fix: WebSocket StrictMode竞态修复 + 项目面板输入框可划选文字

- useRosBridge: 增加manualDisconnectRef防护，防止StrictMode双重挂载导致无效重连
- ProjectPanel: 项目展开/重命名时禁用draggable，修复输入框无法划选文字
- ProjectPanel: HIL时长输入框支持清空
- ProjectPanel: expandedSection cursor:auto覆盖父级grab
- 清除所有诊断console.log

src/components/ProjectPanel/ProjectPanel.jsx

@@ -263,8 +263,9 @@ export default function ProjectPanel() {
                     dragOver?.index === index && dragOver?.position === 'above' ? styles.dragOverAbove : '',
                     dragOver?.index === index && dragOver?.position === 'below' ? styles.dragOverBelow : '',
                   ].filter(Boolean).join(' ')}
-                  draggable
+                  draggable={!isActive && renamingId !== p.id}
                   onDragStart={(e) => {
+                    if (isActive || renamingId === p.id) { e.preventDefault(); return; }
                     dragIndexRef.current = index;
                     e.dataTransfer.effectAllowed = 'move';
                     e.currentTarget.style.opacity = '0.4';
@@ -488,7 +489,8 @@ export default function ProjectPanel() {
                                     type="number"
                                     min="1" max="3600" step="1"
                                     value={hilDuration}
-                                    onChange={(e) => setHilDuration(Number(e.target.value) || 10)}
+                                    onChange={(e) => setHilDuration(e.target.value === '' ? '' : Number(e.target.value))}
+                                    onBlur={() => { if (!hilDuration || hilDuration <= 0) setHilDuration(10); }}
                                     onClick={(e) => e.stopPropagation()}
                                     disabled={hilDisabled}
                                     style={{

src/components/ProjectPanel/ProjectPanel.module.css

@@ -166,6 +166,7 @@
   padding: 8px 12px 12px;
   border-top: 1px solid rgba(99, 102, 241, 0.15);
   background: rgba(99, 102, 241, 0.03);
+  cursor: auto;
 }
 
 .statusRow {

src/hooks/useRosBridge.js

@@ -10,6 +10,9 @@
  *   /hil/done     — 仿真完成信号
  *
  * 自动重连: 连接失败或断开后自动重试 (最多 MAX_RETRIES 次, 间隔 RETRY_DELAY_MS)
+ *
+ * StrictMode 安全: 使用 mountedRef 防止 React 开发模式双重挂载时
+ * 第一次挂载的 WebSocket 在 cleanup 后仍然触发 onclose 重连。
  */
 import { useState, useRef, useCallback, useEffect } from 'react';
 
@@ -45,17 +48,22 @@ export default function useRosBridge({ onDone } = {}) {
   }, []);
 
   const connectInternal = useCallback((url) => {
+    // 如果已被手动断开（包括 StrictMode cleanup），不再尝试连接
+    if (manualDisconnectRef.current) return;
     if (wsRef.current) return;
 
-    console.log('[RosBridge] connecting to', url, 'attempt', retryCountRef.current);
     setStatus('connecting');
     const ws = new WebSocket(url);
     wsRef.current = ws;
 
     ws.onopen = () => {
-      console.log('[RosBridge] connected!');
+      // 连接成功后再次检查，防止 StrictMode cleanup 已在 open 之前触发
+      if (manualDisconnectRef.current) {
+        ws.close();
+        return;
+      }
       setStatus('connected');
-      retryCountRef.current = 0; // 连接成功, 重置重试计数
+      retryCountRef.current = 0;
       // 订阅仿真数据
       ws.send(JSON.stringify({
         op: 'subscribe',
@@ -98,14 +106,12 @@ export default function useRosBridge({ onDone } = {}) {
 
           flushToState();
         }
-      } catch (e) {
-        // 忽略
+      } catch {
+        // 忽略解析错误
       }
     };
 
-    ws.onerror = (e) => {
-      console.warn('[RosBridge] error', e);
-    };
+    ws.onerror = () => {};
 
     ws.onclose = () => {
       wsRef.current = null;