具体实现如下：（antd版本4.19.0）

<Menu mode="inline"
 onClick={({ key }) => this.setState({ selectedKeys: [key] })}
 onOpenChange={this.onOpenChange.bind(this)} // SubMenu 展开/关闭的回调
 openKeys={openKeys} // 当前展开的 SubMenu 菜单项 key 数组
 selectedKeys={selectedKeys}
 theme="dark"
>
 {
   menus && menus.map((item: menu) => {
   return item.children && item.children.length > 0 ? this.renderSubMenu(item) : this.renderMenuItem(item)
   })
 }
</Menu>

// 获取点击菜单路径
  findMenuKey (menus: menu[], func: any, path: string[] = []) {
    if (!menus) return []
    for (const data of menus) {
      path.push(JSON.stringify(data.key))
      if (func(data)) return path
      if (data.children) {
        const findChildren: any = this.findMenuKey(data.children, func, path)
        if (findChildren.length) return findChildren
      }
      path.pop()
    }
    return []
  }

  // 多级菜单时，点击菜单，收起其他菜单
  onOpenChange = (openKeys: string[]) => {
    const latestOpenKey = openKeys[openKeys.length - 1] // 点击菜单key
    const key = this.findMenuKey(menus, (data: any)=>data.key === Number(latestOpenKey))
    this.setState({
      openKeys: key
    })
  }