fix: 更新 README 和配置文件，调整模式和工具设置

2026-08-04 18:11:19 +08:00
parent b24165640d
commit 5a6ec47e6c
4 changed files with 199 additions and 139 deletions
@@ -13,6 +13,100 @@ assert SPEC.loader is not None
 SPEC.loader.exec_module(launcher_ui)


+class LauncherCommandsTest(unittest.TestCase):
+    def test_modes_expose_the_confirmed_command_matrix(self) -> None:
+        expected_titles = {
+            "Simulation": [
+                "Dual Arm Mock Launch",
+                "XRobotoolkit UDP Bridge (90 Hz)",
+                "Sample UDP Sender (Both Staggered, 60s)",
+                "Open Controller Hz Monitor",
+                "Open ROS Topic/Node List Monitor",
+                "Open Controller Topic Monitor",
+            ],
+            "MuJoCo": [
+                "Dual Arm MuJoCo Mock Launch",
+                "Dual Arm MuJoCo Real Hardware Launch",
+                "XRobotoolkit UDP Bridge (90 Hz)",
+                "Open Controller Hz Monitor",
+                "Open ROS Topic/Node List Monitor",
+                "Open Controller Topic Monitor",
+            ],
+            "Real Hardware": [
+                "Ping Left RM75",
+                "Ping Right RM75",
+                "Left Arm RealMan Launch",
+                "Right Arm RealMan Launch",
+                "Dual Arm RealMan Launch",
+                "XRobotoolkit UDP Bridge (90 Hz)",
+                "Left Gripper Open",
+                "Left Gripper Close",
+                "Right Gripper Open",
+                "Right Gripper Close",
+                "Open ROS Topic/Node List Monitor",
+                "Open Controller Topic Monitor",
+            ],
+            "Diagnostics": [
+                "ROS Doctor Report",
+                "XR-RM Bringup Prefix",
+                "XR-RM Input Prefix",
+                "XR-RM Teleop Prefix",
+                "XR-RM MuJoCo Prefix",
+                "Open Controller Position Monitor",
+                "Open Controller Hz Monitor",
+                "Open ROS Topic/Node List Monitor",
+                "Open Controller Topic Monitor",
+            ],
+        }
+
+        self.assertEqual(launcher_ui.MODES, list(expected_titles))
+        for mode, titles in expected_titles.items():
+            actual = [
+                indexed_title.split(". ", 1)[1]
+                for indexed_title, _command in launcher_ui.build_commands_by_mode(mode)
+            ]
+            self.assertEqual(actual, titles)
+
+    def test_mujoco_launches_distinguish_mock_and_real_hardware(self) -> None:
+        commands = dict(launcher_ui.build_commands_by_mode("MuJoCo"))
+
+        self.assertIn(
+            "arm:=both use_mock:=true use_mujoco:=true",
+            commands["1. Dual Arm MuJoCo Mock Launch"],
+        )
+        self.assertIn(
+            "arm:=both use_mock:=false use_mujoco:=true",
+            commands["2. Dual Arm MuJoCo Real Hardware Launch"],
+        )
+
+    def test_cmd_vel_monitor_is_completely_removed(self) -> None:
+        self.assertFalse(hasattr(launcher_ui, "CMD_VEL_MONITOR_ACTION"))
+        for mode in launcher_ui.MODES:
+            self.assertNotIn("cmd_vel", repr(launcher_ui.build_commands_by_mode(mode)))
+
+    def test_environment_check_includes_mujoco_package(self) -> None:
+        app = object.__new__(launcher_ui.LauncherApp)
+        app.workspace_root = launcher_ui._find_workspace_root()
+        app.terminal_command = lambda _title, _script: ["terminal"]
+        app.x_terminal_target = lambda: "terminator"
+        checked_packages = []
+        app._ros_package_available = lambda package: checked_packages.append(package) or True
+        app.show_text_dialog = lambda *_args: None
+        app.status = mock.Mock()
+
+        with mock.patch.object(
+            launcher_ui.shutil,
+            "which",
+            return_value="/usr/bin/x-terminal-emulator",
+        ):
+            app.check_prerequisites()
+
+        self.assertEqual(
+            checked_packages,
+            ["xr_rm_bringup", "xr_rm_input", "xr_rm_teleop", "xr_rm_mujoco"],
+        )
+
+
 class LauncherCleanupTest(unittest.TestCase):
    def test_xrobotoolkit_cleanup_policy_only_stops_service_on_window_close(self) -> None:
        stop_all_patterns = set(
@@ -89,6 +183,34 @@ class LauncherCleanupTest(unittest.TestCase):
            ],
        )

+    def test_stop_all_and_window_close_stop_mujoco(self) -> None:
+        for stop_pc_service in (False, True):
+            app = object.__new__(launcher_ui.LauncherApp)
+            app.status = mock.Mock()
+            app.close_related_terminal_windows = lambda: 0
+
+            def fake_check_output(command, **_kwargs):
+                if command == ["pgrep", "-f", "dual_arm_simulator"]:
+                    return "404\n"
+                raise subprocess.CalledProcessError(1, command)
+
+            with (
+                mock.patch.object(
+                    launcher_ui.subprocess,
+                    "check_output",
+                    side_effect=fake_check_output,
+                ),
+                mock.patch.object(launcher_ui.os, "kill") as kill,
+                mock.patch.object(launcher_ui.time, "sleep"),
+            ):
+                app.stop_launched_processes(
+                    confirm=False,
+                    notify=False,
+                    stop_pc_service=stop_pc_service,
+                )
+
+            kill.assert_called_once_with(404, signal.SIGTERM)
+

 if __name__ == "__main__":
    unittest.main()