补充调试页接口测试样例

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": {}
 }</textarea>
 
+                    <div class="sample-bar">
+                        <label for="sample-select">接口测试样例</label>
+                        <div class="sample-row">
+                            <select id="sample-select">
+                                <option value="listRobots">机器人列表 Cmd_ListRobots</option>
+                                <option value="kinematicsForwardZero">运动学正解 Cmd_Kinematics_forward_pose_str</option>
+                                <option value="kinematicsForwardAllJoints">全关节正解 Cmd_Kinematics_forward_all_joints</option>
+                                <option value="spcBasic">SPC 计算 Cmd_Spc</option>
+                                <option value="fourBarValid">四连杆有效样例 Cmd_FourBar_CrankSlider</option>
+                                <option value="fourBarInvalid">四连杆异常样例 Cmd_FourBar_CrankSlider</option>
+                                <option value="quadrupedPoints">四足姿态点位 Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles</option>
+                                <option value="quadrupedForwardGait">四足步态正解 Cmd_QuadrupedRobot_PerformForwardKinematics</option>
+                            </select>
+                        </div>
+                        <div class="sample-row">
+                            <button class="secondary" id="sample-btn" type="button">填充选中样例</button>
+                        </div>
+                    </div>
+
                     <div class="actions">
                         <button class="primary" id="init-btn" type="button">初始化 WASM</button>
                         <button class="primary" id="run-btn" type="button">发送请求</button>
-                        <button class="secondary" id="sample-btn" type="button">填充四杆样例</button>
                         <button class="secondary" id="clear-btn" type="button">清空输出</button>
                     </div>
 
@@ -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("&", "&amp;")
@@ -403,19 +611,13 @@
             return ptr;
         }
 
-        function sampleFourBar() {
+        function loadSelectedSample() {
-            requestBox.value = JSON.stringify({
+            const selectedKey = sampleSelect.value;
-                msg: "fourbar valid",
+            const sample = requestSamples[selectedKey];
-                req_code: "CASE_FB_001",
+            if (!sample) {
-                req_from: "local_debug",
+                return;
-                req_cmd: "Cmd_FourBar_CrankSlider",
+            }
-                req_param: {
+            requestBox.value = JSON.stringify(sample, null, 2);
-                    L_AB: 0.5,
-                    L_BS: 2.0,
-                    S_OFS: 0.0,
-                    angleDeg: 45.0
-                }
-            }, 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();
     </script>
 </body>
 </html>