补充调试页接口测试样例
This commit is contained in:
zhangshun
@@ -123,6 +123,33 @@
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margin-top: 16px;
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}
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.sample-bar {
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display: grid;
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gap: 10px;
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margin-top: 16px;
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padding: 14px;
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border: 1px solid var(--line);
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border-radius: 14px;
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background: rgba(255, 255, 255, 0.72);
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}
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.sample-row {
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display: flex;
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flex-wrap: wrap;
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gap: 10px;
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align-items: center;
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}
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select {
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width: 100%;
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border: 1px solid var(--line);
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border-radius: 12px;
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padding: 11px 12px;
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font-size: 14px;
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color: var(--text);
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background: #fff;
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}
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button {
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border: 0;
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border-radius: 12px;
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@@ -268,10 +295,28 @@
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"req_param": {}
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}</textarea>
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<div class="sample-bar">
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<label for="sample-select">接口测试样例</label>
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<div class="sample-row">
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<select id="sample-select">
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<option value="listRobots">机器人列表 Cmd_ListRobots</option>
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<option value="kinematicsForwardZero">运动学正解 Cmd_Kinematics_forward_pose_str</option>
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<option value="kinematicsForwardAllJoints">全关节正解 Cmd_Kinematics_forward_all_joints</option>
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<option value="spcBasic">SPC 计算 Cmd_Spc</option>
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<option value="fourBarValid">四连杆有效样例 Cmd_FourBar_CrankSlider</option>
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<option value="fourBarInvalid">四连杆异常样例 Cmd_FourBar_CrankSlider</option>
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<option value="quadrupedPoints">四足姿态点位 Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles</option>
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<option value="quadrupedForwardGait">四足步态正解 Cmd_QuadrupedRobot_PerformForwardKinematics</option>
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</select>
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</div>
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<div class="sample-row">
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<button class="secondary" id="sample-btn" type="button">填充选中样例</button>
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</div>
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</div>
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<div class="actions">
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<button class="primary" id="init-btn" type="button">初始化 WASM</button>
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<button class="primary" id="run-btn" type="button">发送请求</button>
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<button class="secondary" id="sample-btn" type="button">填充四杆样例</button>
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<button class="secondary" id="clear-btn" type="button">清空输出</button>
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</div>
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@@ -321,11 +366,174 @@
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const requestStatus = document.getElementById("request-status");
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const requestBox = document.getElementById("request");
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const output = document.getElementById("output");
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const sampleSelect = document.getElementById("sample-select");
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const metaSuccess = document.getElementById("meta-success");
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const metaCode = document.getElementById("meta-code");
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const metaCmd = document.getElementById("meta-cmd");
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const metaReq = document.getElementById("meta-req");
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const requestSamples = {
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listRobots: {
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msg: "list robots after init",
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req_code: "CASE_LIST_001",
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req_from: "local_debug",
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req_cmd: "Cmd_ListRobots",
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req_param: {
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detail: true
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}
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},
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kinematicsForwardZero: {
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msg: "fk zero pose",
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req_code: "CASE_FK_001",
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req_from: "local_debug",
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req_cmd: "Cmd_Kinematics_forward_pose_str",
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req_param: {
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robot_uuid: "abb_irb120_3_58",
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q_init_str: "0,0,0,0,0,0"
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}
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},
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kinematicsForwardAllJoints: {
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msg: "fk all joints path",
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req_code: "CASE_FK_ALL_001",
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req_from: "local_debug",
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req_cmd: "Cmd_Kinematics_forward_all_joints",
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req_param: {
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robot_uuid: "abb_irb120_3_58",
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joints_str: "0,0,0,0,0,0;10,20,30,40,50,60"
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}
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},
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spcBasic: {
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msg: "spc basic 5x30",
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req_code: "CASE_SPC_001",
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req_from: "local_debug",
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req_cmd: "Cmd_Spc",
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req_param: {
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n: 5,
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k: 30,
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usl: 1.7,
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lsl: 1.5,
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x: [
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1.55, 1.58, 1.61, 1.6, 1.6, 1.58, 1.63, 1.63, 1.62, 1.63,
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1.62, 1.63, 1.62, 1.59, 1.58, 1.58, 1.6, 1.61, 1.62, 1.63,
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1.58, 1.64, 1.63, 1.62, 1.62, 1.62, 1.62, 1.63, 1.61, 1.57,
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1.64, 1.62, 1.61, 1.6, 1.58, 1.57, 1.59, 1.61, 1.62, 1.63,
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1.58, 1.61, 1.6, 1.62, 1.63, 1.6, 1.61, 1.64, 1.64, 1.63,
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1.58, 1.6, 1.62, 1.63, 1.65, 1.62, 1.58, 1.59, 1.57, 1.58,
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1.57, 1.57, 1.58, 1.59, 1.64, 1.61, 1.64, 1.62, 1.6, 1.59,
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1.65, 1.62, 1.62, 1.6, 1.58, 1.57, 1.59, 1.57, 1.59, 1.62,
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1.56, 1.57, 1.57, 1.61, 1.62, 1.56, 1.58, 1.59, 1.6, 1.62,
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1.58, 1.6, 1.6, 1.62, 1.63, 1.58, 1.59, 1.6, 1.63, 1.62,
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1.58, 1.59, 1.62, 1.63, 1.64, 1.58, 1.59, 1.62, 1.63, 1.61,
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1.58, 1.59, 1.6, 1.61, 1.63, 1.57, 1.59, 1.61, 1.61, 1.62,
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1.58, 1.58, 1.6, 1.61, 1.63, 1.62, 1.58, 1.58, 1.58, 1.57,
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1.63, 1.59, 1.57, 1.58, 1.57, 1.58, 1.62, 1.61, 1.63, 1.61,
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1.58, 1.57, 1.59, 1.6, 1.62, 1.62, 1.6, 1.6, 1.57, 1.57
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]
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}
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},
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fourBarValid: {
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msg: "fourbar valid",
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req_code: "CASE_FB_001",
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req_from: "local_debug",
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req_cmd: "Cmd_FourBar_CrankSlider",
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req_param: {
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L_AB: 0.5,
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L_BS: 2.0,
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S_OFS: 0.0,
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angleDeg: 45.0
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}
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},
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fourBarInvalid: {
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msg: "fourbar invalid",
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req_code: "CASE_FB_002",
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req_from: "local_debug",
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req_cmd: "Cmd_FourBar_CrankSlider",
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req_param: {
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L_AB: 0.0,
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L_BS: 0.2,
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S_OFS: 0.5,
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angleDeg: 30.0
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}
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},
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quadrupedPoints: {
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msg: "quadruped points from motor angles",
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req_code: "CASE_QP_001",
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req_from: "local_debug",
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req_cmd: "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles",
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req_param: {
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Param: {
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LF: {
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thigh_angle_deg: -37.4784578338516,
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shank_angle_deg: -22.4917532451628,
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ankle_angle_deg: 0.0
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},
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LH: {
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thigh_angle_deg: -34.0564623655754,
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shank_angle_deg: -22.1353106546916,
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ankle_angle_deg: 0.0
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},
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RF: {
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thigh_angle_deg: 34.0564623655754,
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shank_angle_deg: 22.1353106546916,
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ankle_angle_deg: 0.0
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},
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RH: {
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thigh_angle_deg: 37.4784578338516,
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shank_angle_deg: 22.4917532451628,
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ankle_angle_deg: 0.0
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}
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}
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}
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},
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quadrupedForwardGait: {
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msg: "quadruped forward gait",
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req_code: "CASE_QP_002",
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req_from: "local_debug",
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req_cmd: "Cmd_QuadrupedRobot_PerformForwardKinematics",
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req_param: {
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GaitInfo: {
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GaitType: "trot",
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Period: 0.8,
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Frequency: 50.0,
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StepTime: 0.02,
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SupportTime: 0.4,
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SwingTime: 0.4,
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SupportRatio: 0.5,
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SwingRatio: 0.5,
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TotalFrames: 40,
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TotalTime: 0.8
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},
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SystemParameters: {
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A_x: 0.0,
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A_y: 500.0,
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L10: 300.0,
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L20: 286.0,
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L30: 55.0,
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StepLength: 60.0,
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StepHeight: 50.0,
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X: 30.0,
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DeltaX: 0.0,
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L21: 70.0,
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L22: 292.0,
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L23: 80.0,
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Beta1: 166.0,
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BB2_BC_Angle: 3.3859387489,
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C1_B_Length: 107.0,
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CC1: 179.0,
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L31: 32.0,
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C2C3_Length: 32.0,
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Lead: 10.0,
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D1_L_Offset: 90.0,
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D2_L_Offset: 50.0,
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C4_D2_Offset: 18.0,
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ThighMotorReduction: 1.0,
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ShankMotorReduction: 1.0,
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AnkleMotorReduction: 1.0
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}
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}
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}
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};
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function escapeHtml(value) {
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return value
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.replaceAll("&", "&")
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@@ -403,19 +611,13 @@
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return ptr;
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}
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function sampleFourBar() {
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requestBox.value = JSON.stringify({
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msg: "fourbar valid",
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req_code: "CASE_FB_001",
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req_from: "local_debug",
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req_cmd: "Cmd_FourBar_CrankSlider",
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req_param: {
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L_AB: 0.5,
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L_BS: 2.0,
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S_OFS: 0.0,
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angleDeg: 45.0
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}
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}, null, 2);
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function loadSelectedSample() {
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const selectedKey = sampleSelect.value;
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const sample = requestSamples[selectedKey];
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if (!sample) {
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return;
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}
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requestBox.value = JSON.stringify(sample, null, 2);
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}
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async function ensureModule() {
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@@ -481,7 +683,7 @@
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document.getElementById("init-btn").addEventListener("click", initializeBusinessApi);
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document.getElementById("run-btn").addEventListener("click", runRequest);
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document.getElementById("sample-btn").addEventListener("click", sampleFourBar);
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document.getElementById("sample-btn").addEventListener("click", loadSelectedSample);
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document.getElementById("clear-btn").addEventListener("click", () => {
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requestStatus.textContent = "等待操作";
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resetMeta();
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@@ -489,6 +691,7 @@
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});
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resetMeta();
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loadSelectedSample();
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</script>
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</body>
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</html>
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