Mujoco_WASM/web_platform/vite.config.ts

import { readFileSync } from 'node:fs';
import { dirname, resolve } from 'node:path';
import { fileURLToPath } from 'node:url';
import { defineConfig } from 'vitest/config';
import type { Plugin } from 'vite';
import react from '@vitejs/plugin-react';

const PYODIDE_ASSETS = [
  'pyodide.asm.js',
  'pyodide.asm.wasm',
  'python_stdlib.zip',
  'pyodide-lock.json',
] as const;
const pyodideDirectory = resolve(
  dirname(fileURLToPath(import.meta.url)),
  '../node_modules/pyodide',
);

/** 生产预览中长期缓存带内容哈希的资源，同时允许入口文件及时更新。 */
function previewCacheHeaders(): Plugin {
  return {
    name: 'preview-cache-headers',
    configurePreviewServer(server) {
      server.middlewares.use((request, response, next) => {
        const path = request.url?.split(/[?#]/, 1)[0] ?? '';
        if (path.startsWith('/assets/'))
          response.setHeader('Cache-Control', 'public, max-age=31536000, immutable');
        else if (path.startsWith('/pyodide/'))
          response.setHeader(
            'Cache-Control',
            'public, max-age=86400, stale-while-revalidate=604800',
          );
        else response.setHeader('Cache-Control', 'no-cache');
        next();
      });
    },
  };
}

/** 让开发服务器与生产构建都从本地 npm 包提供 Pyodide，保持平台可离线部署。 */
function localPyodideAssets(): Plugin {
  let isBuild = false;
  return {
    name: 'local-pyodide-assets',
    configResolved(config) {
      isBuild = config.command === 'build';
    },
    configureServer(server) {
      server.middlewares.use((request, response, next) => {
        const name = request.url?.split(/[?#]/, 1)[0].replace(/^\/pyodide\//, '');
        if (!name || !PYODIDE_ASSETS.includes(name as (typeof PYODIDE_ASSETS)[number])) {
          next();
          return;
        }
        response.setHeader(
          'Content-Type',
          name.endsWith('.wasm')
            ? 'application/wasm'
            : name.endsWith('.zip')
              ? 'application/zip'
              : name.endsWith('.json')
                ? 'application/json'
                : 'text/javascript',
        );
        response.end(readFileSync(resolve(pyodideDirectory, name)));
      });
    },
    buildStart() {
      if (isBuild)
        for (const name of PYODIDE_ASSETS)
          this.emitFile({
            type: 'asset',
            fileName: `pyodide/${name}`,
            source: readFileSync(resolve(pyodideDirectory, name)),
          });
    },
  };
}

export default defineConfig(({ mode }) => ({
  root: 'web_platform',
  base: './',
  plugins: [
    react(),
    localPyodideAssets(),
    previewCacheHeaders(),
    ...(mode === 'website'
      ? [
          {
            name: 'website-html',
            transformIndexHtml(html: string) {
              return html
                .replace(
                  '<title>MuJoCo Web 仿真平台</title>',
                  '<title>CADWorld Sim · 在线机器人仿真</title>',
                )
                .replace('本地机器人仿真', '浏览器机器人仿真')
                .replace('正在启动本地仿真工作台', '正在启动在线仿真工作台');
            },
          },
        ]
      : []),
  ],
  publicDir: 'public',
  build: {
    outDir: mode === 'website' ? '../website-dist' : '../web-platform-dist',
    emptyOutDir: true,
    target: 'es2022',
    rollupOptions: {
      input: {
        main: resolve(dirname(fileURLToPath(import.meta.url)), 'index.html'),
        ...(mode === 'website'
          ? {}
          : { tuning: resolve(dirname(fileURLToPath(import.meta.url)), 'tuning.html') }),
      },
    },
    modulePreload: { polyfill: false },
  },
  worker: { format: 'es' },
  server: {
    open: mode !== 'website',
    fs: { allow: ['..'] },
    proxy: {
      '/api/decision/v1': { target: process.env.CADWORLD_DEV_API ?? 'http://127.0.0.1:8768' },
    },
  },
  preview: {
    proxy: {
      '/api/decision/v1': { target: process.env.CADWORLD_DEV_API ?? 'http://127.0.0.1:8768' },
    },
  },
  test: {
    globals: true,
    environment: 'jsdom',
    setupFiles: './src/test/setup.ts',
    include: ['src/**/*.test.ts', 'src/**/*.test.tsx'],
    coverage: {
      provider: 'v8',
      reporter: ['text', 'html', 'json-summary'],
      include: [
        'src/project/cachedFiles.ts',
        'src/project/importer.ts',
        'src/project/urdfToMjcf.ts',
        'src/project/workspace.ts',
        'src/simulation/geometry.ts',
        'src/simulation/ModelBindings.ts',
        'src/simulation/ControlArbiter.ts',
        'src/robot/**/*.ts',
        'src/stores/useAppStore.ts',
        'src/training/LocalTrainingClient.ts',
        'src/viewer/interactionMath.ts',
        'src/viewer/texturePixels.ts',
        'src/viewer/visualizationMath.ts',
      ],
      thresholds: { lines: 85, functions: 75, branches: 70, statements: 80 },
    },
  },
}));