<mujoco/>'], 'model.xml');
     await expect(importBrowserFiles([a, b])).rejects.toThrow('同名路径');
   });
-  it('拒绝超过限制的文件', async () => {
-    const file = new File(['<mujoco/>'], 'model.xml');
+  it('读取文件内容前根据元数据拒绝超过限制的输入', async () => {
+    const file = new File(['<mujoco/>'], 'model.xml'),
+      read = vi.spyOn(file, 'arrayBuffer');
     await expect(
       importBrowserFiles([file], {
         maxFiles: 1,
@@ -66,8 +91,20 @@ describe('project importer', () => {
         maxZipBytes: 2,
       }),
     ).rejects.toThrow('单文件超过限制');
+    expect(read).not.toHaveBeenCalled();
   });
-  it('规范化 MuJoCo 不接受的重复 material 和 ROS package URI', () => {
+  it('按完成文件数报告普通工程读取进度', async () => {
+    const updates: Array<{ phase: string; completed: number; total: number }> = [];
+    const result = await importBrowserFiles(
+      [new File(['<mujoco/>'], 'model.xml'), new File(['v 0 0 0'], 'mesh.obj')],
+      undefined,
+      ({ phase, completed, total }) => updates.push({ phase, completed, total }),
+    );
+    expect(result.files).toHaveLength(2);
+    expect(updates).toContainEqual({ phase: 'reading', completed: 2, total: 2 });
+    expect(updates.at(-1)).toEqual({ phase: 'indexing', completed: 1, total: 1 });
+  });
+  it('规范化 MuJoCo 不接受的重复 material 和 ROS package URI', async () => {
     const urdf = projectFile(
       'go2w_description/urdf/robot.urdf',
       '<robot><link name="base"><visual><geometry><mesh filename="package://go2w_description/meshes/base.obj"/></geometry><material name="a"/><material name="b"/></visual></link></robot>',
@@ -84,10 +121,11 @@ describe('project importer', () => {
       name: 'go2w',
       files: [urdf, mesh],
       entries: [{ path: urdf.path, format: 'urdf' as const, label: 'robot' }],
+      maps: [],
       selectedEntry: urdf.path,
       totalBytes: urdf.size + 1,
     };
-    const prepared = prepareProjectForMujoco(manifest, urdf.path);
+    const prepared = await prepareProjectForMujoco(manifest, urdf.path);
     const text = new TextDecoder().decode(prepared.manifest.files[0].data);
     expect(text.match(/<material/g) ?? []).toHaveLength(1);
     expect(text).toContain('filename="../meshes/base.obj"');
@@ -95,7 +133,7 @@ describe('project importer', () => {
     expect(text).toContain('fusestatic="false"');
     expect(prepared.warnings).toHaveLength(2);
   });
-  it('将 DAE mesh 转换为 MuJoCo 可读取的 OBJ，并复用于 visual/collision', () => {
+  it('将 DAE mesh 转换为 MuJoCo 可读取的 OBJ，并复用于 visual/collision', async () => {
     const urdf = projectFile(
       'robot/robot.urdf',
       '<robot><link name="base"><visual><geometry><mesh filename="meshes/triangle.dae"/></geometry></visual><collision><geometry><mesh filename="meshes/triangle.dae"/></geometry></collision></link></robot>',
@@ -106,10 +144,11 @@ describe('project importer', () => {
       name: 'dae',
       files: [urdf, dae],
       entries: [{ path: urdf.path, format: 'urdf' as const, label: 'robot' }],
+      maps: [],
       selectedEntry: urdf.path,
       totalBytes: urdf.size + dae.size,
     };
-    const prepared = prepareProjectForMujoco(manifest, urdf.path);
+    const prepared = await prepareProjectForMujoco(manifest, urdf.path);
     const text = new TextDecoder().decode(
       prepared.manifest.files.find((file) => file.path === urdf.path)!.data,
     );
@@ -121,7 +160,7 @@ describe('project importer', () => {
     expect(new TextDecoder().decode(obj!.data)).toMatch(/^f\s/m);
     expect(prepared.warnings.join(' ')).toContain('1 个 DAE 文件转换为 OBJ');
   });
-  it('DAE 缺失或转换失败时安全降级', () => {
+  it('DAE 缺失或转换失败时安全降级', async () => {
     const urdf = projectFile(
       'robot.urdf',
       '<robot><link name="base"><visual><geometry><mesh filename="visual.dae"/></geometry></visual><collision><geometry><mesh filename="collision.dae"/></geometry></collision></link></robot>',
@@ -131,10 +170,11 @@ describe('project importer', () => {
       name: 'dae',
       files: [urdf],
       entries: [{ path: urdf.path, format: 'urdf' as const, label: 'robot' }],
+      maps: [],
       selectedEntry: urdf.path,
       totalBytes: urdf.size,
     };
-    const prepared = prepareProjectForMujoco(manifest, urdf.path);
+    const prepared = await prepareProjectForMujoco(manifest, urdf.path);
     const text = new TextDecoder().decode(prepared.manifest.files[0].data);
     expect(text).not.toContain('<visual>');
     expect(text).toContain('<collision>');