761 lines
22 KiB
HTML
761 lines
22 KiB
HTML
<!doctype html>
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<html lang="zh-CN">
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<head>
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<meta charset="UTF-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>smart_wasm Local Debug</title>
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<style>
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:root {
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--bg: #f3efe5;
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--panel: #fffaf0;
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--line: #d2c7b3;
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--text: #1f2a30;
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--muted: #6e7a80;
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--accent: #0d6b5f;
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--accent-2: #d7852f;
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--error: #b7402a;
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}
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* {
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box-sizing: border-box;
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}
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body {
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margin: 0;
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font-family: 'Segoe UI', 'Microsoft YaHei', sans-serif;
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color: var(--text);
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background:
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radial-gradient(
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circle at top left,
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rgba(215, 133, 47, 0.18),
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transparent 30%
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),
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linear-gradient(135deg, #f7f1e3 0%, #e8efe9 100%);
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min-height: 100vh;
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}
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.shell {
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max-width: 1100px;
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margin: 0 auto;
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padding: 32px 20px 48px;
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}
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.hero {
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display: grid;
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gap: 16px;
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margin-bottom: 24px;
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}
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.hero h1 {
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margin: 0;
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font-size: clamp(28px, 5vw, 48px);
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line-height: 1.05;
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}
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.hero p {
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margin: 0;
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color: var(--muted);
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max-width: 720px;
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font-size: 16px;
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}
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.layout {
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display: grid;
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grid-template-columns: 1.05fr 0.95fr;
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gap: 20px;
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}
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.card {
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background: rgba(255, 250, 240, 0.9);
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backdrop-filter: blur(10px);
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border: 1px solid var(--line);
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border-radius: 20px;
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box-shadow: 0 20px 40px rgba(38, 50, 56, 0.08);
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overflow: hidden;
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}
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.card-head {
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padding: 18px 20px;
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border-bottom: 1px solid var(--line);
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display: flex;
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justify-content: space-between;
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align-items: center;
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gap: 12px;
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}
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.card-head h2 {
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margin: 0;
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font-size: 18px;
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}
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.status {
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font-size: 13px;
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color: var(--muted);
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padding: 6px 10px;
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border: 1px solid var(--line);
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border-radius: 999px;
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background: rgba(255, 255, 255, 0.7);
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}
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.body {
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padding: 20px;
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}
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label {
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display: block;
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font-size: 13px;
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color: var(--muted);
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margin-bottom: 8px;
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}
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textarea {
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width: 100%;
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min-height: 320px;
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resize: vertical;
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border: 1px solid var(--line);
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border-radius: 14px;
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padding: 14px;
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font:
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13px/1.5 Consolas,
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'Courier New',
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monospace;
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color: var(--text);
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background: #fff;
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}
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.actions {
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display: flex;
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flex-wrap: wrap;
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gap: 12px;
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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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padding: 12px 16px;
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font-size: 14px;
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font-weight: 600;
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cursor: pointer;
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}
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.primary {
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background: var(--accent);
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color: #fff;
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}
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.secondary {
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background: #fff;
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color: var(--text);
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border: 1px solid var(--line);
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}
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pre {
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margin: 0;
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min-height: 420px;
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padding: 16px;
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overflow: auto;
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background: #172126;
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color: #e8f2ef;
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font:
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13px/1.5 Consolas,
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'Courier New',
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monospace;
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}
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.response-shell {
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display: grid;
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gap: 0;
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}
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.response-meta {
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display: grid;
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grid-template-columns: repeat(2, minmax(0, 1fr));
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gap: 10px;
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padding: 16px 20px;
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background: rgba(17, 30, 35, 0.04);
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border-bottom: 1px solid var(--line);
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}
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.response-meta-item {
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padding: 10px 12px;
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border: 1px solid rgba(210, 199, 179, 0.8);
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border-radius: 12px;
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background: rgba(255, 255, 255, 0.75);
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}
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.response-meta-label {
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font-size: 12px;
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color: var(--muted);
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margin-bottom: 4px;
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}
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.response-meta-value {
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font-size: 14px;
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font-weight: 600;
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color: var(--text);
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word-break: break-all;
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}
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.response-meta-value.is-ok {
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color: var(--accent);
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}
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.response-meta-value.is-error {
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color: var(--error);
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}
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.json-key {
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color: #7dd3fc;
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}
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.json-string {
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color: #f9d65c;
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}
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.json-number {
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color: #f59e0b;
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}
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.json-boolean {
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color: #fb7185;
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font-weight: 700;
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}
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.json-null {
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color: #c084fc;
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font-weight: 700;
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}
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.tips {
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display: grid;
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gap: 10px;
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margin-top: 18px;
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color: var(--muted);
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font-size: 13px;
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}
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.tips code {
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color: var(--accent);
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}
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@media (max-width: 900px) {
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.layout {
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grid-template-columns: 1fr;
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}
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textarea,
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pre {
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min-height: 260px;
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}
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.response-meta {
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grid-template-columns: 1fr;
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}
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}
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</style>
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</head>
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<body>
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<div style="width: 200px; height: 300px">
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<iframe
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id="ModelLibraryPanel_iframe"
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title="模型库"
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src="https://www.claudedt.com/dmtModelLibrary"
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style="width: 100%; height: 100%; border: 0; display: block"
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></iframe>
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</div>
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<div class="shell">
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<section class="hero">
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<h1>smart_wasm 本地调试页</h1>
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<p>
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这个页面直接加载
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<code>public/wasm/smart_math.js</code>，可以在本地验证 WASM
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初始化、命令调用和返回 JSON。
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</p>
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</section>
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<section class="layout">
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<div class="card">
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<div class="card-head">
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<h2>请求</h2>
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<div class="status" id="module-status">WASM 未初始化</div>
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</div>
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<div class="body">
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<label for="request">JSON Request</label>
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<textarea id="request">
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{
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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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}</textarea
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>
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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">
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运动学正解 Cmd_Kinematics_forward_pose_str
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</option>
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<option value="kinematicsForwardAllJoints">
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全关节正解 Cmd_Kinematics_forward_all_joints
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</option>
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<option value="spcBasic">SPC 计算 Cmd_Spc</option>
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<option value="fourBarValid">
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四连杆有效样例 Cmd_FourBar_CrankSlider
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</option>
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<option value="fourBarInvalid">
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四连杆异常样例 Cmd_FourBar_CrankSlider
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</option>
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<option value="quadrupedPoints">
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四足姿态点位
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Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles
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</option>
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<option value="quadrupedForwardGait">
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四足步态正解 Cmd_QuadrupedRobot_PerformForwardKinematics
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</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">
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填充选中样例
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</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">
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初始化 WASM
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</button>
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<button class="primary" id="run-btn" type="button">
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发送请求
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</button>
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<button class="secondary" id="clear-btn" type="button">
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清空输出
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</button>
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</div>
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<div class="tips">
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<div>
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1. 先点 <code>初始化 WASM</code>，会调用
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<code>_init_func()</code>。
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</div>
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<div>
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2. 再点 <code>发送请求</code>，会调用 <code>_func()</code>。
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</div>
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<div>3. 默认地址使用 <code>http://localhost:8080/</code>。</div>
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</div>
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</div>
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</div>
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<div class="card">
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<div class="card-head">
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<h2>响应</h2>
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<div class="status" id="request-status">等待操作</div>
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</div>
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<div class="response-shell">
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<div class="response-meta" id="response-meta">
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<div class="response-meta-item">
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<div class="response-meta-label">状态</div>
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<div class="response-meta-value" id="meta-success">未执行</div>
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</div>
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<div class="response-meta-item">
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<div class="response-meta-label">代码</div>
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<div class="response-meta-value" id="meta-code">-</div>
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</div>
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<div class="response-meta-item">
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<div class="response-meta-label">命令</div>
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<div class="response-meta-value" id="meta-cmd">-</div>
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</div>
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<div class="response-meta-item">
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<div class="response-meta-label">请求号</div>
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<div class="response-meta-value" id="meta-req">-</div>
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</div>
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</div>
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<pre id="output">No output yet.</pre>
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</div>
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</div>
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</section>
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</div>
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<script src="./wasm/smart_math.js"></script>
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<script>
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let wasmModule = null;
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const moduleStatus = document.getElementById('module-status');
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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, 1.62,
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1.63, 1.62, 1.59, 1.58, 1.58, 1.6, 1.61, 1.62, 1.63, 1.58, 1.64,
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1.63, 1.62, 1.62, 1.62, 1.62, 1.63, 1.61, 1.57, 1.64, 1.62, 1.61,
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1.6, 1.58, 1.57, 1.59, 1.61, 1.62, 1.63, 1.58, 1.61, 1.6, 1.62,
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1.63, 1.6, 1.61, 1.64, 1.64, 1.63, 1.58, 1.6, 1.62, 1.63, 1.65,
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1.62, 1.58, 1.59, 1.57, 1.58, 1.57, 1.57, 1.58, 1.59, 1.64, 1.61,
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1.64, 1.62, 1.6, 1.59, 1.65, 1.62, 1.62, 1.6, 1.58, 1.57, 1.59,
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1.57, 1.59, 1.62, 1.56, 1.57, 1.57, 1.61, 1.62, 1.56, 1.58, 1.59,
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1.6, 1.62, 1.58, 1.6, 1.6, 1.62, 1.63, 1.58, 1.59, 1.6, 1.63,
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1.62, 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, 1.58,
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1.58, 1.6, 1.61, 1.63, 1.62, 1.58, 1.58, 1.58, 1.57, 1.63, 1.59,
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1.57, 1.58, 1.57, 1.58, 1.62, 1.61, 1.63, 1.61, 1.58, 1.57, 1.59,
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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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},
|
|
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('&', '&')
|
|
.replaceAll('<', '<')
|
|
.replaceAll('>', '>');
|
|
}
|
|
|
|
function resetMeta() {
|
|
metaSuccess.textContent = '未执行';
|
|
metaSuccess.className = 'response-meta-value';
|
|
metaCode.textContent = '-';
|
|
metaCode.className = 'response-meta-value';
|
|
metaCmd.textContent = '-';
|
|
metaReq.textContent = '-';
|
|
}
|
|
|
|
function setMetaFromJson(data) {
|
|
const success =
|
|
data && typeof data.success === 'boolean' ? data.success : null;
|
|
metaSuccess.textContent =
|
|
success === null ? '未知' : success ? '成功' : '失败';
|
|
metaSuccess.className =
|
|
'response-meta-value ' +
|
|
(success ? 'is-ok' : success === false ? 'is-error' : '');
|
|
|
|
metaCode.textContent = data && 'code' in data ? String(data.code) : '-';
|
|
metaCode.className =
|
|
'response-meta-value ' + (success === false ? 'is-error' : '');
|
|
|
|
metaCmd.textContent = data && data.req_cmd ? data.req_cmd : '-';
|
|
metaReq.textContent = data && data.req_code ? data.req_code : '-';
|
|
}
|
|
|
|
function highlightJson(value) {
|
|
const escaped = escapeHtml(value);
|
|
return escaped.replace(
|
|
/("(?:\\u[a-fA-F0-9]{4}|\\[^u]|[^\\"])*")(\s*:)?|\b(true|false|null)\b|-?\d+(?:\.\d+)?(?:[eE][+\-]?\d+)?/g,
|
|
(match, stringToken, keySuffix, literalToken) => {
|
|
if (stringToken) {
|
|
if (keySuffix) {
|
|
return `<span class="json-key">${stringToken}</span>${keySuffix}`;
|
|
}
|
|
return `<span class="json-string">${stringToken}</span>`;
|
|
}
|
|
|
|
if (literalToken === 'true' || literalToken === 'false') {
|
|
return `<span class="json-boolean">${match}</span>`;
|
|
}
|
|
|
|
if (literalToken === 'null') {
|
|
return `<span class="json-null">${match}</span>`;
|
|
}
|
|
|
|
return `<span class="json-number">${match}</span>`;
|
|
},
|
|
);
|
|
}
|
|
|
|
function renderOutput(value) {
|
|
if (typeof value !== 'string') {
|
|
const jsonText = JSON.stringify(value, null, 2);
|
|
output.innerHTML = highlightJson(jsonText);
|
|
setMetaFromJson(value);
|
|
return;
|
|
}
|
|
|
|
try {
|
|
const parsed = JSON.parse(value);
|
|
renderOutput(parsed);
|
|
} catch {
|
|
resetMeta();
|
|
output.textContent = value;
|
|
}
|
|
}
|
|
|
|
function allocString(value) {
|
|
const size = wasmModule.lengthBytesUTF8(value) + 1;
|
|
const ptr = wasmModule._malloc(size);
|
|
wasmModule.stringToUTF8(value, ptr, size);
|
|
return ptr;
|
|
}
|
|
|
|
function loadSelectedSample() {
|
|
const selectedKey = sampleSelect.value;
|
|
const sample = requestSamples[selectedKey];
|
|
if (!sample) {
|
|
return;
|
|
}
|
|
requestBox.value = JSON.stringify(sample, null, 2);
|
|
}
|
|
|
|
async function ensureModule() {
|
|
if (wasmModule) {
|
|
return wasmModule;
|
|
}
|
|
|
|
requestStatus.textContent = '正在加载模块';
|
|
wasmModule = await createSmartMathModule();
|
|
moduleStatus.textContent = 'WASM 已加载';
|
|
requestStatus.textContent = '模块加载完成';
|
|
return wasmModule;
|
|
}
|
|
|
|
async function initializeBusinessApi() {
|
|
const mod = await ensureModule();
|
|
let responsePtr = null;
|
|
|
|
try {
|
|
responsePtr = mod._init_func();
|
|
const text = mod.UTF8ToString(responsePtr);
|
|
renderOutput(text);
|
|
moduleStatus.textContent = '业务接口已初始化';
|
|
requestStatus.textContent = '初始化成功';
|
|
} catch (error) {
|
|
moduleStatus.textContent = '初始化失败';
|
|
requestStatus.textContent = '初始化失败';
|
|
resetMeta();
|
|
output.textContent = String(
|
|
error && error.stack ? error.stack : error,
|
|
);
|
|
} finally {
|
|
if (responsePtr) {
|
|
mod._smart_free_string(responsePtr);
|
|
}
|
|
}
|
|
}
|
|
|
|
async function runRequest() {
|
|
const mod = await ensureModule();
|
|
let requestPtr = null;
|
|
let responsePtr = null;
|
|
|
|
try {
|
|
const raw = requestBox.value.trim();
|
|
JSON.parse(raw);
|
|
requestPtr = allocString(raw);
|
|
responsePtr = mod._func(requestPtr);
|
|
const text = mod.UTF8ToString(responsePtr);
|
|
renderOutput(text);
|
|
requestStatus.textContent = '请求成功';
|
|
} catch (error) {
|
|
requestStatus.textContent = '请求失败';
|
|
resetMeta();
|
|
output.textContent = String(
|
|
error && error.stack ? error.stack : error,
|
|
);
|
|
} finally {
|
|
if (requestPtr) {
|
|
mod._free(requestPtr);
|
|
}
|
|
if (responsePtr) {
|
|
mod._smart_free_string(responsePtr);
|
|
}
|
|
}
|
|
}
|
|
|
|
document
|
|
.getElementById('init-btn')
|
|
.addEventListener('click', initializeBusinessApi);
|
|
document.getElementById('run-btn').addEventListener('click', runRequest);
|
|
document
|
|
.getElementById('sample-btn')
|
|
.addEventListener('click', loadSelectedSample);
|
|
document.getElementById('clear-btn').addEventListener('click', () => {
|
|
requestStatus.textContent = '等待操作';
|
|
resetMeta();
|
|
output.textContent = 'No output yet.';
|
|
});
|
|
|
|
resetMeta();
|
|
loadSelectedSample();
|
|
</script>
|
|
</body>
|
|
</html>
|