refactor(web-platform): release V0.7.2 项目常规优化

2026-09-01 16:39:04 +08:00
parent 89d1c8cb57
commit 8ba83a8d0a
28 changed files with 993 additions and 932 deletions
@@ -0,0 +1,118 @@
+import { fireEvent, render, screen } from '@testing-library/react';
+import { DEFAULT_PHYSICAL_MAP_CONFIG } from './types';
+import { PhysicalMapPanel } from './PhysicalMapPanel';
+
+const common = {
+  maps: [],
+  rootBodies: ['robot'],
+  loading: false,
+  nativeUrdf: false,
+  showVisualMap: true,
+  showMapCollision: false,
+  editorDocument: null,
+  onEditorPreview: () => {},
+  onEditorApply: async () => true,
+  onEditorExport: () => {},
+  onEditorConvert: async () => true,
+  onEditorBindInteraction: () => {},
+  onEditorSelect: () => {},
+  onEditorTransformMode: () => {},
+  onEditorSnapping: () => {},
+  onMapDisplay: () => {},
+};
+
+describe('PhysicalMapPanel', () => {
+  it('选择楼梯参数后请求重新编译', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'stairs' } });
+    fireEvent.change(screen.getByLabelText('台阶数量'), { target: { value: '6' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({ preset: 'stairs', stairCount: 6 }),
+    });
+  });
+
+  it('在右侧参数面板调整系统地形并提交', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'rough' } });
+    fireEvent.change(screen.getByLabelText('地形难度（0–1）'), { target: { value: '0.8' } });
+    fireEvent.change(screen.getByLabelText('随机种子'), { target: { value: '9' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({
+        preset: 'rough',
+        terrainDifficulty: 0.8,
+        seed: 9,
+      }),
+    });
+  });
+
+  it('可以移动并旋转资产地图', () => {
+    const onApply = vi.fn();
+    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={onApply} />);
+    fireEvent.change(screen.getByLabelText('地图来源'), { target: { value: 'builtin' } });
+    fireEvent.change(screen.getByLabelText('位置 X（m）'), { target: { value: '2.5' } });
+    fireEvent.change(screen.getByLabelText('位置 Y（m）'), { target: { value: '-1.5' } });
+    fireEvent.change(screen.getByLabelText('旋转 Z（°）'), { target: { value: '45' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith({
+      kind: 'builtin',
+      config: expect.objectContaining({ positionX: 2.5, positionY: -1.5, yawDeg: 45 }),
+    });
+  });
+
+  it('显示工程地图、出生点和根 Body', () => {
+    const onApply = vi.fn();
+    render(
+      <PhysicalMapPanel
+        {...common}
+        value={{ kind: 'none' }}
+        maps={[
+          {
+            descriptorPath: 'maps/warehouse/map.json',
+            schemaVersion: 1 as const,
+            id: 'warehouse',
+            name: '仓库',
+            spawnPoints: [{ id: 'door', name: '入口' }],
+          },
+        ]}
+        rootBodies={['robot', 'payload']}
+        onApply={onApply}
+      />,
+    );
+    fireEvent.change(screen.getByLabelText('地图来源'), {
+      target: { value: 'project:maps/warehouse/map.json' },
+    });
+    expect(screen.getByLabelText('地图出生点')).toHaveValue('door');
+    fireEvent.change(screen.getByLabelText('机器人根 Body'), { target: { value: 'robot' } });
+    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
+    expect(onApply).toHaveBeenCalledWith(
+      expect.objectContaining({
+        kind: 'project',
+        descriptorPath: 'maps/warehouse/map.json',
+        spawnPointId: 'door',
+        robotRootBody: 'robot',
+      }),
+    );
+  });
+
+  it('原生 URDF 模式只允许移除地图', () => {
+    render(
+      <PhysicalMapPanel
+        {...common}
+        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
+        nativeUrdf
+        onApply={() => {}}
+      />,
+    );
+    expect(screen.getByRole('status')).toHaveTextContent('原生 URDF');
+    expect(screen.getByRole('button', { name: '应用并重新编译' })).toBeDisabled();
+    expect(screen.getByLabelText('地图来源')).not.toBeDisabled();
+  });
+});