Mujoco_WASM/web_platform/src/training/LocalTrainingPanel.mobile.test.tsx

import { fireEvent, render, screen, waitFor, act } from '@testing-library/react';
import { beforeEach, expect, it, vi } from 'vitest';
import { LocalTrainingPanel } from './LocalTrainingPanel';
import { LocalTrainingClient } from './LocalTrainingClient';
import { MOBILE_TRAINING_TASKS, type MobileDeployment } from '../mobile/training';
import type { TrainingJob, TrainingServerInfo } from './types';

const taskId = 'MobileManipulator-LeKiwi-Bundle';
const deployment = {
  trainingTaskId: taskId,
  robotId: 'lekiwi-bundle',
  browserCompatible: true,
  trainingStage: 'navigate',
  evaluation: {
    episodes: 10,
    successRate: 0.6,
    safetyStops: 0,
    maxJointVelocity: 1.1,
    meanNavigationDistance: 0.1,
    seed: 100042,
  },
} as MobileDeployment;
const complete: TrainingJob = {
  id: 'a'.repeat(32),
  taskId,
  state: 'succeeded',
  createdAt: '',
  iteration: 2,
  maxIterations: 2,
  progress: 1,
  message: '完成',
  artifactReady: true,
  deployment,
  logs: [
    'Learning iteration 2 / 2',
    'Mean value loss: 0.2',
    'Mean surrogate loss: -0.1',
    'Mean entropy loss: -2',
    'Mean reward: 1.25',
  ],
};
const health: TrainingServerInfo = {
  version: '1',
  ready: true,
  trainerRoot: '/training',
  python: '/python',
  tasks: ['Unitree-Go2-Flat', ...Object.keys(MOBILE_TRAINING_TASKS)],
  taskMetadata: Object.entries(MOBILE_TRAINING_TASKS).map(([id, robotId]) => ({
    id,
    robotId,
    name: id,
    family: 'mobile-manipulator',
    browserCompatible: true,
    terrainPresets: [],
    terrainParameters: {},
    sensorTypes: [],
    sensorParameters: {},
    mapSyncScope: '',
  })),
};
beforeEach(() => {
  vi.restoreAllMocks();
  localStorage.clear();
  sessionStorage.clear();
  vi.spyOn(LocalTrainingClient.prototype, 'health').mockResolvedValue(health);
  vi.spyOn(LocalTrainingClient.prototype, 'presets').mockResolvedValue([]);
});
async function connect() {
  fireEvent.change(screen.getByLabelText('训练服务访问令牌'), { target: { value: 'test' } });
  fireEvent.click(screen.getByRole('button', { name: '连接' }));
  await screen.findByRole('button', { name: '发起本地训练' });
}
it('自动选择变体、隐藏Go2配置；上传快照→创建作业→下载元数据与ONNX→主会话导入', async () => {
  const snapshot = new File(['scene'], 'scene.zip');
  const policy = new File(['onnx'], 'policy.onnx');
  const bridge = {
    robotId: 'lekiwi-bundle',
    prepare: vi.fn().mockResolvedValue(snapshot),
    importPolicy: vi.fn().mockResolvedValue(undefined),
  };
  const upload = vi
    .spyOn(LocalTrainingClient.prototype, 'uploadMobileScene')
    .mockResolvedValue({ id: 'b'.repeat(64), robotId: 'lekiwi-bundle', sceneSha256: 's' });
  const start = vi.spyOn(LocalTrainingClient.prototype, 'startJob').mockResolvedValue(complete);
  vi.spyOn(LocalTrainingClient.prototype, 'downloadPolicy').mockResolvedValue(policy);
  vi.spyOn(LocalTrainingClient.prototype, 'downloadMobileDeployment').mockResolvedValue(deployment);
  const go2 = vi.fn();
  render(<LocalTrainingPanel mobileTraining={bridge} onPolicyReady={go2} />);
  await connect();
  expect(screen.getByLabelText('训练任务')).toHaveValue(taskId);
  expect(screen.queryByLabelText('训练地形')).not.toBeInTheDocument();
  expect(screen.queryByLabelText('基础策略')).not.toBeInTheDocument();
  expect(screen.queryByLabelText('W&B 模式')).not.toBeInTheDocument();
  expect(screen.getByLabelText('并行环境')).toHaveAttribute('max', '64');
  expect(screen.getByLabelText('计算设备')).toHaveValue('cpu');
  fireEvent.change(screen.getByLabelText('每环境采样步数'), { target: { value: '8' } });
  fireEvent.change(screen.getByLabelText('训练迭代'), { target: { value: '2' } });
  fireEvent.change(screen.getByLabelText('目标 X'), { target: { value: '0.7' } });
  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
  await waitFor(() => expect(start).toHaveBeenCalledOnce());
  expect(bridge.prepare).toHaveBeenCalledWith(taskId);
  expect(upload).toHaveBeenCalledWith(snapshot);
  expect(start.mock.calls[0][0]).toMatchObject({
    taskId,
    numEnvs: 1,
    maxIterations: 2,
    device: 'cpu',
    seed: 42,
    mobilePackageId: 'b'.repeat(64),
    mobileParams: {
      rolloutSteps: 8,
      goalPosition: [0.7, 0.15, 0.019],
      stage: 'navigate',
      evaluationEpisodes: 10,
      positionJitter: 0.1,
      navigationBootstrapSteps: 4096,
    },
  });
  expect(start.mock.calls[0][0]).not.toHaveProperty('terrainPreset');
  expect(await screen.findByText('价值损失')).toBeInTheDocument();
  fireEvent.click(screen.getByRole('button', { name: '导入策略' }));
  await waitFor(() => expect(bridge.importPolicy).toHaveBeenCalledWith(policy, deployment));
  expect(go2).not.toHaveBeenCalled();
  expect(screen.getByText('60.0% / 10 回合')).toBeVisible();
  expect(screen.getByText('1.100 rad/s')).toBeVisible();
  fireEvent.click(screen.getByRole('button', { name: '接续此作业（保留权重）' }));
  expect(screen.getByLabelText('接续作业 ID')).toHaveValue(complete.id);
  fireEvent.change(screen.getByLabelText('移动操作训练阶段'), { target: { value: 'reach' } });
  start.mockRejectedValueOnce(new Error('上一阶段尚未达标'));
  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
  expect(await screen.findByRole('alert')).toHaveTextContent('上一阶段尚未达标');
  expect(start.mock.calls[1][0].mobileParams).toMatchObject({
    stage: 'reach',
    sourceJobId: complete.id,
  });
});
it('场景准备失败不创建作业；任务切换恢复Go2参数', async () => {
  const start = vi.spyOn(LocalTrainingClient.prototype, 'startJob');
  render(
    <LocalTrainingPanel
      onPolicyReady={vi.fn()}
      mobileTraining={{
        robotId: 'lekiwi-v1',
        prepare: vi.fn().mockRejectedValue(new Error('机器人绑定失败')),
        importPolicy: vi.fn(),
      }}
    />,
  );
  await connect();
  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
  expect(await screen.findByRole('alert')).toHaveTextContent('机器人绑定失败');
  expect(start).not.toHaveBeenCalled();
  fireEvent.change(screen.getByLabelText('训练任务'), { target: { value: 'Unitree-Go2-Flat' } });
  expect(screen.queryByLabelText('每环境采样步数')).not.toBeInTheDocument();
  expect(screen.getByLabelText('并行环境')).toHaveValue(4096);
  expect(screen.getByLabelText('计算设备')).toHaveValue('gpu');
});
it('轮询移动作业日志和完成状态；拒绝其他任务元数据', async () => {
  const bridge = { robotId: 'lekiwi-bundle', prepare: vi.fn(), importPolicy: vi.fn() };
  vi.spyOn(LocalTrainingClient.prototype, 'health').mockResolvedValue({
    ...health,
    activeJobId: complete.id,
  });
  vi.spyOn(LocalTrainingClient.prototype, 'job')
    .mockResolvedValueOnce({ ...complete, state: 'running', artifactReady: false })
    .mockResolvedValue(complete);
  vi.spyOn(LocalTrainingClient.prototype, 'downloadMobileDeployment').mockResolvedValue({
    ...deployment,
    trainingTaskId: 'MobileManipulator-LeKiwi-v1',
  });
  render(<LocalTrainingPanel mobileTraining={bridge} onPolicyReady={vi.fn()} />);
  fireEvent.change(screen.getByLabelText('训练服务访问令牌'), { target: { value: 'test' } });
  fireEvent.click(screen.getByRole('button', { name: '连接' }));
  await screen.findByRole('button', { name: '停止训练' });
  // Trigger the existing 1500ms status polling path without changing production timers.
  await act(async () => {
    await new Promise((resolve) => setTimeout(resolve, 1600));
  });
  fireEvent.click(await screen.findByRole('button', { name: '导入策略' }));
  expect(await screen.findByRole('alert')).toHaveTextContent('成果物与机器人变体不匹配');
  expect(bridge.importPolicy).not.toHaveBeenCalled();
});