Robot_Arm/src/draw_sheet.py

# -*- coding: utf-8 -*-
"""Assembly drawings (SVG) for the arm.

Round-2 approach, after the first version was rejected: per-part convex hulls FILLED made
the whole arm read as one blob and the balloons' leaders crossed the sheet.  Now:
  - parts are stroked only (no fill), so overlaps still read as separate outlines
  - balloons live in two side columns sorted by projected height, each with a short leader
    to the nearest point of its own outline (no long crossing leaders, no collisions)
  - joint axes are drawn as dash-dot centrelines and the pitch chain is dimensioned
  - the scale is computed from the actual pixels-per-mm, not hard-coded
Sheets: 01 总装侧视  02 关节局部放大(A-A)  03 爆炸轴测  04 前视
"""
import io
import json
import math
import os
import sys

sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding="utf-8")
sys.path.insert(0, os.path.dirname(os.path.abspath(__file__)))
from armcore import WEB, DOCS
D = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
P, LAY, MS = D["parts"], D["layout"], D["measured"]
MT, CT = MS["M"], MS["C"]
JOINTS = {j["id"]: j for j in D["joints"]}


def hull(pts):
    pts = sorted(set(pts))
    if len(pts) < 3:
        return pts
    def cr(o, a, b):
        return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
    lo = []
    for p in pts:
        while len(lo) >= 2 and cr(lo[-2], lo[-1], p) <= 0:
            lo.pop()
        lo.append(p)
    up = []
    for p in reversed(pts):
        while len(up) >= 2 and cr(up[-2], up[-1], p) <= 0:
            up.pop()
        up.append(p)
    return lo[:-1] + up[:-1]


def proj(p, kind):
    x, y, z = p
    if kind == "side":
        return (x, z)
    if kind == "front":
        return (y, z)
    if kind == "iso":
        a, b = math.radians(30), math.radians(35)
        u = x * math.cos(a) - y * math.sin(a)
        v = -x * math.sin(a) * math.sin(b) - y * math.cos(a) * math.sin(b) + z * math.cos(b)
        return (u, v)
    raise ValueError(kind)


def part_pts(p, kind, ex=0.0):
    vv = p["v"]
    step = max(1, len(vv) // 1400)
    out = []
    for i in range(0, len(vv), step):
        q = [vv[i][k] + p["ex"][k] * ex for k in range(3)] if ex else list(vv[i])
        out.append(proj(q, kind))
    return out


def nearest(h, pt):
    return min(h, key=lambda q: (q[0] - pt[0]) ** 2 + (q[1] - pt[1]) ** 2)


def esc(t):
    return str(t).replace('&', '&amp;').replace('<', '&lt;').replace('>', '&gt;')


def frame(W, H, title, note, scale, sheet_id=""):
    return ['<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 %d %d" width="%d" height="%d" '
            'class="assembly-sheet-svg" data-sheet-id="%s" data-sheet-title="%s" data-sheet-note="%s" data-sheet-scale="%s" '
            'font-family="Microsoft YaHei,sans-serif">' % (W, H, W, H, sheet_id, esc(title), esc(note), scale),
            '<defs>'
            '<filter id="partGlow" x="-20%" y="-20%" width="140%" height="140%">'
            '<feDropShadow dx="0" dy="0" stdDeviation="3.5" flood-color="#2563eb" flood-opacity="0.85"/>'
            '</filter>'
            '<filter id="balloonShadow" x="-20%" y="-20%" width="140%" height="140%">'
            '<feDropShadow dx="0" dy="1.5" stdDeviation="1.5" flood-color="#000" flood-opacity="0.25"/>'
            '</filter>'
            '</defs>',
            '<rect class="sheet-bg" width="%d" height="%d" fill="#fff"/>' % (W, H),
            '<g class="sheet-border">',
            '<rect class="sheet-border-outer" x="8" y="8" width="%d" height="%d" fill="none" stroke="#111" stroke-width="1.6"/>' % (W - 16, H - 16),
            '<rect class="sheet-border-inner" x="14" y="14" width="%d" height="%d" fill="none" stroke="#111" stroke-width=".5"/>' % (W - 28, H - 28),
            '<line class="sheet-title-line" x1="14" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (H - 44, W - 15, H - 44),
            '<text class="sheet-title-text" x="24" y="%d" font-size="13" font-weight="bold">%s</text>' % (H - 27, esc(title)),
            '<text class="sheet-note-text" x="24" y="%d" font-size="9" fill="#444">%s</text>' % (H - 16, esc(note)),
            '<line class="sheet-meta-line" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (W - 268, H - 44, W - 268, H - 15),
            '<text class="sheet-scale-text" x="%d" y="%d" font-size="9">比例 1:%s（按图幅适配）  单位 mm</text>' % (W - 260, H - 29, scale),
            '<text class="sheet-ver-text" x="%d" y="%d" font-size="9">六电机人形机器人手臂 %s / 迭代 %s</text>' % (W - 260, H - 17, LAY["ver"], LAY["it"]),
            '</g>']


def balloon(x, y, p):
    idx = p.get("idx", 0)
    name = esc(p.get("name", ""))
    cn = esc(p.get("cn", ""))
    return ('<g class="sheet-balloon" data-idx="%d" data-name="%s" data-cn="%s">'
            '<circle class="balloon-circle" cx="%.0f" cy="%.0f" r="10" fill="#fff" stroke="#111" stroke-width="1"/>'
            '<text class="balloon-text" x="%.0f" y="%.0f" font-size="9.5" text-anchor="middle">%d</text>'
            '</g>' % (idx, name, cn, x, y, x, y + 3.4, idx))


def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend=True, sheet_id=""):
    shp = []
    for p in P:
        if p["name"].startswith("ENV_") or p["name"].startswith("S"):
            continue
        h = hull(part_pts(p, kind, ex))
        if len(h) >= 3:
            shp.append((p, h))
    if not shp:
        return ""
    allp = [q for _, hs in shp for q in hs]
    xs, ys = [q[0] for q in allp], [q[1] for q in allp]
    lo_x, hi_x, lo_y, hi_y = min(xs), max(xs), min(ys), max(ys)
    ML, MR = 78, (300 if legend else 18)
    aw, ah = W - ML - MR - 20, H - 2 * 40 - 60
    if (hi_y - lo_y) > 1.25 * (hi_x - lo_x):
        aw -= 34.0                                  # room for the single balloon column
    sc = min(aw / max(1e-6, hi_x - lo_x), ah / max(1e-6, hi_y - lo_y))
    ox = ML + (aw - (hi_x - lo_x) * sc) / 2 - lo_x * sc
    oy = 34 + (ah + (hi_y - lo_y) * sc) / 2 + lo_y * sc
    T = lambda q: (q[0] * sc + ox, oy - q[1] * sc)
    out = frame(W, H, title, note, round(1 / sc, 2), sheet_id)

    if axes:
        out.append('<g class="sheet-axes-group">')
        for jid in ("J1", "J2", "J3", "J4", "J5"):
            j = JOINTS.get(jid)
            if not j:
                continue
            a = proj(j["rear"], kind)
            b = proj([j["rear"][k] + j["d"][k] * 90 for k in range(3)], kind)
            pa, pb = T(a), T(b)
            out.append('<line class="sheet-axis" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
                       'stroke-width=".8" stroke-dasharray="14 3 2 3"/>' % (pa[0], pa[1], pb[0], pb[1]))
            out.append('<text class="sheet-axis-label" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4">%s</text>'
                       % (pb[0] + 3, pb[1] - 3, jid))
        out.append('</g>')

    out.append('<g class="sheet-parts-group">')
    for p, h in shp:
        d = "M" + " L".join("%.1f %.1f" % T(q) for q in h) + "Z"
        col = "#%06x" % p["color"]
        idx = p.get("idx", 0)
        cn = esc(p.get("cn", ""))
        name = esc(p.get("name", ""))
        printed = 1 if p.get("printed") else 0
        attrs = 'class="sheet-part-path" data-idx="%d" data-name="%s" data-cn="%s" data-color="%s" data-printed="%d"' % (
            idx, name, cn, col, printed)
        if p["printed"]:
            out.append('<path d="%s" fill="none" stroke="%s" stroke-width="1.35" %s/>' % (d, col, attrs))
        else:
            out.append('<path d="%s" fill="none" stroke="#9aa1ad" stroke-width=".7" '
                       'stroke-dasharray="4 2" %s/>' % (d, attrs))
    out.append('</g>')

    # balloons in two side columns.
    side = []
    for p, h in shp:
        cx = sum(T(q)[0] for q in h) / len(h)
        cy = sum(T(q)[1] for q in h) / len(h)
        anchor = T(nearest(h, (cx, cy)))
        side.append((p, anchor, cx))
    tall = (hi_y - lo_y) > 1.25 * (hi_x - lo_x)
    right = sorted(side, key=lambda s: s[1][1]) if tall else sorted([s for s in side if s[2] >= ox + (hi_x - lo_x) * sc / 2.0], key=lambda s: s[1][1])
    left = [] if tall else sorted([s for s in side if s[2] < ox + (hi_x - lo_x) * sc / 2.0],
                                  key=lambda s: s[1][1])

    out.append('<g class="sheet-balloons-group">')
    def col(lst, x):
        n = max(1, len(lst))
        span = H - 130
        for i, (p, t, _cx) in enumerate(lst):
            by = 52 + span * (i + 0.5) / n
            out.append('<polyline class="sheet-leader" data-idx="%d" points="%.0f,%.0f %.0f,%.0f %.0f,%.0f" fill="none" '
                       'stroke="#555" stroke-width=".6"/>' % (p["idx"], t[0], t[1], (t[0] + x) / 2, by, x, by))
            out.append(balloon(x, by, p))
    col(left, ML - 30)
    col(right, (ox + (hi_x - lo_x) * sc + 52.0) if tall else (W - MR + 44))
    out.append('</g>')

    if legend:
        out.append('<g class="sheet-legend-box">')
        rows = sorted(side, key=lambda s: s[0]["idx"])
        half = (len(rows) + 1) // 2
        tx, ty0 = W - MR + 74, 62
        out.append('<text x="%d" y="%d" font-size="10" font-weight="bold">零 件 表</text>' % (tx, ty0 - 8))
        for c in (0, 1):
            for i, (p, _t, _cx) in enumerate(rows[c * half:(c + 1) * half]):
                y = ty0 + 12 + i * 12.6
                nm = esc(p["cn"].replace(" 半联轴器/抱箍", " 联轴器/抱箍").replace("端面齿", "")[:11])
                out.append('<g class="sheet-legend-row" data-idx="%d" data-name="%s" data-cn="%s">'
                           '<rect class="legend-row-bg" x="%d" y="%.0f" width="102" height="12.5" fill="transparent" rx="2"/>'
                           '<text class="legend-row-idx" x="%d" y="%.0f" font-size="8.5">%d</text>'
                           '<text class="legend-row-name" x="%d" y="%.0f" font-size="8.5">%s</text>'
                           '</g>' % (p["idx"], esc(p.get("name","")), esc(p.get("cn","")),
                                     tx + c * 106 - 3, y - 9.5,
                                     tx + c * 106, y, p["idx"],
                                     tx + c * 106 + 13, y, nm))
        out.append('</g>')

    if dims:
        out.append('<g class="sheet-dims-group">')
        for (a, b, lab, off) in dims:
            pa, pb = T(proj(a, kind)), T(proj(b, kind))
            y = (pa[1] + pb[1]) / 2 + off
            out.append('<line class="sheet-dim-line" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" stroke-width=".9"/>'
                       % (pa[0], y, pb[0], y))
            for q in (pa, pb):
                out.append('<line class="sheet-dim-ext" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
                           'stroke-width=".5" stroke-dasharray="2 2"/>' % (q[0], q[1], q[0], y))
            out.append('<text class="sheet-dim-text" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4" text-anchor="middle">%s</text>'
                       % ((pa[0] + pb[0]) / 2, y - 3, lab))
        out.append('</g>')
    out.append('</svg>')
    return "".join(out)


def joint_detail():
    """Sheet A-A: one joint drawn FROM THE MEASURED NUMBERS (not a mesh projection) with every
    governing dimension called out - this is the sheet you actually build against."""
    W, H = 1400, 780          # wide enough that the right-hand callouts stay on the sheet
    s = 6.0
    cy = 330
    x0 = 250.0                       # motor rear datum
    x_cover = x0 + MT["cover_z"] * s # cover face = the joint's datum plane
    x_hub = x_cover + CT["gap"] * s
    out = frame(W, H, "A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）",
                "电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → "
                "从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）", "joint")
    out.append('<line class="sheet-axis" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#0b57a4" stroke-width="1.1" '
               'stroke-dasharray="22 5 4 5"/>' % (x0 - 60, cy, x_hub + 190, cy))
    g = ['<g class="joint-geom-group" stroke="#111" fill="none" stroke-width="1.5">']
    # motor: housing Ø60 x 42, rear plate, cover Ø60.3 x 3.5
    g.append('<rect class="joint-geom-part" data-part="电机机座" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
             % (x0 + 5.5 * s, cy - 30 * s, 47 * s, 60 * s))
    g.append('<rect class="joint-geom-part" data-part="尾部PCBA" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
             % (x0, cy - MT["pcba_w"] / 2.0 * s, MT["pcba_t"] * s, MT["pcba_w"] * s))
    g.append('<rect class="joint-geom-part" data-part="电机输出端盖" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
             % (x_cover - 3.5 * s, cy - 30.15 * s, 3.5 * s, 60.3 * s))
    # coupling halves (4.5 each) and the driven hub
    g.append('<rect class="joint-geom-part" data-part="半联轴器A" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
    g.append('<rect class="joint-geom-part" data-part="半联轴器B" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
    g.append('<rect class="joint-geom-part" data-part="从动盘" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
    # clamp band over the closed pair
    g.append('<rect class="joint-geom-part" data-part="对开抱箍" x="%.1f" y="%.1f" width="%.1f" height="%.1f" stroke-dasharray="6 3"/>'
             % (x_cover + 0.6 * s, cy - 30 * s, 8.4 * s, 60 * s))
    g.append('</g>')
    out.extend(g)

    def dim(y, xa, xb, txt, col="#c00", lx=None):
        out.append('<g class="sheet-dim"><line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width="1"/>' % (xa, y, xb, y, col))
        for x in (xa, xb):
            out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>' % (x, y - 6, x, y + 6, col))
        if lx is None:
            out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="middle">%s</text>'
                       % ((xa + xb) / 2, y - 8, col, txt))
        else:
            out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="end">%s</text>'
                       % (lx, y - 8, col, txt))
            out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>'
                       % (lx + 4, y - 11, xa, y, col))
        out.append('</g>')
    dim(cy - 240, x0, x_cover, "整机长 %.1f" % MT["cover_z"])
    dim(cy - 215, x_cover, x_hub, "两盖板面跨距 %.2f" % CT["gap"], lx=620)
    dim(cy + 250, x0, x_hub, "电机尾基准 → 从动盘贴合面 = %.3f  ← 全臂节距的唯一来源" % MS["HUB_FACE_Z"])
    dim(cy + 215, x_cover + 0.6 * s, x_cover + 9.0 * s, "抱箍轴向 %.3f~%.3f" % tuple(MS["CLAMP_SPAN"]), lx=470)

    def note(x, y, tx, ty, txt, anchor="start"):
        out.append('<g class="sheet-note"><polyline points="%.1f,%.1f %.1f,%.1f %.1f,%.1f" fill="none" stroke="#555" stroke-width=".7"/>'
                   % (x, y, x, ty, tx, ty))
        out.append('<text x="%.1f" y="%.1f" font-size="10.5" text-anchor="%s">%s</text></g>'
                   % (tx + (3 if anchor == "start" else -3), ty + 3.5, anchor, txt))
    note(x0 + 28 * s, cy - 30 * s, 235, cy - 190, "机座 Ø%.0f x %.0f，滑配孔按 Ø%.1f"
         % (MT["hous_d"], MT["hous_len"], 60.3), "end")
    note(x0 + 4 * s, cy - 31.8 * s, 235, cy - 160, "尾部 PCBA 方 %.1f → 口袋 %.1f"
         % (MT["pcba_w"], MT["pcba_w"] + 0.8), "end")
    note(x_cover + 2.2 * s, cy - 27 * s, 900, cy - 200, "半联轴器 A（12 齿端面花键 R%.1f~%.1f，齿高 %.1f）"
         % (CT["tooth_r0"], CT["tooth_r1"], CT["tooth_s"]))
    note(x_cover + 6.7 * s, cy + 27 * s, 900, cy - 170, "半联轴器 B = A 绕局部 X 转 180° 后沿轴移 2xPART_Z")
    note(x_hub + 12 * s, cy + 41 * s, 900, cy + 150, "从动盘：Ø%.0fx%.1f 颈孔 + Ø%.1fx5.0 中心孔 + 3xM2 @Ø%.0f"
         % (MT["neck_d"], MT["neck_depth"], MT["centre_d"], MT["m2_bcd"]))
    note(x_hub, cy + 30.5 * s, 900, cy + 178, "盘脸贴死 = 唯一轴向止动；齿只传扭，不定位")
    note(x_hub + 0.5 * s, cy - 20 * s, 900, cy + 206,
         "从动面卸荷：Ø54.6 x 0.35（B 半件背面实测越过贴合面 0.06）+ Ø36 x 1.70 导柱孔")
    out.append('<text x="60" y="%d" font-size="10.5">M2 相位（时钟）：电机侧 %s ；从动盘侧取镜像 %s</text>'
               % (H - 62, "/".join("%.1f" % a for a in MT["m2_clock"]),
                  "/".join("%.1f" % a for a in [(360 - a) % 360 for a in MT["m2_clock"]])))
    out.append('<text x="60" y="%d" font-size="10.5">抱箍：带宽 Ø%.0f，凸耳 R%.1f（位于关节局部 ±X，包壳在此处开口）；M3 x2 @ R%.1f</text>'
               % (H - 48, CT["clamp_od_r"] * 2, CT["lug_r1"], CT["bolt_r"]))
    out.append('</svg>')
    return "".join(out)


j2 = JOINTS["J2"]["rear"]
j4 = JOINTS["J4"]["rear"]
j5 = JOINTS["J5"]["rear"]
SH, EL, WR = (j2[1], j2[2]), (j4[1], j4[2]), (j5[1], j5[2])
DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74),
            ((0, EL[0], EL[1]), (0, WR[0], WR[1]), "前臂 %.0f" % LAY["L2"], 112),
            ((0, 0, 0), (0, WR[0], WR[1]), "腕轴离地 %.0f" % WR[1], -128)]

sheets = [
    build_sheet("front", "总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）", 1200, 800, 0.0,
                "实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。"
                "俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM, sheet_id="front"),
    joint_detail(),
    build_sheet("iso", "爆炸装配图（轴测）", 1200, 800, 1.0,
                "爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None, sheet_id="exploded"),
    build_sheet("side", "总装图 - 侧视（沿 +Y 投影；俯仰轴垂直纸面）", 900, 800, 0.0,
                "肩抬举(J1)轴沿 X 前后布置，与俯仰轴平行偏置 92 mm；"
                "肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None, sheet_id="side"),
]
os.makedirs(DOCS, exist_ok=True)
for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"), sheets):
    io.open(DOCS + "/" + n + ".svg", "w", encoding="utf-8").write(s)
io.open(WEB + "/sheets.jsdata", "w", encoding="utf-8").write(json.dumps(sheets, ensure_ascii=False))
print("sheets: %d (%d KB) -> docs/sheet_{front,joint,exploded,side}.svg" % (
    len(sheets), sum(len(s) for s in sheets) // 1024))
os._exit(0)