cbb
649bd69810
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。
181 lines
13 KiB
Python
181 lines
13 KiB
Python
# -*- coding: utf-8 -*-
|
||
"""Headless Edge screenshots of the viewer, for the visual self-check loop."""
|
||
import os
|
||
import subprocess
|
||
import sys
|
||
import shutil
|
||
import glob
|
||
|
||
try:
|
||
sys.stdout.reconfigure(encoding="utf-8")
|
||
except Exception:
|
||
pass
|
||
|
||
from arm.paths import WEB, DOCS
|
||
SHOTS = DOCS + "/shots"
|
||
HTML = WEB + "/机器人手臂3D查看器.html"
|
||
CAND = [r"C:\Program Files (x86)\Microsoft\Edge\Application\msedge.exe",
|
||
r"C:\Program Files\Microsoft\Edge\Application\msedge.exe"]
|
||
EDGE = next((c for c in CAND if os.path.exists(c)), None)
|
||
if not EDGE:
|
||
EDGE = glob.glob(r"C:\Users\*\AppData\Local\Microsoft\Edge\*\msedge.exe")
|
||
EDGE = EDGE[0] if EDGE else None
|
||
if not EDGE:
|
||
raise SystemExit("msedge not found")
|
||
|
||
VIEWS = {
|
||
"01_iso": "?cam=iso",
|
||
"zoom_user": "?cam=iso&az=-0.9&po=1.15&rd=470&tx=30&ty=320&tz=-80&xray=0",
|
||
"user_harness_view": "?az=-1.85&po=1.32&rd=430&tx=0&ty=330&tz=-115&xray=0",
|
||
"user_harness_zoom": "?az=-1.85&po=1.32&rd=280&tx=-5&ty=360&tz=-115&xray=0",
|
||
"user_m1_rear": "?az=-1.25&po=1.35&rd=350&tx=-70&ty=570&tz=-128&xray=0",
|
||
"user_m1_exact": "?az=-1.5708&po=1.5708&rd=260&tx=0&ty=610&tz=-128&xray=0",
|
||
"user_m1_bypass_oblique": "?az=-1.0&po=1.15&rd=300&tx=-40&ty=580&tz=-140&xray=0",
|
||
"user_smooth_harness": "?az=1.50&po=1.45&rd=340&tx=-15&ty=560&tz=-128&xray=0",
|
||
"user_contour_harness": "?az=1.5708&po=1.50&rd=360&tx=-15&ty=320&tz=-128&xray=0",
|
||
"02_front": "?cam=front",
|
||
|
||
# 工程图 / 装配向导 / 运动模拟三种模式。URL 参数（?view=&sheet=&theme=&guide=）就是
|
||
# 为这几条截图加的：不把它们纳入基线，拆 CSS 与那 700 行工程图 JS 时等于没有关卡。
|
||
"m1_sheet_front": "?view=sheet",
|
||
"m2_sheet_joint": "?view=sheet&sheet=1",
|
||
"m3_sheet_exploded": "?view=sheet&sheet=2",
|
||
"m4_sheet_side": "?view=sheet&sheet=3",
|
||
"m5_guide_step1": "?view=sheet&sheet=guide&guide=0",
|
||
"m6_guide_step5": "?view=sheet&sheet=guide&guide=4",
|
||
"m7_sheet_blueprint": "?view=sheet&theme=blueprint",
|
||
"m8_sheet_dark": "?view=sheet&theme=dark",
|
||
"m9_motion": "?view=motion",
|
||
"03_side": "?cam=side",
|
||
"04_top": "?cam=top",
|
||
"05_exploded": "?cam=iso&expl=100",
|
||
"06_wrist": "?cam=wrist&xray=0",
|
||
"07_joint": "?cam=joint",
|
||
"08_pose": "?cam=iso&j2=35&j3=60&j4=-25&j1=25",
|
||
"09_sheet": "?sheet=1",
|
||
"10_solid": "?cam=iso&xray=0",
|
||
"11_tool_flange": "?cam=wrist&xray=0&j6=45",
|
||
"12_elbow_flare": "?cam=elbow&xray=0",
|
||
"13_forearm_side": "?cam=side&xray=0&rd=340&ty=245&tz=-135",
|
||
"user_target": "?cam=side&az=-1.5708&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||
"view_yz_pos_x": "?cam=side&az=0&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||
"view_yz_neg_x": "?cam=side&az=3.14159&po=1.57&xray=0&rd=340&tx=100&ty=245&tz=-135",
|
||
"view_iso_forearm": "?cam=side&az=-0.65&po=1.2&xray=0&rd=320&tx=100&ty=245&tz=-135",
|
||
"user_view1": "?cam=wrist&az=0.55&po=1.4&rd=310&xray=0",
|
||
"user_view2": "?cam=wrist&az=0.2&po=1.4&rd=290&xray=0",
|
||
"user_p04": "?cam=joint&az=-1.5708&po=1.57&rd=380&xray=0",
|
||
"user_p04_opp": "?cam=joint&az=1.5708&po=1.57&rd=380&xray=0",
|
||
"user_elbow_rear": "?az=1.5708&po=1.5708&rd=280&tx=95&ty=315&tz=-128&xray=0",
|
||
"user_p07_wrist": "?az=1.5708&po=1.5708&rd=240&tx=95&ty=235&tz=-128&xray=0",
|
||
"user_elbow_front": "?az=-1.5708&po=1.5708&rd=250&tx=18.5&ty=310&tz=-128&xray=0",
|
||
"user_p06_xz": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=350&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||
"user_p06_yz": "?az=0&po=1.5708&rd=260&tx=18.5&ty=350&tz=-110&xray=0",
|
||
"user_p06_iso": "?az=-0.65&po=1.25&rd=260&tx=-15&ty=350&tz=-128&xray=0",
|
||
"user_p07_creases": "?az=-0.65&po=1.25&rd=260&tx=30&ty=270&tz=-130&xray=0",
|
||
# 电机腔内壁（隐藏全部电机，从腔内看 R35/R30.15 两段同心圆弧是否连续）
|
||
"bay_p06_inside": "?az=1.5708&po=1.5708&rd=250&tx=18.5&ty=345&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||
"bay_p07_inside": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=235&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||
"bay_p08_inside": "?az=1.5708&po=1.5708&rd=210&tx=18.5&ty=175&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
|
||
"user_p04_side": "?az=1.5708&po=1.5708&rd=300&tx=18.5&ty=520&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||
"user_p04_bottom": "?az=0.5&po=2.0&rd=240&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||
"user_p04_bottom2": "?az=1.2&po=2.0&rd=260&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
|
||
"user_shoulder_solid": "?cam=joint&az=2.1&po=1.35&rd=380&xray=0",
|
||
"user_shoulder_xray": "?cam=joint&az=2.1&po=1.35&rd=380",
|
||
"user_shoulder_top": "?cam=joint&az=-0.6&po=0.6&rd=360&xray=0",
|
||
# P03 轻量化桁架版（孤立视图：只留 P03，隐藏其余零件/电机/螺钉/包络）
|
||
"p03_light_iso": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"p03_light_side": "?az=1.5708&po=1.5708&rd=320&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"p03_light_rear": "?az=0.0&po=1.45&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"p03_light_join": "?az=0.62&po=1.15&rd=420&tx=18.5&ty=520&tz=-128&xray=0",
|
||
"p03_light_xray": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=1&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
# 减重版（2026-10-02）：P04 立柱槽 / P06 过渡块窗 / P07 顶板槽 的孤立视图
|
||
# 俯视看朝上敞开的槽口，斜视看槽壁与留下来的抗弯腹板
|
||
"hollow_p04_top": "?az=0.0&po=0.05&rd=250&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"hollow_p04_iso": "?az=0.7&po=1.05&rd=280&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"hollow_p07_top": "?az=0.0&po=0.05&rd=230&tx=18.5&ty=270&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"hollow_p07_iso": "?az=0.7&po=1.05&rd=260&tx=18.5&ty=275&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
"hollow_p06_iso": "?az=0.7&po=1.05&rd=190&tx=18.5&ty=368&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
|
||
# P03↔立柱 安装接口（新版 4xM5 从腔体上方拧入）：俯视看螺钉落位
|
||
"p03_mount_top": "?az=0.9&po=1.30&rd=190&tx=-115&ty=476&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||
"p03_mount_iso": "?az=2.2&po=0.95&rd=230&tx=-115&ty=486&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||
"p03_mount_loose": "?az=0.9&po=0.42&rd=260&tx=-115&ty=500&tz=-128&xray=0&expl=60&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||
"j3_前端压盖_装配": "?az=0.7&po=2.72&rd=190&tx=19.5&ty=396&tz=-128&xray=0&hide=立柱,底座,肩关节安装悬臂,肩叉,大臂骨架,小臂骨架,腕部转接座,末端工具法兰,M1,M2,M4,M5,M6,包络经纬网",
|
||
"j3_前端压盖_全件": "?az=0.7&po=2.6&rd=300&tx=19.5&ty=420&tz=-128&xray=0",
|
||
# 承压面下沉 2mm 留下的"悬空凸台"（2026-10-04 整改）：沿电机轴线从尾端面方向看，
|
||
# 四个视图分别对应 P04/P05/P06/P07 的后端。ax/po 沿轴向，rd 拉近到 R35 座圈。
|
||
# 沿电机轴线从尾端面看过去：承压面(R35圆面) + 4xS02 沉孔，凸台消失后应是干净圆面
|
||
"boss_p04": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M3,M4,M5,M6,ENV",
|
||
"user_fork_fixed": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P06,P07,P08,P09,M1,M4,M5,M6,ENV,S0,S1",
|
||
"bay_p04_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||
"bay_p06_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=332&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||
"bay_p07_inside": "?az=0.55&po=2.10&rd=150&tx=19.5&ty=227&tz=-158&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,ENV,S0,S1",
|
||
"p04_both_ends": "?az=1.5708&po=1.5708&rd=200&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
|
||
"p04_m2_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=490&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M3,M4,M5,M6,ENV,S0,S1",
|
||
"p06_m4_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV,S0,S1",
|
||
"p07_m5_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=227&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV,S0,S1",
|
||
"p05_m3_side": "?az=1.2&po=1.9&rd=240&tx=19.5&ty=400&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M1,M2,M4,M5,M6,ENV,S0,S1",
|
||
"boss_p05": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=392&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M2,M4,M5,M6,ENV",
|
||
"user_compare_view": "?cam=side&az=0&po=1.5708&rd=460&tx=19.5&ty=380&tz=-128&xray=0&hide=P01,P02,P03,P09,M1,M6,ENV",
|
||
"user_p07_check": "?az=1.5708&po=1.5708&rd=260&tx=19.5&ty=220&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||
"boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
|
||
"boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
|
||
"svg_side": f"file:///{DOCS}/sheet_side.svg",
|
||
"svg_joint": f"file:///{DOCS}/sheet_joint.svg",
|
||
"svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
|
||
"user_circle_check": "?az=0.8&po=1.95&rd=240&tx=19.5&ty=430&tz=-128&xray=0&hide=M1,M2,M3,M4,M5,M6,ENV",
|
||
"user_exact_view": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=440&tz=-128&xray=0&hide=P01,P02,P03,M1,M2,M3,M4,M5,M6,ENV",
|
||
"shot_p08_user": "?az=1.5708&po=1.92&rd=150&tx=19.5&ty=176&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P07,P09,M1,M2,M3,M4,M5,M6,ENV",
|
||
"p05_flank_view": "?az=0&po=1.5708&rd=200&tx=19.5&ty=440&tz=-135&xray=0&hide=P01,P02,P03,P07,P08,P09,M1,M4,M5,M6,ENV",
|
||
"harness_full_iso": "?cam=iso&xray=0",
|
||
"harness_overview": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&xray=0",
|
||
"harness_xray_internal": "?az=-0.7&po=1.2&rd=520&tx=0&ty=400&tz=-120&alpha=0.35&xray=1",
|
||
"harness_p07_window": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&xray=0",
|
||
"harness_p07_xray": "?az=-0.65&po=1.25&rd=260&tx=25&ty=275&tz=-130&alpha=0.35&xray=1",
|
||
"harness_p04_p05": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&xray=0",
|
||
"harness_p04_p05_xray": "?az=0.8&po=1.35&rd=280&tx=25&ty=470&tz=-128&alpha=0.35&xray=1",
|
||
"harness_p06_window": "?az=-0.65&po=1.25&rd=240&tx=25&ty=355&tz=-128&xray=0",
|
||
"harness_xray_full": "?cam=iso&xray=1",
|
||
# 扎带拱桥核验：沿 ±Y 正视肩部，确认三个拱桥各自露出多少、线束是否压在桥上
|
||
"tie_probe_negY": "?az=1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
|
||
"tie_probe_posY": "?az=-1.5708&po=1.5708&rd=460&tx=-30&ty=590&tz=-128&xray=0",
|
||
"tie_after_negY": "?az=1.5708&po=1.5708&rd=300&tx=-25&ty=600&tz=-128&xray=0",
|
||
"tie_after_oblique": "?az=2.05&po=1.30&rd=330&tx=-25&ty=600&tz=-128&xray=0",
|
||
"tie_after_close": "?az=1.90&po=1.50&rd=180&tx=-25&ty=605&tz=-100&xray=0",
|
||
# P06/P07 −X 侧线束走廊：从 −X、−Y 斜看（纯 −X 会被蓝色立柱挡住）
|
||
"tie_after_p0607": "?az=2.35&po=1.5708&rd=300&tx=0&ty=290&tz=-102.5&xray=0",
|
||
"tie_after_p0607_obl": "?az=2.60&po=1.35&rd=260&tx=-5&ty=290&tz=-110&xray=0",
|
||
}
|
||
os.makedirs(SHOTS, exist_ok=True)
|
||
want = sys.argv[1:] or list(VIEWS)
|
||
|
||
def take_shot(nm):
|
||
q = VIEWS[nm]
|
||
out = "%s/%s.png" % (SHOTS, nm)
|
||
import time, tempfile
|
||
t_bust = int(time.time() * 1000)
|
||
target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
|
||
f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
|
||
udd = tempfile.mkdtemp(prefix="eshot")
|
||
cmd = [EDGE, "--headless=new", "--use-gl=angle", "--use-angle=d3d11",
|
||
"--disable-cache", "--disable-application-cache", "--disk-cache-size=0",
|
||
"--user-data-dir=" + udd,
|
||
"--enable-gpu-rasterization", "--ignore-gpu-blocklist",
|
||
"--hide-scrollbars", "--force-device-scale-factor=1",
|
||
"--window-size=1500,860", "--virtual-time-budget=20000",
|
||
"--screenshot=" + out, target]
|
||
r = subprocess.run(cmd, capture_output=True, timeout=180)
|
||
shutil.rmtree(udd, ignore_errors=True)
|
||
ok = os.path.exists(out) and os.path.getsize(out) > 20000
|
||
err = (r.stderr or b"").decode("utf-8", errors="ignore").strip()[:90].replace("\n", " ")
|
||
sz = os.path.getsize(out) if os.path.exists(out) else 0
|
||
print("%-18s %s %8s %s" % (nm, "OK " if ok else "FAIL", sz, err), flush=True)
|
||
return ok
|
||
|
||
if __name__ == "__main__":
|
||
from concurrent.futures import ThreadPoolExecutor
|
||
with ThreadPoolExecutor(max_workers=min(4, os.cpu_count() or 2)) as executor:
|
||
results = list(executor.map(take_shot, want))
|
||
|
||
print("edge:", EDGE)
|
||
print("all shots ok:", all(results))
|