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 DOCS, REPO
SHOTS = DOCS + "/shots"
# 虚拟时间预算：多文件版每页要拉 14MB 数据脚本 + 668KB three，4 并发下 20s 会不够（实测 8/10 视图两轮不一致）
# 时可上调。默认仍给 20000，用 ARM_VTB 覆盖做对照实验。
VTB = os.environ.get("ARM_VTB", "40000")
WORKERS = int(os.environ.get("ARM_SHOT_WORKERS", "2"))
# 前端拆分后是多文件 + Worker，只能走 http（file:// 下模块与 Worker 会被 CORS 拦掉）。
PORT = int(os.environ.get("ARM_PORT", "8123"))
BASE = "http://127.0.0.1:%d/webapp/index.html" % PORT
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",
    "02_front": "?cam=front",
    "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",

    # 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",

    "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_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_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_xray_full": "?cam=iso&xray=1",
    "harness_xray_internal": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&alpha=0.35&xray=1",
}
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)
    # serve.py 已下发 Cache-Control: no-store，不再需要 _t= 破缓存
    target = q if q.startswith("http") else BASE + q + (
        "&still=1" if "?" in q else "?still=1")
    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=" + VTB,
           "--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

def warmup():
    """拉一次最大的那个数据脚本，成功才算服务可用。"""
    import urllib.request
    try:
        with urllib.request.urlopen(BASE, timeout=5) as r:
            r.read()
        with urllib.request.urlopen("http://127.0.0.1:%d/webapp/generated/00_data.js" % PORT,
                                    timeout=30) as r:
            n = len(r.read())
        return n > 1000000
    except Exception:
        return False

def ensure_server():
    """端口没开就自己拉一个 serve 子进程，跑完回收；不让截图依赖"你先把服务开着"。"""
    import socket
    import time
    sk = socket.socket()
    try:
        sk.connect(("127.0.0.1", PORT))
        sk.close()
        return None
    except OSError:
        pass
    errf = open(os.path.join(REPO, "scratch", "_serve_err.txt"), "wb")
    p = subprocess.Popen([sys.executable, "-m", "arm.viewer.serve", "--port", str(PORT)],
                         cwd=REPO, stdout=subprocess.DEVNULL, stderr=errf)
    for _ in range(60):
        time.sleep(0.25)
        sk = socket.socket()
        try:
            sk.connect(("127.0.0.1", PORT))
            sk.close()
            if warmup():
                print("serve 已拉起 :%d（首屏数据已预热）" % PORT, flush=True)
                return p
        except OSError:
            pass
        finally:
            try:
                sk.close()
            except Exception:
                pass
    p.kill()
    err = open(os.path.join(REPO, "scratch", "_serve_err.txt"), "rb").read().decode("utf-8", "ignore").strip()[-400:]
    raise SystemExit("serve 拉不起来：端口 %d 可能被占；子进程输出:\n%s" % (PORT, err))

if __name__ == "__main__":
    from concurrent.futures import ThreadPoolExecutor
    srv = ensure_server()
    try:
        with ThreadPoolExecutor(max_workers=WORKERS) as executor:
            results = list(executor.map(take_shot, want))
    finally:
        if srv:
            srv.terminate()

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