chenlin
aa62ec0c93
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167 lines
9.4 KiB
TypeScript
167 lines
9.4 KiB
TypeScript
import {expect, test} from '@playwright/test';
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import {fileURLToPath} from 'node:url';
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const fixture = (relative: string) => fileURLToPath(new URL(`../fixtures/${relative}`, import.meta.url));
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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 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('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) => console.log(`[browser:requestfailed] ${request.url()} ${request.failure()?.errorText}`));
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page.on('response', (response) => { if (response.status() >= 400 || response.url().endsWith('.wasm')) console.log(`[browser:response] ${response.status()} ${response.url()} ${response.headers()['content-type'] ?? ''}`); });
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await page.goto('/');
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await page.setViewportSize({width:1024,height:768});
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const toolBox=await page.getByRole('toolbar',{name:'视口交互模式'}).boundingBox(),playBox=await page.getByRole('button',{name:'▶ 播放'}).boundingBox();
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expect(toolBox&&playBox&&toolBox.x+toolBox.width<=playBox.x).toBeTruthy();
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await page.getByRole('button',{name:'更多工作台操作'}).click();await expect(page.getByRole('menuitem',{name:'工作台设置'})).toBeVisible();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 Web 仿真平台'})).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 expect(page.getByRole('button',{name:'切换到白天主题'})).toBeVisible();
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await page.getByRole('button',{name:'布局设置'}).click();await expect(page.getByRole('dialog',{name:'布局设置'})).toBeVisible();await page.keyboard.press('Escape');
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await page.getByRole('button',{name:'工作台设置'}).click();await expect(page.getByRole('dialog',{name:'工作台设置'})).toBeVisible();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:'进入全屏'}).click();
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await expect(page.getByRole('button',{name:'退出全屏'})).toBeVisible();
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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:'退出全屏'}).click();
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await page.getByRole('button',{name:'切换到白天主题'}).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-light/);
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await expect(page.getByRole('button',{name:'切换到黑夜主题'})).toBeVisible();
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await page.getByRole('button',{name:'切换到黑夜主题'}).click();
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await expect(page.locator('#root > div')).toHaveClass(/theme-dark/);
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await page.locator('input[type="file"]').first().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.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
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await page.getByRole('button',{name:'通知中心'}).click();await expect(page.getByRole('dialog',{name:'通知中心'})).toContainText('模型加载完成');await page.getByText('事件日志').click();await expect(page.getByRole('dialog',{name:'诊断与事件日志'})).toBeVisible();await page.keyboard.press('Escape');
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await page.getByRole('button',{name:/FPS .*物理/}).click();
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await expect(page.getByRole('dialog',{name:'性能详情'})).toBeVisible();
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await page.keyboard.press('Escape');
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await page.getByRole('tab',{name:'控制'}).click();
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await page.getByRole('button',{name:'Actuator'}).click();
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await expect(page.getByText('motor')).toBeVisible();
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await expect(page.getByRole('tabpanel',{name:'控制'}).getByText('slide',{exact:true})).toBeVisible();
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await page.getByRole('tab',{name:'模型结构'}).click();
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const structure=page.getByRole('navigation',{name:'模型结构树'});await expect(structure).toBeVisible();await structure.getByRole('treeitem',{name:/hinge/}).hover();
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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('aria-pressed','true');
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await expect(page.getByText('已忽略').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'})).toBeVisible();
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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.locator('input[type="file"]').first().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.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
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await expect(page.getByText('5 个文件')).toBeVisible();
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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.locator('input[type="file"]').first().setInputFiles([
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fixture('urdf_mesh/robot.urdf'),
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fixture('urdf_mesh/triangle.obj'),
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]);
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await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
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await expect(page.getByText('2 个文件')).toBeVisible();
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await page.getByRole('button',{name:'URDF 处理方式'}).click();
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await expect(page.getByLabel('URDF 处理方式')).toHaveValue('mjcf');
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await expect(page.getByLabel('URDF 基座类型')).toHaveValue('floating');
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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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await expect(notifications).toContainText('URDF 兼容处理');
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await expect(notifications).toContainText(/URDF 已转换为 MJCF（浮动基座），并整体平移/);
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await page.keyboard.press('Escape');
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await expect(page.getByLabel('显示碰撞几何')).not.toBeChecked();
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});
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test('中等规模模型持续步进并可重复加载', async ({page}) => {
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await page.goto('/');
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const input = page.locator('input[type="file"]').first();
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const modelFile = {name:'large.xml',mimeType:'text/xml',buffer:Buffer.from(LARGE_MODEL)};
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await input.setInputFiles(modelFile);
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await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
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await page.getByRole('button', {name:'▶ 播放'}).click();
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await page.waitForTimeout(2_000);
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await expect(page.locator('footer')).not.toContainText('时间 0.000 s');
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// 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。
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await page.getByRole('button',{name:'重置',exact:true}).click();
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await expect(page.getByRole('button',{name:'▶ 播放'})).toBeVisible();
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await expect(page.locator('footer')).toContainText('时间 0.000 s');
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await page.getByRole('button',{name:'▶ 播放'}).click();
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await page.waitForTimeout(500);
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await page.getByRole('button',{name:'⏸ 暂停'}).click();
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await page.waitForTimeout(200);
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const pausedTime=(await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1];
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expect(Number(pausedTime)).toBeGreaterThan(0);
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await page.waitForTimeout(500);
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expect((await page.locator('footer').innerText()).match(/时间 ([\d.]+) s/)?.[1]).toBe(pausedTime);
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await input.setInputFiles(modelFile);
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await expect(page.getByText('WASM 已加载')).toBeVisible({timeout: 30_000});
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await expect(page.getByRole('alert')).toHaveCount(0);
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});
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test('无效模型显示中文诊断且保留工程树', async ({page}) => {
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await page.goto('/');
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await page.locator('input[type="file"]').first().setInputFiles(fixture('invalid.xml'));
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await expect(page.getByRole('alert')).toContainText('模型编译失败', {timeout: 30_000});
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await expect(page.getByText('invalid.xml', {exact: false}).first()).toBeVisible();
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});
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