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69 lines
3.3 KiB
TypeScript
69 lines
3.3 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { collectRobotResults, runWebsiteCommand } from './website.helpers';
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test('主工作台：加载预设、语言命名目标及连续自由坐标抓放', async ({ page }, info) => {
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await collectRobotResults(page);
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await page.goto('/');
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await page.getByRole('tab', { name: '控制台', exact: true }).click();
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await page.getByRole('button', { name: '机器人语言控制', exact: true }).click();
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const panel = page.getByLabel('机器人语言控制', { exact: true });
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await expect(panel.locator('input[type=password], details')).toHaveCount(0);
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await panel.getByRole('button', { name: '载入预设场景' }).click();
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await expect(panel.getByRole('status')).toContainText('预设已载入并暂停', { timeout: 90000 });
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const first = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'named-target');
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expect(first.goal).toEqual([0.257, 0.75, 0.128]);
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expect(first.sample.onGoalSupport).toBe(true);
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expect(first.transported).toBeGreaterThan(0.7);
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expect(first.llmCalls).toBe(2);
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expect(first.jevCalls).toBe(14);
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expect(first.qualityScore).toBe(75);
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const second = await runWebsiteCommand(
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page,
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'把方块搬到 (0.25,0.50) 米',
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info,
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'coordinate-target',
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);
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expect(second.goal).toEqual([0.25, 0.5, 0.128]);
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expect(second.sample.time).toBeGreaterThan(first.sample.time);
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expect(second.transported).toBeGreaterThan(0.2);
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expect(second.runId).not.toBe(first.runId);
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await expect(page.getByRole('button', { name: '强化学习任务', exact: true })).toBeVisible();
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await page.screenshot({ path: info.outputPath('language-workbench.png') });
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});
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test.describe('预设画布高 DPI 回归', () => {
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test.use({ deviceScaleFactor: 2 });
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test('主画布不被 DPR 放大裁切，双相机共用高分辨率绘图缓冲', async ({ page }) => {
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let inference = 0;
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await page.route('**/api/decision/v1/**', async (route) => {
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if (/\/(command|plan|decide|test)$/.test(new URL(route.request().url()).pathname)) {
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inference++;
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await route.abort();
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} else await route.continue();
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});
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await page.goto('/');
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await page.getByRole('tab', { name: '控制台', exact: true }).click();
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await page.getByRole('button', { name: '机器人语言控制', exact: true }).click();
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const panel = page.getByLabel('机器人语言控制', { exact: true });
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await panel.getByRole('button', { name: '载入预设场景' }).click();
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await expect(panel.getByRole('status')).toContainText('预设已载入并暂停', { timeout: 90000 });
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for (const name of ['腕部摄像头', '前置摄像头']) {
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await page.getByRole('combobox', { name: '摄像头视角' }).selectOption({ label: name });
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const size = await page
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.locator('canvas')
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.first()
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.evaluate((canvas: HTMLCanvasElement) => ({
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css: [canvas.clientWidth, canvas.clientHeight],
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host: [canvas.parentElement!.clientWidth, canvas.parentElement!.clientHeight],
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pixels: [canvas.width, canvas.height],
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}));
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expect(size.css).toEqual(size.host);
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for (let i = 0; i < 2; i++) {
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expect(size.pixels[i] / size.css[i]).toBeGreaterThanOrEqual(1.74);
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expect(size.pixels[i] / size.css[i]).toBeLessThanOrEqual(2);
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}
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}
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expect(inference).toBe(0);
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});
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});
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