# -*- coding: utf-8 -*-
"""Assembly drawings (SVG) for the arm.
Round-2 approach, after the first version was rejected: per-part convex hulls FILLED made
the whole arm read as one blob and the balloons' leaders crossed the sheet. Now:
- parts are stroked only (no fill), so overlaps still read as separate outlines
- balloons live in two side columns sorted by projected height, each with a short leader
to the nearest point of its own outline (no long crossing leaders, no collisions)
- joint axes are drawn as dash-dot centrelines and the pitch chain is dimensioned
- the scale is computed from the actual pixels-per-mm, not hard-coded
Sheets: 01 总装侧视 02 关节局部放大(A-A) 03 爆炸轴测 04 前视
"""
import io
import json
import math
import os
import sys
sys.stdout = io.TextIOWrapper(sys.stdout.buffer, encoding="utf-8")
from arm.paths import WEB, DOCS
# 这两个脚本的顶层就是"算完并写文件"，被 import 时会静默重写 travel/mesh 派生产物
# （实测：一次 importlib 冒烟测试就把 docs/travel.json 重写了一遍）。这里改成直接炸。
if __name__ != "__main__":
raise RuntimeError(
"draw_sheet 是脚本：顶层代码一执行就重写产物，不能 import。"
"要用就跑 python -m arm.dataio.draw_sheet。")
D = json.load(io.open(WEB + "/mesh_arm.json", encoding="utf-8"))
P, LAY, MS = D["parts"], D["layout"], D["measured"]
MT, CT = MS["M"], MS["C"]
JOINTS = {j["id"]: j for j in D["joints"]}
def hull(pts):
pts = sorted(set(pts))
if len(pts) < 3:
return pts
def cr(o, a, b):
return (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0])
lo = []
for p in pts:
while len(lo) >= 2 and cr(lo[-2], lo[-1], p) <= 0:
lo.pop()
lo.append(p)
up = []
for p in reversed(pts):
while len(up) >= 2 and cr(up[-2], up[-1], p) <= 0:
up.pop()
up.append(p)
return lo[:-1] + up[:-1]
def proj(p, kind):
x, y, z = p
if kind == "side":
return (x, z)
if kind == "front":
return (y, z)
if kind == "iso":
a, b = math.radians(30), math.radians(35)
u = x * math.cos(a) - y * math.sin(a)
v = -x * math.sin(a) * math.sin(b) - y * math.cos(a) * math.sin(b) + z * math.cos(b)
return (u, v)
raise ValueError(kind)
def part_pts(p, kind, ex=0.0):
vv = p["v"]
step = max(1, len(vv) // 1400)
out = []
for i in range(0, len(vv), step):
q = [vv[i][k] + p["ex"][k] * ex for k in range(3)] if ex else list(vv[i])
out.append(proj(q, kind))
return out
def nearest(h, pt):
return min(h, key=lambda q: (q[0] - pt[0]) ** 2 + (q[1] - pt[1]) ** 2)
def esc(t):
return str(t).replace('&', '&').replace('<', '<').replace('>', '>')
def frame(W, H, title, note, scale, sheet_id=""):
return ['')
return "".join(out)
def joint_detail():
"""Sheet A-A: one joint drawn FROM THE MEASURED NUMBERS (not a mesh projection) with every
governing dimension called out - this is the sheet you actually build against."""
W, H = 1400, 780 # wide enough that the right-hand callouts stay on the sheet
s = 6.0
cy = 330
x0 = 250.0 # motor rear datum
x_cover = x0 + MT["cover_z"] * s # cover face = the joint's datum plane
x_hub = x_cover + CT["gap"] * s
out = frame(W, H, "A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）",
"电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → "
"从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）", "joint")
out.append('' % (x0 - 60, cy, x_hub + 190, cy))
g = ['']
# motor: housing Ø60 x 42, rear plate, cover Ø60.3 x 3.5
g.append(''
% (x0 + 5.5 * s, cy - 30 * s, 47 * s, 60 * s))
g.append(''
% (x0, cy - MT["pcba_w"] / 2.0 * s, MT["pcba_t"] * s, MT["pcba_w"] * s))
g.append(''
% (x_cover - 3.5 * s, cy - 30.15 * s, 3.5 * s, 60.3 * s))
# coupling halves (4.5 each) and the driven hub
g.append('' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
g.append('' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
g.append('' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
# clamp band over the closed pair
g.append(''
% (x_cover + 0.6 * s, cy - 30 * s, 8.4 * s, 60 * s))
g.append('')
out.extend(g)
def dim(y, xa, xb, txt, col="#c00", lx=None):
out.append('' % (xa, y, xb, y, col))
for x in (xa, xb):
out.append('' % (x, y - 6, x, y + 6, col))
if lx is None:
out.append('%s'
% ((xa + xb) / 2, y - 8, col, txt))
else:
out.append('%s'
% (lx, y - 8, col, txt))
out.append(''
% (lx + 4, y - 11, xa, y, col))
out.append('')
dim(cy - 240, x0, x_cover, "整机长 %.1f" % MT["cover_z"])
dim(cy - 215, x_cover, x_hub, "两盖板面跨距 %.2f" % CT["gap"], lx=620)
dim(cy + 250, x0, x_hub, "电机尾基准 → 从动盘贴合面 = %.3f ← 全臂节距的唯一来源" % MS["HUB_FACE_Z"])
dim(cy + 215, x_cover + 0.6 * s, x_cover + 9.0 * s, "抱箍轴向 %.3f~%.3f" % tuple(MS["CLAMP_SPAN"]), lx=470)
def note(x, y, tx, ty, txt, anchor="start"):
out.append(''
% (x, y, x, ty, tx, ty))
out.append('%s'
% (tx + (3 if anchor == "start" else -3), ty + 3.5, anchor, txt))
note(x0 + 28 * s, cy - 30 * s, 235, cy - 190, "机座 Ø%.0f x %.0f，滑配孔按 Ø%.1f"
% (MT["hous_d"], MT["hous_len"], 60.3), "end")
note(x0 + 4 * s, cy - 31.8 * s, 235, cy - 160, "尾部 PCBA 方 %.1f → 口袋 %.1f"
% (MT["pcba_w"], MT["pcba_w"] + 0.8), "end")
note(x_cover + 2.2 * s, cy - 27 * s, 900, cy - 200, "半联轴器 A（12 齿端面花键 R%.1f~%.1f，齿高 %.1f）"
% (CT["tooth_r0"], CT["tooth_r1"], CT["tooth_s"]))
note(x_cover + 6.7 * s, cy + 27 * s, 900, cy - 170, "半联轴器 B = A 绕局部 X 转 180° 后沿轴移 2xPART_Z")
note(x_hub + 12 * s, cy + 41 * s, 900, cy + 150, "从动盘：Ø%.0fx%.1f 颈孔 + Ø%.1fx5.0 中心孔 + 3xM2 @Ø%.0f"
% (MT["neck_d"], MT["neck_depth"], MT["centre_d"], MT["m2_bcd"]))
note(x_hub, cy + 30.5 * s, 900, cy + 178, "盘脸贴死 = 唯一轴向止动；齿只传扭，不定位")
note(x_hub + 0.5 * s, cy - 20 * s, 900, cy + 206,
"从动面卸荷：Ø54.6 x 0.35（B 半件背面实测越过贴合面 0.06）+ Ø36 x 1.70 导柱孔")
out.append('M2 相位（时钟）：电机侧 %s ；从动盘侧取镜像 %s'
% (H - 62, "/".join("%.1f" % a for a in MT["m2_clock"]),
"/".join("%.1f" % a for a in [(360 - a) % 360 for a in MT["m2_clock"]])))
out.append('抱箍：带宽 Ø%.0f，凸耳 R%.1f（位于关节局部 ±X，包壳在此处开口）；M3 x2 @ R%.1f'
% (H - 48, CT["clamp_od_r"] * 2, CT["lug_r1"], CT["bolt_r"]))
out.append('')
return "".join(out)
j2 = JOINTS["J2"]["rear"]
j4 = JOINTS["J4"]["rear"]
j5 = JOINTS["J5"]["rear"]
SH, EL, WR = (j2[1], j2[2]), (j4[1], j4[2]), (j5[1], j5[2])
DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74),
((0, EL[0], EL[1]), (0, WR[0], WR[1]), "前臂 %.0f" % LAY["L2"], 112),
((0, 0, 0), (0, WR[0], WR[1]), "腕轴离地 %.0f" % WR[1], -128)]
sheets = [
build_sheet("front", "总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）", 1200, 800, 0.0,
"实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。"
"俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM, sheet_id="front"),
joint_detail(),
build_sheet("iso", "爆炸装配图（轴测）", 1200, 800, 1.0,
"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None, sheet_id="exploded"),
build_sheet("side", "总装图 - 侧视（沿 +Y 投影；俯仰轴垂直纸面）", 900, 800, 0.0,
"肩抬举(J1)轴沿 X 前后布置，与俯仰轴平行偏置 92 mm；"
"肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None, sheet_id="side"),
]
os.makedirs(DOCS, exist_ok=True)
for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"), sheets):
io.open(DOCS + "/" + n + ".svg", "w", encoding="utf-8").write(s)
io.open(WEB + "/sheets.jsdata", "w", encoding="utf-8").write(json.dumps(sheets, ensure_ascii=False))
print("sheets: %d (%d KB) -> docs/sheet_{front,joint,exploded,side}.svg" % (
len(sheets), sum(len(s) for s in sheets) // 1024))