chore(web-platform): release V0.6.1 工程质量优化

web_platform/src/app/components/ActuatorControl.test.tsx

@@ -1,39 +1,96 @@
-import {fireEvent,render,screen} from '@testing-library/react';
-import {ActuatorControl} from './SidebarPanel';
-import type {ActuatorInfo} from '../../simulation/SimulationSession';
+import { fireEvent, render, screen } from '@testing-library/react';
+import { ActuatorControl } from './SidebarPanel';
+import type { ActuatorInfo } from '../../simulation/SimulationSession';
 
-const actuator:ActuatorInfo={id:0,name:'shoulder_motor',value:.5,min:-1,max:1,limited:true,jointId:0,jointName:'shoulder',jointType:3,unit:'N·m',kind:'motor',controlCount:1,gear:2,gain:1,kp:0,kv:0,ctrlLimited:true,ctrlMin:-1,ctrlMax:1,forceLimited:true,forceMin:-20,forceMax:20};
+const actuator: ActuatorInfo = {
+  id: 0,
+  name: 'shoulder_motor',
+  value: 0.5,
+  min: -1,
+  max: 1,
+  limited: true,
+  jointId: 0,
+  jointName: 'shoulder',
+  jointType: 3,
+  unit: 'N·m',
+  kind: 'motor',
+  controlCount: 1,
+  gear: 2,
+  gain: 1,
+  kp: 0,
+  kv: 0,
+  ctrlLimited: true,
+  ctrlMin: -1,
+  ctrlMax: 1,
+  forceLimited: true,
+  forceMin: -20,
+  forceMax: 20,
+};
 
-describe('ActuatorControl',()=>{
-  it('显示对应关节和常用力矩单位',()=>{
-    render(<ActuatorControl actuator={actuator} onControl={()=>{}} onParameters={()=>{}}/>);
+describe('ActuatorControl', () => {
+  it('显示对应关节和常用力矩单位', () => {
+    render(<ActuatorControl actuator={actuator} onControl={() => {}} onParameters={() => {}} />);
     expect(screen.getByText('shoulder_motor')).toBeVisible();
     expect(screen.getByText('关节：shoulder')).toBeVisible();
     expect(screen.getByText('1.000 N·m')).toBeVisible();
   });
 
-  it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数',()=>{
-    const onControl=vi.fn(),onParameters=vi.fn();
-    render(<ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters}/>);
-    fireEvent.change(screen.getByRole('slider'),{target:{value:'2'}});
+  it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数', () => {
+    const onControl = vi.fn(),
+      onParameters = vi.fn();
+    render(
+      <ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters} />,
+    );
+    fireEvent.change(screen.getByRole('slider'), { target: { value: '2' } });
     expect(onControl).toHaveBeenCalledWith(1);
     fireEvent.click(screen.getByText('常用参数'));
     expect(screen.queryByLabelText('传动比 gear')).not.toBeInTheDocument();
     expect(screen.queryByLabelText('固定增益 gain')).not.toBeInTheDocument();
-    const kp=screen.getByLabelText(/kp（MJCF stiffness/);fireEvent.change(kp,{target:{value:'3'}});fireEvent.blur(kp);
-    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({kp:3,ctrlLimited:true,forceLimited:true}));
+    const kp = screen.getByLabelText(/kp（MJCF stiffness/);
+    fireEvent.change(kp, { target: { value: '3' } });
+    fireEvent.blur(kp);
+    expect(onParameters).toHaveBeenCalledWith(
+      expect.objectContaining({ kp: 3, ctrlLimited: true, forceLimited: true }),
+    );
   });
 
-  it('position 伺服使用角度目标并开放 kp、kv',()=>{
-    const onParameters=vi.fn();
-    render(<ActuatorControl actuator={{...actuator,name:'shoulder_servo',kind:'position',unit:'°',value:Math.PI/2,min:-Math.PI,max:Math.PI,gear:1,kp:100,kv:10,gain:100}} onControl={()=>{}} onParameters={onParameters}/>);
-    expect(screen.getByText('90.000 °')).toBeVisible();fireEvent.click(screen.getByText('常用参数'));
-    const kp=screen.getByLabelText(/位置增益 kp/);fireEvent.change(kp,{target:{value:'150'}});fireEvent.blur(kp);
-    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({kp:150,kv:10}));
+  it('position 伺服使用角度目标并开放 kp、kv', () => {
+    const onParameters = vi.fn();
+    render(
+      <ActuatorControl
+        actuator={{
+          ...actuator,
+          name: 'shoulder_servo',
+          kind: 'position',
+          unit: '°',
+          value: Math.PI / 2,
+          min: -Math.PI,
+          max: Math.PI,
+          gear: 1,
+          kp: 100,
+          kv: 10,
+          gain: 100,
+        }}
+        onControl={() => {}}
+        onParameters={onParameters}
+      />,
+    );
+    expect(screen.getByText('90.000 °')).toBeVisible();
+    fireEvent.click(screen.getByText('常用参数'));
+    const kp = screen.getByLabelText(/位置增益 kp/);
+    fireEvent.change(kp, { target: { value: '150' } });
+    fireEvent.blur(kp);
+    expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({ kp: 150, kv: 10 }));
   });
 
-  it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑',()=>{
-    render(<ActuatorControl actuator={{...actuator,name:'custom',kind:'other',unit:'',value:.25}} onControl={()=>{}} onParameters={()=>{}}/>);
+  it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑', () => {
+    render(
+      <ActuatorControl
+        actuator={{ ...actuator, name: 'custom', kind: 'other', unit: '', value: 0.25 }}
+        onControl={() => {}}
+        onParameters={() => {}}
+      />,
+    );
     expect(screen.getByText('0.250')).toBeVisible();
     expect(screen.queryByText('常用参数')).not.toBeInTheDocument();
     expect(screen.getByText(/不是可直接编辑的 motor\/position/)).toBeVisible();