chenlin
26bb5634bd
web-platform-ci / Standalone decision service (no cloud credentials) (push) Waiting to run
web-platform-ci / TypeScript, lint, unit, build (push) Waiting to run
web-platform-ci / Playwright E2E (push) Waiting to run
lekiwi-compatibility / cpu-compatibility (push) Waiting to run
164 lines
8.0 KiB
TypeScript
164 lines
8.0 KiB
TypeScript
import { expect, test, type Page, type TestInfo } from '@playwright/test';
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import { resolve } from 'node:path';
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import { readFile, writeFile } from 'node:fs/promises';
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import { Quaternion, Vector3 } from 'three';
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// Vite dev also serves a tiny JS URL module at .zip?import&url; only count/intercept ZIP bytes.
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const zipRequest = /\/[^/?]*lekiwi-v1[^/?]*\.zip$/;
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async function verifyBuiltinCameras(page: Page, info: TestInfo) {
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await page.getByRole('button', { name: '源代码', exact: true }).click();
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const editor = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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const download = page.waitForEvent('download');
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await editor.getByRole('button', { name: '下载', exact: true }).click();
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const xml = await readFile((await (await download).path())!, 'utf8');
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const cameras = await page.evaluate((source) => {
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const doc = new DOMParser().parseFromString(source, 'application/xml');
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return Array.from(doc.querySelectorAll('camera')).map((camera) => {
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const frames = [];
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for (
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let element: Element | null = camera;
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element?.tagName !== 'worldbody';
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element = element.parentElement
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) {
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if (!element) throw new Error('Camera is not mounted in worldbody');
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frames.unshift({
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name: element.getAttribute('name'),
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pos: (element.getAttribute('pos') ?? '0 0 0').split(/\s+/).map(Number),
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quat: (element.getAttribute('quat') ?? '1 0 0 0').split(/\s+/).map(Number),
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});
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}
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return { name: camera.getAttribute('name'), frames };
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});
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}, xml);
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expect(cameras).toHaveLength(2);
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const tilt = (10 * Math.PI) / 180;
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const evidence = [];
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for (const camera of cameras) {
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const wrist = camera.name === '__platform_camera__wrist';
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expect(camera.frames.at(-2)?.name).toBe(wrist ? 'Camera-Model-v3-1' : 'Camera-Model-v3');
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const position = new Vector3();
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const rotation = new Quaternion();
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for (const frame of camera.frames) {
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position.add(new Vector3().fromArray(frame.pos).applyQuaternion(rotation));
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const [w, x, y, z] = frame.quat;
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rotation.multiply(new Quaternion(x, y, z, w).normalize());
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}
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const forward = new Vector3(0, 0, -1).applyQuaternion(rotation);
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const up = new Vector3(0, 1, 0).applyQuaternion(rotation);
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// Independent source-URDF oracle, checked against the actual WASM-exported
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// model including the profile's CAD yaw and full wrist kinematic chain.
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const expectedPosition = wrist
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? new Vector3(0.215391977166, 0.004249997308, 0.168290381278)
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: new Vector3(0.13095590444, 0, 0.062079251628);
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const expectedForward = wrist
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? new Vector3(-Math.sin(tilt), 0, -Math.cos(tilt))
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: new Vector3(Math.cos(tilt), 0, Math.sin(tilt));
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const expectedUp = wrist
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? new Vector3(Math.cos(tilt), 0, -Math.sin(tilt))
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: new Vector3(-Math.sin(tilt), 0, Math.cos(tilt));
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expect(position.distanceTo(expectedPosition)).toBeLessThan(2e-6);
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expect(forward.distanceTo(expectedForward)).toBeLessThan(2e-6);
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expect(up.distanceTo(expectedUp)).toBeLessThan(2e-6);
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evidence.push({ ...camera, position, forward, up });
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}
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await writeFile(info.outputPath('dual-cameras.json'), JSON.stringify(evidence, null, 2));
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await page.getByRole('button', { name: '关闭源代码编辑器' }).click();
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}
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test('URL 自动下载、配置 profile、加载真实 WASM；刷新可重入且不自动运行', async ({
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page,
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}, info) => {
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const downloads: string[] = [];
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const inference: string[] = [];
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const errors: string[] = [];
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page.on('pageerror', (e) => errors.push(e.message));
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page.on('request', (r) => {
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if (zipRequest.test(r.url())) downloads.push(r.url());
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if (/\/api\/decision\/v1\/(command|plan|decide|test)$/.test(r.url())) inference.push(r.url());
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});
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await page.goto('/?robot=lekiwi-v1&utm_source=partner');
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const play = page.getByRole('button', { name: '▶ 播放' });
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await expect(play).toBeEnabled({ timeout: 90000 });
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await expect(page.getByRole('dialog', { name: '配置 URDF 仿真组件' })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
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expect(downloads).toHaveLength(1);
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await verifyBuiltinCameras(page, info);
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const simulationTime = page.getByLabel('视口状态').getByText(/^时间 /);
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await expect(simulationTime).toHaveText('时间 0.000 s');
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const selector = page.getByRole('combobox', { name: '摄像头视角' });
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const frame = page.getByLabel('摄像头画面', { exact: true });
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await expect(selector.locator('option')).toHaveCount(2);
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await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3');
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await page.screenshot({ path: info.outputPath('builtin-lekiwi-front.png') });
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await selector.selectOption({ label: '腕部摄像头' });
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await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3-1');
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await page.evaluate(
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() =>
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new Promise<void>((resolve) =>
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requestAnimationFrame(() => requestAnimationFrame(() => resolve())),
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),
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);
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await page.screenshot({ path: info.outputPath('builtin-lekiwi-wrist.png') });
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await page.getByRole('button', { name: '隐藏画面' }).click();
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await expect(frame).toHaveCount(0);
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await page.getByRole('button', { name: '显示摄像头画面' }).click();
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await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3-1');
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await expect(play).toBeEnabled();
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expect(downloads).toHaveLength(1); // Switching/hiding never reloads the robot.
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await expect(simulationTime).toHaveText('时间 0.000 s'); // 相机选择/隐藏不推进物理。
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await page.reload();
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await expect(play).toBeEnabled({ timeout: 90000 });
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await expect(page.getByRole('dialog', { name: '配置 URDF 仿真组件' })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '关节拖动', exact: true })).toBeDisabled();
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await expect(selector.locator('option')).toHaveCount(2);
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await expect(frame).toHaveAttribute('data-camera-body', 'Camera-Model-v3');
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expect(downloads).toHaveLength(2);
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expect(inference).toEqual([]);
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expect(errors).toEqual([]);
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});
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test('不带参数保持空白，不下载内置 ZIP', async ({ page }) => {
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const downloads: string[] = [];
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page.on('request', (r) => {
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if (zipRequest.test(r.url())) downloads.push(r.url());
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});
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await page.goto('/');
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await expect(page.getByRole('button', { name: '选择文件', exact: true })).toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeDisabled();
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expect(downloads).toEqual([]);
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});
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for (const query of ['robot=unknown', 'robot=lekiwi-v1&robot=lekiwi-v1']) {
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test(`非法参数不下载、不加载：${query}`, async ({ page }) => {
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const downloads: string[] = [];
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page.on('request', (r) => {
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if (zipRequest.test(r.url())) downloads.push(r.url());
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});
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await page.goto(`/?${query}`);
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await expect(page.getByRole('alert')).toContainText('内置机器人加载失败');
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await page.getByRole('button', { name: '技术详情' }).click();
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await expect(page.getByRole('alert')).toContainText('?robot=lekiwi-v1');
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeDisabled();
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expect(downloads).toEqual([]);
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});
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}
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for (const status of [404, 200]) {
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test(`下载失败或损坏包（${status}）可恢复手动导入`, async ({ page }) => {
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await page.route(zipRequest, (route) =>
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route.fulfill({ status, contentType: 'text/html', body: '<html>not a robot zip</html>' }),
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);
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await page.goto('/?robot=lekiwi-v1');
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await expect(page.getByRole('alert')).toContainText('内置机器人加载失败');
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await page.getByRole('button', { name: '技术详情' }).click();
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await expect(page.getByRole('alert')).toContainText(status === 404 ? 'HTTP 404' : '文件不完整');
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await page
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.locator('input[type=file]')
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.first()
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.setInputFiles(resolve('web_platform/fixtures/python_controller/model.xml'));
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 60000 });
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await expect(page.getByRole('alert')).toHaveCount(0);
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});
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}
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