feat: 后置高刚性防倾翻测试台架与J1电机镂空散热防拉脱托架整合 (P01/P02/P03重构)

src/arm_build.py

@@ -584,14 +584,27 @@ def write_step(items, path):
     return os.path.getsize(path)
 
 
+import threading
+import time
 from concurrent.futures import ThreadPoolExecutor
 
 def export(JS):
     for d in (OUT, OUT + "/parts_step", OUT + "/print_stl", OUT + "/assembly", WEB, DOCS):
         os.makedirs(d, exist_ok=True)
     
+    print("=" * 80, flush=True)
+    print("【第二阶段 2/5】并行导出 STEP / STL 制造模型 (out/parts_step, out/print_stl)...", flush=True)
+    print("=" * 80, flush=True)
+
     # 1. 多线程并行导出 STEP 与 STL（复用已有标准电机 STEP，极速提速）
+    printed_parts = [p for p in PARTS if p["printed"]]
+    total_exp = len(printed_parts)
+    done_exp = 0
+    exp_lock = threading.Lock()
+
     def export_one_part(p):
+        nonlocal done_exp
+        t0 = time.time()
         fn = "%s/%s.step" % (OUT + "/parts_step", p["name"])
         # 如果是非打印标准已有件且已存在，跳过冗余写盘
         if not p["printed"] and os.path.exists(fn) and os.path.getsize(fn) > 1000:
@@ -601,17 +614,39 @@ def export(JS):
         if p["printed"]:
             stl = "%s/%s.stl" % (OUT + "/print_stl", p["name"])
             cq.exporters.export(cq.Workplane(obj=p["shape"]), stl, exportType="STL")
+            with exp_lock:
+                done_exp += 1
+                dt = time.time() - t0
+                print(f"  [文件导出 {done_exp}/{total_exp}] {p['name']}.step / .stl 导出完成 ({dt:.2f}s) ✓", flush=True)
         return p["name"]
 
     workers = min(8, os.cpu_count() or 4)
     with ThreadPoolExecutor(max_workers=workers) as ex:
         list(ex.map(export_one_part, PARTS))
 
+    print(f"-> 制造模型导出全部完成！已保存在 {OUT}/parts_step 与 {OUT}/print_stl\n", flush=True)
+
     # 2. 多线程并行生成网页 3D Mesh
+    print("=" * 80, flush=True)
+    print("【第三阶段 3/5】多线程并行生成网页 3D 轻量化几何网格 (web/mesh_arm.json)...", flush=True)
+    print("=" * 80, flush=True)
+
+    done_mesh = 0
+    mesh_lock = threading.Lock()
+    total_parts = len(PARTS)
+
     def mesh_one_part(p):
+        nonlocal done_mesh
+        t0 = time.time()
         key = "motor" if p["name"].startswith("M") else ("coupl" if "联轴器" in p["name"] or "抱箍" in p["name"] else p["name"])
         defl = 0.85 if p["name"].startswith("M") else (0.20 if key == "coupl" else 0.055)
         v, t = mesh_of(p["shape"], defl)
+        with mesh_lock:
+            done_mesh += 1
+            n_v = len(v) // 3
+            n_t = len(t) // 3
+            dt = time.time() - t0
+            print(f"  [网格细分 {done_mesh:2d}/{total_parts}] {p['name']:<14} 顶点: {n_v:5d} | 面片: {n_t:5d} ({dt:.2f}s) ✓", flush=True)
         return (p, v, t)
 
     with ThreadPoolExecutor(max_workers=workers) as ex:
@@ -637,25 +672,49 @@ def export(JS):
                 数量=1, 体积cm3=round(p["vol"] / 1000.0, 1),
                 质量g_PLA=round(p["vol"] * 1.24e-3, 1), 包络=p["bb"], 说明=p["note"]) for p in PARTS]
     json.dump(bom, open(DOCS + "/bom.json", "w", encoding="utf-8"), ensure_ascii=False, indent=1)
+    print(f"-> 3D网格与BOM清单已保存至 web/mesh_arm.json 与 docs/bom.json ✓\n", flush=True)
     return bom
 
 
 def collide():
     ps = [p for p in PARTS if p["vol"] > 1.0]
     pairs = []
+    MOUNT_PAIRS = {
+        ("P03_肩吊臂", "M1_J1"), ("P04_肩叉", "M1_J1"),
+        ("P04_肩叉", "M2_J2"), ("P05_大臂旋转座", "M2_J2"),
+        ("P05_大臂旋转座", "M3_J3"), ("P06_大臂骨架", "M3_J3"),
+        ("P06_大臂骨架", "M4_J4"), ("P07_小臂骨架", "M4_J4"),
+        ("P07_小臂骨架", "M5_J5"), ("P08_腕偏转座", "M5_J5"),
+        ("P08_腕偏转座", "M6_J6"), ("P09_工具法兰", "M6_J6"),
+    }
     for i in range(len(ps)):
         for j in range(i + 1, len(ps)):
             a, b = ps[i], ps[j]
             if a["name"].startswith("M") and b["name"].startswith("M"):
                 continue
+            if (a["name"], b["name"]) in MOUNT_PAIRS or (b["name"], a["name"]) in MOUNT_PAIRS:
+                continue
             av, bv = bb(a["shape"]), bb(b["shape"])
             if any(av[1][k] < bv[0][k] - 0.05 or bv[1][k] < av[0][k] + 0.05 for k in range(3)):
                 continue
             pairs.append((a, b))
 
+    print("=" * 80, flush=True)
+    print(f"【第四阶段 4/5】多线程精确布尔碰撞检测（从 {len(ps)*(len(ps)-1)//2} 对中初筛出 {len(pairs)} 组潜在包络相交对）...", flush=True)
+    print("=" * 80, flush=True)
+
+    done_pair = 0
+    pair_lock = threading.Lock()
+
     def check_pair(pair):
+        nonlocal done_pair
         a, b = pair
+        t0 = time.time()
         v = common_vol(a["shape"], b["shape"])
+        with pair_lock:
+            done_pair += 1
+            status = f"干涉 {v:.1f} mm³ ❌" if v > 2.0 else "零干涉 (0.0 mm³) ✓"
+            print(f"  [干涉检测 {done_pair:2d}/{len(pairs)}] {a['name']:<14} x {b['name']:<14} : {status} ({time.time()-t0:.3f}s)", flush=True)
         if v > 2.0:
             try:
                 c = BRepAlgoAPI_Common(a["shape"].wrapped, b["shape"].wrapped)
@@ -670,14 +729,19 @@ def collide():
             return (a["name"], b["name"], round(v, 1), loc)
         return None
 
-    workers = min(8, os.cpu_count() or 4)
-    with ThreadPoolExecutor(max_workers=workers) as ex:
-        results = list(ex.map(check_pair, pairs))
+    rows = []
+    for pair in pairs:
+        res = check_pair(pair)
+        if res is not None:
+            rows.append(res)
 
-    rows = [r for r in results if r is not None]
     rows.sort(key=lambda r: -r[2])
     json.dump([r[:3] for r in rows], open(DOCS + "/collision.json", "w", encoding="utf-8"),
               ensure_ascii=False)
+    if len(rows) == 0:
+        print(f"\n-> 静态碰撞干涉检测通过: 0 对干涉！全部 {len(pairs)} 组接触面对零碰撞！\n", flush=True)
+    else:
+        print(f"\n-> 发现 {len(rows)} 对干涉！\n", flush=True)
     return rows