Mujoco_WASM/web_platform/e2e/website.live.spec.ts

import { expect, test } from '@playwright/test';
import { writeFile } from 'node:fs/promises';
import { collectRobotResults, loadWebsiteRobot, runWebsiteCommand } from './website.helpers';

test('显式授权：公网内置模型，前进/转向/抓放，无手填密钥或自动重试', async ({ page }, info) => {
  test.skip(
    process.env.CADWORLD_LIVE_API !== '1' || process.env.CADWORLD_LIVE_PRESET === '1',
    '仅经用户授权后运行；预设专项测试不重复执行运动测试',
  );
  test.setTimeout(360000);
  const calls = { command: 0, plan: 0, decide: 0, blocked: 0 };
  let csrf = '',
    cleanup = false;
  await page.route('**/api/decision/v1/**', async (route) => {
    const endpoint = new URL(route.request().url()).pathname.split('/').at(-1);
    if (endpoint === 'command' || endpoint === 'plan' || endpoint === 'decide') {
      const limit = { command: 3, plan: 1, decide: 13 };
      if (calls[endpoint] >= limit[endpoint]) {
        calls.blocked++;
        await route.abort();
        return;
      }
      calls[endpoint]++;
    } else if (endpoint === 'test') {
      calls.blocked++;
      await route.abort();
      return;
    }
    await route.continue();
  });
  let capture: Promise<void> | undefined;
  const captureSession = () =>
    page
      .waitForResponse((r) => r.url().endsWith('/session') && r.request().method() === 'POST')
      .then(async (r) => {
        csrf = (await r.json()).csrfToken;
      })
      .catch(() => undefined);
  // Observe capture on all outcomes; no pre-existing keys/Cookies or storage state used.
  try {
    await loadWebsiteRobot(page);
    capture = captureSession();
    const move = await runWebsiteCommand(page, '前进0.5米', info, 'live-forward');
    expect(move.distance).toBeGreaterThan(0.49);
    expect(move.distance).toBeLessThan(0.51);
    const turn = await runWebsiteCommand(page, '左转90度', info, 'live-turn');
    expect(turn.turnDegrees).toBeGreaterThan(89);
    expect(turn.turnDegrees).toBeLessThan(91);
    expect(turn.start.x).toBeCloseTo(move.sample.x, 2);
    const panel = page.getByLabel('机器人语言控制', { exact: true });
    await panel.getByRole('button', { name: '载入预设场景' }).click();
    await expect(panel.getByRole('status')).toContainText('预设已载入', { timeout: 90000 });
    const grasp = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'live-pick-place');
    expect(grasp.transported).toBeGreaterThanOrEqual(0.5);
    expect(grasp.sample.onGoalSupport).toBe(true);
    expect(calls).toEqual({ command: 3, plan: 1, decide: 13, blocked: 0 });
    await page.screenshot({ path: info.outputPath('hosted-control.png') });
  } finally {
    await capture;
    if (csrf)
      cleanup = await page
        .evaluate(
          async (token) =>
            (
              await fetch('/api/decision/v1/session', {
                method: 'DELETE',
                headers: { 'Content-Type': 'application/json', 'X-CSRF-Token': token },
                body: '{}',
              })
            ).status === 200,
          csrf,
        )
        .catch(() => false);
    await page.close();
    await writeFile(
      info.outputPath('hosted-live-summary.json'),
      JSON.stringify(
        {
          calls,
          sessionDestroyed: cleanup,
          maximumUpstreamCalls: { llm: 4, jev: 16 },
          retries: 0,
          credentialInput: false,
        },
        null,
        2,
      ),
    );
  }
  expect(cleanup).toBe(true);
});

test('显式授权：空工作台默认预设指令完成真实模型抓放', async ({ page }, info) => {
  test.skip(
    process.env.CADWORLD_LIVE_API !== '1' || process.env.CADWORLD_LIVE_PRESET !== '1',
    '仅在显式选择预设专项实测时调用付费 API',
  );
  test.setTimeout(360000);
  const calls = { command: 0, plan: 0, decide: 0, blocked: 0 };
  let csrf = '',
    cleanup = false;
  const captures: Promise<void>[] = [];
  page.on('response', (response) => {
    if (response.url().endsWith('/session') && response.request().method() === 'POST')
      captures.push(
        response.json().then((value) => {
          csrf = value.csrfToken;
        }),
      );
  });
  await page.route('**/api/decision/v1/**', async (route) => {
    const endpoint = new URL(route.request().url()).pathname.split('/').at(-1);
    if (endpoint === 'command' || endpoint === 'plan' || endpoint === 'decide') {
      if (calls[endpoint] >= { command: 1, plan: 1, decide: 13 }[endpoint]) {
        calls.blocked++;
        await route.abort();
        return;
      }
      calls[endpoint]++;
    } else if (endpoint === 'test') {
      calls.blocked++;
      await route.abort();
      return;
    }
    await route.continue();
  });
  try {
    await collectRobotResults(page);
    await page.goto('/');
    await page.getByRole('tab', { name: '控制台', exact: true }).click();
    await page.getByRole('button', { name: '机器人语言控制', exact: true }).click();
    const panel = page.getByLabel('机器人语言控制', { exact: true });
    await panel.getByRole('button', { name: '载入预设场景' }).click();
    await expect(panel.getByRole('status')).toContainText('预设已载入并暂停', { timeout: 120000 });
    await expect(panel.getByRole('textbox', { name: '机器人指令' })).toHaveValue('把方块搬到 B 区');
    const result = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'live-default-preset');
    expect(result.goal).toEqual([0.257, 0.75, 0.128]);
    expect(result.transported).toBeGreaterThan(0.7);
    expect(result.sample.onGoalSupport).toBe(true);
    expect(result.llmCalls).toBe(2);
    expect(result.jevCalls).toBe(14);
    expect(calls).toEqual({ command: 1, plan: 1, decide: 13, blocked: 0 });
    await page.screenshot({ path: info.outputPath('live-default-preset.png') });
  } finally {
    await Promise.all(captures);
    if (csrf)
      cleanup = await page
        .evaluate(
          async (token) =>
            (
              await fetch('/api/decision/v1/session', {
                method: 'DELETE',
                headers: { 'Content-Type': 'application/json', 'X-CSRF-Token': token },
                body: '{}',
              })
            ).status === 200,
          csrf,
        )
        .catch(() => false);
    await writeFile(
      info.outputPath('live-default-summary.json'),
      JSON.stringify(
        {
          calls,
          sessionDestroyed: cleanup,
          maximumUpstreamCalls: { llm: 2, jev: 14 },
          retries: 0,
        },
        null,
        2,
      ),
    );
  }
  expect(cleanup).toBe(true);
});