fix(training): release V0.9.2 自定义地图自动同步

2026-09-08 13:28:34 +08:00
parent 438e56bcc8
commit 831d0b95bb
9 changed files with 159 additions and 121 deletions
@@ -267,7 +267,7 @@ describe('LocalTrainingPanel 自定义任务', () => {
    const fetchMock = customServer();
    render(<LocalTrainingPanel onPolicyReady={vi.fn()} />);
    await connectCustom();
-    fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
+    fireEvent.click(screen.getByRole('button', { name: '检查当前场景地图（可选）' }));
    expect(screen.getByRole('alert')).toHaveTextContent('没有已应用');
    fireEvent.change(screen.getByLabelText('训练地形'), { target: { value: 'plane' } });
    fireEvent.change(screen.getByLabelText('地图尺寸 m'), { target: { value: '100' } });
@@ -296,7 +296,7 @@ describe('LocalTrainingPanel 自定义任务', () => {
 });

 describe('LocalTrainingPanel 配套策略交接', () => {
-  it('同步权威布局并上传完整boxes，不再重跑预设种子', async () => {
+  it('选择custom_boxes后无需手动同步，启动时自动编译并上传完整布局', async () => {
    const fetchMock = customServer();
    render(
      <LocalTrainingPanel
@@ -322,11 +322,10 @@ describe('LocalTrainingPanel 配套策略交接', () => {
      />,
    );
    await connectCustom();
-    fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
+    fireEvent.change(screen.getByLabelText('训练地形'), { target: { value: 'custom_boxes' } });
    expect(screen.getByLabelText('训练地形')).toHaveValue('custom_boxes');
-    expect(screen.getByText('已将视口中 1 个自定义障碍物编译为训练地图布局')).toBeInTheDocument();
-    expect(screen.getByLabelText('出生 X')).toHaveValue(-2);
-    expect(screen.getByLabelText('目标 Y')).toHaveValue(-1);
+    expect(screen.queryByLabelText('出生 X')).not.toBeInTheDocument();
+    expect(screen.queryByLabelText('目标 Y')).not.toBeInTheDocument();
    expect(screen.getByText(/旋转障碍会膨胀/)).toBeInTheDocument();
    fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
    await waitFor(() =>
@@ -374,7 +373,7 @@ describe('LocalTrainingPanel 配套策略交接', () => {
  });
 });

-it('custom_boxes拒绝草稿、过时编译场景和未重新同步的坐标；安全区报错不删障碍', async () => {
+it('custom_boxes拒绝未应用草稿，且训练时自动重新编译最新地图而不显示起终点', async () => {
  const fetchMock = customServer();
  const assets = [
    {
@@ -387,13 +386,7 @@ it('custom_boxes拒绝草稿、过时编译场景和未重新同步的坐标；
    },
  ];
  let current = validateCustomTerrain(customLayout);
-  const compileScene = vi.fn(
-    (coordinates?: import('../map/trainingMap').TrainingSceneCoordinates) => ({
-      ...structuredClone(current),
-      ...(coordinates?.spawn ? { spawn: [...coordinates.spawn, 0.32] } : {}),
-      ...(coordinates?.target ? { target: [...coordinates.target] } : {}),
-    }),
-  );
+  const compileScene = vi.fn(() => structuredClone(current));
  const { rerender } = render(
    <LocalTrainingPanel
      onPolicyReady={vi.fn()}
@@ -403,27 +396,25 @@ it('custom_boxes拒绝草稿、过时编译场景和未重新同步的坐标；
    />,
  );
  await connectCustom();
-  fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
+  fireEvent.click(screen.getByRole('button', { name: '检查当前场景地图（可选）' }));
  expect(screen.getByRole('alert')).toHaveTextContent('草稿');
  expect(compileScene).not.toHaveBeenCalled();
  rerender(
    <LocalTrainingPanel onPolicyReady={vi.fn()} sceneMaps={assets} compileScene={compileScene} />,
  );
-  fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
-  fireEvent.change(screen.getByLabelText('目标 X'), { target: { value: 1 } });
-  fireEvent.change(screen.getByLabelText('目标 Y'), { target: { value: 2 } });
-  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
-  await waitFor(() => expect(screen.getByRole('alert')).toHaveTextContent('重新同步'));
-  fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
-  expect(screen.getByRole('alert')).toHaveTextContent('安全区');
-  expect(current.boxes).toHaveLength(2);
-  fireEvent.change(screen.getByLabelText('目标 X'), { target: { value: 2 } });
-  fireEvent.change(screen.getByLabelText('目标 Y'), { target: { value: -1 } });
-  fireEvent.click(screen.getByRole('button', { name: '同步当前场景地图' }));
+  fireEvent.click(screen.getByRole('button', { name: '检查当前场景地图（可选）' }));
+  expect(screen.queryByLabelText('出生 X')).not.toBeInTheDocument();
+  expect(screen.queryByLabelText('目标 X')).not.toBeInTheDocument();
  current = { ...current, boxes: [current.boxes[0], { ...current.boxes[1], pos: [1, 3, 0.5] }] };
  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
-  await waitFor(() => expect(screen.getByRole('alert')).toHaveTextContent('过时'));
-  expect(fetchMock.mock.calls.some((call) => call[1]?.method === 'POST')).toBe(false);
+  await waitFor(() =>
+    expect(fetchMock.mock.calls.some((call) => call[1]?.method === 'POST')).toBe(true),
+  );
+  const request = JSON.parse(
+    String(fetchMock.mock.calls.find((call) => call[1]?.method === 'POST')?.[1]?.body),
+  );
+  expect(request.customTerrainBoxes.boxes[1].pos).toEqual([1, 3, 0.5]);
+  expect(compileScene).toHaveBeenCalledTimes(2);
 });

 it('显式选择multi48传入训练请求，默认与切换任务仍single32', async () => {
@@ -81,7 +81,6 @@ export function LocalTrainingPanel({

  const [terrainPreset, setTerrainPreset] = useState('');
  const [customTerrainBoxes, setCustomTerrainBoxes] = useState<TrainingTerrain>();
-  const [syncedScene, setSyncedScene] = useState<string>();
  const [terrainParams, setTerrainParams] = useState<Record<string, number>>({});
  const [sensorMode, setSensorMode] = useState<'single_ring_raycast' | 'multi_ring_raycast'>(
    'single_ring_raycast',
@@ -96,7 +95,6 @@ export function LocalTrainingPanel({
  const selectTask = (id: string) => {
    setTaskId(id);
    setCustomTerrainBoxes(undefined);
-    setSyncedScene(undefined);
    setRewardPresetId('');
    setTerrainParams({});
    setSensorCfg({});
@@ -109,20 +107,10 @@ export function LocalTrainingPanel({
      if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
      if (!metadata?.terrainPresets.includes('custom_boxes'))
        throw new Error('当前服务/任务不支持custom_boxes，请升级训练服务');
-      setSyncedScene(undefined);
-      const layout = compileScene(
-        customTerrainBoxes
-          ? {
-              spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-              target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-            }
-          : undefined,
-      );
+      const layout = validateCustomTerrain(compileScene());
      setCustomTerrainBoxes(layout);
      setTerrainPreset('custom_boxes');
      setTerrainParams({ size: layout.size, friction: layout.friction });
-      validateCustomTerrain(layout);
-      setSyncedScene(JSON.stringify(sceneMaps));
      setError(undefined);
    } catch (value) {
      setError(errorText(value));
@@ -235,20 +223,18 @@ export function LocalTrainingPanel({
      const source = event.source as Window;
      if (data.type === 'mujoco-tuning-ready') {
        try {
+          let resolvedCustomTerrain = customTerrainBoxes;
+          let resolvedTerrainParams = terrainParams;
          if (taskId === OBSTACLE_TASK_ID && terrainPreset === 'custom_boxes') {
-            if (
-              sceneDirty ||
-              syncedScene !== JSON.stringify(sceneMaps) ||
-              !compileScene ||
-              !customTerrainBoxes
-            )
-              throw new Error('自定义地图已过时，请重新同步后打开调参');
-            const current = compileScene({
-              spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-              target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-            });
-            if (JSON.stringify(current) !== JSON.stringify(customTerrainBoxes))
-              throw new Error('碰撞场景已过时，请重新同步');
+            if (sceneDirty) throw new Error('请先应用地图草稿，再打开调参');
+            if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
+            resolvedCustomTerrain = validateCustomTerrain(compileScene());
+            resolvedTerrainParams = {
+              size: resolvedCustomTerrain.size,
+              friction: resolvedCustomTerrain.friction,
+            };
+            setCustomTerrainBoxes(resolvedCustomTerrain);
+            setTerrainParams(resolvedTerrainParams);
          }
          source.postMessage(
            {
@@ -263,10 +249,12 @@ export function LocalTrainingPanel({
                  ? {
                      taskConfig: {
                        terrainPreset,
-                        terrainParams,
+                        terrainParams: resolvedTerrainParams,
                        sensorType: 'raycast',
                        sensorCfg: { ...sensorCfg, sensorMode },
-                        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes } : {}),
+                        ...(terrainPreset === 'custom_boxes'
+                          ? { customTerrainBoxes: resolvedCustomTerrain }
+                          : {}),
                      },
                    }
                  : {}),
@@ -332,7 +320,6 @@ export function LocalTrainingPanel({
    sensorCfg,
    sensorMode,
    customTerrainBoxes,
-    syncedScene,
    sceneMaps,
    sceneDirty,
    compileScene,
@@ -387,22 +374,18 @@ export function LocalTrainingPanel({
        throw new Error('障碍物最小高度不能超过最大高度');
      if ((sensorCfg.safetyDistance ?? 0.5) >= (sensorCfg.maxDistance ?? 4))
        throw new Error('安全距离必须小于探测距离');
+      let resolvedCustomTerrain = customTerrainBoxes;
+      let resolvedTerrainParams = terrainParams;
      if (terrainPreset === 'custom_boxes') {
-        if (
-          sceneDirty ||
-          !syncedScene ||
-          syncedScene !== JSON.stringify(sceneMaps) ||
-          !compileScene ||
-          !customTerrainBoxes
-        )
-          throw new Error('自定义地图未同步或场景/坐标已更改，请重新同步');
-        validateCustomTerrain(customTerrainBoxes);
-        const current = compileScene({
-          spawn: [customTerrainBoxes.spawn[0], customTerrainBoxes.spawn[1]],
-          target: [customTerrainBoxes.target[0], customTerrainBoxes.target[1]],
-        });
-        if (JSON.stringify(current) !== JSON.stringify(customTerrainBoxes))
-          throw new Error('已编译碰撞场景已过时，请重新同步');
+        if (sceneDirty) throw new Error('请先应用地图草稿，再训练');
+        if (!compileScene || !sceneMaps.length) throw new Error('没有已应用的碰撞地图');
+        resolvedCustomTerrain = validateCustomTerrain(compileScene());
+        resolvedTerrainParams = {
+          size: resolvedCustomTerrain.size,
+          friction: resolvedCustomTerrain.friction,
+        };
+        setCustomTerrainBoxes(resolvedCustomTerrain);
+        setTerrainParams(resolvedTerrainParams);
      }
      const next = await new LocalTrainingClient(endpoint, token).start({
        taskId,
@@ -415,8 +398,8 @@ export function LocalTrainingPanel({
        wandbMode,
        rewardPresetId: taskId === 'Unitree-Go2-Flat' ? rewardPresetId || undefined : undefined,
        ...(pretrainedSourceId ? { pretrainedSourceId } : {}),
-        ...(terrainPreset ? { terrainPreset, terrainParams } : {}),
-        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes } : {}),
+        ...(terrainPreset ? { terrainPreset, terrainParams: resolvedTerrainParams } : {}),
+        ...(terrainPreset === 'custom_boxes' ? { customTerrainBoxes: resolvedCustomTerrain } : {}),
        ...(taskId === OBSTACLE_TASK_ID
          ? { sensorType: 'raycast' as const, sensorCfg: { ...sensorCfg, sensorMode } }
          : {}),
@@ -572,7 +555,6 @@ export function LocalTrainingPanel({
                  onChange={(e) => {
                    setTerrainPreset(e.target.value);
                    setCustomTerrainBoxes(undefined);
-                    setSyncedScene(undefined);
                    setTerrainParams({});
                  }}
                >
@@ -585,47 +567,16 @@ export function LocalTrainingPanel({
                </Select>
              </Field>
              <Button disabled={busy} onClick={syncMap}>
-                同步当前场景地图
+                检查当前场景地图（可选）
              </Button>
              <p className="text-[10px] text-text-tertiary">
-                从全部已应用实例的实际碰撞几何编译世界AABB；旋转障碍会膨胀，底板标准化为z=[-0.2,0]，出生高度标准化为0.32m。仅保证训练与浏览器使用相同boxes，不等于原OBB。mesh/hfield、地下结构、混合摩擦明确拒绝。
+                启动训练时会自动从全部已应用实例重新编译并校验世界AABB，无需预先同步。旋转障碍会膨胀，底板标准化为z=[-0.2,0]；仅保证训练与浏览器使用相同boxes，不等于原OBB。mesh/hfield、地下结构、混合摩擦明确拒绝。
              </p>
-              {terrainPreset === 'custom_boxes' && customTerrainBoxes && (
-                <>
-                  <div className="grid grid-cols-2 gap-2">
-                    {(['spawn', 'target'] as const).flatMap((key) =>
-                      [0, 1].map((i) => (
-                        <NumberField
-                          key={`${key}${i}`}
-                          label={`${key === 'spawn' ? '出生' : '目标'} ${i === 0 ? 'X' : 'Y'}`}
-                          value={customTerrainBoxes[key][i]}
-                          min={-12}
-                          max={12}
-                          step={0.1}
-                          onChange={(value) => {
-                            setSyncedScene(undefined);
-                            setCustomTerrainBoxes(
-                              (old) =>
-                                old && {
-                                  ...old,
-                                  [key]: old[key].map((v, j) => (i === j ? value : v)),
-                                },
-                            );
-                          }}
-                        />
-                      )),
-                    )}
-                  </div>
-                  <p>
-                    此处起终点仅用于固定评估和部署初始演示，训练会在同一连通自由区域内逐episode随机采样。参考点须保留0.5m圆形安全区；修改后请重新同步。
-                  </p>
-                  {syncedScene === JSON.stringify(sceneMaps) && !sceneDirty && (
-                    <p role="status">
-                      已将视口中 {customTerrainBoxes.actualObstacleCount}{' '}
-                      个自定义障碍物编译为训练地图布局
-                    </p>
-                  )}
-                </>
+              {terrainPreset === 'custom_boxes' && customTerrainBoxes && !sceneDirty && (
+                <p role="status">
+                  已读取视口中 {customTerrainBoxes.actualObstacleCount}{' '}
+                  个自定义障碍物；启动训练时会自动重新编译并校验地图
+                </p>
              )}
              {terrainPreset && terrainPreset !== 'custom_boxes' && (
                <div className="grid grid-cols-2 gap-2">