wangdequan
db29ae625f
关节契约扩为槽位制：以 LinuxCNC 联合号标识关节，轴字母降为槽位属性， 重复轴（bridge-mill 的两个 Y）、并联杆长（hexapod/pentapod）和被动槽位 （max5 第 6 关节）都能表达。v1 规则保持不变并合成 jointOrder，已保存 GLB 与既有测试不受影响。 13 个结构 GLB 由 scripts/generate_physical_case_glbs.mjs 统一重建， 可动关节均为按槽位命名的 Group 并写 userData.linuxcncJoint，共 71 个 关节，槽位数与运行目录的 joint_count 逐条一致。 新增 machine-visual-bindings.json 与纯函数模块，以 machine id 为键： 坐标字母不能作键，因为三个案例共用 XYZAB、三个共用 XYZABC。主界面切换 案例时自动装载对应模型，失败时保留内置模型并显式提示。 消除前端五关节截断：visual 适配器的 joints 改为数组并新增 jointsAuthoritative；allHomed 按 joint_count 判断；面板按 worker 断言的 machine id 查找机型。 管理器解锁：坐标与案例下拉以"存在完整视觉绑定"为启用条件，13 案例全部 可选；machine-urdf.ts 新增 generic-wasm/1 profile，AC/BC 严格校验路径 不变；新增 machine-kinematics-specs.json 保存逐关节限位，INI 未声明的 限位保持 null 而不编造。 修复三个真实缺陷：构建漏发 woodpecker/gmoccapy/qtdragon 配置目录（ DEFECT-02 根因）；案例切换沿用"装载需要已上电"的门控，导致关机状态下 第二次切换被静默拒绝；重复轴机型上 React 列表键冲突。 验收：13 案例逐个切换装载成功、槽位键与绑定定义逐一一致、浏览器错误 0； typecheck 与生产构建通过；视觉绑定、GLB 命名、关节契约、投影、store、 双画布、运动学规格漂移、11 案例 Worker 闭环、管理器浏览器回归全部通过。 证据在 coverage/glb-machine-manager/physical-drive/。 Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
53 lines
3.6 KiB
JavaScript
53 lines
3.6 KiB
JavaScript
import assert from 'node:assert/strict';
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import { mkdir, readFile, writeFile } from 'node:fs/promises';
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import { pathToFileURL } from 'node:url';
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const imported = await import(pathToFileURL(process.env.PLAYWRIGHT_MODULE ?? '/home/mes006/.npm/_npx/e41f203b7505f1fb/node_modules/playwright/index.js'));
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const playwright = imported.default ?? imported;
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const browser = await playwright.chromium.launch({ headless: true, executablePath: '/usr/bin/google-chrome', args: ['--no-sandbox', '--use-angle=swiftshader', '--enable-unsafe-swiftshader'] });
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const page = await browser.newPage({ viewport: { width: 1440, height: 1000 } });
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const errors = [];
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page.on('pageerror', (error) => errors.push(`pageerror:${error.message}`));
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page.on('console', (message) => { if (message.type() === 'error') errors.push(`console:${message.text()}`); });
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const control = (id) => page.locator(`[data-axis-control="${id}"]`);
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const cases = [
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['xyzac-trt', 7], ['xyzbc-trt', 7], ['xyzab-tdr', 7], ['bridge-mill-5axiskins', 10], ['max5-maxkins', 7],
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['hexapod-genhexkins', 10], ['pentapod-pentakins', 9], ['puma-pumakins', 8], ['puma-genserkins', 8],
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['trivkins-xyzab', 7], ['trivkins-xyzcw', 7], ['trivkins-xyzya', 7], ['scorbot-kins', 7],
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];
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const report = { schema: 'physical-case-glb-browser.v1', status: 'running', cases: [], browser_errors: errors };
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const out = new URL('../coverage/glb-machine-manager/physical-cases/', import.meta.url);
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await mkdir(out, { recursive: true });
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try {
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await page.goto(process.env.PHYSICAL_CASE_URL ?? 'http://127.0.0.1:5174/', { waitUntil: 'domcontentloaded', timeout: 30000 });
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await page.waitForFunction(() => document.querySelector('main.axis-app')?.dataset.axisStateSource === 'linuxcnc-wasm', null, { timeout: 60000 });
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await control('machine-manager-settings').click();
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for (const [id, minimumNodes] of cases) {
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await control('machine-document-new').click();
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const chooser = page.waitForEvent('filechooser');
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await control('machine-manager-import').click();
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const fileChooser = await chooser;
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await fileChooser.setFiles({ name: `${id}.glb`, mimeType: 'model/gltf-binary', buffer: await readFile(new URL(`../web/react/public/machine-cases/physical/${id}.glb`, import.meta.url)) });
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await page.waitForFunction(() => document.querySelector('.machine-manager-workbench')?.getAttribute('aria-busy') === 'false', null, { timeout: 30000 });
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const nodes = page.locator('[data-axis-control="machine-tree-node"]');
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await page.waitForFunction((minimum) => document.querySelectorAll('[data-axis-control="machine-tree-node"]').length >= minimum, minimumNodes, { timeout: 30000 });
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assert.ok(await nodes.count() >= minimumNodes, id);
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const preview = page.locator('[data-machine-manager-preview]');
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assert.equal(await preview.getAttribute('data-machine-manager-render-state'), 'rendered', id);
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await page.screenshot({ path: new URL(`${id}.png`, out).pathname, fullPage: true });
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report.cases.push({ id, tree_nodes: await nodes.count(), scene_objects: await preview.getAttribute('data-machine-manager-scene-objects'), rendered: await preview.getAttribute('data-machine-manager-rendered') });
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}
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assert.deepEqual(errors, []);
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report.status = 'verified';
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} catch (error) {
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report.status = 'failed';
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report.error = error instanceof Error ? error.stack : String(error);
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await page.screenshot({ path: new URL('failure.png', out).pathname, fullPage: true }).catch(() => {});
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throw error;
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} finally {
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report.browser_errors = errors;
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await writeFile(new URL('browser.report.json', out), `${JSON.stringify(report, null, 2)}\n`);
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await browser.close();
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}
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console.log(JSON.stringify(report));
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