2026-09-27 00:28:49 +08:00
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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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2026-10-02 12:06:23 +08:00
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注意 note 的措辞：单轴整周无干涉 **不等于** 任意组合姿态无干涉。sweep_v2 的组合扫描
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已经在 J1/J3/J6 上找到了真实卡死（工具法兰 P09 撞固定立柱 P01_A），例如 J3≈±162°。
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所以连续轴的 note 必须写明"单轴"并指向 combos，否则这份文件会误导人——查看器运行期
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另有胶囊碰撞模型按姿态夹取（ik-glue.js 的 dynLimit），但静态滑块范围按设计不压缩。
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2026-09-27 00:28:49 +08:00
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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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2026-10-02 12:06:23 +08:00
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# 组合扫描中，每个被扫轴真实出现卡死的最小绝对角
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combo_warn = {}
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for c in d.get("combos", []):
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if not c.get("jams"):
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continue
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ax = c["swept"]
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for a in c["jams"]:
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try:
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v = abs(float(a))
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except (TypeError, ValueError):
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continue
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combo_warn[ax] = min(combo_warn.get(ax, 1e9), v)
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2026-09-27 00:28:49 +08:00
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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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2026-10-02 12:06:23 +08:00
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warn = combo_warn.get(t)
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warn_txt = ("；组合折叠姿态下（其余关节同时处于各自极限）约 ±%.0f° 起与躯干占位"
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"（台架 P01 立柱）干涉，见 travel_detail.combos，"
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"运行期由查看器碰撞模型按姿态夹取" % warn) if warn is not None else ""
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2026-09-27 00:28:49 +08:00
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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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2026-10-02 12:06:23 +08:00
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combo_warn_deg=warn,
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note="单轴整周无干涉（滑块按单轴限位给出）%s" % (warn_txt or
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"；组合扫描未发现该轴卡死")))
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2026-09-27 00:28:49 +08:00
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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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2026-10-02 12:06:23 +08:00
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combo_warn_deg=warn,
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note="单轴正向 +%d° / 反向 %d°，总行程 %d°（单关节硬限位，含相邻件与电机）%s"
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% (hi_out, lo_out, hi_out - lo_out, warn_txt)))
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print("%-3s %7.1f .. %7.1f -> %s .. %s%s"
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% (t, lo, hi, out[-1]["lo"], out[-1]["hi"],
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(" 组合卡死阈值 ±%.0f°" % warn) if warn is not None else ""))
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2026-09-27 00:28:49 +08:00
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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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