255 lines
38 KiB
TypeScript
255 lines
38 KiB
TypeScript
import { useEffect, useMemo, useRef, useState } from "react";
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import * as THREE from "three";
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import { OrbitControls } from "three/examples/jsm/controls/OrbitControls.js";
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import { GLTFExporter } from "three/examples/jsm/exporters/GLTFExporter.js";
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import { RoomEnvironment } from "three/examples/jsm/environments/RoomEnvironment.js";
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import { DraggableDialog } from "./DraggableDialog";
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import { disposeMachineScene, type ImportedMachine } from "./imported-machine";
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import { configureMachinePartScene, draftNodeDof, makeJointAssembly, reparentMachineNode, buildManagedMachine, expectedParentRole, loadMachinePart, machinePartTree, MACHINE_PART_ROLES, roleLabel, type MachinePartDraft, type MachinePartRole, type MachineTreeNode, type PhysicalZero } from "./machine-manager";
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import { driveJoint, jointZero, defaultDof, isLinear, type JointDof, type CncAxis } from "./machine-joints";
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import { projectXyzacVisual, type XyzacVisualSource } from "./xyzac-visual-adapter";
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import type { Vec3 } from "./machine-urdf";
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type Props = { snapshot?: XyzacVisualSource | null; coordinates: "XYZAC" | "XYZBC"; disabled: boolean; onApply: (machine: ImportedMachine) => Promise<void> };
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type TestPose = { x: number; y: number; z: number; a: number; b: number; c: number };
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type MotionTransform = { local: number[]; localQuaternion: number[]; world: number[]; worldQuaternion: number[] };
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const zero3 = (): Vec3 => [0, 0, 0];
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const number = (value: string) => Number.isFinite(Number(value)) ? Number(value) : 0;
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function ManagerPreview({ coordinates, parts, selectedId, selectedNodePath, testPose, onMotionState }: { coordinates: "XYZAC" | "XYZBC"; parts: MachinePartDraft[]; selectedId: string | null; selectedNodePath: string; testPose: TestPose; onMotionState: (state: Record<string, MotionTransform>) => void }) {
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type PreviewHost = HTMLDivElement & { machineManagerSync?: (parts: MachinePartDraft[], selectedId: string | null, selectedNodePath: string, testPose: TestPose, coordinates: "XYZAC" | "XYZBC") => void };
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const host = useRef<PreviewHost>(null);
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const stateRef = useRef({ parts, selectedId, selectedNodePath, testPose, coordinates }); stateRef.current = { parts, selectedId, selectedNodePath, testPose, coordinates };
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const onMotionStateRef = useRef(onMotionState); onMotionStateRef.current = onMotionState;
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const [fault, setFault] = useState("");
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useEffect(() => { host.current?.machineManagerSync?.(parts, selectedId, selectedNodePath, testPose, coordinates); }, [parts, selectedId, selectedNodePath, testPose, coordinates]);
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useEffect(() => {
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const element = host.current; if (!element) return;
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// Large industrial GLBs can exceed small-GPU multisample renderbuffer
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// limits when DevTools or display scaling changes the drawing-buffer size.
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const renderer = new THREE.WebGLRenderer({ antialias: false, alpha: false, depth: true, stencil: false, powerPreference: "high-performance" });
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renderer.outputColorSpace = THREE.SRGBColorSpace; renderer.toneMapping = THREE.ACESFilmicToneMapping; renderer.toneMappingExposure = 1.45; renderer.shadowMap.enabled = false; element.appendChild(renderer.domElement);
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const gl = renderer.getContext(), viewportLimit = gl.getParameter(gl.MAX_VIEWPORT_DIMS) as Int32Array;
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const maxDimension = Math.max(1, Math.floor(Math.min(Number(gl.getParameter(gl.MAX_RENDERBUFFER_SIZE) || 4096), Number(gl.getParameter(gl.MAX_TEXTURE_SIZE) || 4096), Number(viewportLimit?.[0] || 4096), Number(viewportLimit?.[1] || 4096)) * .9));
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const maxPixels = Math.min(maxDimension * maxDimension, 4096 * 4096);
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element.dataset.machineManagerWebglAntialias = String(Boolean(gl.getContextAttributes()?.antialias)); element.dataset.machineManagerMaxBuffer = String(maxDimension);
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const scene = new THREE.Scene(); scene.background = new THREE.Color(0x263438);
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const studio = new RoomEnvironment(); const pmrem = new THREE.PMREMGenerator(renderer); const environment = pmrem.fromScene(studio, .04); scene.environment = environment.texture; scene.environmentIntensity = 1.25; studio.dispose(); pmrem.dispose();
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scene.add(new THREE.HemisphereLight(0xffffff, 0x728083, 2.6)); scene.add(new THREE.AmbientLight(0xffffff, .65));
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const light = new THREE.DirectionalLight(0xfff5e5, 4.2); light.position.set(3, 5, 4); light.castShadow = true; scene.add(light);
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const fill = new THREE.DirectionalLight(0xdcefff, 2.4); fill.position.set(-4, 2, 3); scene.add(fill);
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const rim = new THREE.DirectionalLight(0xffffff, 1.8); rim.position.set(2, 4, -5); scene.add(rim);
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const grid = new THREE.GridHelper(4, 40, 0x8eb0b2, 0x466266); grid.name = "machine-xy-ground-grid-z-up"; grid.rotation.x = Math.PI / 2; scene.add(grid);
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const camera = new THREE.PerspectiveCamera(42, 1, .005, 100); camera.up.set(0, 0, 1); camera.position.set(2.4, -2.8, 1.8);
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const orbit = new OrbitControls(camera, renderer.domElement); orbit.enableDamping = true;
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const root = new THREE.Group(); root.name = "machine-manager-preview"; scene.add(root);
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let dofNodes: Array<{ object: THREE.Object3D; zero: ReturnType<typeof jointZero>; dof: JointDof }> = [];
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type RoleNode = { object: THREE.Object3D; position: THREE.Vector3; quaternion: THREE.Quaternion };
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let nodes = new Map<string, THREE.Group>(), visualNodes = new Map<string, Map<string, THREE.Object3D>>(), roleNodes = new Map<MachinePartRole, RoleNode>(), helpers: THREE.AxesHelper[] = [], selectedJointObject: THREE.Object3D | null = null, lastParts: MachinePartDraft[] | null = null, fitSignature = "", selectedAxesScale = 1, dirty = true, renderable = false, contextLost = false, frame = 0;
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const selectedJointAxes = new THREE.Group(); selectedJointAxes.name = "selected-joint-local-coordinate-system"; selectedJointAxes.visible = false;
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const jointAxis = (direction: THREE.Vector3, color: number) => selectedJointAxes.add(new THREE.ArrowHelper(direction, new THREE.Vector3(), .28, color, .07, .045));
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jointAxis(new THREE.Vector3(1, 0, 0), 0xff3030); jointAxis(new THREE.Vector3(0, 1, 0), 0x35d05b); jointAxis(new THREE.Vector3(0, 0, 1), 0x327cff); scene.add(selectedJointAxes);
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const draw = () => {
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if (contextLost || !renderable) return;
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renderer.setRenderTarget(null); scene.updateMatrixWorld(true); camera.updateMatrixWorld(true); renderer.clear(); renderer.render(scene, camera);
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element.dataset.machineManagerRendered = "true"; element.dataset.machineManagerRenderState = "rendered"; dirty = false;
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};
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element.machineManagerSync = (nextParts, nextSelectedId, nextNodePath, nextPose, nextCoordinates) => {
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if (nextParts !== lastParts) {
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delete element.dataset.machineManagerRendered; element.dataset.machineManagerRenderState = "syncing-scene";
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selectedJointAxes.removeFromParent(); root.clear(); helpers.forEach((helper) => helper.dispose()); helpers = []; dofNodes = []; nodes = new Map(); visualNodes = new Map(); roleNodes = new Map();
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for (const part of nextParts) {
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const node = new THREE.Group(); node.name = `draft_${part.id}`; node.visible = part.visible; node.position.fromArray(part.translationMm).multiplyScalar(.001); node.rotation.set(...part.rotationDeg.map(THREE.MathUtils.degToRad) as Vec3);
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// Clone transforms/hierarchy only. Geometry, materials, textures and
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// source-node transforms remain untouched on the imported GLB.
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const { scene: visual, nodes: pathNodes } = configureMachinePartScene(part.scene.clone(true), part);
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const internalRoles = Object.entries(part.nodeRoles ?? {}).map(([path, role]) => ({ object: pathNodes.get(path) ?? null, role }));
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visual.position.add(new THREE.Vector3(...part.originMm).multiplyScalar(-.001)); node.add(visual); visualNodes.set(part.id, pathNodes);
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const rootDof = draftNodeDof(part, "scene", nextCoordinates);
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if (rootDof) dofNodes.push({ object: node, zero: jointZero(node), dof: rootDof });
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for (const [path, object] of pathNodes) { const dof = path === "scene" ? null : draftNodeDof(part, path, nextCoordinates); if (dof) dofNodes.push({ object, zero: jointZero(object), dof }); }
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const axes = new THREE.AxesHelper(.12); helpers.push(axes); axes.name = `origin_${part.id}`; axes.visible = part.showOrigin; node.add(axes); root.add(node); nodes.set(part.id, node);
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if (part.role) roleNodes.set(part.role, { object: node, position: node.position.clone(), quaternion: node.quaternion.clone() });
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for (const binding of internalRoles) if (binding.object && binding.role) roleNodes.set(binding.role, { object: binding.object, position: binding.object.position.clone(), quaternion: binding.object.quaternion.clone() });
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}
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const cycle = (child: string, parent: string) => { let cursor: string | null = parent; const seen = new Set([child]); while (cursor) { if (seen.has(cursor)) return true; seen.add(cursor); cursor = nextParts.find((part) => part.id === cursor)?.parentId ?? null; } return false; };
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for (const part of nextParts) if (part.parentId && nodes.has(part.parentId) && !cycle(part.id, part.parentId)) nodes.get(part.parentId)!.add(nodes.get(part.id)!);
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const signature = nextParts.map((part) => `${part.id}:${part.hash}`).join("|");
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if (signature !== fitSignature) {
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const bounds = new THREE.Box3().setFromObject(root), center = bounds.isEmpty() ? new THREE.Vector3() : bounds.getCenter(new THREE.Vector3()), size = bounds.isEmpty() ? 1 : Math.max(bounds.getSize(new THREE.Vector3()).length(), .2);
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orbit.target.copy(center); camera.position.copy(center).add(new THREE.Vector3(size, size * .7, size * 1.15)); camera.lookAt(center); orbit.update(); fitSignature = signature; selectedAxesScale = THREE.MathUtils.clamp(size * .14 / .28, 1, 12);
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element.dataset.machineManagerBounds = JSON.stringify({ min: bounds.min.toArray(), max: bounds.max.toArray(), center: center.toArray(), size }); element.dataset.machineManagerCamera = JSON.stringify({ position: camera.position.toArray(), target: orbit.target.toArray(), up: camera.up.toArray() });
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}
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lastParts = nextParts;
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}
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selectedJointAxes.removeFromParent(); selectedJointObject = nextSelectedId ? nextNodePath === "scene" ? nodes.get(nextSelectedId) ?? null : visualNodes.get(nextSelectedId)?.get(nextNodePath) ?? null : null; if (selectedJointObject) { selectedJointObject.add(selectedJointAxes); selectedJointAxes.position.set(0, 0, 0); selectedJointAxes.quaternion.identity(); selectedJointAxes.scale.setScalar(selectedAxesScale); selectedJointAxes.visible = true; element.dataset.machineManagerSelectedJoint = `${nextSelectedId}:${nextNodePath}`; element.dataset.machineManagerSelectedJointAxes = "local-xyz"; element.dataset.machineManagerTransformTarget = "single-dof-input"; } else { selectedJointAxes.visible = false; delete element.dataset.machineManagerSelectedJoint; delete element.dataset.machineManagerSelectedJointAxes; delete element.dataset.machineManagerTransformTarget; }
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for (const binding of dofNodes) driveJoint(binding.object, binding.zero, binding.dof, nextPose[binding.dof.axis.toLowerCase() as keyof TestPose]);
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root.updateMatrixWorld(true); let objectCount = 0, meshCount = 0; root.traverse((object) => { let cursor: THREE.Object3D | null = object, isJointHelper = false; while (cursor) { if (cursor === selectedJointAxes) { isJointHelper = true; break; } cursor = cursor.parent; } if (!isJointHelper) { objectCount += 1; if ((object as THREE.Mesh).isMesh) meshCount += 1; } }); const transforms = Object.fromEntries([...roleNodes].map(([role, binding]) => [role, { local: binding.object.position.toArray(), localQuaternion: binding.object.quaternion.toArray(), world: binding.object.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: binding.object.getWorldQuaternion(new THREE.Quaternion()).toArray() }])); element.dataset.machineManagerSceneObjects = String(objectCount); element.dataset.machineManagerSceneMeshes = String(meshCount); element.dataset.machineManagerRoleTransforms = JSON.stringify(transforms);
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element.dataset.machineManagerJointTransforms = JSON.stringify(Object.fromEntries(dofNodes.map(({ object, dof }) => [dof.axis, { localMm: object.position.toArray().map((v) => v * 1000), quaternion: object.quaternion.toArray(), world: object.getWorldPosition(new THREE.Vector3()).toArray() }]))); if (selectedJointObject) { element.dataset.machineManagerSelectedJointWorldOrigin = JSON.stringify(selectedJointObject.getWorldPosition(new THREE.Vector3()).toArray()); element.dataset.machineManagerSelectedJointWorldQuaternion = JSON.stringify(selectedJointObject.getWorldQuaternion(new THREE.Quaternion()).toArray()); element.dataset.machineManagerSelectedJointAxesScale = selectedAxesScale.toFixed(6); } const selectedState = selectedJointObject ? { local: selectedJointObject.position.toArray(), localQuaternion: selectedJointObject.quaternion.toArray(), world: selectedJointObject.getWorldPosition(new THREE.Vector3()).toArray(), worldQuaternion: selectedJointObject.getWorldQuaternion(new THREE.Quaternion()).toArray() } : null;
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element.dataset.machineManagerSelectedTransform = JSON.stringify(selectedState);
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onMotionStateRef.current(selectedState ? { ...transforms, selected: selectedState } : transforms); element.dataset.machineManagerTestPose = JSON.stringify(nextPose); element.dataset.machineManagerContextGeneration = "1"; dirty = true; draw();
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};
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element.machineManagerSync(stateRef.current.parts, stateRef.current.selectedId, stateRef.current.selectedNodePath, stateRef.current.testPose, stateRef.current.coordinates);
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const resize = () => {
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const width = element.clientWidth, height = element.clientHeight;
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if (!Number.isFinite(width) || !Number.isFinite(height) || width < 2 || height < 2) { renderable = false; element.dataset.machineManagerRenderState = "suspended-zero-size"; return; }
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const requested = Math.min(globalThis.devicePixelRatio || 1, 1.5);
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const scale = Math.min(1, maxDimension / (width * requested), maxDimension / (height * requested), Math.sqrt(maxPixels / (width * height * requested * requested)));
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const pixelRatio = Math.max(.5, requested * scale);
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renderer.setPixelRatio(pixelRatio); camera.aspect = width / height; camera.updateProjectionMatrix(); renderer.setSize(width, height, false);
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renderable = renderer.domElement.width > 0 && renderer.domElement.height > 0 && renderer.domElement.width <= maxDimension && renderer.domElement.height <= maxDimension;
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element.dataset.machineManagerPixelRatio = pixelRatio.toFixed(3); element.dataset.machineManagerBufferSize = `${renderer.domElement.width}x${renderer.domElement.height}`; element.dataset.machineManagerRenderState = renderable ? "ready" : "suspended-limit"; dirty = true; draw();
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};
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const contextLostHandler = (event: Event) => { event.preventDefault(); contextLost = true; renderable = false; element.dataset.machineManagerRenderState = "context-lost"; setFault("WebGL 上下文已丢失，请关闭并重新打开三维机床管理器"); };
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renderer.domElement.addEventListener("webglcontextlost", contextLostHandler);
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const observer = new ResizeObserver(resize); observer.observe(element); resize();
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orbit.addEventListener("change", () => { dirty = true; });
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const render = () => { if (!contextLost && renderable && (dirty || orbit.update())) draw(); frame = contextLost ? 0 : requestAnimationFrame(render); }; render();
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return () => { if (frame) cancelAnimationFrame(frame); observer.disconnect(); delete element.machineManagerSync; renderer.domElement.removeEventListener("webglcontextlost", contextLostHandler); orbit.dispose(); helpers.forEach((helper) => helper.dispose()); selectedJointAxes.traverse((object) => { const mesh = object as THREE.Mesh; mesh.geometry?.dispose(); if (mesh.material) for (const material of Array.isArray(mesh.material) ? mesh.material : [mesh.material]) material.dispose(); }); environment.dispose(); renderer.dispose(); renderer.domElement.remove(); };
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}, []);
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return <div className="machine-manager-preview-shell"><div ref={host} className="machine-manager-preview" data-machine-manager-preview data-machine-manager-coordinate-system="machine-z-up" data-machine-manager-axis-map="X:x,Y:y,Z:z" data-machine-manager-camera-up="0,0,1" data-machine-manager-model-transform="none-on-import" data-machine-manager-lighting="studio-pmrem" data-machine-manager-exposure="1.45" data-machine-manager-part-count={parts.length} data-machine-manager-origin-count={parts.filter((part) => part.showOrigin).length} aria-label="三维机床装配预览，机床 Z 轴朝上" />{fault && <output className="machine-manager-webgl-fault" role="alert">{fault}</output>}</div>;
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}
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function TreeNode({ part, node, selected, onSelect, onDrop, extra }: { part: MachinePartDraft; node: MachineTreeNode; selected: string; onSelect: (partId: string, path: string) => void; onDrop: (source: { partId: string; path: string }, target: { partId: string; path: string }) => void; extra?: React.ReactNode }) {
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const key = `${part.id}:${node.path}`;
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const [expanded, setExpanded] = useState(node.path === "scene");
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const hasChildren = node.children.length > 0 || Boolean(extra);
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const binding = part.nodeJoints?.[node.path]?.axis ?? (node.path === "scene" ? part.role : part.nodeRoles?.[node.path]);
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return <li role="treeitem" aria-expanded={hasChildren ? expanded : undefined} data-machine-tree-part={part.id} data-machine-tree-path={node.path} data-machine-tree-parent={node.path === "scene" ? part.parentId ?? "root" : Object.hasOwn(part.nodeParents, node.path) ? part.nodeParents[node.path] ?? "scene" : "source"}>
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<div className="machine-tree-row"><button type="button" className="machine-tree-toggle" aria-label={`${expanded ? "折叠" : "展开"} ${node.name}`} aria-expanded={expanded} disabled={!hasChildren} onClick={() => setExpanded((value) => !value)}>{hasChildren ? expanded ? "▾" : "▸" : "·"}</button><button type="button" draggable data-axis-control="machine-tree-node" className={selected === key ? "selected" : ""} onClick={() => onSelect(part.id, node.path)} onDragStart={(event) => { event.dataTransfer.effectAllowed = "move"; event.dataTransfer.setData("application/x-linuxcnc-machine-tree", JSON.stringify({ partId: part.id, path: node.path })); }} onDragOver={(event) => { event.preventDefault(); event.dataTransfer.dropEffect = "move"; }} onDrop={(event) => { event.preventDefault(); const raw = event.dataTransfer.getData("application/x-linuxcnc-machine-tree"); if (raw) onDrop(JSON.parse(raw), { partId: part.id, path: node.path }); }}><span className={node.type}>{node.name}</span>{binding && <em>{binding.toUpperCase()}</em>}<small>{node.originMm.map((value) => Number(value.toFixed(3))).join(", ")}</small></button></div>
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{hasChildren && <ul role="group" hidden={!expanded}>{node.children.map((child) => <TreeNode key={child.path} part={part} node={child} selected={selected} onSelect={onSelect} onDrop={onDrop} />)}{extra}</ul>}
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</li>;
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}
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export function MachineManagerPanel({ coordinates, disabled, onApply, snapshot }: Props) {
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const [open, setOpen] = useState(false), [pending, setPending] = useState(false), [message, setMessage] = useState("");
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const [parts, setParts] = useState<MachinePartDraft[]>([]); const partsRef = useRef(parts); partsRef.current = parts;
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const [selectedId, setSelectedId] = useState<string | null>(null); const [selectedNodePath, setSelectedNodePath] = useState("scene");
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const [cOriginMm, setCOriginMm] = useState<Vec3>([0, 0, 0]); const [tiltOffsetMm, setTiltOffsetMm] = useState<Vec3>([0, 0, 0]);
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const [physicalZero, setPhysicalZero] = useState<PhysicalZero>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); const file = useRef<HTMLInputElement>(null);
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const [testPose, setTestPose] = useState<TestPose>({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 });
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const [motionState, setMotionState] = useState<Record<string, MotionTransform>>({}); const motionStateHash = useRef("");
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useEffect(() => () => { for (const part of partsRef.current) disposeMachineScene(part.scene); }, []);
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useEffect(() => { setMessage(""); setCOriginMm([0, 0, 0]); setTiltOffsetMm([0, 0, 0]); setPhysicalZero({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 }); }, [coordinates]);
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const selected = parts.find((part) => part.id === selectedId) ?? null;
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const trees = useMemo(() => new Map(parts.map((part) => [part.id, machinePartTree(part)])), [parts]);
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const findTreeNode = (node: MachineTreeNode | undefined, path: string): MachineTreeNode | null => node ? node.path === path ? node : node.children.map((child) => findTreeNode(child, path)).find(Boolean) ?? null : null;
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const selectedTreeNode = selected ? findTreeNode(trees.get(selected.id), selectedNodePath) : null;
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const update = (id: string, values: Partial<MachinePartDraft>) => setParts((current) => current.map((part) => part.id === id ? { ...part, ...values } : part));
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const vectorInput = (label: string, value: Vec3, set: (value: Vec3) => void, unit: string, control?: string) => <fieldset className="machine-vector" data-axis-control={control}><legend>{label} ({unit})</legend>{["X", "Y", "Z"].map((axis, index) => <label key={axis}>{axis}<input type="number" step="any" value={value[index]} onChange={(event) => { const next = [...value] as Vec3; next[index] = number(event.target.value); set(next); }} /></label>)}</fieldset>;
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const importFiles = async (list: FileList | File[] | null) => {
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if (!list?.length) return; setPending(true); setMessage("正在读取 GLB 部件…");
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try {
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const loaded = await Promise.all([...list].map(async (item) => loadMachinePart(await item.arrayBuffer(), item.name)));
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if (loaded.some((source) => source.restoredModel && source.restoredModel.coordinates !== coordinates)) {
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loaded.forEach((source) => disposeMachineScene(source.scene));
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throw new Error(`导入机型不同，请先切换到 ${loaded.find((source) => source.restoredModel?.coordinates !== coordinates && source.restoredModel)?.restoredModel?.coordinates}`);
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}
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setParts((current) => {
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const next = [...current];
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for (const source of loaded) {
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const role = MACHINE_PART_ROLES.find((candidate) => !next.some((part) => part.role === candidate)) ?? "";
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const parentRole = role ? expectedParentRole(role) : null;
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const parentId = parentRole ? next.find((part) => part.role === parentRole)?.id ?? null : null;
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next.push({ ...source, role, parentId, visible: true, showOrigin: true, originMm: zero3(), translationMm: zero3(), rotationDeg: zero3(), nodeParents: {}, nodeTransforms: {}, nodeJoints: source.restoredJoints ?? {}, nodeRoles: source.restoredRoles ?? {} });
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}
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return next;
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});
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const restored = loaded.find((source) => source.restoredModel)?.restoredModel;
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if (restored) { setCOriginMm(restored.calibration.cOriginMm); setTiltOffsetMm(restored.calibration.tiltOffsetMm); setPhysicalZero(restored.calibration.physicalZero as PhysicalZero); setMessage(`已恢复 ${restored.coordinates} 单自由度配置`); }
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setSelectedId(loaded[0].id); setSelectedNodePath("scene"); setMessage(restored ? `已恢复 ${restored.coordinates} 关节配置和物理零点` : `已导入 ${loaded.length} 个部件`);
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} catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
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finally { setPending(false); }
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};
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const remove = (part: MachinePartDraft) => { setParts((current) => current.filter((item) => item.id !== part.id).map((item) => item.parentId === part.id ? { ...item, parentId: null } : item)); requestAnimationFrame(() => disposeMachineScene(part.scene)); if (selectedId === part.id) { setSelectedId(null); setSelectedNodePath("scene"); } };
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const selectTreeNode = (partId: string, path: string) => { setSelectedId(partId); setSelectedNodePath(path); };
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const reparentTreeNode = (source: { partId: string; path: string }, target: { partId: string; path: string }) => {
|
||
if (source.partId === target.partId && source.path === target.path) return;
|
||
if (source.path === "scene") {
|
||
if (target.path !== "scene") { setMessage("整机/部件根节点只能拖到另一个 GLB 根节点"); return; }
|
||
let cursor: string | null = target.partId;
|
||
while (cursor) { if (cursor === source.partId) { setMessage("部件层级不能形成循环"); return; } cursor = parts.find((part) => part.id === cursor)?.parentId ?? null; }
|
||
update(source.partId, { parentId: target.partId }); setMessage("部件装配层级已更新"); return;
|
||
}
|
||
if (source.partId !== target.partId) { setMessage("GLB 内部节点只能在同一 GLB 层级树内拖动"); return; }
|
||
const part = parts.find((item) => item.id === source.partId)!;
|
||
try {
|
||
const changes = reparentMachineNode(part, source.path, target.path);
|
||
machinePartTree({ ...part, ...changes }); update(part.id, changes);
|
||
setSelectedId(part.id); setSelectedNodePath(source.path); setMessage("GLB 内部层级已更新，保留当前装配姿态");
|
||
}
|
||
catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
|
||
};
|
||
const apply = async () => {
|
||
if (disabled) return; setPending(true); setMessage("正在生成机床层级和 URDF…"); let machine: ImportedMachine | null = null;
|
||
try { machine = await buildManagedMachine({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero }); await onApply(machine); setMessage("三维机床已应用；请重新回零后运行程序"); }
|
||
catch (error) { if (machine) disposeMachineScene(machine.scene); setMessage(error instanceof Error ? error.message : String(error)); }
|
||
finally { setPending(false); }
|
||
};
|
||
const exportGlb = async () => {
|
||
setPending(true); setMessage("正在生成包含 userData 的组合 GLB…"); let machine: ImportedMachine | null = null;
|
||
try {
|
||
machine = await buildManagedMachine({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero });
|
||
const exportScene = new THREE.Scene(); exportScene.name = machine.scene.name; exportScene.userData = machine.scene.userData;
|
||
for (const child of machine.scene.children) exportScene.add(child.clone(true));
|
||
const bytes = await new GLTFExporter().parseAsync(exportScene, { binary: true, trs: true, onlyVisible: false });
|
||
const url = URL.createObjectURL(new Blob([bytes as ArrayBuffer], { type: "model/gltf-binary" }));
|
||
const link = document.createElement("a"); link.href = url; link.download = machine.filename; link.click(); setTimeout(() => URL.revokeObjectURL(url), 1000);
|
||
setMessage("组合 GLB 已导出，底座和整机场景包含机床标定 userData");
|
||
} catch (error) { setMessage(error instanceof Error ? error.message : String(error)); }
|
||
finally { if (machine) disposeMachineScene(machine.scene); setPending(false); }
|
||
};
|
||
const roleChange = (part: MachinePartDraft, role: MachinePartRole | "") => {
|
||
if (selectedNodePath !== "scene") { update(part.id, { nodeRoles: { ...part.nodeRoles, [selectedNodePath]: role } }); return; }
|
||
const parentRole = role ? expectedParentRole(role) : null;
|
||
update(part.id, { role, parentId: parentRole ? parts.find((item) => item.role === parentRole)?.id ?? null : null });
|
||
};
|
||
const selectedDof = selected ? draftNodeDof(selected, selectedNodePath, coordinates) : null;
|
||
const setDof = (dof: JointDof | null) => {
|
||
if (!selected) return;
|
||
if (dof && parts.some((part) => Object.entries(part.nodeJoints ?? {}).some(([path, existing]) => existing.axis === dof.axis && (part.id !== selected.id || path !== selectedNodePath)))) { setMessage(`${dof.axis} 轴已绑定其他节点，请先取消该绑定`); return; }
|
||
setParts((current) => current.map((part) => { if (part.id !== selected.id) return part; const nodeJoints = { ...(part.nodeJoints ?? {}) }; if (dof) nodeJoints[selectedNodePath] = dof; else delete nodeJoints[selectedNodePath]; return { ...part, nodeJoints }; }));
|
||
setMessage("");
|
||
};
|
||
const [followLive, setFollowLive] = useState(false);
|
||
const visual = useMemo(() => projectXyzacVisual(snapshot), [snapshot]);
|
||
const liveReady = visual.authoritative && visual.machineModel?.coordinate_system === coordinates;
|
||
const effectivePose: TestPose = followLive && liveReady ? { x: 0, y: 0, z: 0, a: 0, b: 0, c: 0, ...Object.fromEntries([...coordinates].map((axis, i) => [axis.toLowerCase(), visual.joints[i] - physicalZero[axis.toLowerCase() as keyof PhysicalZero]])) } : testPose;
|
||
const validation = useMemo(() => { try { const { model } = makeJointAssembly({ coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero }); const missing = [...coordinates].filter((axis) => !model.axisMap[axis as CncAxis]); return { model, error: missing.length ? `请绑定 ${missing.join("、")} 轴` : "" }; } catch (error) { return { model: null, error: error instanceof Error ? error.message : String(error) }; } }, [coordinates, parts, cOriginMm, tiltOffsetMm, physicalZero]);
|
||
const exportJson = () => {
|
||
if (!validation.model) return;
|
||
const url = URL.createObjectURL(new Blob([JSON.stringify(validation.model, null, 2)], { type: "application/json" }));
|
||
const a = document.createElement("a"); a.href = url; a.download = `machine-joints-${coordinates.toLowerCase()}.json`; a.click(); setTimeout(() => URL.revokeObjectURL(url), 1000);
|
||
};
|
||
const poseInput = (axis: keyof TestPose, unit: string) => <label key={axis}>{axis.toUpperCase()}<input data-axis-control={`machine-test-${axis}`} type="number" step="any" disabled={followLive || !parts.some((part) => Object.values(part.nodeJoints ?? {}).some((joint) => joint.axis.toLowerCase() === axis))} value={effectivePose[axis]} onChange={(event) => setTestPose({ ...testPose, [axis]: number(event.target.value) })} /><small>{unit}</small></label>;
|
||
const receiveMotionState = (state: Record<string, MotionTransform>) => { const hash = JSON.stringify(state); if (hash !== motionStateHash.current) { motionStateHash.current = hash; setMotionState(state); } };
|
||
const selectedDriven = motionState.selected ?? null;
|
||
const selectedTransform = selectedNodePath === "scene" ? selected : selected?.nodeTransforms?.[selectedNodePath] ?? (selectedTreeNode ? { translationMm: selectedTreeNode.originMm, rotationDeg: selectedTreeNode.rotationDeg } : null);
|
||
const renderPartTree = (part: MachinePartDraft): React.ReactNode => <TreeNode key={part.id} part={part} node={trees.get(part.id)!} selected={`${selectedId}:${selectedNodePath}`} onSelect={selectTreeNode} onDrop={reparentTreeNode} extra={parts.filter((child) => child.parentId === part.id).map(renderPartTree)} />;
|
||
return <section className="machine-manager" aria-label="三维机床管理">
|
||
<button type="button" data-axis-control="machine-manager-settings" aria-haspopup="dialog" onClick={() => setOpen(true)}>三维机床管理</button>
|
||
<DraggableDialog open={open} title={`三维机床管理 · ${coordinates}`} className="machine-manager-dialog" onClose={() => setOpen(false)}>
|
||
<div className="machine-manager-toolbar"><button type="button" data-axis-control="machine-manager-import" disabled={pending} onClick={() => file.current?.click()}>导入 GLB 部件</button><span>{parts.length} 个导入模型 · 每个运动节点一个自由度</span></div>
|
||
<div className="machine-manager-layout">
|
||
{open && <MachineManagerPanelPreview coordinates={coordinates} parts={parts} selectedId={selectedId} selectedNodePath={selectedNodePath} testPose={effectivePose} onMotionState={receiveMotionState} />}
|
||
<div className="machine-manager-editor">
|
||
<section className="machine-part-list"><h3>部件与层级</h3>{parts.length ? <ul className="machine-tree" role="tree">{parts.filter((part) => !part.parentId).map(renderPartTree)}</ul> : <p>导入机床或部件后显示 GLB 内部层级。</p>}</section>
|
||
{selected && <section className="machine-part-editor"><header><h3>{selected.filename}</h3><button type="button" data-axis-control="machine-manager-delete" onClick={() => remove(selected)}>删除导入模型</button></header>{selectedTreeNode && <div className="machine-tree-origin" data-axis-control="machine-tree-origin"><strong>{selectedTreeNode.name}</strong><span>节点自身局部原点</span><output>X 0.000 Y 0.000 Z 0.000</output><span>装配位置（相对父节点，mm）</span><output>X {selectedTransform!.translationMm[0].toFixed(3)} Y {selectedTransform!.translationMm[1].toFixed(3)} Z {selectedTransform!.translationMm[2].toFixed(3)}</output><span>装配姿态（相对父节点，deg）</span><output>RX {selectedTransform!.rotationDeg[0].toFixed(3)} RY {selectedTransform!.rotationDeg[1].toFixed(3)} RZ {selectedTransform!.rotationDeg[2].toFixed(3)}</output>{selectedDriven && <><span>当前世界原点（mm）</span><output>X {(selectedDriven.world[0] * 1000).toFixed(3)} Y {(selectedDriven.world[1] * 1000).toFixed(3)} Z {(selectedDriven.world[2] * 1000).toFixed(3)}</output></>}</div>}<label>唯一自由度<select data-axis-control="machine-tree-axis-role" value={selectedDof?.axis ?? ""} onChange={(event) => setDof(event.target.value ? defaultDof(event.target.value as CncAxis) : null)}><option value="">固定（无自由度）</option>{[..."XYZABC"].map((axis) => <option key={axis} value={axis} disabled={!coordinates.includes(axis)}>{axis} · {"XYZ".includes(axis) ? "平移 mm" : "旋转 deg"}</option>)}</select></label>
|
||
{selectedDof && <><label>父级运动方向<select data-axis-control="machine-joint-direction" value={selectedDof.direction} onChange={(event) => setDof({ ...selectedDof, direction: event.target.value as "x" | "y" | "z" })}>{["x", "y", "z"].map((axis) => <option key={axis} value={axis}>{axis.toUpperCase()}</option>)}</select></label><label>正负方向<select data-axis-control="machine-joint-sign" value={selectedDof.sign} onChange={(event) => setDof({ ...selectedDof, sign: Number(event.target.value) as 1 | -1 })}><option value="1">正向 +1</option><option value="-1">反向 −1</option></select></label></>}
|
||
<label>节点结构角色<select data-axis-control="machine-manager-role" value={selectedNodePath === "scene" ? selected.role : selected.nodeRoles?.[selectedNodePath] ?? ""} onChange={(event) => roleChange(selected, event.target.value as MachinePartRole | "")}><option value="">未分配</option>{MACHINE_PART_ROLES.map((role) => <option key={role} value={role}>{roleLabel(role, coordinates)}</option>)}</select></label><label>模型装配父级<select data-axis-control="machine-manager-parent" value={selected.parentId ?? ""} onChange={(event) => update(selected.id, { parentId: event.target.value || null })}><option value="">无</option>{parts.filter((part) => part.id !== selected.id).map((part) => <option key={part.id} value={part.id}>{part.role ? roleLabel(part.role, coordinates) : part.filename}</option>)}</select></label><div className="machine-part-flags"><label><input type="checkbox" checked={selected.visible} onChange={(event) => update(selected.id, { visible: event.target.checked })} />显示模型</label><label><input data-axis-control="machine-manager-show-origin" type="checkbox" checked={selected.showOrigin} onChange={(event) => update(selected.id, { showOrigin: event.target.checked })} />显示坐标原点</label></div><p className="machine-transform-reference">当前节点：{selectedTreeNode?.name}。{selectedDof ? `仅允许 ${selectedDof.axis} ${isLinear(selectedDof.axis) ? "平移" : "旋转"}，沿父级 ${selectedDof.direction.toUpperCase()} 方向；以导入装配姿态为零位。` : "固定节点随父级运动；请先配置唯一自由度。"}</p>
|
||
<label>{selectedDof ? `${selectedDof.axis} ${isLinear(selectedDof.axis) ? "位移 (mm)" : "转角 (deg)"}` : "关节值"}<input data-axis-control="machine-joint-value" type="number" step="any" disabled={!selectedDof || followLive} value={selectedDof ? effectivePose[selectedDof.axis.toLowerCase() as keyof TestPose] : 0} onChange={(event) => { if (selectedDof) setTestPose((pose) => ({ ...pose, [selectedDof.axis.toLowerCase()]: number(event.target.value) })); }} /></label>
|
||
</section>}
|
||
</div>
|
||
</div>
|
||
<section className="machine-motion-test"><label><input data-axis-control="machine-joint-follow-live" type="checkbox" checked={followLive} disabled={!liveReady} onChange={(event) => setFollowLive(event.target.checked)} />跟随数控系统实时关节位置</label><output data-axis-control="machine-joint-live-state">{followLive ? liveReady ? `WASM tick ${visual.tick}` : "等待有效机床数据" : "手动验证（相对物理零点）"}</output><header><h3>层级运动测试</h3><button type="button" data-axis-control="machine-test-reset" disabled={followLive} onClick={() => setTestPose({ x: 0, y: 0, z: 0, a: 0, b: 0, c: 0 })}>复位</button></header><div>{(["x", "y", "z"] as const).map((axis) => poseInput(axis, "mm"))}{poseInput(coordinates === "XYZBC" ? "b" : "a", "deg")}{poseInput("c", "deg")}</div><output data-axis-control="machine-test-state">{JSON.stringify(effectivePose)}</output></section>
|
||
<section className="machine-manager-calibration"><h3>机床标定</h3>{vectorInput("C 轴原点", cOriginMm, setCOriginMm, "mm")}{vectorInput(`${coordinates === "XYZBC" ? "B" : "A"} 到 C 轴偏置`, tiltOffsetMm, setTiltOffsetMm, "mm")}<fieldset className="machine-vector machine-zero"><legend>机床物理零点 (XYZ mm / ABC deg)</legend>{["x", "y", "z", coordinates === "XYZBC" ? "b" : "a", "c"].map((axis) => <label key={axis}>{axis.toUpperCase()}<input type="number" step="any" value={physicalZero[axis as keyof PhysicalZero]} onChange={(event) => setPhysicalZero({ ...physicalZero, [axis]: number(event.target.value) })} /></label>)}</fieldset></section>
|
||
<footer className="machine-manager-footer"><button type="button" data-axis-control="machine-manager-apply" disabled={disabled || pending || Boolean(validation.error)} title={disabled ? "关机且程序空闲后可应用" : undefined} onClick={() => void apply()}>应用到 Web LinuxCNC</button><button type="button" data-axis-control="machine-manager-export" disabled={pending || Boolean(validation.error)} onClick={() => void exportGlb()}>导出组合 GLB</button><button type="button" data-axis-control="machine-manager-export-json" disabled={!validation.model} onClick={exportJson}>导出关节 JSON</button><output role="status">{message || validation.error || (disabled ? "关机且程序空闲后可配置" : "配置写入运行模型和底座 userData")}</output></footer>
|
||
<input ref={file} data-axis-control="machine-manager-files" hidden multiple type="file" accept=".glb,model/gltf-binary" onChange={(event) => { const files = event.target.files ? [...event.target.files] : []; event.target.value = ""; void importFiles(files); }} />
|
||
</DraggableDialog>
|
||
</section>;
|
||
}
|
||
|
||
// Named wrapper keeps the recursive panel JSX readable while retaining one preview implementation.
|
||
const MachineManagerPanelPreview = ManagerPreview;
|