增加机器人奇异点检测

public/robot_kinematics_three_test.html

@@ -420,6 +420,9 @@
           <div id="joint-controls"></div>
           <div class="actions">
             <button id="fk-btn" type="button">正解</button>
+            <button id="singularity-btn" class="secondary" type="button">
+              奇异点
+            </button>
             <button id="target-current-btn" class="secondary" type="button">
               取当前位姿
             </button>
@@ -492,6 +495,10 @@
             <span class="metric-label">关节数</span>
             <span class="metric-value" id="joint-count-value">0</span>
           </div>
+          <div class="metric">
+            <span class="metric-label">奇异风险</span>
+            <span class="metric-value" id="singularity-value">-</span>
+          </div>
           <div class="metric">
             <span class="metric-label">three.js</span>
             <span class="metric-value">0.184.0</span>
@@ -546,11 +553,13 @@
         targetQw: document.getElementById("target-qw"),
         tcpValue: document.getElementById("tcp-value"),
         jointCountValue: document.getElementById("joint-count-value"),
+        singularityValue: document.getElementById("singularity-value"),
         toast: document.getElementById("toast"),
         initBtn: document.getElementById("init-btn"),
         registerUrdfBtn: document.getElementById("register-urdf-btn"),
         resetBtn: document.getElementById("reset-btn"),
         fkBtn: document.getElementById("fk-btn"),
+        singularityBtn: document.getElementById("singularity-btn"),
         ikBtn: document.getElementById("ik-btn"),
         applyIkBtn: document.getElementById("apply-ik-btn"),
         targetCurrentBtn: document.getElementById("target-current-btn"),
@@ -731,6 +740,20 @@
         };
       }
 
+      // 生成奇异点检测请求。
+      function buildSingularityRequest() {
+        return {
+          msg: "threejs singularity check",
+          req_code: `THREE_SINGULARITY_${Date.now()}`,
+          req_from: "threejs_test",
+          req_cmd: "Cmd_Kinematics_check_singularity",
+          req_param: {
+            robot_uuid: elements.robotUuid.value.trim(),
+            joints_str: buildJointString(),
+          },
+        };
+      }
+
       // 生成逆解请求。
       function buildInverseRequest() {
         const pose = [
@@ -883,6 +906,27 @@
         }
       }
 
+      // 执行奇异点检测并显示风险等级。
+      async function runSingularityCheck() {
+        await ensureInitialized();
+        setBusy(true, "奇异点检测中");
+
+        const request = buildSingularityRequest();
+        try {
+          renderJson(request, null);
+          const response = await api.processBusinessRequest(request);
+          renderJson(request, response);
+          updateSingularityMetric(response?.res_data);
+
+          const ok = response.success && response.res_data?.success;
+          setStatus(ok ? "奇异点检测完成" : "奇异点检测失败", Boolean(ok));
+        } catch (error) {
+          showError(error);
+        } finally {
+          setBusy(false);
+        }
+      }
+
       // 执行逆解并保存待应用的关节解。
       async function runInverseKinematics() {
         await ensureInitialized();
@@ -1114,6 +1158,22 @@
         }
       }
 
+      // 更新奇异点风险指标。
+      function updateSingularityMetric(result) {
+        if (!result?.success) {
+          elements.singularityValue.textContent = "-";
+          return;
+        }
+
+        const riskText = {
+          normal: "正常",
+          warning: "接近",
+          singular: "奇异",
+        }[result.risk_level] ?? result.risk_level;
+        const minSv = Number(result.min_singular_value);
+        elements.singularityValue.textContent = `${riskText} / ${Number.isFinite(minSv) ? minSv.toExponential(2) : "-"}`;
+      }
+
       // 设置按钮忙碌状态。
       function setBusy(isBusy, label) {
         [
@@ -1121,6 +1181,7 @@
           elements.registerUrdfBtn,
           elements.resetBtn,
           elements.fkBtn,
+          elements.singularityBtn,
           elements.ikBtn,
           elements.targetCurrentBtn,
         ].forEach((button) => {
@@ -1188,6 +1249,7 @@
       elements.registerUrdfBtn.addEventListener("click", registerUrdfFromFile);
       elements.resetBtn.addEventListener("click", resetJoints);
       elements.fkBtn.addEventListener("click", runForwardKinematics);
+      elements.singularityBtn.addEventListener("click", runSingularityCheck);
       elements.ikBtn.addEventListener("click", runInverseKinematics);
       elements.applyIkBtn.addEventListener("click", applyInverseSolution);
       elements.targetCurrentBtn.addEventListener("click", updateTcpTargetFromCurrent);