chenlin
7ebe9092ba
web-platform-ci / Standalone decision service (no cloud credentials) (push) Has been cancelled
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53 lines
2.5 KiB
TypeScript
53 lines
2.5 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { resolve } from 'node:path';
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for (const kind of ['URDF', 'ZIP'] as const) {
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test(`网站 ${kind} 导入不显示移动操作训练场景，普通导入仍可用`, async ({ page }, info) => {
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let inference = 0;
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const errors: string[] = [];
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page.on('pageerror', (error) => errors.push(error.message));
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await page.route('**/api/decision/v1/**', async (route) => {
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if (/\/(command|plan|decide|test)$/.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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expect((await page.goto('/'))?.status()).toBe(200);
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await page
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.locator('input[type=file]')
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.first()
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.setInputFiles(
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kind === 'ZIP'
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? resolve('web_platform/assets/robots/lekiwi-v1.zip')
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: {
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name: 'robot.urdf',
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mimeType: 'application/xml',
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buffer: Buffer.from(`<robot name="import-test"><link name="base">
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<inertial><mass value="1"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial>
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<visual><geometry><box size=".4 .4 .2"/></geometry></visual>
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</link></robot>`),
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},
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);
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const dialog = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
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await expect(dialog).toBeVisible({ timeout: 30000 });
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const profile = dialog.getByLabel('URDF 机器人 profile');
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await expect(profile).toHaveValue('');
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await expect(profile.locator('option')).toHaveText([
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'不启用（通用转换）',
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'LeKiwi v1（仿真专用）',
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]);
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await expect(dialog.getByText(/移动操作训练场景|强化学习任务即可一键训练/)).toHaveCount(0);
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await expect(dialog.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeEnabled();
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await page.screenshot({ path: info.outputPath('import-options.png') });
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if (kind === 'ZIP') await profile.selectOption('lekiwi-v1');
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await dialog.getByRole('button', { name: '转换并加载' }).click();
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await expect(dialog).not.toBeVisible();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 90000 });
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await page.getByRole('tab', { name: '控制台', exact: true }).click();
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await expect(page.getByRole('button', { name: '强化学习任务', exact: true })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '机器人语言控制', exact: true })).toBeVisible();
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expect(inference).toBe(0);
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expect(errors).toEqual([]);
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});
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}
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