refactor(web-platform): release V0.6 精简代码

2026-08-28 14:10:16 +08:00
parent 8e3d56d619
commit f4b415c54f
2283 changed files with 208 additions and 962948 deletions
@@ -0,0 +1,41 @@
+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};
+
+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'}});
+    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}));
+  });
+
+  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={()=>{}}/>);
+    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();
+  });
+});