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修复构建脚本和WASM测试问题

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This commit is contained in:
zhangshun
2026-06-01 16:24:38 +08:00
parent 40f9bdb590
commit 9b14dec67c
4 changed files with 182 additions and 128 deletions
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192
src/KinematicsWebAPI.cpp
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@@ -426,105 +426,109 @@ std::string KinematicsWebAPI::func(std::string sanitized_body)
{"error", "Invalid parameters"},
{"validation_errors", validation.Errors},
{"validation_warnings", validation.Warnings}};
return res_data;
}
// 执行计算
MechanismState state = mechanism->calculate(angleDeg);
// 检查是否有错误
if (state.hasError())
else
{
res_data = {
{"success", false},
{"error", state.ErrorMessage}};
return res_data;
// 执行计算
MechanismState state = mechanism->calculate(angleDeg);
// 检查是否有错误
if (state.hasError())
{
res_data = {
{"success", false},
{"error", state.ErrorMessage}};
}
else
{
// 构建响应数据
json result;
result["success"] = true;
// 添加点坐标
json points_json;
for (const auto &point_pair : state.Points)
{
json point;
point["x"] = point_pair.second.X;
point["y"] = point_pair.second.Y;
points_json[point_pair.first] = point;
}
result["points"] = points_json;
// 添加姿态信息
json poses_json;
for (const auto &pose_pair : state.Poses)
{
json pose;
pose["tx"] = pose_pair.second.tx;
pose["ty"] = pose_pair.second.ty;
pose["tz"] = pose_pair.second.tz;
pose["qx"] = pose_pair.second.qx;
pose["qy"] = pose_pair.second.qy;
pose["qz"] = pose_pair.second.qz;
pose["qw"] = pose_pair.second.qw;
poses_json[pose_pair.first] = pose;
}
result["poses"] = poses_json;
// 添加角度信息
json angles_json;
for (const auto &angle_pair : state.Angles)
{
angles_json[angle_pair.first] = angle_pair.second;
}
result["angles"] = angles_json;
// 添加输入值
result["input_value"] = state.InputValue;
// 添加警告信息（如果有）
if (state.hasWarning())
{
result["warning"] = state.WarningMessage;
}
// 添加轨迹信息
std::vector<Vector2D> trajectory = mechanism->getTrajectoryPoints();
std::vector<Vector2D> slider_trajectory = mechanism->getSliderTrajectory();
json trajectory_json;
for (size_t i = 0; i < trajectory.size(); i++)
{
json point;
point["x"] = trajectory[i].X;
point["y"] = trajectory[i].Y;
trajectory_json.push_back(point);
}
result["trajectory"] = trajectory_json;
json slider_trajectory_json;
for (size_t i = 0; i < slider_trajectory.size(); i++)
{
json point;
point["x"] = slider_trajectory[i].X;
point["y"] = slider_trajectory[i].Y;
slider_trajectory_json.push_back(point);
}
result["slider_trajectory"] = slider_trajectory_json;
// 添加参数信息
result["parameters"] = {
{"L_AB", L_AB},
{"L_BS", L_BS},
{"S_OFS", S_OFS},
{"angleDeg", angleDeg}};
res_data = result;
}
}
// 构建响应数据
json result;
result["success"] = true;
// 添加点坐标
json points_json;
for (const auto &point_pair : state.Points)
{
json point;
point["x"] = point_pair.second.X;
point["y"] = point_pair.second.Y;
points_json[point_pair.first] = point;
}
result["points"] = points_json;
// 添加姿态信息
json poses_json;
for (const auto &pose_pair : state.Poses)
{
json pose;
pose["tx"] = pose_pair.second.tx;
pose["ty"] = pose_pair.second.ty;
pose["tz"] = pose_pair.second.tz;
pose["qx"] = pose_pair.second.qx;
pose["qy"] = pose_pair.second.qy;
pose["qz"] = pose_pair.second.qz;
pose["qw"] = pose_pair.second.qw;
poses_json[pose_pair.first] = pose;
}
result["poses"] = poses_json;
// 添加角度信息
json angles_json;
for (const auto &angle_pair : state.Angles)
{
angles_json[angle_pair.first] = angle_pair.second;
}
result["angles"] = angles_json;
// 添加输入值
result["input_value"] = state.InputValue;
// 添加警告信息（如果有）
if (state.hasWarning())
{
result["warning"] = state.WarningMessage;
}
// 添加轨迹信息
std::vector<Vector2D> trajectory = mechanism->getTrajectoryPoints();
std::vector<Vector2D> slider_trajectory = mechanism->getSliderTrajectory();
json trajectory_json;
for (size_t i = 0; i < trajectory.size(); i++)
{
json point;
point["x"] = trajectory[i].X;
point["y"] = trajectory[i].Y;
trajectory_json.push_back(point);
}
result["trajectory"] = trajectory_json;
json slider_trajectory_json;
for (size_t i = 0; i < slider_trajectory.size(); i++)
{
json point;
point["x"] = slider_trajectory[i].X;
point["y"] = slider_trajectory[i].Y;
slider_trajectory_json.push_back(point);
}
result["slider_trajectory"] = slider_trajectory_json;
// 添加参数信息
result["parameters"] = {
{"L_AB", L_AB},
{"L_BS", L_BS},
{"S_OFS", S_OFS},
{"angleDeg", angleDeg}};
res_data = result;
}
catch (const std::exception &e)
{
res_data = {{"success", false, "error", "Failed to Cmd_FourBar_CrankSlider: " + std::string(e.what())}};
res_data = {
{"success", false},
{"error", "Failed to Cmd_FourBar_CrankSlider: " + std::string(e.what())}};
}
}
else if (req_cmd == "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles")
@@ -602,4 +606,4 @@ std::string KinematicsWebAPI::getCurrentTimestamp()
bool KinematicsWebAPI::is_running() const
{
return running_;
}
}

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src/Robot.cpp
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