Mujoco_WASM/web_platform/src/app/components/UrdfImportOptionsDialog.test.tsx

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

const capabilities = vi.hoisted(() => ({ training: true }));
vi.mock('../websiteConfig', () => ({ websiteCapabilities: capabilities }));

const mobileProfiles = ['MobileManipulator-LeKiwi-v1', 'MobileManipulator-LeKiwi-Bundle'];

describe('UrdfImportOptionsDialog', () => {
  beforeEach(() => {
    capabilities.training = true;
  });

  it.each(mobileProfiles)('本地版保留训练场景 %s', (profileId) => {
    const onConfirm = vi.fn();
    render(<UrdfImportOptionsDialog open onConfirm={onConfirm} onSkip={() => {}} />);
    expect(screen.getAllByRole('option', { name: /移动操作训练场景/ })).toHaveLength(2);
    fireEvent.change(screen.getByLabelText('URDF 机器人 profile'), {
      target: { value: profileId },
    });
    expect(screen.getByText(/强化学习任务即可一键训练/)).toBeVisible();
    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
    expect(onConfirm).toHaveBeenCalledWith(
      { addActuators: false, addSensors: false, sensorType: 'camera' },
      profileId,
    );
  });

  it('网站版移除训练选项，仍可选择普通 LeKiwi profile', () => {
    capabilities.training = false;
    const onConfirm = vi.fn();
    render(<UrdfImportOptionsDialog open onConfirm={onConfirm} onSkip={() => {}} />);
    expect(screen.queryAllByRole('option', { name: /移动操作训练场景/ })).toHaveLength(0);
    expect(screen.queryByText(/强化学习任务即可一键训练/)).not.toBeInTheDocument();
    expect(screen.getByRole('option', { name: '不启用（通用转换）' })).toBeInTheDocument();
    fireEvent.change(screen.getByLabelText('URDF 机器人 profile'), {
      target: { value: 'lekiwi-v1' },
    });
    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
    expect(onConfirm).toHaveBeenCalledWith(
      { addActuators: false, addSensors: false, sensorType: 'camera' },
      'lekiwi-v1',
    );
  });

  it.each(mobileProfiles)('网站版不沿用已移除的初始训练场景 %s', (profileId) => {
    capabilities.training = false;
    const onConfirm = vi.fn();
    render(
      <UrdfImportOptionsDialog
        open
        initialProfileId={profileId}
        onConfirm={onConfirm}
        onSkip={() => {}}
      />,
    );
    expect(screen.getByLabelText('URDF 机器人 profile')).toHaveValue('');
    expect(screen.queryByText(/强化学习任务即可一键训练/)).not.toBeInTheDocument();
    expect(screen.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeEnabled();
    expect(screen.getByRole('button', { name: '不添加，直接加载' })).toBeEnabled();
    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
    expect(onConfirm).toHaveBeenCalledWith(
      expect.objectContaining({ addActuators: true, addSensors: true }),
    );
  });

  it('默认选择关节驱动器和摄像头传感器', () => {
    const onConfirm = vi.fn();
    render(
      <UrdfImportOptionsDialog
        open
        path="robot.urdf"
        mountBodies={['base', 'head_link']}
        onConfirm={onConfirm}
        onSkip={() => {}}
      />,
    );
    expect(screen.getByRole('checkbox', { name: /为关节添加驱动器/ })).toBeChecked();
    expect(screen.getByRole('checkbox', { name: /添加传感器/ })).toBeChecked();
    expect(screen.getByLabelText('摄像头固连 Body')).toHaveValue('head_link');
    fireEvent.change(screen.getByLabelText('摄像头位置 X'), { target: { value: '0.2' } });
    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
    expect(onConfirm).toHaveBeenCalledWith(
      expect.objectContaining({
        addActuators: true,
        addSensors: true,
        sensorType: 'camera',
        cameraMountBody: 'head_link',
        cameraPosition: [0.2, 0, 0.05],
        cameraDirection: '+X',
      }),
    );
  });

  it('允许分别关闭自动生成项', () => {
    const onConfirm = vi.fn();
    render(
      <UrdfImportOptionsDialog open path="robot.urdf" onConfirm={onConfirm} onSkip={() => {}} />,
    );
    fireEvent.click(screen.getByRole('checkbox', { name: /为关节添加驱动器/ }));
    fireEvent.click(screen.getByRole('checkbox', { name: /添加传感器/ }));
    fireEvent.click(screen.getByRole('button', { name: '转换并加载' }));
    expect(onConfirm).toHaveBeenCalledWith(
      expect.objectContaining({ addActuators: false, addSensors: false, sensorType: 'camera' }),
    );
  });

  it('可以不添加组件并继续加载', () => {
    const onSkip = vi.fn();
    render(<UrdfImportOptionsDialog open path="robot.urdf" onConfirm={() => {}} onSkip={onSkip} />);
    fireEvent.click(screen.getByRole('button', { name: '不添加，直接加载' }));
    expect(onSkip).toHaveBeenCalledOnce();
  });
});