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Verify isolated joint edits and parent frame inheritance

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wangdequan
2026-09-21 09:19:45 +08:00
parent a472911ad1
commit 91ebd56d6d
7 changed files with 384 additions and 14 deletions
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66
scripts/test_machine_manager_mill700_browser.mjs
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@@ -2,6 +2,7 @@ import assert from "node:assert/strict";
import { mkdir, readFile, writeFile } from "node:fs/promises";
import { createHash } from "node:crypto";
import { pathToFileURL } from "node:url";
import * as THREE from "../web/react/node_modules/three/build/three.module.js";
const modulePath = process.env.PLAYWRIGHT_MODULE;
if (!modulePath) { console.log(JSON.stringify({ schema: "machine-manager-mill700-browser.v1", status: "blocked", code: "playwright_unavailable" })); process.exit(0); }
@@ -27,8 +28,69 @@ try {
await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerPartCount === "1" && document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRendered === "true" && document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= 132, null, { timeout: 60000 });
assert.equal(hierarchy.root, "MILL700-U_1"); assert.equal(hierarchy.nodes, 132); assert.equal(hierarchy.meshes, 126); assert.ok(hierarchy.maxDepth >= 6); assert.ok(hierarchy.metallic > 20);
const transformPreview = page.locator("[data-machine-manager-preview]"); const beforePartTransform = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-origin")); await control("machine-manager-translation").locator("input").nth(0).fill("100"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-origin") ?? "[]"); return current.length === 3 && Math.abs(current[0] - before[0] - .1) < 1e-7; }, { before: beforePartTransform }); const beforePartRotation = JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-joint-world-quaternion")); await control("machine-manager-rotation").locator("input").nth(2).fill("20"); await page.waitForFunction(({ before }) => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-joint-world-quaternion") ?? "[]"); return current.length === 4 && Math.abs(current[3] - before[3]) > 1e-4; }, { before: beforePartRotation }); report.checks.push("root and internal node transforms update their local position and posture relative to their parent");
assert.ok(await page.locator('[data-axis-control="machine-tree-node"]').count() >= 132); const selectedNode = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-主轴-JT3" }).first(); await selectedNode.dispatchEvent("click"); assert.match(await control("machine-tree-origin").textContent(), /节点自身局部原点.*装配位置.*装配姿态/s); const selectedPath = await selectedNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path"), selectedPart = await selectedNode.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-part"); await page.waitForFunction(({ selectedPart, selectedPath }) => { const preview = document.querySelector("[data-machine-manager-preview]"); return preview?.dataset.machineManagerSelectedJoint === `${selectedPart}:${selectedPath}` && preview?.dataset.machineManagerSelectedJointAxes === "local-xyz" && preview?.dataset.machineManagerTransformTarget === "none-internal-joint"; }, { selectedPart, selectedPath }); await control("machine-manager-translation").locator("input").nth(0).fill("120"); await page.waitForFunction(() => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-transform") ?? "{}"); return Math.abs(current.local?.[0] - .12) < 1e-7; }); await control("machine-manager-rotation").locator("input").nth(2).fill("25"); await page.waitForFunction(() => { const current = JSON.parse(document.querySelector("[data-machine-manager-preview]")?.getAttribute("data-machine-manager-selected-transform") ?? "{}"); return Math.abs(current.localQuaternion?.[2] - Math.sin(25 * Math.PI / 360)) < 1e-7 && Math.abs(current.localQuaternion?.[3] - Math.cos(25 * Math.PI / 360)) < 1e-7; }); const jointWorldOrigin = JSON.parse(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-world-origin")); assert.ok(jointWorldOrigin.length === 3 && jointWorldOrigin.every(Number.isFinite)); assert.ok(Number(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-selected-joint-axes-scale")) >= 1); await page.screenshot({ path: new URL("mill700-studio-lighting.png", output).pathname, timeout: 60000 });
const source = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-门1-JT1" }).first(), target = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A底座" }).first(); const sourceItem = source.locator("xpath=ancestor::li[1]"), targetItem = target.locator("xpath=ancestor::li[1]"), sourcePath = await sourceItem.getAttribute("data-machine-tree-path"), targetPath = await targetItem.getAttribute("data-machine-tree-path"), partId = await sourceItem.getAttribute("data-machine-tree-part"); await target.evaluate((element, payload) => { const transfer = new DataTransfer(); transfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: payload.partId, path: payload.sourcePath })); element.dispatchEvent(new DragEvent("drop", { bubbles: true, cancelable: true, dataTransfer: transfer })); }, { partId, sourcePath }); await page.waitForFunction(({ sourcePath, targetPath }) => document.querySelector(`[data-machine-tree-path="${sourcePath}"]`)?.getAttribute("data-machine-tree-parent") === targetPath, { sourcePath, targetPath }, { timeout: 60000 }); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
const readSelected = async () => JSON.parse(await transformPreview.getAttribute("data-machine-manager-selected-transform"));
const choose = async (name) => {
const button = control("machine-tree-node").filter({ has: page.locator("span").filter({ hasText: new RegExp(`^${name}$`) }) }).first();
const path = await button.locator("xpath=ancestor::li[1]").getAttribute("data-machine-tree-path");
await button.dispatchEvent("click");
await page.waitForFunction((path) => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerSelectedJoint?.endsWith(`:${path}`), path);
return readSelected();
};
const closeVector = (actual, expected, label) => actual.forEach((value, index) => assert.ok(Math.abs(value - expected[index]) < 1e-7, `${label}[${index}]: ${value} != ${expected[index]}`));
const sampleBranch = async () => ({
parent: await choose("MILL700-A-主轴-JT2"),
sibling: await choose("SHS25C100020_Track_TSXXX-0000058522002"),
child: await choose("MILL700-A-主轴-JT4"),
selected: await choose("MILL700-A-主轴-JT3"),
});
const beforeEdit = await sampleBranch();
const translationInputs = control("machine-manager-translation").locator("input");
for (let i = 0; i < 3; i++) assert.ok(Math.abs(Number(await translationInputs.nth(i).inputValue()) - beforeEdit.selected.local[i] * 1000) < 1e-7);
assert.match(await control("machine-tree-origin").textContent(), /节点自身局部原点.*装配位置.*装配姿态/s);
await translationInputs.nth(0).fill("120");
// Screenshot complaint: move only the selected joint by -44 mm in its parent's Z direction.
await translationInputs.nth(2).fill(String(beforeEdit.selected.local[2] * 1000 - 44));
const translated = await sampleBranch();
const delta = new THREE.Vector3(.12 - beforeEdit.selected.local[0], 0, -.044)
.applyQuaternion(new THREE.Quaternion(...beforeEdit.parent.worldQuaternion));
closeVector(translated.selected.world, new THREE.Vector3(...beforeEdit.selected.world).add(delta).toArray(), "translation follows rotated parent axes");
closeVector(translated.child.world, new THREE.Vector3(...beforeEdit.child.world).add(delta).toArray(), "child inherits translation");
for (const key of ["parent", "sibling"]) assert.deepEqual(translated[key], beforeEdit[key], `${key} must not move`);
closeVector(translated.child.local, beforeEdit.child.local, "child local position unchanged");
await control("machine-manager-rotation").locator("input").nth(2).fill("25");
const rotated = await sampleBranch();
closeVector(rotated.selected.localQuaternion, new THREE.Quaternion().setFromAxisAngle(new THREE.Vector3(0, 0, 1), 25 * Math.PI / 180).toArray(), "selected local rotation");
closeVector(rotated.selected.world, translated.selected.world, "rotation about own origin");
for (const key of ["parent", "sibling"]) assert.deepEqual(rotated[key], beforeEdit[key], `${key} must not rotate`);
closeVector(rotated.child.local, beforeEdit.child.local, "child local origin unchanged");
const childWorld = new THREE.Vector3(...rotated.child.local).applyQuaternion(new THREE.Quaternion(...rotated.selected.worldQuaternion)).add(new THREE.Vector3(...rotated.selected.world));
closeVector(rotated.child.world, childWorld.toArray(), "child inherits selected rotation");
assert.ok(rotated.child.world.some((value, i) => Math.abs(value - translated.child.world[i]) > 1e-6));
assert.equal(await transformPreview.getAttribute("data-machine-manager-selected-joint-axes"), "local-xyz");
await choose("MILL700-A-主轴-JT2");
assert.equal(Number(await control("machine-manager-rotation").locator("input").nth(2).inputValue()), 0);
await choose("MILL700-A-主轴-JT3");
assert.equal(Number(await translationInputs.nth(0).inputValue()), 120);
assert.equal(Number(await control("machine-manager-rotation").locator("input").nth(2).inputValue()), 25);
await page.keyboard.press("Escape");
await control("machine-manager-settings").click();
await page.waitForFunction(() => document.querySelector("[data-machine-manager-preview]")?.dataset.machineManagerRendered === "true");
closeVector((await readSelected()).local, rotated.selected.local, "reopening preserves node edit");
report.nodeEditing = { before: beforeEdit, translated, rotated };
report.checks.push("MILL700 JT3 edits preserve parent and sibling transforms; child inherits movement and rotation around the joint origin; values survive reselection and dialog reopening");
await page.screenshot({ path: new URL("mill700-studio-lighting.png", output).pathname, timeout: 60000 });
const source = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A-门1-JT1" }).first(), target = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: "MILL700-A底座" }).first(); await source.dispatchEvent("click");
await control("machine-manager-rotation").locator("input").nth(2).fill("-15");
const doorBefore = await readSelected();
const sourceItem = source.locator("xpath=ancestor::li[1]"), targetItem = target.locator("xpath=ancestor::li[1]"), sourcePath = await sourceItem.getAttribute("data-machine-tree-path"), targetPath = await targetItem.getAttribute("data-machine-tree-path"), partId = await sourceItem.getAttribute("data-machine-tree-part"); await target.evaluate((element, payload) => { const transfer = new DataTransfer(); transfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: payload.partId, path: payload.sourcePath })); element.dispatchEvent(new DragEvent("drop", { bubbles: true, cancelable: true, dataTransfer: transfer })); }, { partId, sourcePath }); await page.waitForFunction(({ sourcePath, targetPath }) => document.querySelector(`[data-machine-tree-path="${sourcePath}"]`)?.getAttribute("data-machine-tree-parent") === targetPath, { sourcePath, targetPath }, { timeout: 60000 }); assert.equal(await page.locator("[data-machine-manager-preview]").getAttribute("data-machine-manager-context-generation"), "1");
const doorAfter = await readSelected();
closeVector(doorAfter.world, doorBefore.world, "reparent preserves edited world position");
closeVector(doorAfter.worldQuaternion, doorBefore.worldQuaternion, "reparent preserves edited world orientation");
const doorLocalX = Number(await translationInputs.nth(0).inputValue());
await translationInputs.nth(0).fill(String(doorLocalX + 12));
const doorEdited = await readSelected();
closeVector(doorEdited.local, [doorAfter.local[0] + .012, ...doorAfter.local.slice(1)], "editing uses stable path after reparent");
report.checks.push("reparenting an edited node preserves world pose and subsequent inputs edit that node under its new parent");
report.hierarchy = hierarchy; report.checks.push("selected MILL700 joint displays its local XYZ coordinate system at local origin"); report.checks.push("existing 132-node, depth-6 hierarchy displayed as a draggable tree with node origins");
const preview = page.locator("[data-machine-manager-preview]"); assert.equal(await preview.getAttribute("data-machine-manager-lighting"), "studio-pmrem"); assert.equal(await preview.getAttribute("data-machine-manager-coordinate-system"), "machine-z-up"); assert.equal(await preview.getAttribute("data-machine-manager-axis-map"), "X:x,Y:y,Z:z"); assert.equal(await preview.getAttribute("data-machine-manager-camera-up"), "0,0,1"); assert.equal(await preview.getAttribute("data-machine-manager-model-transform"), "none-on-import"); assert.equal(await preview.getAttribute("data-machine-manager-webgl-antialias"), "false"); assert.equal(await preview.getAttribute("data-machine-manager-render-state"), "rendered"); assert.equal(await preview.getAttribute("data-machine-manager-context-generation"), "1"); assert.equal(Number(await preview.getAttribute("data-machine-manager-scene-meshes")), 126); assert.ok(Number(await preview.getAttribute("data-machine-manager-scene-objects")) >= 132); const bounds = JSON.parse(await preview.getAttribute("data-machine-manager-bounds")); assert.ok(bounds.min.every(Number.isFinite) && bounds.max.every(Number.isFinite) && bounds.size > 0); const [bufferWidth, bufferHeight] = (await preview.getAttribute("data-machine-manager-buffer-size")).split("x").map(Number), maxBuffer = Number(await preview.getAttribute("data-machine-manager-max-buffer")); assert.ok(bufferWidth > 0 && bufferHeight > 0 && bufferWidth <= maxBuffer && bufferHeight <= maxBuffer);
const bind = async (name, role) => { const node = page.locator('[data-axis-control="machine-tree-node"]').filter({ hasText: name }).first(); await node.dispatchEvent("click"); await control("machine-tree-axis-role").selectOption(role); };