Mujoco_WASM/web_platform/src/map/PhysicalMapPanel.test.tsx

import { fireEvent, render, screen } from '@testing-library/react';
import { DEFAULT_PHYSICAL_MAP_CONFIG } from './types';
import { PhysicalMapPanel } from './PhysicalMapPanel';

const common = {
  maps: [],
  rootBodies: ['robot'],
  loading: false,
  nativeUrdf: false,
  showVisualMap: true,
  showMapCollision: false,
  editorDocument: null,
  onEditorPreview: () => {},
  onEditorDraftChange: () => {},
  onEditorApply: async () => true,
  onEditorExport: () => {},
  onEditorConvert: async () => true,
  onEditorBindInteraction: () => {},
  onEditorSelect: () => {},
  onEditorSessionStateChange: () => {},
  onMapDisplay: () => {},
  onDraft: () => {},
};

describe('PhysicalMapPanel', () => {
  it('无选中实例时显示引导空态', () => {
    render(<PhysicalMapPanel {...common} value={{ kind: 'none' }} onApply={() => {}} />);
    expect(screen.getByText('未选择地图实例')).toBeInTheDocument();
    expect(screen.getByLabelText('地图来源')).toHaveValue('none');
  });

  it('已有场景草稿时无需再次改参数也可一次编译', () => {
    const onApply = vi.fn();
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'rough' } }}
        sceneDirty
        onApply={onApply}
      />,
    );
    expect(screen.getByText(/场景草稿正在轻量预览/)).toBeInTheDocument();
    const apply = screen.getByRole('button', { name: '应用并重新编译' });
    expect(apply).toBeEnabled();
    fireEvent.click(apply);
    expect(onApply).toHaveBeenCalledTimes(1);
  });

  it('选择楼梯参数后请求重新编译', () => {
    const onApply = vi.fn();
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
        onApply={onApply}
      />,
    );
    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'stairs' } });
    fireEvent.change(screen.getByLabelText('台阶数量'), { target: { value: '6' } });
    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
    expect(onApply).toHaveBeenCalledWith({
      kind: 'builtin',
      config: expect.objectContaining({ preset: 'stairs', stairCount: 6 }),
    });
  });

  it('在右侧参数面板调整系统地形并提交', () => {
    const onApply = vi.fn();
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
        onApply={onApply}
      />,
    );
    fireEvent.change(screen.getByLabelText('物理地图预设'), { target: { value: 'rough' } });
    fireEvent.change(screen.getByLabelText('地形难度（0–1）'), { target: { value: '0.8' } });
    fireEvent.change(screen.getByLabelText('随机种子'), { target: { value: '9' } });
    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
    expect(onApply).toHaveBeenCalledWith({
      kind: 'builtin',
      config: expect.objectContaining({
        preset: 'rough',
        terrainDifficulty: 0.8,
        seed: 9,
      }),
    });
  });

  it('参数地形属性不再承载视口变换工具', () => {
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'rough' } }}
        onApply={() => {}}
      />,
    );
    expect(screen.queryByLabelText('地图变换模式')).not.toBeInTheDocument();
    expect(screen.getByText(/已统一到视口浮动工具条/)).toBeInTheDocument();
  });

  it('表单参数与外部视口变换合并到同一份草稿', () => {
    const onDraft = vi.fn();
    const onApply = vi.fn();
    const initial = {
      kind: 'builtin' as const,
      config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'rough' as const },
    };
    const view = render(
      <PhysicalMapPanel
        {...common}
        value={initial}
        sceneDirty
        onDraft={onDraft}
        onApply={onApply}
      />,
    );
    fireEvent.change(screen.getByLabelText('地形边长（m）'), { target: { value: '7' } });
    const staged = onDraft.mock.calls.at(-1)?.[0];
    expect(staged).toMatchObject({ kind: 'builtin', config: { size: 7 } });
    const moved = {
      ...staged,
      config: { ...staged.config, positionX: 2.4, positionY: -1.2 },
    };
    view.rerender(
      <PhysicalMapPanel {...common} value={moved} sceneDirty onDraft={onDraft} onApply={onApply} />,
    );
    expect(screen.getByLabelText('地形边长（m）')).toHaveValue(7);
    expect(screen.getByLabelText('位置 X（m）')).toHaveValue(2.4);
    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
    expect(onApply).toHaveBeenLastCalledWith(
      expect.objectContaining({
        kind: 'builtin',
        config: expect.objectContaining({ size: 7, positionX: 2.4, positionY: -1.2 }),
      }),
    );
  });

  it('可以移动并旋转资产地图', () => {
    const onApply = vi.fn();
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
        onApply={onApply}
      />,
    );
    fireEvent.change(screen.getByLabelText('位置 X（m）'), { target: { value: '2.5' } });
    fireEvent.change(screen.getByLabelText('位置 Y（m）'), { target: { value: '-1.5' } });
    fireEvent.change(screen.getByLabelText('旋转 Z（°）'), { target: { value: '45' } });
    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
    expect(onApply).toHaveBeenCalledWith({
      kind: 'builtin',
      config: expect.objectContaining({ positionX: 2.5, positionY: -1.5, yawDeg: 45 }),
    });
  });

  it('显示工程地图、实例变换、出生点和根 Body', () => {
    const onApply = vi.fn();
    const onDraft = vi.fn();
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'project', descriptorPath: 'maps/warehouse/map.json' }}
        maps={[
          {
            descriptorPath: 'maps/warehouse/map.json',
            schemaVersion: 1 as const,
            id: 'warehouse',
            name: '仓库',
            spawnPoints: [{ id: 'door', name: '入口' }],
          },
        ]}
        rootBodies={['robot', 'payload']}
        onDraft={onDraft}
        onApply={onApply}
      />,
    );
    fireEvent.change(screen.getByLabelText('位置 X（m）'), { target: { value: '2.5' } });
    fireEvent.change(screen.getByLabelText('位置 Y（m）'), { target: { value: '-1.5' } });
    fireEvent.change(screen.getByLabelText('旋转 Z（°）'), { target: { value: '45' } });
    fireEvent.change(screen.getByLabelText('地图出生点'), { target: { value: 'door' } });
    expect(screen.getByLabelText('地图出生点')).toHaveValue('door');
    fireEvent.change(screen.getByLabelText('机器人根 Body'), { target: { value: 'robot' } });
    fireEvent.click(screen.getByRole('button', { name: '应用并重新编译' }));
    expect(onApply).toHaveBeenCalledWith(
      expect.objectContaining({
        kind: 'project',
        descriptorPath: 'maps/warehouse/map.json',
        positionX: 2.5,
        positionY: -1.5,
        yawDeg: 45,
        spawnPointId: 'door',
        robotRootBody: 'robot',
      }),
    );
    expect(onDraft).toHaveBeenLastCalledWith(
      expect.objectContaining({ kind: 'project', robotRootBody: 'robot' }),
    );
  });

  it('原生 URDF 模式只允许移除地图', () => {
    render(
      <PhysicalMapPanel
        {...common}
        value={{ kind: 'builtin', config: { ...DEFAULT_PHYSICAL_MAP_CONFIG, preset: 'flat' } }}
        nativeUrdf
        onApply={() => {}}
      />,
    );
    expect(screen.getByRole('status')).toHaveTextContent('原生 URDF');
    expect(screen.getByRole('button', { name: '应用并重新编译' })).toBeDisabled();
    expect(screen.getByLabelText('地图来源')).not.toBeDisabled();
  });
});