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refactor(layout): src/ 收成顶层包 arm/，入口统一 python -m；提升承担构建的 scratch 脚本

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单文件约束取消后，Python 侧没必要再靠 16 处 sys.path.insert 维持扁平模块互认。
现在按职责分包：
  arm/paths.py 路径唯一来源（含新增 CACHE、TPL）
  arm/constants.py 实测接口数值（原 armcore 的 M/C/CLR/FIT/MOTOR_TOL 段）
  arm/cad/{helpers,arm_build,part_tools,parts/} 几何与装配
  arm/kinematics.py（原 human_layout.py，唯一运动学事实源）
  arm/analysis/{sweep_v2,strength_check,torque_balance,finalize_travel,ws_sweep,gen_env_mesh}
  arm/dataio/{screw_mesh,draw_sheet}   arm/viewer/{build_viewer,shot}
  arm/build_model.py（原 arm_model.py）

顺带修掉的既有缺陷（都是实测撞出来的，不是预防性改动）：
- arm_model 第二次 sys.path 跳到 gitignore 的 scratch/ 去 import 构建必需的包络脚本：
  ws_sweep/gen_env_mesh 提升进 arm/analysis/，缓存挪到 data/cache/（gitignore，可重生成）。
- finalize_travel / draw_sheet 顶层就是"算完写文件"，一次 importlib 冒烟测试就把
  docs/travel.json 重写了一遍；现在被 import 直接抛错。
- strength_check 用 OUT.replace("/out","/web") 靠字符串形状推路径，改成直接用 WEB。
- build_viewer 里 WORKSPACE 使用点漏改导致 NameError —— 已由构建关卡抓到并修掉。

os._exit 的处置与计划里的假设相反：实测光是 `python -c "import arm.cad.helpers"`
就会在解释器退出时段错误（exit 139，OCC 静态析构），全流程跑完也一样。所以入口
脚本尾部保留 flush + os._exit，并把原因写进注释；被 import 时不生效。

关卡（tests/）：
- verify.py 一条命令跑三层：产物 md5、IK 数值 exact 段、截图。
- 截图基线重做并分级：同一构建连跑两轮实测 102 张逐字节可复现（要求 md5 相同），
  3 张线束 x-ray 不可复现（mean<=0.0017、无像素差>8）改为与参考像素比容差；
  这 3 张不再入库，免得每次跑关卡都脏 git。
- 新增 ?view=sheet / ?sheet=N / ?theme / ?guide=N 四个 URL 参数：工程图与装配向导
  占了约一半 CSS 和 700 行 JS，原先没有任何截图覆盖，拆它们等于没有关卡。
- 关卡灵敏度已验：改坏 IK 基线一个数 -> FAIL；换旧版求解器 -> 5 处 exact 差异。

实测：python -m arm.build_model 退出码 0，全部产物 md5 与基线一致，
105 视图截图全过，IK exact 段逐字节一致。
This commit is contained in:
cbb
2026-10-15 03:31:20 +08:00
parent b32d44efe0
commit 649bd69810
57 changed files with 843 additions and 453 deletions
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tests/test_harness_collision.py
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# -*- coding: utf-8 -*-
"""
Automated 3D Wire Harness Collision Verification Suite:
Validates that every wire segment and flexible bridge in the robot arm
passes strictly through dedicated hollow channels and enlarged 22x22mm pass-through holes
with ZERO solid penetrations (BRepClass3d_SolidClassifier against OCC STEP solids).
"""
import sys, io, os, re
sys.stdout.reconfigure(encoding='utf-8')
import numpy as np
import cadquery as cq
from OCP.BRepClass3d import BRepClass3d_SolidClassifier
from OCP.gp import gp_Pnt
from OCP.TopAbs import TopAbs_IN
def catmull_rom_sample(pts, num_samples_per_seg=25):
pts = np.array(pts, dtype=float)
if len(pts) == 2:
t = np.linspace(0, 1, num_samples_per_seg)
return [(1-s)*pts[0] + s*pts[1] for s in t]
sampled = []
p = np.vstack([pts[0], pts, pts[-1]])
for i in range(1, len(p) - 2):
p0, p1, p2, p3 = p[i-1], p[i], p[i+1], p[i+2]
for t in np.linspace(0, 1, num_samples_per_seg, endpoint=(i == len(p)-3)):
t2, t3 = t*t, t*t*t
val = 0.5 * ((2*p1) + (-p0 + p2)*t + (2*p0 - 5*p1 + 4*p2 - p3)*t2 + (-p0 + 3*p1 - 3*p2 + p3)*t3)
sampled.append(val)
return sampled
def load_solids():
clfs = {}
for f in os.listdir('out/parts_step'):
if f.endswith('.step'):
tag = f.split('.')[0]
print(f"Loading {tag}...", flush=True)
shape = cq.importers.importStep(os.path.join('out/parts_step', f)).val()
clfs[tag] = BRepClass3d_SolidClassifier(shape.wrapped)
return clfs
def main():
clfs = load_solids()
print("=" * 80)
print("【线束三维物理干涉检测】全通道、外侧走线与电机全固态零碰撞验证")
print("=" * 80)
# 线束通道的锚点坐标写在查看器源码里（现在是模板，拆分后是 webapp/js/harness.js）。
# 扫候选文件而不是写死一个路径，前端拆分时这条检查不用跟着改；一个都找不到就直接失败，
# 绝不能"没匹配到 = 没有通道 = 零干涉"地假通过。
from arm.paths import REPO
cands = [REPO + "/src/viewer_tpl.html", REPO + "/webapp/js/harness.js"]
found = [c for c in cands if os.path.exists(c)]
if not found:
print("找不到线束源码，检查项无法执行:", cands, flush=True)
sys.exit(2)
with open(found[0], 'r', encoding='utf-8') as f:
tpl = f.read()
tube_matches = re.findall(r'makeHarnTube\(\[\s*([\s\S]*?)\s*\]\s*,\s*[\d\.]+\s*,\s*\w+\s*,\s*\'([^\']+)\'', tpl)
total_hits = 0
checked_count = 0
for raw_pts, name in tube_matches:
pt_list = []
for m in re.finditer(r'\[\s*([-\d\.]+)\s*,\s*([-\d\.]+)\s*,\s*([-\d\.]+)\s*\]', raw_pts):
pt_list.append([float(m.group(1)), float(m.group(2)), float(m.group(3))])
sampled = catmull_rom_sample(pt_list, num_samples_per_seg=25)
hits = []
for p in sampled:
pt = gp_Pnt(float(p[0]), float(p[1]), float(p[2]))
for part, clf in clfs.items():
clf.Perform(pt, 1e-3)
if clf.State() == TopAbs_IN:
hits.append((part, p))
checked_count += len(sampled)
if hits:
total_hits += len(hits)
print(f" ❌ FAIL: {name} (发现 {len(hits)} 处实体穿透! 首击穿部件: {hits[0][0]} 坐标: {hits[0][1]})", flush=True)
else:
print(f" ✓ PASS: {name} ({len(sampled)} 采样点零干涉)", flush=True)
# Test dynamic bridges at zero pose
bridge_specs = [
('Bridge 1 (J1 Ω-Loop 柔性缓冲段)', [[5.5, 86.1, 610.0], [9.13, 79.4, 611.9], [12.75, 76.78, 613.5], [16.38, 79.85, 614.4], [20.0, 87.0, 615.0]]),
('Bridge 2 (J2 U-Loop 柔性缓冲段)', [[-17.5, 102.5, 485.0], [-25.0, 102.5, 475.0], [-30.0, 102.5, 465.0], [-25.0, 102.5, 455.0], [-17.5, 102.5, 445.0]]),
('Bridge 3 (J3 螺旋柔性过渡段)', [[-17.5, 102.5, 400.0], [-24.0, 96.0, 390.0], [-27.0, 93.0, 380.0], [-23.0, 96.0, 370.0], [-17.5, 102.5, 360.0]]),
('Bridge 4 (J4 肘部U-Loop柔性缓冲段)', [[-17.5, 102.5, 305.0], [-24.0, 102.5, 290.0], [-30.0, 102.5, 280.0], [-24.0, 102.5, 270.0], [-17.5, 102.5, 255.0]]),
('Bridge 5 (J5 腕部U-Loop柔性缓冲段)', [[-17.5, 102.5, 205.0], [-22.0, 102.5, 195.0], [-26.0, 102.5, 190.0], [-22.0, 102.5, 182.0], [-17.5, 102.5, 175.0]]),
]
for name, pts in bridge_specs:
sampled = catmull_rom_sample(pts, num_samples_per_seg=25)
hits = []
for p in sampled:
pt = gp_Pnt(float(p[0]), float(p[1]), float(p[2]))
for part, clf in clfs.items():
clf.Perform(pt, 1e-3)
if clf.State() == TopAbs_IN:
hits.append((part, p))
checked_count += len(sampled)
if hits:
total_hits += len(hits)
print(f" ❌ FAIL: {name} (发现 {len(hits)} 处实体穿透!)", flush=True)
else:
print(f" ✓ PASS: {name} ({len(sampled)} 采样点零干涉)", flush=True)
print("=" * 80, flush=True)
print(f"【最终结论】共评估 {checked_count} 个空间采样点，固体穿透总数: {total_hits}", flush=True)
if total_hits == 0:
print("🎉 恭喜！线束系统已实现 100% 结构腔体内规范走线与零碰撞干涉！", flush=True)
print("=" * 80, flush=True)
sys.stdout.flush()
# 同上：OCC 析构会段错误，所以用 os._exit 带走正确退出码
os._exit(0 if total_hits == 0 else 1)
if __name__ == '__main__':
main()