From 12310de782b0b501065259252e21f086e50f8527 Mon Sep 17 00:00:00 2001 From: zhangshun <453905631@qq.com> Date: Mon, 1 Jun 2026 17:38:29 +0800 Subject: [PATCH] =?UTF-8?q?=E8=A1=A5=E5=85=85=E8=B0=83=E8=AF=95=E9=A1=B5?= =?UTF-8?q?=E6=8E=A5=E5=8F=A3=E6=B5=8B=E8=AF=95=E6=A0=B7=E4=BE=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- public/index.html | 233 +++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 218 insertions(+), 15 deletions(-) diff --git a/public/index.html b/public/index.html index 575270d..f28a93e 100644 --- a/public/index.html +++ b/public/index.html @@ -123,6 +123,33 @@ margin-top: 16px; } + .sample-bar { + display: grid; + gap: 10px; + margin-top: 16px; + padding: 14px; + border: 1px solid var(--line); + border-radius: 14px; + background: rgba(255, 255, 255, 0.72); + } + + .sample-row { + display: flex; + flex-wrap: wrap; + gap: 10px; + align-items: center; + } + + select { + width: 100%; + border: 1px solid var(--line); + border-radius: 12px; + padding: 11px 12px; + font-size: 14px; + color: var(--text); + background: #fff; + } + button { border: 0; border-radius: 12px; @@ -268,10 +295,28 @@ "req_param": {} } +
+ +
+ +
+
+ +
+
+
-
@@ -321,11 +366,174 @@ const requestStatus = document.getElementById("request-status"); const requestBox = document.getElementById("request"); const output = document.getElementById("output"); + const sampleSelect = document.getElementById("sample-select"); const metaSuccess = document.getElementById("meta-success"); const metaCode = document.getElementById("meta-code"); const metaCmd = document.getElementById("meta-cmd"); const metaReq = document.getElementById("meta-req"); + const requestSamples = { + listRobots: { + msg: "list robots after init", + req_code: "CASE_LIST_001", + req_from: "local_debug", + req_cmd: "Cmd_ListRobots", + req_param: { + detail: true + } + }, + kinematicsForwardZero: { + msg: "fk zero pose", + req_code: "CASE_FK_001", + req_from: "local_debug", + req_cmd: "Cmd_Kinematics_forward_pose_str", + req_param: { + robot_uuid: "abb_irb120_3_58", + q_init_str: "0,0,0,0,0,0" + } + }, + kinematicsForwardAllJoints: { + msg: "fk all joints path", + req_code: "CASE_FK_ALL_001", + req_from: "local_debug", + req_cmd: "Cmd_Kinematics_forward_all_joints", + req_param: { + robot_uuid: "abb_irb120_3_58", + joints_str: "0,0,0,0,0,0;10,20,30,40,50,60" + } + }, + spcBasic: { + msg: "spc basic 5x30", + req_code: "CASE_SPC_001", + req_from: "local_debug", + req_cmd: "Cmd_Spc", + req_param: { + n: 5, + k: 30, + usl: 1.7, + lsl: 1.5, + x: [ + 1.55, 1.58, 1.61, 1.6, 1.6, 1.58, 1.63, 1.63, 1.62, 1.63, + 1.62, 1.63, 1.62, 1.59, 1.58, 1.58, 1.6, 1.61, 1.62, 1.63, + 1.58, 1.64, 1.63, 1.62, 1.62, 1.62, 1.62, 1.63, 1.61, 1.57, + 1.64, 1.62, 1.61, 1.6, 1.58, 1.57, 1.59, 1.61, 1.62, 1.63, + 1.58, 1.61, 1.6, 1.62, 1.63, 1.6, 1.61, 1.64, 1.64, 1.63, + 1.58, 1.6, 1.62, 1.63, 1.65, 1.62, 1.58, 1.59, 1.57, 1.58, + 1.57, 1.57, 1.58, 1.59, 1.64, 1.61, 1.64, 1.62, 1.6, 1.59, + 1.65, 1.62, 1.62, 1.6, 1.58, 1.57, 1.59, 1.57, 1.59, 1.62, + 1.56, 1.57, 1.57, 1.61, 1.62, 1.56, 1.58, 1.59, 1.6, 1.62, + 1.58, 1.6, 1.6, 1.62, 1.63, 1.58, 1.59, 1.6, 1.63, 1.62, + 1.58, 1.59, 1.62, 1.63, 1.64, 1.58, 1.59, 1.62, 1.63, 1.61, + 1.58, 1.59, 1.6, 1.61, 1.63, 1.57, 1.59, 1.61, 1.61, 1.62, + 1.58, 1.58, 1.6, 1.61, 1.63, 1.62, 1.58, 1.58, 1.58, 1.57, + 1.63, 1.59, 1.57, 1.58, 1.57, 1.58, 1.62, 1.61, 1.63, 1.61, + 1.58, 1.57, 1.59, 1.6, 1.62, 1.62, 1.6, 1.6, 1.57, 1.57 + ] + } + }, + fourBarValid: { + msg: "fourbar valid", + req_code: "CASE_FB_001", + req_from: "local_debug", + req_cmd: "Cmd_FourBar_CrankSlider", + req_param: { + L_AB: 0.5, + L_BS: 2.0, + S_OFS: 0.0, + angleDeg: 45.0 + } + }, + fourBarInvalid: { + msg: "fourbar invalid", + req_code: "CASE_FB_002", + req_from: "local_debug", + req_cmd: "Cmd_FourBar_CrankSlider", + req_param: { + L_AB: 0.0, + L_BS: 0.2, + S_OFS: 0.5, + angleDeg: 30.0 + } + }, + quadrupedPoints: { + msg: "quadruped points from motor angles", + req_code: "CASE_QP_001", + req_from: "local_debug", + req_cmd: "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles", + req_param: { + Param: { + LF: { + thigh_angle_deg: -37.4784578338516, + shank_angle_deg: -22.4917532451628, + ankle_angle_deg: 0.0 + }, + LH: { + thigh_angle_deg: -34.0564623655754, + shank_angle_deg: -22.1353106546916, + ankle_angle_deg: 0.0 + }, + RF: { + thigh_angle_deg: 34.0564623655754, + shank_angle_deg: 22.1353106546916, + ankle_angle_deg: 0.0 + }, + RH: { + thigh_angle_deg: 37.4784578338516, + shank_angle_deg: 22.4917532451628, + ankle_angle_deg: 0.0 + } + } + } + }, + quadrupedForwardGait: { + msg: "quadruped forward gait", + req_code: "CASE_QP_002", + req_from: "local_debug", + req_cmd: "Cmd_QuadrupedRobot_PerformForwardKinematics", + req_param: { + GaitInfo: { + GaitType: "trot", + Period: 0.8, + Frequency: 50.0, + StepTime: 0.02, + SupportTime: 0.4, + SwingTime: 0.4, + SupportRatio: 0.5, + SwingRatio: 0.5, + TotalFrames: 40, + TotalTime: 0.8 + }, + SystemParameters: { + A_x: 0.0, + A_y: 500.0, + L10: 300.0, + L20: 286.0, + L30: 55.0, + StepLength: 60.0, + StepHeight: 50.0, + X: 30.0, + DeltaX: 0.0, + L21: 70.0, + L22: 292.0, + L23: 80.0, + Beta1: 166.0, + BB2_BC_Angle: 3.3859387489, + C1_B_Length: 107.0, + CC1: 179.0, + L31: 32.0, + C2C3_Length: 32.0, + Lead: 10.0, + D1_L_Offset: 90.0, + D2_L_Offset: 50.0, + C4_D2_Offset: 18.0, + ThighMotorReduction: 1.0, + ShankMotorReduction: 1.0, + AnkleMotorReduction: 1.0 + } + } + } + }; + function escapeHtml(value) { return value .replaceAll("&", "&") @@ -403,19 +611,13 @@ return ptr; } - function sampleFourBar() { - requestBox.value = JSON.stringify({ - msg: "fourbar valid", - req_code: "CASE_FB_001", - req_from: "local_debug", - req_cmd: "Cmd_FourBar_CrankSlider", - req_param: { - L_AB: 0.5, - L_BS: 2.0, - S_OFS: 0.0, - angleDeg: 45.0 - } - }, null, 2); + function loadSelectedSample() { + const selectedKey = sampleSelect.value; + const sample = requestSamples[selectedKey]; + if (!sample) { + return; + } + requestBox.value = JSON.stringify(sample, null, 2); } async function ensureModule() { @@ -481,7 +683,7 @@ document.getElementById("init-btn").addEventListener("click", initializeBusinessApi); document.getElementById("run-btn").addEventListener("click", runRequest); - document.getElementById("sample-btn").addEventListener("click", sampleFourBar); + document.getElementById("sample-btn").addEventListener("click", loadSelectedSample); document.getElementById("clear-btn").addEventListener("click", () => { requestStatus.textContent = "等待操作"; resetMeta(); @@ -489,6 +691,7 @@ }); resetMeta(); + loadSelectedSample();