99 lines
3.1 KiB
TypeScript
99 lines
3.1 KiB
TypeScript
import { fireEvent, render, screen } from '@testing-library/react';
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import { ActuatorControl } from './SidebarPanel';
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import type { ActuatorInfo } from '../../simulation/SimulationSession';
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const actuator: ActuatorInfo = {
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id: 0,
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name: 'shoulder_motor',
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value: 0.5,
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min: -1,
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max: 1,
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limited: true,
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jointId: 0,
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jointName: 'shoulder',
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jointType: 3,
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unit: 'N·m',
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kind: 'motor',
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controlCount: 1,
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gear: 2,
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gain: 1,
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kp: 0,
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kv: 0,
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ctrlLimited: true,
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ctrlMin: -1,
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ctrlMax: 1,
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forceLimited: true,
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forceMin: -20,
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forceMax: 20,
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};
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describe('ActuatorControl', () => {
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it('显示对应关节和常用力矩单位', () => {
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render(<ActuatorControl actuator={actuator} onControl={() => {}} onParameters={() => {}} />);
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expect(screen.getByText('shoulder_motor')).toBeVisible();
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expect(screen.getByText('关节：shoulder')).toBeVisible();
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expect(screen.getByText('1.000 N·m')).toBeVisible();
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});
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it('内部按 gear 换算输出，但参数面板只开放 kp、kv 等业务参数', () => {
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const onControl = vi.fn(),
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onParameters = vi.fn();
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render(
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<ActuatorControl actuator={actuator} onControl={onControl} onParameters={onParameters} />,
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);
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fireEvent.change(screen.getByRole('slider'), { target: { value: '2' } });
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expect(onControl).toHaveBeenCalledWith(1);
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fireEvent.click(screen.getByText('常用参数'));
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expect(screen.queryByLabelText('传动比 gear')).not.toBeInTheDocument();
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expect(screen.queryByLabelText('固定增益 gain')).not.toBeInTheDocument();
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const kp = screen.getByLabelText(/kp（MJCF stiffness/);
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fireEvent.change(kp, { target: { value: '3' } });
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fireEvent.blur(kp);
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expect(onParameters).toHaveBeenCalledWith(
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expect.objectContaining({ kp: 3, ctrlLimited: true, forceLimited: true }),
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);
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});
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it('position 伺服使用角度目标并开放 kp、kv', () => {
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const onParameters = vi.fn();
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render(
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<ActuatorControl
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actuator={{
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...actuator,
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name: 'shoulder_servo',
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kind: 'position',
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unit: '°',
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value: Math.PI / 2,
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min: -Math.PI,
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max: Math.PI,
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gear: 1,
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kp: 100,
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kv: 10,
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gain: 100,
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}}
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onControl={() => {}}
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onParameters={onParameters}
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/>,
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);
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expect(screen.getByText('90.000 °')).toBeVisible();
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fireEvent.click(screen.getByText('常用参数'));
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const kp = screen.getByLabelText(/位置增益 kp/);
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fireEvent.change(kp, { target: { value: '150' } });
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fireEvent.blur(kp);
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expect(onParameters).toHaveBeenCalledWith(expect.objectContaining({ kp: 150, kv: 10 }));
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});
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it('非 motor 驱动器保持原始控制单位且不开放通用参数编辑', () => {
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render(
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<ActuatorControl
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actuator={{ ...actuator, name: 'custom', kind: 'other', unit: '', value: 0.25 }}
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onControl={() => {}}
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onParameters={() => {}}
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/>,
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);
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expect(screen.getByText('0.250')).toBeVisible();
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expect(screen.queryByText('常用参数')).not.toBeInTheDocument();
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expect(screen.getByText(/不是可直接编辑的 motor\/position/)).toBeVisible();
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});
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});
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