refactor(viewer): 单文件查看器拆成 webapp/ 多文件，走本地 http；Worker 换成真文件
前端不再是"一个 16MB HTML + 一个 2955 行模板"。现在： webapp/index.html 343 行 DOM 骨架，零内联数据 webapp/styles/*.css 811 行 CSS 按段切成 8 个文件 webapp/js/app.js 原内联主脚本逐字搬出（仍是普通脚本，S5 才改 ESM） webapp/js/ik-solver.js / ik-glue.js / vendor/three.min.js（原 web/ 三个文件） webapp/workers/ik.worker.js 真 Worker 文件 webapp/generated/00_data.js 生成物（网格/工程图/行程/碰撞/螺钉） dist/机器人手臂3D查看器.html 分发用单文件，由 build_viewer 内联上面这些文件产出 入口：python -m arm.viewer.serve 后开 http://127.0.0.1:8123/ （serve 带 no-store，改完刷新即新构建，不再需要 Ctrl+F5；显式 MIME， .js 被 Windows 注册表判成 text/plain 会让模块静默不执行） 删掉 src/viewer_tpl.html 与 web/ 目录（旧产物移入 backups/pre_split_20261015/）。 工程图不再维护第二份 sheets.jsdata —— 直接读 draw_sheet 写出的 4 个真 SVG。 实测中修掉的问题： - serve 的 / 原先"内部映射"到 webapp/index.html，导致文档基址是 /、相对路径的 8 个 CSS 与 4 个 JS 全部 404（整页无样式无脚本）。改成 302 跳转。 - file:// 下 new Worker('workers/…') 构造阶段不抛错、错误以异步 onerror 到达， 所以"构造失败才试 Blob 兜底"永远不会触发；改为按协议选路。两条路径都已实测 backend=worker（http 走文件、file:// 走 Blob）。 - Worker 握手 3s 在 headless 并发下会误判"没起来"（截图里红徽标即此），放宽到 10s， 并把后端状态暴露成 window.__IK_BACKEND / __IK_BACKEND_LOG 供测试直读。 - 截图竞态：4 并发 × 每页 14MB 数据时，虚拟时间预算会在页面加载完成前到期， 拍到半初始化画面（且能"稳定地坏"，旧基线里 m9_motion 就是这么混进来的）。 并发降到 2、预算 40s、serve 加 HTTP/1.1+大缓冲+字节缓存，并用"同一构建两轮" 重新界定稳定性：99 张逐字节一致、6 张属噪声改走像素容差（mean<=0.02、单像素<=32）。 - 关卡自身两处假通过已修：node 输出被 GBK 解码炸掉时不再算 PASS； 线束干涉测试读不到通道源码时会 exit 2，而不是"零通道=零穿透=通过"。 关卡结果：python -m arm.build_model 退出码 0；10 项数据哈希与基线一致； IK exact 段逐字节一致；99 张截图逐字节一致 + 6 张在噪声阈内；线束干涉测试 1800 点 0 穿透。
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@@ -1,76 +1,98 @@
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# -*- coding: utf-8 -*-
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"""Assemble the single-file viewer: three.js (inline, no CDN) + mesh data + 2D sheets."""
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"""把生成物落到 webapp/，并打一份单文件分发版。
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单文件时代这里做 8 路字符串替换再写 3 份 16MB 副本；现在前端本身就是 webapp/ 下的
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文件，本脚本只剩两件事：
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write_data() 网格/工程图/行程/碰撞/螺钉 -> generated/00_data.js（普通脚本 const）
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build_single() 把 webapp/ 的 css/js 原样内联成 dist/机器人手臂3D查看器.html（分发用）
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S5 数据改 fetch() 后 write_data() 的 00_data.js 退役；S8 由 pack.py 的受限 ESM 内联器
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接管 build_single()。
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"""
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import io
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import json
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import os
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import re
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import sys
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import time
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try:
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sys.stdout.reconfigure(encoding="utf-8")
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except Exception:
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pass
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from arm.paths import WEB, DOCS, REPO, TPL
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import time
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from arm.paths import DATA, DIST, DOCS, GEN, WEBAPP
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# 与 SHEET_METAS 的顺序一致；工程图读 draw_sheet 写出的真 SVG，
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# 不再维护第二份 sheets.jsdata（单文件时代的内联载体，内容与 SVG 完全重复）。
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SHEET_ORDER = ["sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"]
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def _read(path, dflt=None):
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if os.path.exists(path):
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return io.open(path, encoding="utf-8").read()
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if dflt is None:
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raise SystemExit("缺少查看器数据文件: %s（先跑 python -m arm.build_model）" % path)
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return dflt
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def write_data():
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t0 = time.time()
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print("【数据】汇总查看器数据 -> webapp/generated/00_data.js", flush=True)
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os.makedirs(GEN, exist_ok=True)
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mesh = _read(DATA + "/mesh_arm.json")
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svgs = [_read(DOCS + "/%s.svg" % n) for n in SHEET_ORDER]
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trv = _read(DOCS + "/travel.json", "[]")
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col = _read(DOCS + "/collide.json", '{"caps":[],"parts":{}}')
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scr = _read(DOCS + "/screws.json", "[]")
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print(" - 网格 %d KB / 工程图 %d 张 / travel %d B / collide %d KB / screws %d B"
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% (len(mesh) // 1024, len(svgs), len(trv), len(col) // 1024, len(scr)), flush=True)
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out = ["/* 生成物，勿手改：由 python -m arm.viewer.build_viewer 写入。",
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" 普通脚本顶层 const —— 经典脚本共享全局词法作用域，后续脚本直接可见。 */"]
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for name, raw in (("DATA", mesh), ("TRAVEL", trv), ("COLLIDE", col), ("SCREWS", scr)):
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out.append("const %s = %s;" % (name, raw.strip()))
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out.append("const SHEETS = %s;" % json.dumps(svgs, ensure_ascii=False))
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text = "\n".join(out) + "\n"
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tmp = GEN + "/00_data.js.tmp"
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io.open(tmp, "w", encoding="utf-8").write(text)
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os.replace(tmp, GEN + "/00_data.js")
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print(" 完成：%d KB, %.2fs ✓" % (len(text) // 1024, time.time() - t0), flush=True)
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def build_single():
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"""分发用单文件：仍是普通脚本，所以内联是平凡的（S5 变 ESM 后交给 pack.py）。"""
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t0 = time.time()
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os.makedirs(DIST, exist_ok=True)
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html = _read(WEBAPP + "/index.html")
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total = len(html)
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def sub(m, kind):
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nonlocal total
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body = _read(WEBAPP + "/" + m.group(1))
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total += len(body)
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return ("<style>\n" + body + "\n</style>") if kind == "css" \
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else ("<script>\n" + body + "\n</script>")
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out = re.sub(r'<link rel="stylesheet" href="([^"]+)">', lambda m: sub(m, "css"), html)
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out = re.sub(r'<script src="([^"]+)"></script>', lambda m: sub(m, "js"), out)
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left = re.findall(r'(?:src|href)="(?!data:)([^"]+)"', out)
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assert not left, "单文件里仍有外部引用: %s" % left[:5]
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assert len(out) >= total * 0.95, "内联后 %d 远小于各部之和 %d，疑似漏文件" % (len(out), total)
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dst = DIST + "/机器人手臂3D查看器.html"
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# Windows 上被浏览器打开的 html 是独占锁；写不进去就直接报，不要静默留旧版。
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io.open(dst, "w", encoding="utf-8").write(out)
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print(" - 单文件分发版 %.2f MB, %.2fs ✓ %s"
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% (os.path.getsize(dst) / 1e6, time.time() - t0, dst), flush=True)
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def rebuild_viewer():
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print("=" * 80, flush=True)
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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)
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print("=" * 80, flush=True)
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t0 = time.time()
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print(" - 读取 Three.js 离线 3D 渲染内核...", end="", flush=True)
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three = io.open(WEB + "/three_inline.js", encoding="utf-8").read()
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assert len(three) > 400000, len(three)
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print(f" 完成 ({len(three)/1024:.0f} KB) ✓", flush=True)
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"""build_model 流水线的最后一步（沿用旧函数名，调用点不改）。"""
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write_data()
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build_single()
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print(" - 读取几何网格与关节运动学数据...", end="", flush=True)
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data = io.open(WEB + "/mesh_arm.json", encoding="utf-8").read()
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sheets = io.open(WEB + "/sheets.jsdata", encoding="utf-8").read()
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trv = io.open(DOCS + "/travel.json", encoding="utf-8").read() if os.path.exists(
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DOCS + "/travel.json") else "[]"
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col = io.open(DOCS + "/collide.json", encoding="utf-8").read() if os.path.exists(
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DOCS + "/collide.json") else '{"caps":[],"parts":{}}'
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screws = io.open(DOCS + "/screws.json", encoding="utf-8").read() if os.path.exists(
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DOCS + "/screws.json") else "[]"
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ik_solver = io.open(WEB + "/arm-ik-solver.js", encoding="utf-8").read()
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ik_glue = io.open(WEB + "/ik-glue.js", encoding="utf-8").read()
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tpl = io.open(TPL, encoding="utf-8").read()
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print(f" 完成 ({len(data)/1024:.0f} KB) ✓", flush=True)
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print(" - 打包生成全内置单文件 HTML...", end="", flush=True)
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out = (tpl.replace("/*__THREE__*/", three)
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.replace("/*__DATA__*/", data)
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.replace("/*__SHEETS__*/", sheets)
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.replace("/*__TRAVEL__*/", trv)
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.replace("/*__COLLIDE__*/", col)
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.replace("/*__SCREWS__*/", screws)
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.replace("/*__IKSOLVER__*/", ik_solver)
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.replace("/*__IKGLUE__*/", ik_glue))
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assert "/*__" not in out, [l for l in out.split("\n") if "/*__" in l][:3]
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dst = WEB + "/机器人手臂3D查看器.html"
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# 【2026-10-06】三个副本逐个写、逐个报错，不要一把梭。
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# 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，
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# 而调用方 arm_model.py 把整个 rebuild_viewer() 包在 try/except 里，
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# 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"。
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# 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。
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ok, failed = True, []
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for path in (dst, WEB + "/index.html", REPO + "/机器人手臂3D查看器.html"):
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try:
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io.open(path, "w", encoding="utf-8").write(out)
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except Exception as e:
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ok = False
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failed.append("%s (%s)" % (path, e))
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sz_mb = os.path.getsize(dst) / 1e6
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print(f" 完成 ({sz_mb:.2f} MB, 耗时: {time.time()-t0:.2f}s) ✓", flush=True)
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if failed:
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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)
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for f in failed:
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print(" - %s" % f, flush=True)
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print(" 关掉对应页面后重跑 python -m arm.viewer.build_viewer 即可。\n", flush=True)
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else:
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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",
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flush=True)
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if __name__ == "__main__":
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rebuild_viewer()
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@@ -0,0 +1,132 @@
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# -*- coding: utf-8 -*-
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"""查看器的本地静态服务器（前端拆分后，多文件 + ES Module + Worker 都需要 http 才能跑）。
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python -m arm.viewer.serve [--port 8123] [--print-only]
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要点：
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- docroot = 仓库根，`/` 直接给 webapp/index.html；/docs/*.json 这类数据同域可读。
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- Cache-Control: no-store —— 重新生成后旧标签页仍显示旧版是这里踩过的坑，
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过去只能人肉 Ctrl+F5；不缓存之后刷新即新构建。
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- 显式 MIME：Windows 上 .js 常被注册成 text/plain，那会让 <script type=module>
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静默不执行（页面全黑且没有明显报错），所以这里写死。
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- 屏蔽 .git / backups / 定位图 / out 等目录，不把整个仓库暴露到端口上。
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"""
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import argparse
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import os
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import sys
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from http.server import SimpleHTTPRequestHandler, ThreadingHTTPServer
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sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
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from arm.paths import REPO
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try:
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sys.stdout.reconfigure(encoding="utf-8")
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except Exception:
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pass
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DENY = (".git", "backups", ".bak", "定位图", "out", "scratch", "node_modules")
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MIME = {
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".js": "text/javascript; charset=utf-8",
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".mjs": "text/javascript; charset=utf-8",
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".json": "application/json; charset=utf-8",
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".svg": "image/svg+xml",
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".css": "text/css; charset=utf-8",
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".html": "text/html; charset=utf-8",
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".npz": "application/octet-stream",
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".png": "image/png",
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".wasm": "application/wasm",
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}
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class H(SimpleHTTPRequestHandler):
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# HTTP/1.1 + keep-alive + 大缓冲：默认 HTTP/1.0 每请求一条连接，
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# 4 个 headless Edge 同时各拉 14MB 数据脚本时会把页面加载拖到截图之后。
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protocol_version = "HTTP/1.1"
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wbufsize = 1 << 20
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# 按 (路径, mtime) 缓存字节：同一份 14MB 数据在一次批量截图里要发几十次。
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_CACHE = {}
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def __init__(self, *a, **k):
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super().__init__(*a, directory=REPO, **k)
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def _cached_bytes(self, path):
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try:
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st = os.stat(path)
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except OSError:
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return None
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key = (path, st.st_mtime_ns, st.st_size)
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body = H._CACHE.get(key)
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if body is None:
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with open(path, "rb") as f:
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body = f.read()
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if st.st_size <= 64 << 20:
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if len(H._CACHE) > 12:
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H._CACHE.clear()
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H._CACHE[key] = body
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return body
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def send_head(self):
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rel = self.path.split("?", 1)[0].split("#", 1)[0].lstrip("/").replace("\\", "/")
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top = rel.split("/")[0].lower()
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if top in [d.lower() for d in DENY] or ".." in rel:
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self.send_error(404, "denied")
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return None
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fs = self.translate_path(self.path)
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if os.path.isfile(fs):
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body = self._cached_bytes(fs)
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if body is not None:
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self.send_response(200)
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self.send_header("Content-Type", self.guess_type(fs))
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self.send_header("Content-Length", str(len(body)))
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self.end_headers()
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self.wfile.write(body)
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return None
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return super().send_head()
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def guess_type(self, path):
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ext = os.path.splitext(path)[1].lower()
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return MIME.get(ext) or super().guess_type(path)
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def do_GET(self):
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"""`/` 必须 302 到 /webapp/index.html，不能在原地把内容发出去：
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那样文档基址是 `/`，页面里所有相对路径（styles/… js/… vendor/…）都会
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解析到 /styles/base.css 之类而 404 —— 实测整页样式与脚本全丢。"""
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if self.path.split("?", 1)[0].rstrip("/") in ("", "/"):
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q = self.path.split("?", 1)[1] if "?" in self.path else ""
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self.send_response(302)
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self.send_header("Location", "/webapp/index.html" + ("?" + q if q else ""))
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self.send_header("Content-Length", "0")
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self.end_headers()
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return
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super().do_GET()
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def end_headers(self):
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self.send_header("Cache-Control", "no-store")
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super().end_headers()
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def log_message(self, fmt, *args):
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sys.stderr.write("%s %s\n" % (self.address_string(), fmt % args))
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def serve(port=8123):
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srv = None
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for p in range(port, port + 20):
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try:
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srv = ThreadingHTTPServer(("127.0.0.1", p), H)
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port = p
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break
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except OSError:
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continue
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if srv is None:
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raise SystemExit("端口 %d..%d 都被占用" % (port, port + 19))
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url = "http://127.0.0.1:%d/" % port
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print("docroot %s" % REPO, flush=True)
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print("查看器: %s (Ctrl+C 停止；已禁用缓存，改完刷新即新构建)" % url, flush=True)
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srv.serve_forever()
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if __name__ == "__main__":
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ap = argparse.ArgumentParser(description="查看器本地静态服务器")
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ap.add_argument("--port", type=int, default=8123)
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serve(ap.parse_args().port)
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+71
-10
@@ -11,9 +11,15 @@ try:
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except Exception:
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pass
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from arm.paths import WEB, DOCS
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from arm.paths import DOCS, REPO
|
||||
SHOTS = DOCS + "/shots"
|
||||
HTML = WEB + "/机器人手臂3D查看器.html"
|
||||
# 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)
|
||||
@@ -119,9 +125,9 @@ VIEWS = {
|
||||
"user_p07_check": "?az=1.5708&po=1.5708&rd=260&tx=19.5&ty=220&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
|
||||
"boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
|
||||
"svg_side": f"file:///{DOCS}/sheet_side.svg",
|
||||
"svg_joint": f"file:///{DOCS}/sheet_joint.svg",
|
||||
"svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
|
||||
"svg_side": f"http://127.0.0.1:{PORT}/docs/sheet_side.svg",
|
||||
"svg_joint": f"http://127.0.0.1:{PORT}/docs/sheet_joint.svg",
|
||||
"svg_exploded": f"http://127.0.0.1:{PORT}/docs/sheet_exploded.svg",
|
||||
"user_circle_check": "?az=0.8&po=1.95&rd=240&tx=19.5&ty=430&tz=-128&xray=0&hide=M1,M2,M3,M4,M5,M6,ENV",
|
||||
"user_exact_view": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=440&tz=-128&xray=0&hide=P01,P02,P03,M1,M2,M3,M4,M5,M6,ENV",
|
||||
"shot_p08_user": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=176&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P07,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||||
@@ -153,15 +159,16 @@ def take_shot(nm):
|
||||
out = "%s/%s.png" % (SHOTS, nm)
|
||||
import time, tempfile
|
||||
t_bust = int(time.time() * 1000)
|
||||
target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
|
||||
f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
|
||||
# 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=20000",
|
||||
"--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)
|
||||
@@ -171,10 +178,64 @@ def take_shot(nm):
|
||||
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
|
||||
with ThreadPoolExecutor(max_workers=min(4, os.cpu_count() or 2)) as executor:
|
||||
results = list(executor.map(take_shot, want))
|
||||
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))
|
||||
|
||||
Reference in New Issue
Block a user