231 lines
18 KiB
TypeScript
231 lines
18 KiB
TypeScript
import {expect, test} 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) => 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 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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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',{exact:true})).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('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.locator('input[type="file"]').first().setInputFiles({name:'model.xml',mimeType:'text/xml',buffer:Buffer.from(SIMPLE_MODEL)});
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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:'源代码'}).click();
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const dialog=page.getByRole('dialog',{name:'转换后的 MJCF 编辑器'});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');await editor.click({position:{x:240,y:120}});
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await page.keyboard.press('Control+a');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({timeout:30_000});
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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.getByText('WASM 已加载')).toBeVisible({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('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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const options=page.getByRole('dialog',{name:'配置 URDF 仿真组件'});
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await expect(options.getByRole('checkbox',{name:/为关节添加驱动器/})).toBeChecked();
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await expect(options.getByRole('checkbox',{name:/添加传感器/})).toBeChecked();
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await options.getByRole('button',{name:'转换并加载'}).click();
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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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await page.getByRole('button',{name:'源代码'}).click();
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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();
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await sourceDialog.locator('.monaco-editor').click({position:{x:240,y:120}});await page.keyboard.press('Control+End');await page.keyboard.insertText('\n');
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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});
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await expect(page.getByText('WASM 已加载')).toBeVisible();await sourceDialog.getByRole('button',{name:'关闭源代码编辑器'}).click();
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});
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test('URDF 自动生成的关节驱动器与摄像头可通过 MuJoCo 编译',async({page})=>{
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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>`;
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await page.goto('/');await page.locator('input[type="file"]').first().setInputFiles({name:'jointed.urdf',mimeType:'application/xml',buffer:Buffer.from(urdf)});
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await page.getByRole('dialog',{name:'配置 URDF 仿真组件'}).getByRole('button',{name:'转换并加载'}).click();
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await expect(page.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
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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();
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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('已为 1 个 hinge/slide 关节生成 motor 驱动器');
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await expect(notifications).toContainText('已将 640×480 摄像头固连到 arm');
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await page.keyboard.press('Escape');await page.getByRole('tab',{name:'控制'}).click();await page.getByRole('button',{name:'Actuator'}).click();
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await expect(page.getByText('shoulder_motor')).toBeVisible();await expect(page.getByText('关节：shoulder')).toBeVisible();await expect(page.getByText('N·m',{exact:true})).toBeVisible();
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await page.getByText('常用参数').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');
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});
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test('转换后的 MJCF 保存时保留 DAE 转换缓存资源',async({page})=>{
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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')))});
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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.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
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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.getByText('WASM 已加载')).toBeVisible();await expect(page.getByText('模型编译失败')).toHaveCount(0);
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});
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test('slide 关节向屏幕轴正方向拖动时 qpos 同向增加',async({page})=>{
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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.getByText('WASM 已加载')).toBeVisible({timeout:30_000});
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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();
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await page.getByRole('tab',{name:'控制'}).click();const jointSection=page.getByRole('button',{name:'关节 1'});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);
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});
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test('可导入并启用 Python 控制器',async({page})=>{
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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('WASM 已加载')).toBeVisible({timeout:30_000});
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await page.getByRole('tab',{name:'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`;
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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 expect(page.getByText('Python / Pyodide')).toBeVisible();await page.getByRole('button',{name:'启用',exact:true}).click();await expect(page.getByText('运行中')).toBeVisible();
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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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