295 lines
16 KiB
HTML
295 lines
16 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">
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<title>Flyshot Replacement 接口调试</title>
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<link rel="stylesheet" href="/assets/debug.css">
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</head>
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<body>
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<header>
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<div class="topbar">
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<h1>Flyshot Replacement 接口调试</h1>
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<div class="actions">
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<a class="link-button" href="/status.html">回到状态页</a>
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<a class="link-button" href="/swagger" target="_blank" rel="noopener">Swagger UI</a>
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<button id="reload-spec" type="button">重新加载 OpenAPI</button>
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</div>
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</div>
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</header>
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<main>
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<section class="meta">
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<dl>
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<dt>OpenAPI 文档</dt>
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<dd id="meta-spec-url">--</dd>
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<dt>API 数量</dt>
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<dd id="meta-operation-count">--</dd>
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<dt>加载状态</dt>
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<dd id="meta-status">初始化中...</dd>
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</dl>
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</section>
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<section class="offline-panel" id="offline-planning-panel">
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<h2>离线飞拍规划</h2>
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<p class="offline-warning">生成轨迹不会向机器人发送命令；只有 RealReady 状态才能执行真实运动。</p>
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<div class="offline-grid">
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<label>
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机器人模型
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<input id="offline-robot-name" value="FANUC_LR_Mate_200iD">
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</label>
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<button id="offline-load-model" type="button">加载模型</button>
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<label>
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已上传轨迹
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<select id="offline-trajectory-select"></select>
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</label>
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<button id="offline-refresh-trajectories" type="button" class="secondary">刷新列表</button>
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<label>
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规划方法
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<select id="offline-planning-method">
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<option value="icsp">icsp</option>
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<option value="self-adapt-icsp">self-adapt-icsp</option>
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</select>
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</label>
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<button id="offline-generate" type="button">生成最终发送轨迹</button>
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</div>
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<details>
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<summary>上传飞拍轨迹 JSON</summary>
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<textarea id="offline-upload-json" class="body-editor">{
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"name": "demo-flyshot",
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"waypoints": [[0,0,0,0,0,0],[0.001,0,0,0,0,0],[0.002,0,0,0,0,0],[0.003,0,0,0,0,0]],
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"shot_flags": [false,true,false,false],
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"offset_values": [0,1,0,0],
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"addrs": [[],[7,8],[],[]]
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}</textarea>
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<button id="offline-upload" type="button">上传并刷新列表</button>
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</details>
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<div id="offline-planning-status" class="empty-hint">等待离线规划操作。</div>
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<div id="offline-planning-summary"></div>
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<div class="offline-table-wrap">
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<table id="offline-send-table">
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<thead>
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<tr><th>序号</th><th>发送时间</th><th>轨迹时间</th><th>关节角(deg)</th><th>IO Mask</th><th>IO Value</th></tr>
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</thead>
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<tbody></tbody>
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</table>
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</div>
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<div class="button-row">
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<button id="offline-prev-page" type="button" class="secondary">上一页</button>
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<span id="offline-page-info">0 / 0</span>
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<button id="offline-next-page" type="button" class="secondary">下一页</button>
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</div>
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<pre id="offline-shot-events" class="response-body"></pre>
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<pre id="offline-artifact-paths" class="response-body"></pre>
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</section>
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<div id="debug-console-app">
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<div class="empty-hint">正在加载接口列表...</div>
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</div>
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</main>
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<aside class="history" id="history-panel">
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<h3>
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<span>调用历史 (本次会话)</span>
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<button type="button" id="history-clear" class="secondary">清空</button>
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</h3>
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<ul id="history-list"></ul>
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</aside>
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<script id="debug-static-docs" type="application/json">
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{
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"GET /healthz": {
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"summary": "宿主健康检查",
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"description": "返回 replacement 宿主的基础健康状态，适合探活和部署验收。",
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"requestBodyFields": []
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},
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"GET /status": {
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"summary": "跳转状态页",
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"description": "短路由入口，浏览器访问后会跳转到静态状态监控页 `/status.html`。",
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"requestBodyFields": []
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},
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"GET /debug": {
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"summary": "跳转调试页",
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"description": "短路由入口，浏览器访问后会跳转到静态调试页 `/debug.html`。",
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"requestBodyFields": []
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},
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"GET /api/status/snapshot": {
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"summary": "读取状态快照",
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"description": "返回当前 ControllerClient 兼容层和 FANUC 运行时的聚合状态快照，供状态页和外部诊断读取。",
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"requestBodyFields": []
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},
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"POST /setup_robot/": {
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"summary": "按名称加载机器人",
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"description": "只加载机器人模型和 RobotConfig.json，不连接、不使能；成功后可进行离线规划。",
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"requestBodyFields": []
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},
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"GET /enable_robot/": {
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"summary": "使能机器人",
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"description": "调用兼容层使能机器人，并可通过查询参数传入控制器执行缓冲区大小。",
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"requestBodyFields": []
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},
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"GET /disable_robot/": {
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"summary": "去使能机器人",
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"description": "调用兼容层关闭机器人使能，通常用于结束调试或执行链路回收。",
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"requestBodyFields": []
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},
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"GET /stop_move/": {
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"summary": "停止当前运动",
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"description": "触发兼容层的 `StopMove` 语义，用于终止当前点动或轨迹执行。",
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"requestBodyFields": []
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},
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"POST /connect_robot/": {
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"summary": "连接机器人控制器",
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"description": "根据查询参数 `ip` 连接机器人控制器，建立后续命令与状态链路。",
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"requestBodyFields": []
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},
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"POST /disconnect_robot/": {
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"summary": "断开机器人连接",
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"description": "主动断开当前机器人控制器连接，释放兼容层运行时资源。",
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"requestBodyFields": []
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},
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"GET /robot_info/": {
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"summary": "读取机器人信息",
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"description": "返回机器人名称、自由度、速度倍率和服务端版本等聚合元信息。",
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"requestBodyFields": []
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},
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"POST /set_tcp/": {
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"summary": "设置 TCP 偏移",
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"description": "设置当前工具中心点的三维偏移，单位按旧接口约定使用毫米。",
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"requestBodyFields": [
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{ "name": "x", "type": "number", "required": true, "description": "TCP 的 X 偏移，单位 mm。" },
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{ "name": "y", "type": "number", "required": true, "description": "TCP 的 Y 偏移，单位 mm。" },
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{ "name": "z", "type": "number", "required": true, "description": "TCP 的 Z 偏移，单位 mm。" }
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]
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},
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"GET /get_tcp/": {
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"summary": "读取 TCP 偏移",
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"description": "返回当前生效的 TCP 三维偏移值。",
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"requestBodyFields": []
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},
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"POST /set_io/": {
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"summary": "设置数字 IO",
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"description": "通过查询参数设置指定端口的 IO 值和 IO 类型，常用于现场脉冲或夹具联动调试。",
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"requestBodyFields": []
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},
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"GET /get_io/": {
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"summary": "读取数字 IO",
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"description": "读取指定端口和类型的当前 IO 值，便于确认控制柜当前输入输出状态。",
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"requestBodyFields": []
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},
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"GET /get_joint_position/": {
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"summary": "读取当前关节位置",
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"description": "返回旧 HTTP 层兼容的关节数组外形，便于现场确认当前姿态。",
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"requestBodyFields": []
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},
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"POST /move_joint/": {
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"summary": "执行关节点到点运动",
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"description": "根据目标关节数组执行一次关节空间点到点运动；实际执行链路会进入兼容层与 J519 运行时。",
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"requestBodyFields": [
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{ "name": "joints", "type": "array<number>", "required": true, "description": "目标关节数组，按关节顺序给出数值。" }
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]
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},
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"POST /move_pose/": {
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"summary": "执行笛卡尔点到点运动",
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"description": "以 `[x,y,z,w,p,r]` 直角位姿执行点到点移动。六个字段必须完整提供，`x/y/z` 使用 mm，`w/p/r` 使用 deg，并受当前入口限幅约束。",
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"requestBodyFields": [
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{ "name": "x", "type": "number", "required": true, "description": "TCP X，单位 mm，当前入口限制在 -1000 到 1000 之间。" },
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{ "name": "y", "type": "number", "required": true, "description": "TCP Y，单位 mm，当前入口限制在 -1000 到 1000 之间。" },
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{ "name": "z", "type": "number", "required": true, "description": "TCP Z，单位 mm，当前入口限制在 0 到 1200 之间。" },
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{ "name": "w", "type": "number", "required": true, "description": "姿态 W，单位 deg，当前入口限制在 -180 到 180 之间。" },
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{ "name": "p", "type": "number", "required": true, "description": "姿态 P，单位 deg，当前入口限制在 -90 到 90 之间。" },
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{ "name": "r", "type": "number", "required": true, "description": "姿态 R，单位 deg，当前入口限制在 -180 到 180 之间。" }
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]
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},
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"POST /get_nearest_ik/": {
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"summary": "求最近 IK",
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"description": "根据目标位姿和 seed 关节数组求最近一组 IK 解；当前若底层未实现，会返回 501。",
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"requestBodyFields": [
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{ "name": "pose", "type": "array<number>", "required": true, "description": "目标位姿数组，约定为 `[x,y,z,qx,qy,qz,qw]`。" },
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{ "name": "seed", "type": "array<number>", "required": true, "description": "IK seed 关节数组，用作就近求解参考。" }
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]
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},
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"GET /list_flyShotTraj/": {
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"summary": "列出已上传飞拍轨迹",
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"description": "返回当前运行目录中已经保存的飞拍轨迹名称列表。",
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"requestBodyFields": []
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},
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"POST /execute_trajectory/": {
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"summary": "执行普通轨迹",
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"description": "执行普通关节轨迹。该接口兼容两种历史请求体形态：一是对象形态 `{ waypoints, method, save_traj }`，二是直接传纯数组路点；查询参数里的 `method` 和 `save_traj` 仍可覆盖请求体值。",
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"requestBodyFields": [
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{ "name": "waypoints", "type": "array<array<number>> | array<object>", "required": true, "description": "历史兼容对象形态中的轨迹路点集合；每个路点既可直接是关节数组，也可写成 `{ joints: [...] }`。" },
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{ "name": "method", "type": "string", "required": false, "description": "对象形态中的轨迹规划方法，默认 `icsp`。" },
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{ "name": "save_traj", "type": "boolean", "required": false, "description": "对象形态中的是否保存轨迹标记，默认 `false`。" },
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{ "name": "根数组", "type": "array<array<number>> | array<object>", "required": true, "description": "纯数组形态时，请直接提交路点数组本身，而不是对象包裹层。" },
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{ "name": "根数组[].joints", "type": "array<number>", "required": false, "description": "当路点元素是对象形态时，兼容层会读取其中的 `joints` 数组。" }
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]
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},
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"POST /upload_flyshot/": {
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"summary": "上传飞拍轨迹",
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"description": "上传一条带拍照触发信息的飞拍轨迹。`waypoints`、`shot_flags`、`offset_values`、`addrs` 四组数据长度必须一致。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "飞拍轨迹名称，后续执行、校验和删除都通过它定位。" },
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{ "name": "waypoints", "type": "array<array<number>>", "required": true, "description": "飞拍轨迹的关节路点集合。" },
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{ "name": "shot_flags", "type": "array<boolean>", "required": true, "description": "与每个路点对齐的拍照触发标志数组。" },
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{ "name": "offset_values", "type": "array<number>", "required": true, "description": "与每个路点对齐的触发偏移周期集合。" },
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{ "name": "addrs", "type": "array<array<integer>>", "required": true, "description": "与每个路点对齐的 IO 地址组集合。" }
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]
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},
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"POST /execute_flyshot/": {
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"summary": "执行已上传飞拍轨迹",
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"description": "按名称执行一条已上传的飞拍轨迹，可控制是否先移动到起点、是否复用缓存、是否保存轨迹以及是否等待执行完成。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "要执行的飞拍轨迹名称。" },
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{ "name": "move_to_start", "type": "boolean", "required": false, "description": "是否先用临时 PTP 轨迹移动到飞拍起点，默认 `true`。" },
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{ "name": "method", "type": "string", "required": false, "description": "飞拍轨迹生成方法，默认 `icsp`。" },
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{ "name": "save_traj", "type": "boolean", "required": false, "description": "是否保存轨迹信息，默认 `true`。" },
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{ "name": "use_cache", "type": "boolean", "required": false, "description": "是否优先复用已缓存的轨迹结果，默认 `true`。" },
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{ "name": "wait", "type": "boolean", "required": false, "description": "是否等待整条飞拍轨迹执行完成后再返回，默认 `true`。" }
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]
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},
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"POST /save_traj_info/": {
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"summary": "离线生成最终发送轨迹",
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"description": "仅要求机器人模型已加载；完成规划、触发绑定、最终 8ms 序列生成和文件导出，并返回完整规划结果。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "目标飞拍轨迹名称。" },
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{ "name": "method", "type": "string", "required": false, "description": "轨迹规划方法，默认 `icsp`。" }
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]
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},
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"POST /is_flyShotTrajValid/": {
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"summary": "校验飞拍轨迹有效性",
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"description": "检查指定飞拍轨迹是否可生成有效执行结果，并返回轨迹时长；底层未实现时会返回 501。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "要校验的飞拍轨迹名称。" },
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{ "name": "method", "type": "string", "required": false, "description": "轨迹规划方法，默认 `icsp`。" },
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{ "name": "save_traj", "type": "boolean", "required": false, "description": "是否同时保存轨迹信息，默认 `true`。" }
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]
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},
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"POST /set_speedRatio/": {
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"summary": "设置运行速度倍率",
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"description": "设置机器人运行速度倍率。当前接口要求 `speed` 在 `0.01` 到 `1.0` 之间，否则会直接返回 400。",
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"requestBodyFields": [
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{ "name": "speed", "type": "number", "required": true, "description": "目标速度倍率，允许范围为 0.01 到 1.0。" }
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]
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},
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"POST /delete_flyshot/": {
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"summary": "删除飞拍轨迹",
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"description": "按名称删除一条已上传的飞拍轨迹及其持久化记录。",
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"requestBodyFields": [
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{ "name": "name", "type": "string", "required": true, "description": "要删除的飞拍轨迹名称。" }
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]
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},
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"POST /init_mpc_robot": {
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"summary": "真机优先初始化",
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"description": "执行 `加载模型 -> 连接真机 -> EnableRobot(8)`；连接失败时模型仍保持 OfflineReady。",
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"requestBodyFields": [
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{ "name": "robot_name", "type": "string", "required": true, "description": "机器人名称，用于加载模型与配置。" },
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{ "name": "robot_ip", "type": "string", "required": true, "description": "机器人控制器 IP。" }
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]
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},
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"GET /get_pose": {
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"summary": "读取当前末端位姿",
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"description": "返回当前末端位姿数组，便于确认机器人 TCP 的当前空间位置。",
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"requestBodyFields": []
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}
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}
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</script>
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<script src="/assets/debug.js" defer></script>
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</body>
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</html>
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