Robot_Arm/src/build_viewer.py

# -*- coding: utf-8 -*-
"""Assemble the single-file viewer: three.js (inline, no CDN) + mesh data + 2D sheets."""
import io
import json
import os
import sys

try:
    sys.stdout.reconfigure(encoding="utf-8")
except Exception:
    pass
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
from armcore import WEB, DOCS, WORKSPACE
SRC = os.path.dirname(os.path.abspath(__file__))

import time

def rebuild_viewer():
    print("=" * 80, flush=True)
    print("【第五阶段 5/5】打包单文件三维交互查看器 (机器人手臂3D查看器.html)...", flush=True)
    print("=" * 80, flush=True)
    t0 = time.time()
    print("  - 读取 Three.js 离线 3D 渲染内核...", end="", flush=True)
    three = io.open(WEB + "/three_inline.js", encoding="utf-8").read()
    assert len(three) > 400000, len(three)
    print(f" 完成 ({len(three)/1024:.0f} KB) ✓", flush=True)

    print("  - 读取几何网格与关节运动学数据...", end="", flush=True)
    data = io.open(WEB + "/mesh_arm.json", encoding="utf-8").read()
    sheets = io.open(WEB + "/sheets.jsdata", encoding="utf-8").read()
    trv = io.open(DOCS + "/travel.json", encoding="utf-8").read() if os.path.exists(
        DOCS + "/travel.json") else "[]"
    col = io.open(DOCS + "/collide.json", encoding="utf-8").read() if os.path.exists(
        DOCS + "/collide.json") else '{"caps":[],"parts":{}}'
    screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
        DOCS + "/screws.json") else "[]"
    ik_solver = io.open(WEB + "/arm-ik-solver.js", encoding="utf-8").read()
    ik_glue = io.open(WEB + "/ik-glue.js", encoding="utf-8").read()
    tpl = io.open(SRC + "/viewer_tpl.html", encoding="utf-8").read()
    print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)

    print("  - 打包生成全内置单文件 HTML...", end="", flush=True)
    out = (tpl.replace("/*__THREE__*/", three)
              .replace("/*__DATA__*/", data)
              .replace("/*__SHEETS__*/", sheets)
              .replace("/*__TRAVEL__*/", trv)
              .replace("/*__COLLIDE__*/", col)
              .replace("/*__SCREWS__*/", screws)
              .replace("/*__IKSOLVER__*/", ik_solver)
              .replace("/*__IKGLUE__*/", ik_glue))
    assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
    dst = WEB + "/机器人手臂3D查看器.html"
    # 【2026-10-06】三个副本逐个写、逐个报错，不要一把梭。
    #   原来三行连写，任一份被浏览器独占（Windows 上打开中的 html 是独占锁）就抛异常，
    #   而调用方 arm_model.py 把整个 rebuild_viewer() 包在 try/except 里，
    #   于是只写成功第一份、另外两份静默停在旧版本 —— 表现为"代码改了但网页没变"。
    #   实测就是这个坑：18:52 那次 dst 是新的，web/index.html 和根目录那份还停在 18:12。
    ok, failed = True, []
    for path in (dst, WEB + "/index.html", WORKSPACE + "/机器人手臂3D查看器.html"):
        try:
            io.open(path, "w", encoding="utf-8").write(out)
        except Exception as e:
            ok = False
            failed.append("%s (%s)" % (path, e))
    sz_mb = os.path.getsize(dst) / 1e6
    print(f" 完成 ({sz_mb:.2f} MB, 耗时: {time.time()-t0:.2f}s) ✓", flush=True)
    if failed:
        print("!! 以下副本写入失败（多半是浏览器正打开着该文件，Windows 独占锁）：", flush=True)
        for f in failed:
            print("     - %s" % f, flush=True)
        print("   关掉对应页面后重跑 python src/build_viewer.py 即可。\n", flush=True)
    else:
        print(f"-> 3D查看器已更新至: {dst}、{WEB}/index.html 与 根目录/机器人手臂3D查看器.html\n",
              flush=True)

if __name__ == "__main__":
    rebuild_viewer()
    os._exit(0)