Mujoco_WASM/web_platform/e2e/lekiwi.variants.spec.ts

import { expect, test } from '@playwright/test';
import { createHash } from 'node:crypto';
import { readFile, writeFile } from 'node:fs/promises';
import { readdirSync } from 'node:fs';
import { resolve } from 'node:path';
import type {} from '../physics/runner';
import type { ProjectManifest } from '../src/project/types';

const assetBase = `/@fs${resolve(process.cwd(), 'build/lekiwi')}`;
const hash = (text: string) => createHash('sha256').update(text).digest('hex');

test('等价 URDF 变体：真实 WASM 控制、输入溯源及 MJCF 导出重载', async ({ page }, info) => {
  const original = await readFile('robot_profiles/lekiwi-reference.urdf', 'utf8');
  const variant = original
    .replace('name="LeKiwi"', 'name="LeKiwi 换色变体"')
    .replace('</visual>', '<material name="red"><color rgba="1 0 0 1"/></material></visual>');
  await page.route('**/URDF/LeKiwi.urdf', (route) =>
    route.fulfill({ body: variant, contentType: 'application/xml' }),
  );
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  const boot = await page.evaluate((path) => window.lekiwiPhysics.boot(path), assetBase);
  expect(boot.nu).toBe(9);
  expect(boot.njnt).toBe(46);
  const stable = await page.evaluate(() => window.lekiwiPhysics.step(3));
  expect(stable.finite).toBe(true);
  const drive = await page.evaluate(() => window.lekiwiPhysics.drive(0.1, 0, 0, 2));
  expect(drive.position[0] - stable.position[0]).toBeGreaterThan(0.15);
  const xml = await page.evaluate(() => window.lekiwiPhysics.xml());
  expect(xml).toContain(`name="platform_robot_source_sha256" data="${hash(original)}"`);
  expect(xml).toContain(`name="platform_robot_input_sha256" data="${hash(variant)}"`);
  const reloaded = await page.evaluate(() => window.lekiwiPhysics.reimport());
  expect(reloaded.robot?.profileId).toBe('lekiwi-v1');
  expect(reloaded.nu).toBe(9);
  expect(await page.evaluate(() => window.lekiwiPhysics.xml())).toContain(hash(variant));
  await writeFile(info.outputPath('variant.xml'), xml);
  await writeFile(
    info.outputPath('variant-control.json'),
    JSON.stringify({ boot, stable, drive, reloaded }, null, 2),
  );
  await page.evaluate(() => window.lekiwiPhysics.dispose());
});

test('同名底盘 STL 被改动也拒绝旧 profile，不只校验机械臂网格', async ({ page }) => {
  await page.route('**/URDF/meshes/base_plate_layer1-v5.stl', (route) =>
    route.fulfill({ body: 'changed mesh bytes' }),
  );
  await page.goto('/physics/runner.html');
  await page.waitForFunction(() => Boolean(window.lekiwiPhysics));
  await expect(page.evaluate((path) => window.lekiwiPhysics.boot(path), assetBase)).rejects.toThrow(
    /SHA-256 不匹配.*base_plate_layer1/,
  );
  await page.evaluate(() => window.lekiwiPhysics.dispose());
});

// Optional local evidence: assets stay outside the repository. Setting the env
// explicitly makes missing/invalid samples fail, rather than silently skipping.
const localDirectory = process.env.LEKIWI_VARIANT_DIR;
const localSamples = localDirectory
  ? readdirSync(localDirectory)
      .filter((file) => file.endsWith('.zip'))
      .sort()
  : [];
if (localDirectory && !localSamples.length) throw new Error('LEKIWI_VARIANT_DIR 中没有 ZIP 样本');
for (const name of localSamples) {
  test(`用户变体包诊断（不适配旧控制）：${name}`, async ({ page }, info) => {
    await page.route('**/__local_variant.zip', (route) =>
      route.fulfill({ path: resolve(localDirectory!, name), contentType: 'application/zip' }),
    );
    await page.goto('/physics/runner.html');
    const result = await page.evaluate(async () => {
      const importerPath = '/src/project/importer.ts';
      const profilesPath = '/src/project/robotProfiles/index.ts';
      const physicsPath = '/src/simulation/PhysicsAdapter.ts';
      const registryPath = '/src/robot/registry.ts';
      const { importBrowserFiles, prepareProjectForMujoco } = await import(
        /* @vite-ignore */ importerPath
      );
      const { prepareRobotProject } = await import(/* @vite-ignore */ profilesPath);
      const { MainThreadPhysicsAdapter } = await import(/* @vite-ignore */ physicsPath);
      const { sha256 } = await import(/* @vite-ignore */ registryPath);
      const bytes = await (await fetch('/__local_variant.zip')).arrayBuffer();
      const manifest: ProjectManifest = await importBrowserFiles([
        new File([bytes], 'variant.zip'),
      ]);
      const entry = manifest.selectedEntry!;
      const data = manifest.files.find((file) => file.path === entry)!.data;
      const sourceHash = await sha256(data);
      const doc = new DOMParser().parseFromString(
        new TextDecoder().decode(data),
        'application/xml',
      );
      const movable = Array.from(doc.querySelectorAll('robot > joint')).filter(
        (j) => j.getAttribute('type') !== 'fixed',
      );
      let profileError = '';
      try {
        await prepareRobotProject(manifest, entry, 'lekiwi-v1');
      } catch (error) {
        profileError = String(error);
      }
      const prepared = await prepareProjectForMujoco(manifest, entry);
      const fixedText = new TextDecoder().decode(
        prepared.manifest.files.find((file: { path: string }) => file.path === entry).data,
      );
      const adapter = new MainThreadPhysicsAdapter();
      let genericCompileError = '';
      try {
        await adapter.load(manifest, entry, { urdfMode: 'mjcf', baseMode: 'floating' });
      } catch (error) {
        genericCompileError = String(error);
      } finally {
        adapter.dispose();
      }
      return {
        entry,
        sourceHash,
        profileError,
        genericCompileError,
        links: doc.querySelectorAll('robot > link').length,
        movable: movable.map((j) => j.getAttribute('name')),
        warnings: prepared.warnings,
        unresolvedPackageUri: fixedText.includes('package://'),
        sourceUnmodified: (await sha256(data)) === sourceHash,
      };
    });
    expect(result.links).toBe(35);
    expect(result.movable).toHaveLength(10);
    expect(result.profileError).toContain('需要 9 个活动关节，实际 10 个');
    expect(result.profileError).toContain('Link7');
    expect(result.unresolvedPackageUri).toBe(false);
    expect(result.sourceUnmodified).toBe(true);
    // This is an import repair, not an unreviewed wheel-mesh simplification.
    expect(result.genericCompileError).toMatch(/STL|faces/i);
    await writeFile(info.outputPath('local-variant-audit.json'), JSON.stringify(result, null, 2));
  });
}