feat: initial commit - massive-cloud point cloud processing system
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255
server/assemblyInspectionJob.ts
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255
server/assemblyInspectionJob.ts
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import * as fs from 'node:fs';
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import * as path from 'node:path';
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import { fork } from 'node:child_process';
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import { fileURLToPath } from 'node:url';
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import * as db from './db.js';
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import {
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assignNearestPartAndStats,
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computePartStatsFromPerPartDists,
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computeVertexDistanceHeatmap,
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float32ToVertexColorRgb,
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loadStlToBVH,
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perPartDistsFromAssignments,
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type PartMeshBVH,
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} from './assemblyInspectionCompute.js';
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import { tryRunAssemblyNearestGpu } from './assemblyGpuNearest.js';
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import { sampleTaskPointclouds } from './sampleTaskPointclouds.js';
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import type { SampledPoint } from './pointcloudSample.js';
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import { runStepParseMvp, stepParseCacheDir } from './stepParse.js';
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import type { StepManifest } from './stepParse.js';
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const DATA_DIR = process.env.DATA_DIR || '/data';
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const TASKS_DIR = path.join(DATA_DIR, 'tasks');
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function resolveRunnerEntry(): string {
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const dir = path.dirname(fileURLToPath(import.meta.url));
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if (process.env.NODE_ENV === 'production') {
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return path.join(dir, 'assemblyInspectionJobRunner.js');
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}
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return path.join(dir, 'assemblyInspectionJobRunner.ts');
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}
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export function enqueueAssemblyInspectionJob(
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resultId: number,
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taskId: number,
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options: AssemblyInspectionOptions,
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): void {
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const script = resolveRunnerEntry();
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const isProd = process.env.NODE_ENV === 'production';
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const payload = JSON.stringify(options);
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const child = fork(script, [String(resultId), String(taskId), payload], {
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env: { ...process.env },
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stdio: ['ignore', 'inherit', 'inherit', 'ipc'],
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execArgv: isProd ? [] : ['--import', 'tsx'],
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});
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child.on('error', (err) => console.error('[AssemblyInspection] fork 失败:', err));
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child.on('exit', (code, signal) => {
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if (code !== 0 && code != null) {
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console.error(`[AssemblyInspection] 子进程退出 code=${code} signal=${signal ?? ''}`);
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}
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});
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}
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export type AssemblyInspectionOptions = {
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cadFileId?: number;
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samplePoints: number;
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toleranceMm: number;
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includeVertexHeatmap: boolean;
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};
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export async function runAssemblyInspectionJob(
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resultId: number,
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taskId: number,
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options: AssemblyInspectionOptions,
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): Promise<void> {
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const sampleBudget = Math.min(Math.max(10_000, options.samplePoints), 500_000);
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const tol = options.toleranceMm > 0 ? options.toleranceMm : 0.3;
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try {
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await reportProgress(resultId, 0.08, '加载任务与 CAD…');
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const task = await db.getInspectionTaskById(taskId);
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if (!task) throw new Error('task not found');
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const cadList = await db.listModelCadFiles(task.modelId);
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const stepFiles = cadList.filter((f) => {
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const ext = path.extname(f.name).toLowerCase();
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return ext === '.stp' || ext === '.step' || f.format?.toLowerCase() === 'stp' || f.format?.toLowerCase() === 'step';
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});
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if (stepFiles.length === 0) {
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throw new Error('该车型下未上传 STEP（.stp / .step）。请上传装配体 STEP 后再运行装配检测。');
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}
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let cad = stepFiles[0]!;
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if (options.cadFileId != null) {
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const found = stepFiles.find((f) => f.id === options.cadFileId);
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if (!found) throw new Error('指定的 cadFileId 不是 STEP 文件或不存在');
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cad = found;
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}
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if (!fs.existsSync(cad.filePath)) throw new Error('STEP 文件不存在');
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const cacheDir = stepParseCacheDir(task.modelId, cad.id);
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const manifestPath = path.join(cacheDir, 'manifest.json');
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if (!fs.existsSync(manifestPath)) {
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await reportProgress(resultId, 0.15, '解析 STEP（Python/cadquery，可能较慢）…');
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runStepParseMvp(cad.filePath, cacheDir);
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}
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const manifest = JSON.parse(fs.readFileSync(manifestPath, 'utf-8')) as StepManifest;
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if (!manifest.ok || !manifest.parts?.length) {
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throw new Error('STEP manifest 无效');
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}
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await reportProgress(resultId, 0.35, '加载零件网格…');
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const parts: PartMeshBVH[] = [];
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for (const p of manifest.parts) {
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const stlAbs = path.join(cacheDir, p.stlRelative);
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if (!fs.existsSync(stlAbs)) throw new Error(`缺少零件 STL: ${p.stlRelative}`);
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const buf = fs.readFileSync(stlAbs);
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const { geometry, bvh } = loadStlToBVH(buf);
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parts.push({ part: p, geometry, bvh });
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}
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await reportProgress(resultId, 0.45, '点云采样…');
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const sampled = await sampleTaskPointclouds(taskId, sampleBudget);
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if (sampled.length === 0) throw new Error('任务下无可用点云');
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await reportProgress(resultId, 0.55, '最近零件归属与距离…');
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const gpu = tryRunAssemblyNearestGpu(cacheDir, sampled);
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let assignments: number[];
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let pointDistances: number[];
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let stats: ReturnType<typeof computePartStatsFromPerPartDists>;
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if (gpu) {
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assignments = gpu.assignments;
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pointDistances = gpu.pointDistances;
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stats = computePartStatsFromPerPartDists(
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manifest.parts,
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perPartDistsFromAssignments(parts.length, assignments, pointDistances),
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tol,
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);
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} else {
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const r = await assignNearestPartAndStats(parts, sampled, tol, {
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onProgress: async (done, total) => {
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const t = total > 0 ? done / total : 1;
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await reportProgress(
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resultId,
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0.55 + 0.17 * t,
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`最近零件归属与距离… ${done.toLocaleString()}/${total.toLocaleString()}`,
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);
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},
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});
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assignments = r.assignments;
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pointDistances = r.pointDistances;
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stats = r.stats;
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}
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const outDir = path.join(TASKS_DIR, String(taskId), 'analysis');
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fs.mkdirSync(outDir, { recursive: true });
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const partOutputs: Record<string, unknown>[] = [];
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let gMin = Infinity;
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let gMax = -Infinity;
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const pointsByPart: SampledPoint[][] = Array.from({ length: parts.length }, () => []);
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for (let i = 0; i < sampled.length; i++) {
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pointsByPart[assignments[i]!]!.push(sampled[i]!);
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}
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for (const d of pointDistances) {
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if (d < gMin) gMin = d;
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if (d > gMax) gMax = d;
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}
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if (!Number.isFinite(gMin)) gMin = 0;
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if (!Number.isFinite(gMax)) gMax = 0;
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const meanAll =
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pointDistances.length > 0 ? pointDistances.reduce((a, b) => a + b, 0) / pointDistances.length : 0;
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let vsum = 0;
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for (const d of pointDistances) {
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const t = d - meanAll;
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vsum += t * t;
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}
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const stdAll = pointDistances.length > 0 ? Math.sqrt(vsum / pointDistances.length) : 0;
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let within = 0;
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for (const d of pointDistances) {
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if (d < tol) within++;
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}
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await reportProgress(resultId, 0.72, '汇总与可选顶点热力…');
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for (let j = 0; j < parts.length; j++) {
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const pm = parts[j]!;
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const st = stats[j]!;
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const entry: Record<string, unknown> = {
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partId: st.partId,
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name: st.name,
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min: st.min,
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max: st.max,
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mean: st.mean,
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stdDev: st.stdDev,
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passRate: st.passRate,
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pointCount: st.pointCount,
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};
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if (options.includeVertexHeatmap && st.pointCount > 0) {
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const vals = computeVertexDistanceHeatmap(pm.geometry, pointsByPart[j]!);
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if (vals) {
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let vmin = Infinity;
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let vmax = -Infinity;
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for (let k = 0; k < vals.length; k++) {
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if (vals[k]! < vmin) vmin = vals[k]!;
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if (vals[k]! > vmax) vmax = vals[k]!;
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}
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const rgb = float32ToVertexColorRgb(vals, vmin, vmax);
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const binName = `assembly_vertex_${resultId}_${st.partId}.bin`;
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fs.writeFileSync(path.join(outDir, binName), Buffer.from(rgb.buffer));
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entry.vertexHeatmapBin = binName;
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}
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}
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partOutputs.push(entry);
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}
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await db.updateTaskAnalysisResult(resultId, {
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status: 'completed',
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errorStats: {
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min: gMin,
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max: gMax,
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mean: meanAll,
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stdDev: stdAll,
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totalPoints: sampled.length,
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withinTolerance: within,
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outOfTolerance: sampled.length - within,
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},
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resultData: {
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kind: 'assembly_inspection',
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toleranceMm: tol,
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cadFileId: cad.id,
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modelId: task.modelId,
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samplePoints: sampled.length,
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parts: partOutputs,
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manifestPathRelative: path.relative(DATA_DIR, manifestPath),
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},
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});
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console.log(`[AssemblyInspection] ok resultId=${resultId} taskId=${taskId} parts=${parts.length}`);
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} catch (err) {
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console.error('[AssemblyInspection]', err);
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await db.updateTaskAnalysisResult(resultId, {
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status: 'error',
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resultData: {
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kind: 'assembly_inspection',
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error: err instanceof Error ? err.message : String(err),
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},
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});
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}
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}
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async function reportProgress(resultId: number, progress: number, stage: string): Promise<void> {
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const p = Math.min(1, Math.max(0, progress));
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await db.updateTaskAnalysisResult(resultId, {
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resultData: {
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kind: 'assembly_inspection',
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progress: p,
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stage,
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},
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});
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}
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