chenlin
0d986f60bd
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集成服务器托管模型、自然语言移动与有界抓放、内置 LeKiwi URL 导入和双摄像头；同步部署契约与指定域名 iframe 白名单，保留原有物理安全、会话及调用预算防护。 更新 npm 包及锁文件版本、CHANGELOG 与发布文档。提交前 typecheck、120 项定向前端测试和 44 项后端测试通过（3 项可选跳过）；真实 v2 云模型抓放仍待单独验收，不包含运行密钥或构建产物。
54 lines
3.1 KiB
TypeScript
54 lines
3.1 KiB
TypeScript
import { expect, test } from '@playwright/test';
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import { writeFile } from 'node:fs/promises';
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import { loadWebsiteRobot, runWebsiteCommand, readRobotResult } from './website.helpers';
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test('服务器内置设置＋假 HTTP 上游：不同语言改变真实 WASM 位移与角度，不重载机器人', async ({
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page,
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}, info) => {
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const panel = await loadWebsiteRobot(page);
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const forward = await runWebsiteCommand(page, '前进0.5米', info, 'forward');
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expect(forward.distance).toBeGreaterThan(0.49);
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expect(forward.distance).toBeLessThan(0.51);
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const turn = await runWebsiteCommand(page, '左转90度', info, 'turn');
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expect(turn.turnDegrees).toBeGreaterThan(89);
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expect(turn.turnDegrees).toBeLessThan(91);
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expect(turn.start.x).toBeCloseTo(forward.sample.x, 2);
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const next = await runWebsiteCommand(page, '前进0.2米', info, 'forward-new-heading');
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expect(next.sample.y - next.start.y).toBeGreaterThan(0.19);
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const right = await runWebsiteCommand(page, '右转90度', info, 'turn-right');
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expect(right.turnDegrees).toBeGreaterThan(-91);
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expect(right.turnDegrees).toBeLessThan(-89);
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const back = await runWebsiteCommand(page, '后退0.2米', info, 'backward');
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expect(back.sample.x - back.start.x).toBeLessThan(-0.19);
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await panel.getByRole('textbox', { name: '机器人指令' }).fill('转动90度');
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await panel.getByRole('button', { name: '执行指令', exact: true }).click();
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await expect(panel.getByRole('status')).toContainText('请说明左转还是右转');
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await expect(panel.getByTestId('robot-command-state')).toHaveCount(0);
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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});
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test('内置设置＋假 HTTP 上游：保留完整单方块真实物理抓放，不手填密钥', async ({ page }, info) => {
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const panel = await loadWebsiteRobot(page);
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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', { timeout: 90000 });
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const data = await runWebsiteCommand(page, '把方块搬到 B 区', info, 'pick-place');
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expect(data.transported).toBeGreaterThanOrEqual(0.5);
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expect(data.sample.onGoalSupport).toBe(true);
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expect(data.receipts).toHaveLength(14);
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});
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test('正在运动时停止：撤销控制权并暂停物理，不把中断当成功', async ({ page }, info) => {
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const panel = await loadWebsiteRobot(page);
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await panel.getByRole('textbox', { name: '机器人指令' }).fill('前进0.5米');
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await panel.getByRole('button', { name: '执行指令', exact: true }).click();
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await expect(panel.getByTestId('robot-command-state')).toContainText('执行中', {
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timeout: 30000,
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});
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await panel.getByRole('button', { name: '停止', exact: true }).click();
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await expect(panel.getByTestId('robot-command-state')).toContainText('已停止');
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeVisible();
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const data = await readRobotResult(page);
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expect(data.state).toBe('cancelled');
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expect(data.succeeded).toBe(false);
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expect(data.distance).toBeLessThan(0.1);
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await writeFile(info.outputPath('cancelled-motion.json'), JSON.stringify(data, null, 2));
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});
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