Robot_Arm/webapp/js/ik-policy-glue.js

/* ============================================================================
 *  ik-policy-glue.js —— 查看器接入 Transformer 策略（URL 加 ?policy=1 启用）
 *    ?policy=1                        用 models/traj_policy.onnx
 *    ?policy=models/xxx.onnx          指定模型
 *    &ep=webgpu                       改用 WebGPU 后端（默认 wasm-SIMD 多线程）
 *  目标变化（松手求解 / 实时追踪）都交给 ArmPolicy.Runner：50 Hz 执行时钟放在 Web Worker（不受 rAF 60 Hz 与后台节流影响），
 *  每 3 步推理一次，安全层认证后才执行；ik-glue 的逐帧碰撞守卫不参与（策略执行不走 animTo），由 Runner 安全层保证。
 *  onnxruntime-web 默认从 jsDelivr 加载；离线部署把 ort.min.js 与 *.wasm 放到 vendor/ort/ 并加 &ortLocal=1。
 *  多线程 wasm 需要页面跨源隔离（COOP/COEP 头，见 ml/README.md）；没有时自动退回单线程。
 * ==========================================================================*/
(function () {
'use strict';
const qs = new URLSearchParams(location.search);
if (!qs.has('policy')) return;
const MODEL = qs.get('policy') && qs.get('policy') !== '1' ? qs.get('policy') : 'models/traj_policy.onnx';
const ORT_BASE = qs.get('ortLocal') === '1' ? 'vendor/ort/' : 'https://cdn.jsdelivr.net/npm/onnxruntime-web@1.20.1/dist/';
const badge = () => document.getElementById('ikBadge');
const say = (t, cls) => { const b = badge(); if (b) { b.textContent = t; b.className = 'badge ' + (cls || 'wait'); } console.log('[policy]', t); };
let ready = false, runner = null, running = false, worker = null;
window.__POLICY = { active: () => ready, setGoal: () => false, stats: () => runner && runner.stats };

function loadScript(src) { return new Promise((res, rej) => { const s = document.createElement('script'); s.src = src; s.onload = res; s.onerror = () => rej(new Error('load ' + src)); document.head.appendChild(s); }); }
async function waitIK() { for (let i = 0; i < 200 && !(window.IK && window.IK.solver && window.ArmPolicy); i++) await new Promise(r => setTimeout(r, 50)); if (!window.IK) throw new Error('IK 未就绪'); }

async function boot() {
  try {
    await waitIK();
    const S = window.IK.solver;
    const meta = await (await fetch(MODEL.replace('.onnx', '.meta.json'))).json();
    if (meta.fp !== S.modelFingerprint()) throw new Error('模型碰撞指纹 ' + meta.fp + ' ≠ 当前 ' + S.modelFingerprint() + '：collide.json 已变，须重训');
    if (meta.feat_ver !== ArmPolicy.FEAT_VER) throw new Error('特征版本不符：模型 ' + meta.feat_ver + ' / 运行时 ' + ArmPolicy.FEAT_VER);
    if (meta.tcp0 && meta.tcp0.some((v, i) => Math.abs(v - S.TCP0[i]) > 0.01)) throw new Error('TCP 与训练时不同：' + S.TCP0 + ' vs ' + meta.tcp0);
    if (!window.ort) await loadScript(ORT_BASE + 'ort.min.js');
    ort.env.wasm.wasmPaths = ORT_BASE;
    ort.env.wasm.numThreads = self.crossOriginIsolated ? Math.min(4, navigator.hardwareConcurrency || 1) : 1;
    const ep = qs.get('ep') === 'webgpu' ? ['webgpu', 'wasm'] : ['wasm'];
    const sess = await ort.InferenceSession.create(MODEL, { executionProviders: ep, graphOptimizationLevel: 'all' });
    runner = new ArmPolicy.Runner(S, ArmPolicy.ortInfer(ort, sess), {});
    /* 预热：首次推理有编译开销 */
    await ArmPolicy.ortInfer(ort, sess)(new Float32Array(8 * ArmPolicy.F_DIM), new Float32Array(8 * ArmPolicy.H * 6), 8);
    const tick = URL.createObjectURL(new Blob(['let h=null;onmessage=e=>{clearInterval(h);if(e.data>0)h=setInterval(()=>postMessage(0),e.data)}'], { type: 'text/javascript' }));
    worker = new Worker(tick);
    worker.onmessage = onTick;
    window.__POLICY = {
      active: () => ready,
      setGoal: (T, R, tool) => {
        if (tool) { say('策略模式暂不支持工具偏移 ≠ 0，已交回规划器', 'badb'); return false; }
        if (!running || !runner.q) runner.reset(window.IK.curQ());
        runner.setGoal(T, R); start(); return true;
      },
      stop, stats: () => runner.stats, runner: () => runner,
      latency: () => { const p = (a, x) => { const s = a.slice().sort((u, v) => u - v); return s.length ? s[Math.min(s.length - 1, Math.floor(s.length * x))] : null; };
        return { inferP50: p(runner.stats.inferMs, .5), inferP99: p(runner.stats.inferMs, .99), safetyP50: p(runner.stats.safetyMs, .5), safetyP99: p(runner.stats.safetyMs, .99), threads: ort.env.wasm.numThreads, ep: ep[0] }; }
    };
    ready = true;
    say('策略模式就绪（' + ep[0] + '，' + ort.env.wasm.numThreads + ' 线程）：拖动目标即由策略执行', 'ok');
  } catch (e) { say('策略模式不可用：' + e.message, 'badb'); console.error(e); }
}
function start() { if (running) return; running = true; worker.postMessage(ArmPolicy.DT * 1000); }
function stop() { running = false; if (worker) worker.postMessage(0); }
function onTick() {
  if (!running) return;
  if (runner.needPlan()) runner.plan().catch(e => { console.error(e); stop(); say('策略推理出错：' + e.message, 'badb'); });
  const q = runner.tick();
  if (q) window.IK.setJoints(q, false);
  if (runner.done && !runner.queue.length) {
    stop();
    const { e, oe } = runner.err(runner.q);
    say('策略到达 · 误差 ' + e.toFixed(2) + ' mm' + (runner.goal.R ? ' / ' + oe.toFixed(2) + '°' : '') + ' · 刹停 ' + runner.stats.brakes + ' 次', 'ok');
  } else if (runner.brakeRun >= 2) say('策略：安全层连续拦截，减速重规划中…', 'wait');
}
boot();
})();