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推断、限位、固定 FK、固定目标的解向量、selfTest 误差与命中数。 + * 这些必须逐字节相同；用定种子 RNG 保证可复现（selfTest 内部原本走 Math.random）。 + * timing —— solveDyn 中位耗时。机器负载会变，只按 ±10% 报 WARN，不作 FAIL。 + * + * 求解器配置构造与查看器里的 ik-glue 逐行对齐（JMap/COL/TR/TCP0）， + * 否则两边算的不是同一个问题，对比无意义。 + */ +import fs from 'fs'; +import path from 'path'; +import { pathToFileURL } from 'url'; + +const ROOT = path.resolve(import.meta.dirname, '..'); +const first = (...cands) => cands.find(p => fs.existsSync(p)); + +const argv = process.argv.slice(2); +const argVal = (name, dflt) => { + const i = argv.indexOf('--' + name); + return i >= 0 && argv[i + 1] && !argv[i + 1].startsWith('--') ? argv[i + 1] : dflt; +}; + +const SOLVER = argVal('solver', first( + path.join(ROOT, 'webapp/js/ik/solver.js'), + path.join(ROOT, 'web/arm-ik-solver.js'))); +const MESH = first(path.join(ROOT, 'webapp/data/mesh_arm.json'), + path.join(ROOT, 'web/mesh_arm.json')); +const TRAVEL = path.join(ROOT, 'docs/travel.json'); +const COLLIDE = path.join(ROOT, 'docs/collide.json'); + +const mod = await import(pathToFileURL(SOLVER).href); +const ArmIK = mod.ArmIK || mod.default; +if (!ArmIK) throw new Error('求解器没有导出 ArmIK: ' + SOLVER); + +const mesh = JSON.parse(fs.readFileSync(MESH, 'utf8')); +const travel = JSON.parse(fs.readFileSync(TRAVEL, 'utf8')); +const collide = fs.existsSync(COLLIDE) ? JSON.parse(fs.readFileSync(COLLIDE, 'utf8')) : null; + +/* ---- 与 ik-glue.js:16-52 同构的配置 ---- */ +const JO = mesh.joints; +const JJ = {}; for (const j of JO) JJ[j.id] = j; +const JMap = {}; for (const j of JO) JMap[j.id] = { rear: j.rear, d: j.d }; +const COL = (collide && collide.caps && collide.caps.length) ? collide : null; +const ADJ = (COL && COL.adj) || {}; +const MOTOR = +((COL && COL.motor_limit_deg) || 360); +const TR = {}; const noAdj = []; +for (const t of travel) { + const a = ADJ[t.axis]; + if (!a && !t.continuous) noAdj.push(t.axis); + TR[t.axis] = { lo: a ? a[0] : t.lo, hi: a ? a[1] : t.hi, continuous: !!t.continuous }; +} +/* TCP 高度：J6 组内实打印件（排除 ENV_）顶点的最小查看器 y，查看器 y = CAD z。 + 与 ik-glue.js:17-27 同语义：只有真找到才覆盖默认值 93，不是拿 93 当下界。 */ +let tcpZ = 93, loFound = Infinity; +for (const p of mesh.parts) { + if (p.grp !== 'J6' || !p.printed || String(p.name).slice(0, 4) === 'ENV_') continue; + if (!p.v || !p.v.length) continue; + for (const q of p.v) loFound = Math.min(loFound, q[2]); +} +if (isFinite(loFound)) tcpZ = loFound; +const TCP0 = [JJ.J6.rear[0], JJ.J6.rear[1], tcpZ]; + +const S = ArmIK.make({ joints: JMap, travel: TR, tcp: TCP0, collide: COL }); +const ORDER = ArmIK.ORDER; + +/* selfTest/poseSelfTest 内部用 Math.random()，不锁种子的话两次跑的误差数字就不同， + 关卡会退化成"看大概"。这里换成定LCG，让 exact 段逐字节可复现。 */ +const _rand = Math.random; +function seeded(seed, fn) { + let s = seed >>> 0; + Math.random = () => { s = (s * 1664525 + 1013904223) >>> 0; return s / 4294967296; }; + try { return fn(); } finally { Math.random = _rand; } +} + +const parts = mesh.parts; +const r6 = v => +v.toFixed(6); + +/* ---- 固定输入（不含随机）的可复现输出 ---- */ +const Q0 = [10, -20, 30, 40, -50, 15]; +const zeros = ORDER.map(() => 0); +const targets = [[150, 128, 260], [180, 128, 300], [120, -150, 320], [60, 128, 420]]; + +const solveRuns = targets.map(T => { + const xs = []; + for (let k = 0; k < 9; k++) { + const t0 = performance.now(); + const r = S.solveDyn(T.slice(), { tool: 0, step: 0.25, ref: zeros, from: zeros.slice() }); + xs.push({ ms: performance.now() - t0, q: r && r.q ? r.q.map(v => +v.toFixed(3)) : null, + ok: !!(r && r.q), err: r && r.err != null ? +r.err.toFixed(9) : null }); + } + /* 头 3 次是 JIT 预热，留中位数也去不掉进程间的预热差；实测取 9 次里后 6 次的中位， + 自比抖动从 >50% 降到可直接判定的量级。 */ + const warm = xs.slice(3).sort((a, b) => a.ms - b.ms); + const m = warm[Math.floor(warm.length / 2)]; + return { T, medianMs: +m.ms.toFixed(2), q: m.q, ok: m.ok, err: m.err }; +}); + +const st = seeded(20261015, () => S.selfTest(400, 8)); +const pst = seeded(777, () => S.poseSelfTest(8)); + +const exact = { + counts: { + parts: parts.length, + verts: parts.reduce((n, p) => n + ((p.v && p.v.length) || 0), 0), + tris: parts.reduce((n, p) => n + ((p.t && p.t.length) || 0), 0), + printed: parts.filter(p => p.printed).length, + env: parts.filter(p => String(p.name).startsWith('ENV_')).length, + joints: JO.length, + }, + tcpZ: +tcpZ.toFixed(3), + TCP0: TCP0.map(v => +v.toFixed(3)), + motorTravel: MOTOR, + noAdjAxes: noAdj, + caps: COL ? COL.caps.length : 0, + lim: Object.fromEntries(ORDER.map(id => [id, [r6(S.LIM[id].lo), r6(S.LIM[id].hi), !!S.LIM[id].cont]])), + fkQ0: S.fk(Q0, 0).map(r6), + fkChainQ0: S.fkChain(Q0, 0).map(r6), + orientQ0: S.orient(Q0).map(r6), + solveDyn: solveRuns.map(r => ({ T: r.T, ok: r.ok, err: r.err, q: r.q })), + selfTest: { maxFkErr: st.maxFkErr, maxIkErr: st.maxIkErr, ikHit: st.ikHit, ikTried: st.ikTried, + structWarn: st.structWarn, poseHit: st.poseHit, poseTried: st.poseTried, + poseErr: st.poseErr, K: st.K, LIM: st.LIM }, + poseSelfTest: { poseHit: pst.poseHit, poseTried: pst.poseTried, poseErr: pst.poseErr }, +}; +const timing = { + solveDynMedianMs: solveRuns.map(r => r.medianMs), + poseSelfTestAvgMs: +pst.poseMs.toFixed(2), +}; + +const doc = { meta: { solver: path.relative(ROOT, SOLVER).replace(/\\/g, '/'), + mesh: path.relative(ROOT, MESH).replace(/\\/g, '/') }, + exact, timing }; +const text = JSON.stringify(doc, null, 1); + +const out = argVal('out', null); +if (out) fs.writeFileSync(out, text + '\n'); + +const base = argVal('compare', null); +if (!base) { if (!out) console.log(text); process.exit(0); } + +const b = JSON.parse(fs.readFileSync(base, 'utf8')); +const diffs = []; +(function walk(x, y, p) { + if (x === null || y === null || typeof x !== 'object' || typeof y !== 'object') { + if (JSON.stringify(x) !== JSON.stringify(y)) diffs.push(p + ': ' + JSON.stringify(y) + ' -> ' + JSON.stringify(x)); + return; + } + for (const k of new Set([...Object.keys(x), ...Object.keys(y)])) walk(x[k], y[k], p ? p + '.' + k : k); +})(doc.exact, b.exact, ''); + +console.log('== exact（必须逐字节相同）=='); +console.log(diffs.length ? diffs.map(d => ' DIFF ' + d).join('\n') : ' 全部一致 ✓'); +console.log('== timing（±10% 只报 WARN）=='); +const tb = b.timing; +let warn = 0; +doc.timing.solveDynMedianMs.forEach((v, i) => { + const o = tb.solveDynMedianMs[i]; + const d = (v - o) / o * 100; + if (Math.abs(d) > 10) { warn++; console.log(` WARN solveDyn#${i}: ${o} -> ${v} ms (${d.toFixed(1)}%)`); } + else console.log(` ok solveDyn#${i}: ${o} -> ${v} ms (${d.toFixed(1)}%)`); +}); +if (diffs.length) { console.log('RESULT: FAIL（exact 有 %d 处差异）', diffs.length); process.exit(1); } +console.log('RESULT: PASS' + (warn ? `（timing ${warn} 项超 ±10%，需人判）` : ''));