698 lines
24 KiB
HTML
698 lines
24 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(circle at top left, rgba(215, 133, 47, 0.18), transparent 30%),
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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: 13px/1.5 Consolas, "Courier New", 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: 13px/1.5 Consolas, "Courier New", 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 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>这个页面直接加载 <code>public/wasm/smart_math.js</code>，可以在本地验证 WASM 初始化、命令调用和返回 JSON。</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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"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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<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="clear-btn" type="button">清空输出</button>
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</div>
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<div class="tips">
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<div>1. 先点 <code>初始化 WASM</code>，会调用 <code>_init_func()</code>。</div>
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<div>2. 再点 <code>发送请求</code>，会调用 <code>_func()</code>。</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,
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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,
|
|
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>
|