增加URDF文件注册测试入口

public/robot_kinematics_three_test.html

@@ -382,9 +382,16 @@
               <label for="robot-uuid">robot_uuid</label>
               <input id="robot-uuid" value="abb_irb120_3_58" />
             </div>
+            <div class="field full">
+              <label for="urdf-file">URDF 文件</label>
+              <input id="urdf-file" type="file" accept=".xml,.urdf" />
+            </div>
           </div>
           <div class="actions">
             <button id="init-btn" type="button">初始化</button>
+            <button id="register-urdf-btn" class="secondary" type="button">
+              注册 URDF
+            </button>
             <button id="reset-btn" class="secondary" type="button">零位</button>
           </div>
         </section>
@@ -507,6 +514,7 @@
         wasmStatus: document.getElementById("wasm-status"),
         solverStatus: document.getElementById("solver-status"),
         robotUuid: document.getElementById("robot-uuid"),
+        urdfFile: document.getElementById("urdf-file"),
         jointControls: document.getElementById("joint-controls"),
         requestJson: document.getElementById("request-json"),
         responseJson: document.getElementById("response-json"),
@@ -521,6 +529,7 @@
         jointCountValue: document.getElementById("joint-count-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"),
         ikBtn: document.getElementById("ik-btn"),
@@ -756,6 +765,67 @@
         }
       }
 
+      // 读取本地 URDF 文件并注册为当前 robot_uuid。
+      async function registerUrdfFromFile() {
+        await ensureInitialized();
+        const file = elements.urdfFile.files?.[0];
+        const robotUuid = elements.robotUuid.value.trim();
+
+        if (!file) {
+          showToast("请选择 URDF 文件");
+          return;
+        }
+
+        if (!robotUuid) {
+          showToast("请先填写 robot_uuid");
+          return;
+        }
+
+        setBusy(true, "正在注册 URDF");
+        try {
+          const urdfText = await file.text();
+          const request = {
+            msg: "threejs init robot from urdf",
+            req_code: `THREE_INIT_URDF_${Date.now()}`,
+            req_from: "threejs_test",
+            req_cmd: "Cmd_InitRobot",
+            req_param: {
+              robot_uuid: robotUuid,
+              force_update: true,
+              urdf_base64: encodeUtf8Base64(urdfText),
+            },
+          };
+
+          renderJson(request, null);
+          const response = await api.processBusinessRequest(request);
+          renderJson(request, response);
+
+          if (response.success && response.res_data?.success) {
+            state.latestIkJoints = null;
+            elements.applyIkBtn.disabled = true;
+            setStatus("URDF 注册完成", true);
+            await runForwardKinematics();
+          } else {
+            setStatus("URDF 注册失败", false);
+            showToast(response.res_data?.message || response.msg || "URDF 注册失败");
+          }
+        } catch (error) {
+          showError(error);
+        } finally {
+          setBusy(false);
+        }
+      }
+
+      // 将 URDF 文本编码成接口需要的 UTF-8 Base64 字符串。
+      function encodeUtf8Base64(value) {
+        const bytes = new TextEncoder().encode(value);
+        let binary = "";
+        bytes.forEach((byte) => {
+          binary += String.fromCharCode(byte);
+        });
+        return btoa(binary);
+      }
+
       // 确保调用算法前已经完成初始化。
       async function ensureInitialized() {
         if (!state.initialized) {
@@ -1029,6 +1099,7 @@
       function setBusy(isBusy, label) {
         [
           elements.initBtn,
+          elements.registerUrdfBtn,
           elements.resetBtn,
           elements.fkBtn,
           elements.ikBtn,
@@ -1095,6 +1166,7 @@
       }
 
       elements.initBtn.addEventListener("click", initializeWasm);
+      elements.registerUrdfBtn.addEventListener("click", registerUrdfFromFile);
       elements.resetBtn.addEventListener("click", resetJoints);
       elements.fkBtn.addEventListener("click", runForwardKinematics);
       elements.ikBtn.addEventListener("click", runInverseKinematics);