Robot_Arm/arm/viewer/shot.py

# -*- coding: utf-8 -*-
"""Headless Edge screenshots of the viewer, for the visual self-check loop."""
import os
import subprocess
import sys
import shutil
import glob

try:
    sys.stdout.reconfigure(encoding="utf-8")
except Exception:
    pass

from arm.paths import WEB, DOCS
SHOTS = DOCS + "/shots"
HTML = WEB + "/机器人手臂3D查看器.html"
CAND = [r"C:\Program Files (x86)\Microsoft\Edge\Application\msedge.exe",
        r"C:\Program Files\Microsoft\Edge\Application\msedge.exe"]
EDGE = next((c for c in CAND if os.path.exists(c)), None)
if not EDGE:
    EDGE = glob.glob(r"C:\Users\*\AppData\Local\Microsoft\Edge\*\msedge.exe")
    EDGE = EDGE[0] if EDGE else None
    if not EDGE:
        raise SystemExit("msedge not found")

VIEWS = {
    "01_iso": "?cam=iso",
    "zoom_user": "?cam=iso&az=-0.9&po=1.15&rd=470&tx=30&ty=320&tz=-80&xray=0",
    "user_harness_view": "?az=-1.85&po=1.32&rd=430&tx=0&ty=330&tz=-115&xray=0",
    "user_harness_zoom": "?az=-1.85&po=1.32&rd=280&tx=-5&ty=360&tz=-115&xray=0",
    "user_m1_rear": "?az=-1.25&po=1.35&rd=350&tx=-70&ty=570&tz=-128&xray=0",
    "user_m1_exact": "?az=-1.5708&po=1.5708&rd=260&tx=0&ty=610&tz=-128&xray=0",
    "user_m1_bypass_oblique": "?az=-1.0&po=1.15&rd=300&tx=-40&ty=580&tz=-140&xray=0",
    "user_smooth_harness": "?az=1.50&po=1.45&rd=340&tx=-15&ty=560&tz=-128&xray=0",
    "user_contour_harness": "?az=1.5708&po=1.50&rd=360&tx=-15&ty=320&tz=-128&xray=0",
    "02_front": "?cam=front",

    # 工程图 / 装配向导 / 运动模拟三种模式。URL 参数（?view=&sheet=&theme=&guide=）就是
    # 为这几条截图加的：不把它们纳入基线，拆 CSS 与那 700 行工程图 JS 时等于没有关卡。
    "m1_sheet_front": "?view=sheet",
    "m2_sheet_joint": "?view=sheet&sheet=1",
    "m3_sheet_exploded": "?view=sheet&sheet=2",
    "m4_sheet_side": "?view=sheet&sheet=3",
    "m5_guide_step1": "?view=sheet&sheet=guide&guide=0",
    "m6_guide_step5": "?view=sheet&sheet=guide&guide=4",
    "m7_sheet_blueprint": "?view=sheet&theme=blueprint",
    "m8_sheet_dark": "?view=sheet&theme=dark",
    "m9_motion": "?view=motion",
    "03_side": "?cam=side",
    "04_top": "?cam=top",
    "05_exploded": "?cam=iso&expl=100",
    "06_wrist": "?cam=wrist&xray=0",
    "07_joint": "?cam=joint",
    "08_pose": "?cam=iso&j2=35&j3=60&j4=-25&j1=25",
    "09_sheet": "?sheet=1",
    "10_solid": "?cam=iso&xray=0",
    "11_tool_flange": "?cam=wrist&xray=0&j6=45",
    "12_elbow_flare": "?cam=elbow&xray=0",
    "13_forearm_side": "?cam=side&xray=0&rd=340&ty=245&tz=-135",
    "user_target": "?cam=side&az=-1.5708&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
    "view_yz_pos_x": "?cam=side&az=0&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
    "view_yz_neg_x": "?cam=side&az=3.14159&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
    "view_iso_forearm": "?cam=side&az=-0.65&po=1.2&xray=0&rd=320&tx=100&ty=245&tz=-135",
    "user_view1": "?cam=wrist&az=0.55&po=1.4&rd=310&xray=0",
    "user_view2": "?cam=wrist&az=0.2&po=1.4&rd=290&xray=0",
    "user_p04": "?cam=joint&az=-1.5708&po=1.57&rd=380&xray=0",
    "user_p04_opp": "?cam=joint&az=1.5708&po=1.57&rd=380&xray=0",
    "user_elbow_rear": "?az=1.5708&po=1.5708&rd=280&tx=95&ty=315&tz=-128&xray=0",
    "user_p07_wrist": "?az=1.5708&po=1.5708&rd=240&tx=95&ty=235&tz=-128&xray=0",
    "user_elbow_front": "?az=-1.5708&po=1.5708&rd=250&tx=18.5&ty=310&tz=-128&xray=0",
    "user_p06_xz": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=350&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
    "user_p06_yz": "?az=0&po=1.5708&rd=260&tx=18.5&ty=350&tz=-110&xray=0",
    "user_p06_iso": "?az=-0.65&po=1.25&rd=260&tx=-15&ty=350&tz=-128&xray=0",
    "user_p07_creases": "?az=-0.65&po=1.25&rd=260&tx=30&ty=270&tz=-130&xray=0",
    # 电机腔内壁（隐藏全部电机，从腔内看 R35/R30.15 两段同心圆弧是否连续）
    "bay_p06_inside": "?az=1.5708&po=1.5708&rd=250&tx=18.5&ty=345&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
    "bay_p07_inside": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=235&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
    "bay_p08_inside": "?az=1.5708&po=1.5708&rd=210&tx=18.5&ty=175&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
    "user_p04_side": "?az=1.5708&po=1.5708&rd=300&tx=18.5&ty=520&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
    "user_p04_bottom": "?az=0.5&po=2.0&rd=240&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
    "user_p04_bottom2": "?az=1.2&po=2.0&rd=260&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
    "user_shoulder_solid": "?cam=joint&az=2.1&po=1.35&rd=380&xray=0",
    "user_shoulder_xray": "?cam=joint&az=2.1&po=1.35&rd=380",
    "user_shoulder_top": "?cam=joint&az=-0.6&po=0.6&rd=360&xray=0",
    # P03 轻量化桁架版（孤立视图：只留 P03，隐藏其余零件/电机/螺钉/包络）
    "p03_light_iso": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "p03_light_side": "?az=1.5708&po=1.5708&rd=320&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "p03_light_rear": "?az=0.0&po=1.45&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "p03_light_join": "?az=0.62&po=1.15&rd=420&tx=18.5&ty=520&tz=-128&xray=0",
    "p03_light_xray": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=1&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    # 减重版（2026-10-02）：P04 立柱槽 / P06 过渡块窗 / P07 顶板槽 的孤立视图
    # 俯视看朝上敞开的槽口，斜视看槽壁与留下来的抗弯腹板
    "hollow_p04_top": "?az=0.0&po=0.05&rd=250&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "hollow_p04_iso": "?az=0.7&po=1.05&rd=280&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "hollow_p07_top": "?az=0.0&po=0.05&rd=230&tx=18.5&ty=270&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "hollow_p07_iso": "?az=0.7&po=1.05&rd=260&tx=18.5&ty=275&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    "hollow_p06_iso": "?az=0.7&po=1.05&rd=190&tx=18.5&ty=368&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
    # P03↔立柱 安装接口（新版 4xM5 从腔体上方拧入）：俯视看螺钉落位
    "p03_mount_top": "?az=0.9&po=1.30&rd=190&tx=-115&ty=476&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
    "p03_mount_iso": "?az=2.2&po=0.95&rd=230&tx=-115&ty=486&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
    "p03_mount_loose": "?az=0.9&po=0.42&rd=260&tx=-115&ty=500&tz=-128&xray=0&expl=60&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
    "j3_前端压盖_装配": "?az=0.7&po=2.72&rd=190&tx=19.5&ty=396&tz=-128&xray=0&hide=立柱,底座,肩关节安装悬臂,肩叉,大臂骨架,小臂骨架,腕部转接座,末端工具法兰,M1,M2,M4,M5,M6,包络经纬网",
    "j3_前端压盖_全件": "?az=0.7&po=2.6&rd=300&tx=19.5&ty=420&tz=-128&xray=0",
    # 承压面下沉 2mm 留下的"悬空凸台"（2026-10-04 整改）：沿电机轴线从尾端面方向看，
    # 四个视图分别对应 P04/P05/P06/P07 的后端。ax/po 沿轴向，rd 拉近到 R35 座圈。
    # 沿电机轴线从尾端面看过去：承压面(R35圆面) + 4xS02 沉孔，凸台消失后应是干净圆面
    "boss_p04": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M3,M4,M5,M6,ENV",
    "user_fork_fixed": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P06,P07,P08,P09,M1,M4,M5,M6,ENV,S0,S1",
    "bay_p04_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
    "bay_p06_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=332&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
    "bay_p07_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=227&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
    "p04_both_ends": "?az=1.5708&po=1.5708&rd=200&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
    "p04_m2_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
    "p06_m4_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV,S0,S1",
    "p07_m5_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=227&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV,S0,S1",
    "p05_m3_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=400&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M1,M2,M4,M5,M6,ENV,S0,S1",
    "boss_p05": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=392&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M2,M4,M5,M6,ENV",
    "user_compare_view": "?cam=side&az=0&po=1.5708&rd=460&tx=19.5&ty=380&tz=-128&xray=0&hide=P01,P02,P03,P09,M1,M6,ENV",
    "user_p07_check": "?az=1.5708&po=1.5708&rd=260&tx=19.5&ty=220&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P09,M1,M2,M3,M4,M5,M6,ENV",
    "boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
    "boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
    "svg_side": f"file:///{DOCS}/sheet_side.svg",
    "svg_joint": f"file:///{DOCS}/sheet_joint.svg",
    "svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
    "user_circle_check": "?az=0.8&po=1.95&rd=240&tx=19.5&ty=430&tz=-128&xray=0&hide=M1,M2,M3,M4,M5,M6,ENV",
    "user_exact_view": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=440&tz=-128&xray=0&hide=P01,P02,P03,M1,M2,M3,M4,M5,M6,ENV",
    "shot_p08_user": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=176&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P07,P09,M1,M2,M3,M4,M5,M6,ENV",
    "p05_flank_view": "?az=0&po=1.5708&rd=200&tx=19.5&ty=440&tz=-135&xray=0&hide=P01,P02,P03,P07,P08,P09,M1,M4,M5,M6,ENV",
    "harness_full_iso": "?cam=iso&xray=0",
    "harness_overview": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&xray=0",
    "harness_xray_internal": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&alpha=0.35&xray=1",
    "harness_p07_window": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&xray=0",
    "harness_p07_xray": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&alpha=0.35&xray=1",
    "harness_p04_p05": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&xray=0",
    "harness_p04_p05_xray": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&alpha=0.35&xray=1",
    "harness_p06_window": "?az=-0.65&po=1.25&rd=240&tx=25&ty=355&tz=-128&xray=0",
    "harness_xray_full": "?cam=iso&xray=1",
    # 扎带拱桥核验：沿 ±Y 正视肩部，确认三个拱桥各自露出多少、线束是否压在桥上
    "tie_probe_negY": "?az=1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
    "tie_probe_posY": "?az=-1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
    "tie_after_negY": "?az=1.5708&po=1.5708&rd=300&tx=-25&ty=600&tz=-128&xray=0",
    "tie_after_oblique": "?az=2.05&po=1.30&rd=330&tx=-25&ty=600&tz=-128&xray=0",
    "tie_after_close": "?az=1.90&po=1.50&rd=180&tx=-25&ty=605&tz=-100&xray=0",
    # P06/P07 −X 侧线束走廊：从 −X、−Y 斜看（纯 −X 会被蓝色立柱挡住）
    "tie_after_p0607": "?az=2.35&po=1.5708&rd=300&tx=0&ty=290&tz=-102.5&xray=0",
    "tie_after_p0607_obl": "?az=2.60&po=1.35&rd=260&tx=-5&ty=290&tz=-110&xray=0",
}
os.makedirs(SHOTS, exist_ok=True)
want = sys.argv[1:] or list(VIEWS)

def take_shot(nm):
    q = VIEWS[nm]
    out = "%s/%s.png" % (SHOTS, nm)
    import time, tempfile
    t_bust = int(time.time() * 1000)
    target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
        f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
    udd = tempfile.mkdtemp(prefix="eshot")
    cmd = [EDGE, "--headless=new", "--use-gl=angle", "--use-angle=d3d11",
           "--disable-cache", "--disable-application-cache", "--disk-cache-size=0",
           "--user-data-dir=" + udd,
           "--enable-gpu-rasterization", "--ignore-gpu-blocklist",
           "--hide-scrollbars", "--force-device-scale-factor=1",
           "--window-size=1500,860", "--virtual-time-budget=20000",
           "--screenshot=" + out, target]
    r = subprocess.run(cmd, capture_output=True, timeout=180)
    shutil.rmtree(udd, ignore_errors=True)
    ok = os.path.exists(out) and os.path.getsize(out) > 20000
    err = (r.stderr or b"").decode("utf-8", errors="ignore").strip()[:90].replace("\n", " ")
    sz = os.path.getsize(out) if os.path.exists(out) else 0
    print("%-18s %s %8s %s" % (nm, "OK " if ok else "FAIL", sz, err), flush=True)
    return ok

if __name__ == "__main__":
    from concurrent.futures import ThreadPoolExecutor
    with ThreadPoolExecutor(max_workers=min(4, os.cpu_count() or 2)) as executor:
        results = list(executor.map(take_shot, want))

    print("edge:", EDGE)
    print("all shots ok:", all(results))