37 lines
1.6 KiB
Python
37 lines
1.6 KiB
Python
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# -*- coding: utf-8 -*-
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"""从 travel_detail.json 的单关节硬限位重新生成 docs/travel.json。
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滑块范围 = 单关节硬限位（任意单关节推满零干涉，含 1° 安全余量）；
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组合折叠约束保留在 travel_detail.json 的 combos 字段里，供报告引用。
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"""
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import json
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import math
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import os
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import sys
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sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
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from sweep_v2 import CHAIN, DOCS
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d = json.load(open(DOCS + "/travel_detail.json", encoding="utf-8"))
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out = []
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for t in CHAIN[1:]:
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s = d["singles"][t]
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lo, hi = s["lo"], s["hi"]
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if lo <= -179.9 and hi >= 179.9:
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out.append(dict(axis=t, lo=-180.0, hi=180.0, continuous=True, zero=0.0,
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note="整周无干涉，可 360° 连续旋转（全对全动态扫描验证）"))
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else:
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lo_out = float(math.ceil(lo + 1.0)) if lo < -0.5 else 0.0
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hi_out = float(math.floor(hi - 1.0)) if hi > 0.5 else 0.0
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out.append(dict(axis=t, lo=lo_out, hi=hi_out, continuous=False, zero=0.0,
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note="正向 +%d° / 反向 %d°，总行程 %d°（全对全动态扫描验证，含相邻件与电机）"
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% (hi_out, lo_out, hi_out - lo_out)))
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print("%-3s %7.1f .. %7.1f -> %s .. %s" % (t, lo, hi, out[-1]["lo"], out[-1]["hi"]))
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json.dump(out, open(DOCS + "/travel.json", "w", encoding="utf-8"),
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ensure_ascii=False, indent=1)
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d["final"] = out
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json.dump(d, open(DOCS + "/travel_detail.json", "w", encoding="utf-8"),
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ensure_ascii=False, indent=1)
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print("rewrote docs/travel.json (single-joint hard stops) + updated travel_detail.json")
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