chenlin
cb3fb47561
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1116 lines
53 KiB
TypeScript
1116 lines
53 KiB
TypeScript
import { expect, test, type Page } from '@playwright/test';
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import { readFileSync } from 'node:fs';
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import { fileURLToPath } from 'node:url';
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import { zipSync } from 'fflate';
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const fixture = (relative: string) =>
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fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
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async function openProjectPanel(page: Page) {
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const show = page.getByRole('button', { name: '显示工程面板', exact: true });
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if (await show.isVisible()) await show.click();
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}
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async function expectImportedFiles(page: Page, names: string[]) {
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await openProjectPanel(page);
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await page.getByRole('tab', { name: '工程文件', exact: true }).click();
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const tree = page.getByLabel('工程文件树', { exact: true });
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for (const name of names) await expect(tree.getByText(name, { exact: true })).toBeVisible();
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await page.screenshot({ path: test.info().outputPath('imported-project-files.png') });
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}
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async function expectNotificationDetails(
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page: Page,
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messages: RegExp[],
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absentMessages: RegExp[] = [],
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) {
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await page.getByRole('button', { name: '通知中心' }).click();
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const notifications = page.getByRole('dialog', { name: '通知中心' });
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for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
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await summary.click();
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for (const message of messages) await expect(notifications).toContainText(message);
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for (const message of absentMessages) await expect(notifications).not.toContainText(message);
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await page.keyboard.press('Escape');
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}
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const SIMPLE_MODEL = `
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<mujoco model="e2e">
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<compiler angle="radian"/>
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<worldbody>
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<light pos="0 0 3"/>
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<body name="box" pos="0 0 1">
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<joint name="slide" type="slide" axis="1 0 0" range="-1 1"/>
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<joint name="hinge" type="hinge" axis="0 1 0" range="-1.57079632679 1.57079632679"/>
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<geom name="box_geom" type="box" size=".2 .2 .2" mass="1"/>
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</body>
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</worldbody>
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<actuator><motor name="motor" joint="slide" ctrlrange="-2 2"/></actuator>
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</mujoco>`;
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const SLIDE_DIRECTION_MODEL = `<mujoco model="drag-direction"><worldbody><body name="slider" pos="0 0 1"><joint name="screen_x" type="slide" axis="1 0 0" range="-2 2"/><geom type="box" size=".25 .25 .25" mass="1"/></body></worldbody></mujoco>`;
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function minimalGlb(): Buffer {
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const json = Buffer.from(
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JSON.stringify({
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asset: { version: '2.0' },
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scene: 0,
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scenes: [{ nodes: [0] }],
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nodes: [{ mesh: 0 }],
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meshes: [{ primitives: [{ attributes: { POSITION: 0 } }] }],
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buffers: [{ byteLength: 36 }],
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bufferViews: [{ buffer: 0, byteOffset: 0, byteLength: 36, target: 34962 }],
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accessors: [
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{
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bufferView: 0,
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componentType: 5126,
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count: 3,
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type: 'VEC3',
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min: [0, 0, 0],
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max: [1, 1, 0],
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},
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],
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}),
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);
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const jsonPadding = (4 - (json.length % 4)) % 4;
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const jsonChunk = Buffer.concat([json, Buffer.alloc(jsonPadding, 0x20)]);
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const positions = Buffer.from(new Float32Array([0, 0, 0, 1, 0, 0, 0, 1, 0]).buffer);
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const totalLength = 12 + 8 + jsonChunk.length + 8 + positions.length;
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const glb = Buffer.alloc(totalLength);
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glb.writeUInt32LE(0x46546c67, 0);
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glb.writeUInt32LE(2, 4);
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glb.writeUInt32LE(totalLength, 8);
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glb.writeUInt32LE(jsonChunk.length, 12);
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glb.writeUInt32LE(0x4e4f534a, 16);
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jsonChunk.copy(glb, 20);
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const binOffset = 20 + jsonChunk.length;
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glb.writeUInt32LE(positions.length, binOffset);
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glb.writeUInt32LE(0x004e4942, binOffset + 4);
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positions.copy(glb, binOffset + 8);
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return glb;
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}
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const LARGE_MODEL = `
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<mujoco model="soak">
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<option timestep=".005"/>
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<worldbody>
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<replicate count="6" offset=".12 0 0">
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<replicate count="6" offset="0 .12 0">
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<replicate count="6" offset="0 0 .12">
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<body pos="-.3 -.3 .5"><joint type="free"/><geom type="sphere" size=".03" mass=".01"/></body>
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</replicate>
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</replicate>
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</replicate>
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<geom type="plane" size="2 2 .1"/>
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</worldbody>
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</mujoco>`;
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test('独立自调参工作台不需要加载 MuJoCo 主应用即可打开', async ({ page }) => {
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await page.goto('/tuning.html');
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await expect(page.getByRole('heading', { name: 'Go2 自调参' })).toBeVisible();
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await expect(page.getByText('新建 Unitree-Go2-Flat 调参 Session')).toBeVisible();
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await expect(page.getByLabel('访问令牌（仅当前标签页）')).toBeVisible();
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await expect(page.getByRole('button', { name: '启动自调参' })).toBeVisible();
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});
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test('显示中文平台骨架并加载单文件模型', async ({ page }) => {
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page.on('console', (message) => console.log(`[browser:${message.type()}] ${message.text()}`));
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page.on('pageerror', (error) => console.log(`[browser:error] ${error.message}`));
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page.on('requestfailed', (request) =>
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console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`),
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);
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page.on('response', (response) => {
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if (response.status() >= 400 || response.url().endsWith('.wasm'))
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console.log(
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`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`,
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);
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});
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await page.goto('/');
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await page.setViewportSize({ width: 1024, height: 768 });
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const resetCameraBox = await page.getByRole('button', { name: '相机复位' }).boundingBox(),
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playBox = await page.getByRole('button', { name: '▶ 播放' }).boundingBox();
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expect(
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resetCameraBox && playBox && resetCameraBox.y + resetCameraBox.height < playBox.y,
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).toBeTruthy();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await expect(page.getByRole('menuitem', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.setViewportSize({ width: 1440, height: 900 });
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await expect(page.getByRole('heading', { name: 'MuJoCo' })).toBeVisible();
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await expect(page.getByRole('main').getByText('拖放模型工程到此处')).toBeVisible();
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await expect(page.getByRole('img', { name: 'XYZ 方向指示器' })).toBeVisible();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await expect(page.getByRole('menuitem', { name: '切换主题' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '布局设置' }).click();
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await expect(page.getByRole('dialog', { name: '布局设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '工作台设置' }).click();
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await expect(page.getByRole('dialog', { name: '工作台设置' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.keyboard.press('Control+k');
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await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
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await page.getByLabel('搜索命令').fill('复位相机');
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await expect(page.getByRole('option', { name: /复位相机/ })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '进入全屏' }).click();
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await expect.poll(() => page.evaluate(() => Boolean(document.fullscreenElement))).toBe(true);
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await page.keyboard.press('Control+k');
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await expect(page.getByRole('dialog', { name: '命令面板' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '退出全屏' }).click();
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '切换主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await page.getByRole('button', { name: '更多工作台操作' }).click();
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await page.getByRole('menuitem', { name: '切换主题' }).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-dark/);
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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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name: 'model.xml',
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mimeType: 'text/xml',
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buffer: Buffer.from(SIMPLE_MODEL),
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});
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '显示设置' }).click();
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const displayDialog = page.getByRole('dialog', { name: '视图显示设置' });
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await expect(displayDialog).toBeVisible();
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await expect(displayDialog.getByRole('switch')).toHaveCount(7);
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const centerOfMassSwitch = displayDialog.getByRole('switch', { name: /^质心/ });
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await centerOfMassSwitch.click();
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await expect(centerOfMassSwitch).toHaveAttribute('aria-checked', 'true');
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await page.keyboard.press('Escape');
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await expect(displayDialog).toBeHidden();
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await page.getByRole('button', { name: '通知中心' }).click();
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await expect(page.getByRole('dialog', { name: '通知中心' })).toContainText('模型加载完成');
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await page.getByText('事件日志').click();
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await expect(page.getByRole('dialog', { name: '诊断与事件日志' })).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('button', { name: /FPS \d/ }).click();
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await expect(page.getByRole('dialog', { name: '性能详情' })).toBeVisible();
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await expect(page.getByRole('dialog', { name: '性能详情' })).toContainText('WASM已加载');
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await page.keyboard.press('Escape');
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await page.getByRole('tab', { name: '控制台' }).click();
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const tools = page.getByRole('tabpanel', { name: '控制台' });
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await expect(page.getByRole('dialog', { name: '工作区工具' })).toHaveCount(0);
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await expect(page.locator('main canvas')).toBeVisible();
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await tools.getByRole('button', { name: /执行器实时控制/ }).click();
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await expect(tools.getByText('motor', { exact: true })).toBeVisible();
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await expect(tools.getByText('关节：slide', { exact: true })).toBeVisible();
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await page.getByRole('tab', { name: '数据录制' }).click();
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await expect(page.getByRole('tabpanel', { name: '数据录制' })).toContainText('仅当前会话保存');
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await expect(page.locator('main canvas')).toBeVisible();
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await page.getByRole('tab', { name: '检查器' }).click();
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const structure = page.getByRole('navigation', { name: '模型结构树' });
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await expect(structure).toBeVisible();
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const hinge = structure.getByRole('treeitem', { name: /hinge/ });
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await hinge.hover();
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await hinge.click();
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await expect(page.getByRole('alert')).toHaveCount(0);
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await expect(page.getByRole('button', { name: '重置关节' })).toBeVisible();
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await page.getByRole('button', { name: '高级' }).click();
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await expect(page.getByText('下限 -1.571 rad')).toBeVisible();
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await expect(page.getByText('上限 1.571 rad')).toBeVisible();
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await page.getByRole('button', { name: 'rad 弧度制' }).click();
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await expect(page.getByText('下限 -90.000°')).toBeVisible();
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await expect(page.getByText('上限 90.000°')).toBeVisible();
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await page.getByRole('button', { name: '忽略关节限位' }).click();
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await expect(page.getByRole('button', { name: '忽略关节限位' })).toHaveAttribute(
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'aria-pressed',
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'true',
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);
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await expect(page.getByText('已忽略关节限位').first()).toBeVisible();
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await page.getByRole('button', { name: '重置关节' }).click();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
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});
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test('窄视口默认保留完整视口并可按需打开侧栏', async ({ page }) => {
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await page.setViewportSize({ width: 800, height: 700 });
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await page.goto('/');
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await expect(page.getByRole('main')).toBeInViewport();
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await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
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await expect(page.getByRole('button', { name: '显示右侧面板' })).toBeVisible();
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await page.getByRole('button', { name: '显示右侧面板' }).click();
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await expect(page.getByRole('complementary').filter({ hasText: '检查器待命' })).toBeVisible();
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});
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test('工作区布局与视口显示偏好在刷新后保留', async ({ page }) => {
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await page.setViewportSize({ width: 1440, height: 900 });
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await page.goto('/');
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await page.getByRole('button', { name: '隐藏工程面板' }).click();
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await page.getByRole('button', { name: '显示设置' }).click();
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await page.getByRole('switch', { name: /^坐标系/ }).click();
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await page.reload();
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await expect(page.getByRole('button', { name: '显示工程面板' })).toBeVisible();
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await page.getByRole('button', { name: '显示设置' }).click();
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await expect(page.getByRole('switch', { name: /^坐标系/ })).toHaveAttribute(
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'aria-checked',
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'true',
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);
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});
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test('转换后的 MJCF 可编辑并重新载入', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await page.getByRole('button', { name: '源代码' }).click();
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const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await expect(dialog).toBeVisible();
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await expect(dialog.getByText('缓存文件 · 可编辑')).toBeVisible();
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await expect(dialog.getByText('转换后的 MJCF', { exact: true })).toBeVisible();
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const editor = dialog.locator('.monaco-editor');
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await editor.click({ position: { x: 240, y: 120 } });
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await page.keyboard.press('Control+a');
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await page.keyboard.insertText(SIMPLE_MODEL.replace('model="e2e"', 'model="cached-edit"'));
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await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
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await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
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timeout: 30_000,
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});
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await dialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expect(page.getByRole('button', { name: '导出 URDF' })).toHaveCount(0);
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await expect(page.getByRole('button', { name: '导出 MJCF' })).toHaveCount(0);
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});
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test('关闭已修改的 MJCF 前要求确认', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
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await page.getByRole('button', { name: '源代码' }).click();
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const editorDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
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await editorDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
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await page.keyboard.press('Control+End');
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await page.keyboard.insertText('\n');
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await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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const confirm = page.getByRole('dialog', { name: '放弃未保存的修改？' });
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await expect(confirm).toBeVisible();
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await confirm.getByRole('button', { name: '继续编辑' }).click();
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await expect(editorDialog).toBeVisible();
|
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await editorDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
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await page
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.getByRole('dialog', { name: '放弃未保存的修改？' })
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.getByRole('button', { name: '放弃修改' })
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||
.click();
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await expect(editorDialog).toHaveCount(0);
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});
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|
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test('加载包含 include、OBJ、STL 与 PNG 的工程', async ({ page }) => {
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||
await page.goto('/');
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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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||
fixture('mjcf_include/model.xml'),
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fixture('mjcf_include/world.xml'),
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fixture('mjcf_include/triangle.obj'),
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||
fixture('mjcf_include/triangle.stl'),
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fixture('mjcf_include/checker.png'),
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||
]);
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await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
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await expectImportedFiles(page, [
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||
'model.xml',
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'world.xml',
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||
'triangle.obj',
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||
'triangle.stl',
|
||
'checker.png',
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]);
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});
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test('加载引用 OBJ 的 URDF 工程', async ({ page }) => {
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await page.goto('/');
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await page
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.locator('input[type="file"]')
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.first()
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.setInputFiles([fixture('urdf_mesh/robot.urdf'), fixture('urdf_mesh/triangle.obj')]);
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const options = page.getByRole('dialog', { name: '配置 URDF 仿真组件' });
|
||
await expect(options.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
|
||
await expect(options.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
|
||
await options.getByRole('button', { name: '转换并加载' }).click();
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await expectImportedFiles(page, ['robot.urdf', 'triangle.obj']);
|
||
await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf');
|
||
await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
|
||
await page.getByRole('button', { name: '通知中心' }).click();
|
||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||
await summary.click();
|
||
await expect(notifications).toContainText(/模型已加载 · \d+ 项兼容调整/);
|
||
await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
|
||
await page.keyboard.press('Escape');
|
||
await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
|
||
await page.getByRole('button', { name: '源代码' }).click();
|
||
const sourceDialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
|
||
await expect(sourceDialog.getByText('缓存文件 · 可编辑')).toBeVisible();
|
||
await sourceDialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
|
||
await page.keyboard.press('Control+End');
|
||
await page.keyboard.insertText('\n');
|
||
await sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
|
||
await expect(
|
||
sourceDialog.getByRole('button', { name: '保存并重新载入', exact: true }),
|
||
).toBeDisabled({ timeout: 30_000 });
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
await sourceDialog.getByRole('button', { name: '关闭源代码编辑器' }).click();
|
||
});
|
||
|
||
test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译', async ({ page }) => {
|
||
const urdf = `<robot name="jointed"><link name="base"><inertial><mass value="1"/><origin xyz="0 0 0"/><inertia ixx=".1" iyy=".1" izz=".1" ixy="0" ixz="0" iyz="0"/></inertial><visual><geometry><box size=".4 .4 .2"/></geometry></visual></link><link name="arm"><inertial><mass value=".2"/><origin xyz="0 0 .25"/><inertia ixx=".01" iyy=".01" izz=".01" ixy="0" ixz="0" iyz="0"/></inertial><visual><origin xyz="0 0 .25"/><geometry><box size=".1 .1 .5"/></geometry></visual></link><joint name="shoulder" type="revolute"><parent link="base"/><child link="arm"/><origin xyz="0 0 .1"/><axis xyz="0 1 0"/><limit lower="-1" upper="1" effort="10" velocity="2"/></joint></robot>`;
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'jointed.urdf',
|
||
mimeType: 'application/xml',
|
||
buffer: Buffer.from(urdf),
|
||
});
|
||
await page
|
||
.getByRole('dialog', { name: '配置 URDF 仿真组件' })
|
||
.getByRole('button', { name: '转换并加载' })
|
||
.click();
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await expect(page.getByLabel('摄像头画面')).toBeVisible();
|
||
await page.getByRole('button', { name: '隐藏画面' }).click();
|
||
await page.getByRole('button', { name: '显示摄像头画面' }).click();
|
||
await expect(page.getByLabel('摄像头画面')).toBeVisible();
|
||
await page.getByRole('button', { name: '通知中心' }).click();
|
||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||
await summary.click();
|
||
await expect(notifications).toContainText('已为 1 个 hinge/slide 关节生成 motor 驱动器');
|
||
await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
|
||
await page.keyboard.press('Escape');
|
||
await page.getByRole('tab', { name: '控制台' }).click();
|
||
await page
|
||
.getByRole('tabpanel', { name: '控制台' })
|
||
.getByRole('button', { name: /执行器实时控制/ })
|
||
.click();
|
||
await expect(page.getByText('shoulder_motor')).toBeVisible();
|
||
await expect(page.getByText('关节：shoulder')).toBeVisible();
|
||
await expect(page.locator('output').filter({ hasText: 'N·m' })).toBeVisible();
|
||
await page.getByText('增益与输出限幅').click();
|
||
const kp = page.getByLabel(/kp（MJCF stiffness/),
|
||
kv = page.getByLabel(/kv（MJCF damping/);
|
||
await kp.fill('150');
|
||
await kp.press('Enter');
|
||
await kv.fill('15');
|
||
await kv.press('Enter');
|
||
await expect(kp).toHaveValue('150');
|
||
await expect(kv).toHaveValue('15');
|
||
});
|
||
|
||
test('转换后的 MJCF 保存时保留 DAE 转换缓存资源', async ({ page }) => {
|
||
const zip = zipSync({
|
||
'robot/urdf/robot.urdf': new Uint8Array(
|
||
readFileSync(fixture('urdf_dae/robot/urdf/robot.urdf')),
|
||
),
|
||
'robot/dae/triangle.dae': new Uint8Array(
|
||
readFileSync(fixture('urdf_dae/robot/dae/triangle.dae')),
|
||
),
|
||
});
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({ name: 'dae.zip', mimeType: 'application/zip', buffer: Buffer.from(zip) });
|
||
await page
|
||
.getByRole('dialog', { name: '配置 URDF 仿真组件' })
|
||
.getByRole('button', { name: '转换并加载' })
|
||
.click();
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '源代码' }).click();
|
||
const dialog = page.getByRole('dialog', { name: '转换后的 MJCF 编辑器' });
|
||
await dialog.locator('.monaco-editor').click({ position: { x: 240, y: 120 } });
|
||
await page.keyboard.press('Control+End');
|
||
await page.keyboard.insertText('\n');
|
||
await dialog.getByRole('button', { name: '保存并重新载入', exact: true }).click();
|
||
await expect(dialog.getByRole('button', { name: '保存并重新载入', exact: true })).toBeDisabled({
|
||
timeout: 30_000,
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
await expect(page.getByText('模型编译失败')).toHaveCount(0);
|
||
});
|
||
|
||
test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'slide.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SLIDE_DIRECTION_MODEL),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '关节拖动' }).click();
|
||
const canvas = page.locator('main canvas').first(),
|
||
box = await canvas.boundingBox();
|
||
expect(box).not.toBeNull();
|
||
const x = box!.x + box!.width / 2,
|
||
y = box!.y + box!.height / 2;
|
||
await page.mouse.move(x, y);
|
||
await page.mouse.down();
|
||
await page.mouse.move(x + 70, y, { steps: 8 });
|
||
await page.mouse.up();
|
||
await page.getByRole('tab', { name: '控制台' }).click();
|
||
const jointSection = page
|
||
.getByRole('tabpanel', { name: '控制台' })
|
||
.getByRole('button', { name: /关节姿态调试/ });
|
||
if ((await jointSection.getAttribute('aria-expanded')) === 'false') await jointSection.click();
|
||
const output = page.getByText('screen_x').locator('..').locator('output');
|
||
await expect
|
||
.poll(async () => Number.parseFloat((await output.textContent()) || '0'))
|
||
.toBeGreaterThan(0);
|
||
});
|
||
|
||
test('可导入并启用 Python 控制器', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({ name: 'model.xml', mimeType: 'text/xml', buffer: Buffer.from(SIMPLE_MODEL) });
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByRole('tab', { name: '控制台' }).click();
|
||
await page
|
||
.getByRole('tabpanel', { name: '控制台' })
|
||
.getByRole('button', { name: /Python 脚本控制/ })
|
||
.click();
|
||
const python = `NAME = "测试 PD 控制器"\nCONTROL_HZ = 100\ndef init(api):\n return {"joint": api.joint("slide"), "actuator": api.actuator("motor"), "body": api.body("box")}\ndef step(ctx, state):\n assert len(ctx.body_quat(state["body"])) == 4\n assert len(ctx.body_position(state["body"])) == 3\n ctx.set_control(state["actuator"], -ctx.qpos(state["joint"]) - 0.1 * ctx.qvel(state["joint"]))\n`;
|
||
await page
|
||
.locator('input[accept=".py,text/x-python"]')
|
||
.setInputFiles({ name: 'balance.py', mimeType: 'text/x-python', buffer: Buffer.from(python) });
|
||
await expect(page.getByText('测试 PD 控制器', { exact: true })).toBeVisible({ timeout: 30_000 });
|
||
await page.getByText('脚本详情', { exact: true }).click();
|
||
await expect(page.getByText('Python / Pyodide')).toBeVisible();
|
||
await page.getByRole('button', { name: '启用', exact: true }).click();
|
||
await expect(
|
||
page.getByRole('tabpanel', { name: '控制台' }).getByRole('button', { name: /Python 脚本控制/ }),
|
||
).toContainText('运行');
|
||
await page.screenshot({ path: test.info().outputPath('python-running.png') });
|
||
});
|
||
|
||
test('中等规模模型持续步进并可重复加载', async ({ page }) => {
|
||
await page.goto('/');
|
||
const input = page.locator('input[type="file"]').first();
|
||
const modelFile = { name: 'large.xml', mimeType: 'text/xml', buffer: Buffer.from(LARGE_MODEL) };
|
||
await input.setInputFiles(modelFile);
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await page.waitForTimeout(2_000);
|
||
await expect(page.getByLabel('视口状态')).not.toContainText('时间 0.000 s');
|
||
|
||
// 播放过程中重置必须同时暂停底层会话，之后仍可正常播放和暂停。
|
||
await page.getByRole('button', { name: '重置', exact: true }).click();
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
await expect(page.getByLabel('视口状态')).toContainText('时间 0.000 s');
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await page.waitForTimeout(500);
|
||
await page.getByRole('button', { name: '⏸ 暂停' }).click();
|
||
await page.waitForTimeout(200);
|
||
const pausedTime = (await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1];
|
||
expect(Number(pausedTime)).toBeGreaterThan(0);
|
||
await page.waitForTimeout(500);
|
||
expect((await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(
|
||
pausedTime,
|
||
);
|
||
|
||
await input.setInputFiles(modelFile);
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await expect(page.getByRole('alert')).toHaveCount(0);
|
||
});
|
||
|
||
test('认证资产可点击创建场景并拖到画布落位', async ({ page }) => {
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page.goto('/');
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
const library = page.getByLabel('地图资产库');
|
||
await expect(library.getByText('物理几何原语', { exact: true })).toBeVisible();
|
||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||
await expect(page.getByText('正在加载 MuJoCo 与模型…')).toHaveCount(0);
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json', {
|
||
timeout: 30_000,
|
||
});
|
||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||
await expect(page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒')).toBeVisible();
|
||
|
||
await page.locator('[data-map-asset="ramp"]').dragTo(page.locator('main canvas'));
|
||
await expect(page.getByLabel('地图对象列表').getByText('标准坡道 · 坡道')).toBeVisible();
|
||
await expect(page.getByText('地图草稿尚未应用')).toBeVisible();
|
||
|
||
await page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒').click();
|
||
await page.getByLabel('贴地检测模式').selectOption('locked');
|
||
await expect(page.getByLabel('对象位置X')).toBeDisabled();
|
||
await page.getByLabel('贴地检测模式').selectOption('auto_ground');
|
||
await expect(page.getByLabel('对象位置X')).toBeEnabled();
|
||
|
||
const gizmoLine = page.getByRole('img', { name: 'XYZ 方向指示器' }).locator('line').first();
|
||
const beforeRotation = await gizmoLine.getAttribute('x2');
|
||
const canvasBox = await page.locator('main canvas').first().boundingBox();
|
||
expect(canvasBox).not.toBeNull();
|
||
// 左上现在是可交互状态槽位；从画布空白中部拖动，继续验证真实 OrbitControls。
|
||
const dragY = canvasBox!.y + canvasBox!.height * 0.35;
|
||
await page.mouse.move(canvasBox!.x + 24, dragY);
|
||
await page.mouse.down({ button: 'left' });
|
||
await page.mouse.move(canvasBox!.x + 104, dragY + 26, { steps: 8 });
|
||
await page.mouse.up({ button: 'left' });
|
||
await expect.poll(() => gizmoLine.getAttribute('x2')).not.toBe(beforeRotation);
|
||
await expect(page.getByLabel('对象名称')).toHaveCount(0);
|
||
await expect(page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒')).toBeVisible();
|
||
});
|
||
|
||
test('认证资产自动打开地图属性并与参数地形一次编译', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'unified-map-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
const library = page.getByLabel('地图资产库');
|
||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
|
||
const sceneTree = page.getByLabel('场景资产树');
|
||
await expect(sceneTree.getByText('基础方盒')).toBeVisible();
|
||
await sceneTree.getByRole('treeitem', { name: 'box', exact: true }).click();
|
||
await expect(page.getByText(/^Body #/)).toBeVisible();
|
||
await sceneTree.getByRole('treeitem', { name: /基础方盒/ }).click();
|
||
await expect(page.getByLabel('地图物体检查器')).toBeVisible();
|
||
|
||
await library.getByRole('button', { name: '添加随机粗糙地形' }).click();
|
||
await page.getByLabel('位置 X（m）').fill('4');
|
||
await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
|
||
|
||
// 切换到参数地形后，尚未编译的认证资产仍保留在画布中并可直接选回。
|
||
const draftCanvasBox = await page.locator('main canvas').first().boundingBox();
|
||
expect(draftCanvasBox).not.toBeNull();
|
||
let selectedDraftAsset = false;
|
||
for (let y = 0.15; y <= 0.85 && !selectedDraftAsset; y += 0.05) {
|
||
for (let x = 0.05; x <= 0.95; x += 0.05) {
|
||
await page.mouse.click(
|
||
draftCanvasBox!.x + draftCanvasBox!.width * x,
|
||
draftCanvasBox!.y + draftCanvasBox!.height * y,
|
||
);
|
||
await page.waitForTimeout(20);
|
||
if (await page.getByLabel('对象名称').count()) {
|
||
selectedDraftAsset = true;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
expect(selectedDraftAsset).toBe(true);
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json');
|
||
await sceneTree.getByRole('treeitem', { name: /随机粗糙地形/ }).click();
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('builtin');
|
||
|
||
await page.getByRole('button', { name: '应用场景' }).click();
|
||
|
||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||
await page.getByRole('button', { name: '通知中心' }).click();
|
||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||
await summary.click();
|
||
await expect(notifications).toContainText(/已加载工程地图“场景 1”（1 个物理几何/);
|
||
await expect(notifications).toContainText(/已加载随机粗糙地形物理地图/);
|
||
await page.keyboard.press('Escape');
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('builtin');
|
||
|
||
// 当前仍选中参数地形时，直接点已编译的认证资产也必须反查场景与对象，首次点击即挂载操纵器。
|
||
const canvasBox = await page.locator('main canvas').first().boundingBox();
|
||
expect(canvasBox).not.toBeNull();
|
||
let selectedCompiledAsset = false;
|
||
for (let y = 0.15; y <= 0.85 && !selectedCompiledAsset; y += 0.05) {
|
||
for (let x = 0.05; x <= 0.95; x += 0.05) {
|
||
await page.mouse.click(
|
||
canvasBox!.x + canvasBox!.width * x,
|
||
canvasBox!.y + canvasBox!.height * y,
|
||
);
|
||
await page.waitForTimeout(20);
|
||
if (await page.getByLabel('对象名称').count()) {
|
||
selectedCompiledAsset = true;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
expect(selectedCompiledAsset).toBe(true);
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/scene_1/map.json');
|
||
await expect(page.getByLabel('对象名称')).toHaveValue('基础方盒');
|
||
await expect(page.getByLabel('地图对象列表').getByText('基础方盒 · 方盒')).toBeVisible();
|
||
await expect(page.getByText('地图草稿尚未应用')).toHaveCount(0);
|
||
});
|
||
|
||
test('放弃首次认证资产会完整回滚临时场景和工程文件', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'discard-map-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
const library = page.getByLabel('地图资产库');
|
||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByLabel('场景资产树')).toContainText('场景 1');
|
||
await page.getByRole('button', { name: '放弃更改' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
|
||
await expect(page.getByLabel('场景资产树')).not.toContainText('场景 1');
|
||
await expect(library.getByText('场景 1')).toHaveCount(0);
|
||
|
||
// 文件和 map id 也必须回滚；再次创建应复用 scene_1，而不是泄漏出 scene_2。
|
||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||
await expect(page.getByLabel('场景资产树')).toContainText('场景 1');
|
||
await expect(page.getByLabel('场景资产树')).not.toContainText('场景 2');
|
||
});
|
||
|
||
test('工程地图与参数地形共享放置草稿、实例变换和回滚入口', async ({ page }) => {
|
||
const mapJson = JSON.stringify({
|
||
schemaVersion: 1,
|
||
id: 'warehouse-draft',
|
||
name: '草稿仓库',
|
||
coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
|
||
physics: { source: 'physics/world.xml' },
|
||
spawnPoints: [],
|
||
});
|
||
const project = zipSync({
|
||
'model.xml': Buffer.from(SIMPLE_MODEL),
|
||
'maps/warehouse/map.json': Buffer.from(mapJson),
|
||
'maps/warehouse/physics/world.xml': Buffer.from(
|
||
'<mujoco><worldbody><geom name="wall" type="box" pos="0 0 .5" size=".1 1 .5"/></worldbody></mujoco>',
|
||
),
|
||
});
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'unified-project-map.zip',
|
||
mimeType: 'application/zip',
|
||
buffer: Buffer.from(project),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
const library = page.getByLabel('地图资产库');
|
||
await library.getByRole('button', { name: '放置工程地图 草稿仓库' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByLabel('场景资产树')).toContainText('待应用');
|
||
await expect(page.getByText('正在准备仿真')).toHaveCount(0);
|
||
await page.getByLabel('位置 X（m）').fill('3');
|
||
await page.getByLabel('位置 Y（m）').fill('-2');
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
|
||
await library.getByRole('button', { name: '添加波浪地形' }).click();
|
||
await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
|
||
await page.getByRole('button', { name: '应用场景' }).click();
|
||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||
await expectNotificationDetails(page, [/已加载工程地图“草稿仓库”/, /已加载波浪地形物理地图/]);
|
||
|
||
await page.getByRole('button', { name: '删除地图实例 草稿仓库' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByLabel('场景资产树')).not.toContainText('草稿仓库');
|
||
await page.getByRole('button', { name: '放弃更改' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
|
||
await expect(page.getByLabel('场景资产树')).toContainText('草稿仓库');
|
||
});
|
||
|
||
test('认证资产重力放置使用参数地形的真实承载高度', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'terrain-surface-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
const library = page.getByLabel('地图资产库');
|
||
await library.getByRole('button', { name: '添加深坑地形' }).click();
|
||
await page.getByLabel('地形难度（0–1）').fill('1');
|
||
await library.getByLabel('新增资产放置方式').selectOption('gravity');
|
||
await library.getByRole('button', { name: '添加基础方盒' }).click();
|
||
|
||
await expect(page.getByLabel('贴地检测模式')).toHaveValue('gravity');
|
||
await expect(page.getByLabel('对象位置Z')).toHaveValue('-0.3');
|
||
await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
|
||
});
|
||
|
||
test('参数化地形可连续拖到画布并一次性编译', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'terrain-draft-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByText('模型加载完成')).toBeVisible({ timeout: 30_000 });
|
||
|
||
await page.locator('[data-system-terrain="rough"]').dragTo(page.locator('main canvas'));
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByText('正在准备仿真')).toHaveCount(0);
|
||
await page.locator('[data-system-terrain="wave"]').dragTo(page.locator('main canvas'));
|
||
await expect(page.getByText('2 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByLabel('场景资产树')).toContainText('随机粗糙地形');
|
||
await expect(page.getByLabel('场景资产树')).toContainText('波浪地形');
|
||
|
||
await page.getByLabel('场景资产树').getByRole('treeitem', { name: 'box' }).click();
|
||
await expect(page.getByText(/^Body #/)).toBeVisible();
|
||
const canvasBox = await page.locator('main canvas').first().boundingBox();
|
||
expect(canvasBox).not.toBeNull();
|
||
await page.mouse.click(
|
||
canvasBox!.x + canvasBox!.width * 0.5,
|
||
canvasBox!.y + canvasBox!.height * 0.78,
|
||
);
|
||
await expect(page.getByText('参数化地形')).toBeVisible();
|
||
await expect(page.getByLabel('地图视口工具')).toBeVisible();
|
||
await expect(page.getByLabel('物理地图预设')).toBeVisible();
|
||
|
||
await page.getByRole('button', { name: '应用场景' }).click();
|
||
await expect(page.getByText('2 项场景更改待应用')).toHaveCount(0, { timeout: 30_000 });
|
||
await page.getByRole('button', { name: '通知中心' }).click();
|
||
const notifications = page.getByRole('dialog', { name: '通知中心' });
|
||
for (const summary of await notifications.getByText('事件详情', { exact: true }).all())
|
||
await summary.click();
|
||
await expect(notifications).toContainText(/已加载随机粗糙地形物理地图/);
|
||
await expect(notifications).toContainText(/已加载波浪地形物理地图/);
|
||
await page.keyboard.press('Escape');
|
||
});
|
||
|
||
test('应用内置 MJCF 楼梯物理地图', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'map-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByLabel('地图资产库').getByRole('button', { name: '添加波浪地形' }).click();
|
||
await page.getByLabel('物理地图预设').selectOption('stairs');
|
||
await page.getByLabel('台阶数量').fill('6');
|
||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||
await expectNotificationDetails(page, [/已加载楼梯物理地图/]);
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
});
|
||
|
||
test('依次应用全部系统参数化地形', async ({ page }) => {
|
||
const terrains = [
|
||
['discrete_obstacles', '离散障碍地形'],
|
||
['gap', '沟壑地形'],
|
||
['inverted_pyramid_stairs', '倒金字塔阶梯'],
|
||
['pit', '深坑地形'],
|
||
['pyramid_stairs', '金字塔阶梯'],
|
||
['rails', '轨道地形'],
|
||
['rough', '随机粗糙地形'],
|
||
['stepping_stones', '踏石地形'],
|
||
['wave', '波浪地形'],
|
||
] as const;
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'terrain-model.xml',
|
||
mimeType: 'text/xml',
|
||
buffer: Buffer.from(SIMPLE_MODEL),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByLabel('地图资产库').getByRole('button', { name: '添加波浪地形' }).click();
|
||
for (const [preset, label] of terrains) {
|
||
await page.getByLabel('物理地图预设').selectOption(preset);
|
||
await page.getByLabel('地形边长（m）').fill('6');
|
||
if (preset === 'rough' || preset === 'wave')
|
||
await page.getByLabel('水平采样间距（m）').fill('0.25');
|
||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||
await expectNotificationDetails(page, [new RegExp(`已加载${label}物理地图`)]);
|
||
}
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
});
|
||
|
||
test('导入并应用分层工程地图包', async ({ page }) => {
|
||
const mapJson = JSON.stringify({
|
||
schemaVersion: 1,
|
||
id: 'test-room',
|
||
name: '测试场景',
|
||
coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
|
||
physics: { source: 'physics/world.xml' },
|
||
visual: { source: 'visuals/scene.glb' },
|
||
spawnPoints: [{ id: 'start', name: '起点', position: [2, 0, 0.5], yawDeg: 0 }],
|
||
});
|
||
const project = zipSync({
|
||
'model.xml': Buffer.from(SIMPLE_MODEL),
|
||
'maps/test/map.json': Buffer.from(mapJson),
|
||
'maps/test/physics/world.xml': Buffer.from(
|
||
'<mujoco><worldbody><geom name="floor" type="plane" size="8 8 .1"/><geom name="wall" type="box" pos="3 0 .5" size=".1 2 .5"/></worldbody></mujoco>',
|
||
),
|
||
'maps/test/visuals/scene.glb': minimalGlb(),
|
||
});
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'map-project.zip',
|
||
mimeType: 'application/zip',
|
||
buffer: Buffer.from(project),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page
|
||
.getByLabel('地图资产库')
|
||
.getByRole('button', { name: '放置工程地图 测试场景' })
|
||
.click();
|
||
// 资产库放置默认不移动机器人；显式选择出生点后仍验证原编译路径。
|
||
await expect(page.getByLabel('地图出生点')).toHaveValue('');
|
||
await page.getByLabel('地图出生点').selectOption('start');
|
||
await expect(page.getByLabel('地图出生点')).toHaveValue('start');
|
||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||
await expect(page.getByLabel('地图草稿状态')).toBeHidden({ timeout: 30_000 });
|
||
await expectNotificationDetails(page, [/已加载工程地图“测试场景”/], [/视觉地图加载失败/]);
|
||
await expect(page.getByText(/视觉地图加载失败/)).toHaveCount(0);
|
||
});
|
||
|
||
test('将受支持的只读物理地图转换为可编辑副本', async ({ page }) => {
|
||
const mapJson = JSON.stringify({
|
||
schemaVersion: 1,
|
||
id: 'legacy-room',
|
||
name: '旧版基础场景',
|
||
coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
|
||
physics: { source: 'physics/world.xml' },
|
||
spawnPoints: [{ id: 'start', name: '入口', position: [0, 0, 0], yawDeg: 0 }],
|
||
});
|
||
const project = zipSync({
|
||
'model.xml': Buffer.from(SIMPLE_MODEL),
|
||
'maps/legacy/map.json': Buffer.from(mapJson),
|
||
'maps/legacy/physics/world.xml': Buffer.from(
|
||
'<mujoco><worldbody><geom name="floor" type="box" pos="0 0 -.1" size="5 5 .1"/><body name="wall" pos="2 0 .5"><geom type="box" size=".1 1 .5"/></body></worldbody></mujoco>',
|
||
),
|
||
});
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'legacy-map.zip',
|
||
mimeType: 'application/zip',
|
||
buffer: Buffer.from(project),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page
|
||
.getByLabel('地图资产库')
|
||
.getByRole('button', { name: '放置工程地图 旧版基础场景' })
|
||
.click();
|
||
await page.getByRole('button', { name: '应用并重新编译' }).click();
|
||
const editor = page.getByText('源内容修改影响所有同源实例').locator('../..');
|
||
await expect(editor.getByText(/保持只读/)).toBeVisible({ timeout: 30_000 });
|
||
await editor.getByRole('button', { name: '创建可编辑副本' }).click();
|
||
await expect(page.getByText('已创建可编辑地图副本')).toBeVisible({ timeout: 30_000 });
|
||
await expect(
|
||
page.getByLabel('地图视口工具').getByRole('button', { name: '移动工具 W' }),
|
||
).toBeVisible();
|
||
await expect(editor.getByRole('button', { name: /floor · 方盒/ })).toBeVisible();
|
||
await expect(editor.getByRole('button', { name: /wall · 方盒/ })).toBeVisible();
|
||
});
|
||
|
||
test('编辑 V3 地图对象并事务式应用', async ({ page }) => {
|
||
const authoring = JSON.stringify({
|
||
schemaVersion: 1,
|
||
mapId: 'editable-room',
|
||
revision: 0,
|
||
objects: [],
|
||
spawnPoints: [],
|
||
});
|
||
const mapJson = JSON.stringify({
|
||
schemaVersion: 2,
|
||
id: 'editable-room',
|
||
name: '可编辑场景',
|
||
coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
|
||
physics: { source: 'physics/world.xml' },
|
||
authoring: { source: 'authoring/map.scene.json' },
|
||
spawnPoints: [],
|
||
});
|
||
const project = zipSync({
|
||
'model.xml': Buffer.from(SIMPLE_MODEL),
|
||
'maps/edit/map.json': Buffer.from(mapJson),
|
||
'maps/edit/physics/world.xml': Buffer.from('<mujoco><worldbody/></mujoco>'),
|
||
'maps/edit/authoring/map.scene.json': Buffer.from(authoring),
|
||
});
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'editable-map.zip',
|
||
mimeType: 'application/zip',
|
||
buffer: Buffer.from(project),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page
|
||
.getByLabel('地图资产库')
|
||
.getByRole('button', { name: '放置工程地图 可编辑场景' })
|
||
.click();
|
||
await page.getByRole('button', { name: '应用场景', exact: true }).click();
|
||
await expect(page.getByText('源内容修改影响所有同源实例', { exact: true })).toBeVisible({
|
||
timeout: 30_000,
|
||
});
|
||
const mapTools = page.getByLabel('地图视口工具');
|
||
await expect(mapTools.getByRole('button', { name: '移动工具 W' })).toHaveAttribute(
|
||
'aria-pressed',
|
||
'true',
|
||
);
|
||
await page.keyboard.press('e');
|
||
await expect(mapTools.getByRole('button', { name: '旋转工具 E' })).toHaveAttribute(
|
||
'aria-pressed',
|
||
'true',
|
||
);
|
||
await page.keyboard.press('r');
|
||
await expect(mapTools.getByRole('button', { name: '缩放工具 R' })).toHaveAttribute(
|
||
'aria-pressed',
|
||
'true',
|
||
);
|
||
await page.getByRole('button', { name: '新增', exact: true }).click();
|
||
await page.getByLabel('对象位置X').fill('2');
|
||
await page.getByLabel('对象位置X').blur();
|
||
await page.keyboard.press('f');
|
||
const draftStatus = page.getByLabel('地图草稿状态');
|
||
await expect(draftStatus).toContainText('未保存改动');
|
||
await page.keyboard.press('Control+s');
|
||
await expect(
|
||
page.getByLabel('地图对象列表').getByRole('button', { name: /box · 方盒/ }),
|
||
).toBeVisible({
|
||
timeout: 30_000,
|
||
});
|
||
await expect(draftStatus).toBeHidden();
|
||
|
||
await page
|
||
.getByLabel('地图对象列表')
|
||
.getByRole('button', { name: /box · 方盒/ })
|
||
.click();
|
||
await page.getByLabel('对象位置X').fill('3');
|
||
await expect(draftStatus).toContainText('未保存改动');
|
||
await draftStatus.getByRole('button', { name: '丢弃地图草稿' }).click();
|
||
await page
|
||
.getByLabel('地图对象列表')
|
||
.getByRole('button', { name: /box · 方盒/ })
|
||
.click();
|
||
await expect(page.getByLabel('对象位置X')).toHaveValue('2');
|
||
await expect(draftStatus).toBeHidden();
|
||
|
||
await page.getByRole('button', { name: '新增', exact: true }).click();
|
||
await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(2);
|
||
await page.keyboard.press('Delete');
|
||
await expect(page.getByLabel('地图对象列表').getByRole('button')).toHaveCount(1);
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
});
|
||
|
||
test('工程地图编译失败时保留上一仿真会话', async ({ page }) => {
|
||
const mapJson = JSON.stringify({
|
||
schemaVersion: 1,
|
||
id: 'invalid-map',
|
||
name: '动态错误地图',
|
||
coordinateSystem: { units: 'm', up: 'Z', forward: '+X' },
|
||
physics: { source: 'world.xml' },
|
||
spawnPoints: [],
|
||
});
|
||
const project = zipSync({
|
||
'model.xml': Buffer.from(SIMPLE_MODEL),
|
||
'maps/invalid/map.json': Buffer.from(mapJson),
|
||
'maps/invalid/world.xml': Buffer.from(
|
||
'<mujoco><worldbody><body><joint/><geom type="box" size="1 1 1"/></body></worldbody></mujoco>',
|
||
),
|
||
});
|
||
await page.goto('/');
|
||
await page.setViewportSize({ width: 1440, height: 900 });
|
||
await page
|
||
.locator('input[type="file"]')
|
||
.first()
|
||
.setInputFiles({
|
||
name: 'invalid-map.zip',
|
||
mimeType: 'application/zip',
|
||
buffer: Buffer.from(project),
|
||
});
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled({ timeout: 30_000 });
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await page.waitForTimeout(200);
|
||
const runningTime = Number(
|
||
(await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0,
|
||
);
|
||
await page
|
||
.getByLabel('地图资产库')
|
||
.getByRole('button', { name: '放置工程地图 动态错误地图' })
|
||
.click();
|
||
await page.getByRole('button', { name: '应用场景', exact: true }).click();
|
||
await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
|
||
await expect(page.getByLabel('地图来源')).toHaveValue('project:maps/invalid/map.json');
|
||
await expect(page.getByLabel('地图草稿状态')).toContainText('应用失败');
|
||
await page.screenshot({ path: test.info().outputPath('map-compile-failed.png') });
|
||
await expect(page.getByText('1 项场景更改待应用')).toBeVisible();
|
||
await expect(page.getByLabel('场景资产树')).toContainText('待应用');
|
||
await expect(page.getByRole('button', { name: '▶ 播放' })).toBeEnabled();
|
||
await page.getByRole('button', { name: '关闭错误' }).click();
|
||
await page.getByRole('button', { name: '▶ 播放' }).click();
|
||
await expect
|
||
.poll(async () =>
|
||
Number((await page.getByLabel('视口状态').innerText()).match(/时间 ([\d.]+) s/)?.[1] ?? 0),
|
||
)
|
||
.toBeGreaterThan(runningTime);
|
||
await page.getByRole('button', { name: '放弃更改' }).click();
|
||
await expect(page.getByText('1 项场景更改待应用')).toHaveCount(0);
|
||
await expect(page.getByLabel('场景资产树')).not.toContainText('动态错误地图');
|
||
await expect(page.getByLabel('地图草稿状态')).toBeHidden();
|
||
});
|
||
|
||
test('无效模型显示中文诊断且保留工程树', async ({ page }) => {
|
||
await page.goto('/');
|
||
await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml'));
|
||
await expect(page.getByRole('alert')).toContainText('模型编译失败', { timeout: 30_000 });
|
||
await expectImportedFiles(page, ['invalid.xml']);
|
||
});
|