From e8e485b1158b4bd25863f6555b60e7bbaae42d7b Mon Sep 17 00:00:00 2001 From: zhangshun <453905631@qq.com> Date: Mon, 1 Jun 2026 16:45:27 +0800 Subject: [PATCH] =?UTF-8?q?=E6=95=B4=E7=90=86=E9=A1=B9=E7=9B=AE=E7=9B=AE?= =?UTF-8?q?=E5=BD=95=E7=BB=93=E6=9E=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 35 +++++++++++++++++++ 3.txt => docs/build-logs/3.txt | 0 emcc.txt => docs/build-logs/emcc.txt | 0 .../build-logs/emcc20260116good.txt | 0 .../build-logs/emcc_debug.txt | 0 .../build-logs/emcc_realase.txt | 0 .../build-logs/emcc_test_20250116.txt | 0 emmc_kdl.txt => docs/build-logs/emmc_kdl.txt | 0 kdl_wasm.txt => docs/build-logs/kdl_wasm.txt | 0 kdltes.txt => docs/build-logs/kdltes.txt | 0 t.txt => docs/build-logs/t.txt | 0 KDL求解.txt => docs/notes/KDL求解.txt | 0 项目功能.md => docs/notes/项目功能.md | 0 debug.bat => scripts/debug.bat | 0 tests/README.md | 2 +- .../fixtures/legacy/WorkTest.json | 0 par.json => tests/fixtures/legacy/par.json | 0 .../fixtures/legacy/spc_in.txt | 0 .../fixtures/legacy/spc_out.json | 0 test.json => tests/fixtures/legacy/test.json | 0 20 files changed, 36 insertions(+), 1 deletion(-) rename 3.txt => docs/build-logs/3.txt (100%) rename emcc.txt => docs/build-logs/emcc.txt (100%) rename emcc20260116good.txt => docs/build-logs/emcc20260116good.txt (100%) rename emcc_debug.txt => docs/build-logs/emcc_debug.txt (100%) rename emcc_realase.txt => docs/build-logs/emcc_realase.txt (100%) rename emcc_test_20250116.txt => docs/build-logs/emcc_test_20250116.txt (100%) rename emmc_kdl.txt => docs/build-logs/emmc_kdl.txt (100%) rename kdl_wasm.txt => docs/build-logs/kdl_wasm.txt (100%) rename kdltes.txt => docs/build-logs/kdltes.txt (100%) rename t.txt => docs/build-logs/t.txt (100%) rename KDL求解.txt => docs/notes/KDL求解.txt (100%) rename 项目功能.md => docs/notes/项目功能.md (100%) rename debug.bat => scripts/debug.bat (100%) rename WorkTest.json => tests/fixtures/legacy/WorkTest.json (100%) rename par.json => tests/fixtures/legacy/par.json (100%) rename spc_in.txt => tests/fixtures/legacy/spc_in.txt (100%) rename spc_out.json => tests/fixtures/legacy/spc_out.json (100%) rename test.json => tests/fixtures/legacy/test.json (100%) diff --git a/README.md b/README.md index 16ada8f..7c14f89 100644 --- a/README.md +++ b/README.md @@ -13,3 +13,38 @@ - ✅ **完整错误处理** - 详细的错误信息和调试支持 ## 🏗️ 项目结构 + +```text +. +|-- src/ C++ 业务实现 +|-- inc/ 公共头文件 +|-- scripts/ 构建、调试、回归测试脚本 +|-- tests/ +| |-- testdata/ 正式回归测试数据 +| `-- fixtures/legacy/ 历史手工样例和原始参考数据 +|-- docs/ +| |-- notes/ 功能说明和算法笔记 +| `-- build-logs/ 历史编译记录和调试日志 +|-- public/wasm/ WASM 构建输出 +|-- Eigen3/ 第三方 Eigen 依赖 +|-- KDL/ 第三方 KDL 依赖及安装产物 +|-- package.json npm 入口 +|-- CMakeLists.txt CMake 入口 +`-- Makefile Make 入口 +``` + +## 📦 常用命令 + +```powershell +npm run build +npm run test:wasm +npm run build-serve +``` + +## 📁 目录约定 + +- 根目录只保留项目入口文件和核心目录，避免测试样例、日志、草稿散落在顶层。 +- `tests/testdata/` 放可重复执行的标准化测试数据。 +- `tests/fixtures/legacy/` 放历史调试输入输出，便于追溯，但默认不作为正式回归入口。 +- `docs/notes/` 放业务说明和算法记录。 +- `docs/build-logs/` 放构建排障过程中的原始文本记录。 diff --git a/3.txt b/docs/build-logs/3.txt similarity index 100% rename from 3.txt rename to docs/build-logs/3.txt diff --git a/emcc.txt b/docs/build-logs/emcc.txt similarity index 100% rename from emcc.txt rename to docs/build-logs/emcc.txt diff --git a/emcc20260116good.txt b/docs/build-logs/emcc20260116good.txt similarity index 100% rename from emcc20260116good.txt rename to docs/build-logs/emcc20260116good.txt diff --git a/emcc_debug.txt b/docs/build-logs/emcc_debug.txt similarity index 100% rename from emcc_debug.txt rename to docs/build-logs/emcc_debug.txt diff --git a/emcc_realase.txt b/docs/build-logs/emcc_realase.txt similarity index 100% rename from emcc_realase.txt rename to docs/build-logs/emcc_realase.txt diff --git a/emcc_test_20250116.txt b/docs/build-logs/emcc_test_20250116.txt similarity index 100% rename from emcc_test_20250116.txt rename to docs/build-logs/emcc_test_20250116.txt diff --git a/emmc_kdl.txt b/docs/build-logs/emmc_kdl.txt similarity index 100% rename from emmc_kdl.txt rename to docs/build-logs/emmc_kdl.txt diff --git a/kdl_wasm.txt b/docs/build-logs/kdl_wasm.txt similarity index 100% rename from kdl_wasm.txt rename to docs/build-logs/kdl_wasm.txt diff --git a/kdltes.txt b/docs/build-logs/kdltes.txt similarity index 100% rename from kdltes.txt rename to docs/build-logs/kdltes.txt diff --git a/t.txt b/docs/build-logs/t.txt similarity index 100% rename from t.txt rename to docs/build-logs/t.txt diff --git a/KDL求解.txt b/docs/notes/KDL求解.txt similarity index 100% rename from KDL求解.txt rename to docs/notes/KDL求解.txt diff --git a/项目功能.md b/docs/notes/项目功能.md similarity index 100% rename from 项目功能.md rename to docs/notes/项目功能.md diff --git a/debug.bat b/scripts/debug.bat similarity index 100% rename from debug.bat rename to scripts/debug.bat diff --git a/tests/README.md b/tests/README.md index f1c2b66..e2fb2d7 100644 --- a/tests/README.md +++ b/tests/README.md @@ -81,5 +81,5 @@ The runner is data-driven for stable request samples, and adds two dynamic FK/IK ## Notes -- The old ad-hoc files such as `spc_in.txt` and `WorkTest.json` are still useful as raw references, but the regression runner uses the normalized data under `tests/testdata`. +- The old ad-hoc files such as `tests/fixtures/legacy/spc_in.txt` and `tests/fixtures/legacy/WorkTest.json` are still useful as raw references, but the regression runner uses the normalized data under `tests/testdata`. - If you change URDF, robot naming, or quadruped default config, update the corresponding files under `tests/testdata` first. diff --git a/WorkTest.json b/tests/fixtures/legacy/WorkTest.json similarity index 100% rename from WorkTest.json rename to tests/fixtures/legacy/WorkTest.json diff --git a/par.json b/tests/fixtures/legacy/par.json similarity index 100% rename from par.json rename to tests/fixtures/legacy/par.json diff --git a/spc_in.txt b/tests/fixtures/legacy/spc_in.txt similarity index 100% rename from spc_in.txt rename to tests/fixtures/legacy/spc_in.txt diff --git a/spc_out.json b/tests/fixtures/legacy/spc_out.json similarity index 100% rename from spc_out.json rename to tests/fixtures/legacy/spc_out.json diff --git a/test.json b/tests/fixtures/legacy/test.json similarity index 100% rename from test.json rename to tests/fixtures/legacy/test.json