完善夹爪界面、跨平台打包与运行日志

2026-07-15 16:10:31 +08:00
parent 73ce84f586
commit 45630e6d77
13 changed files with 1001 additions and 201 deletions
@@ -1,19 +0,0 @@
-@echo off
-setlocal
-cd /d "%~dp0.."
-call conda activate py311
-if errorlevel 1 (
-    echo Failed to activate conda environment: py311
-    pause
-    exit /b 1
-)
-python "%~dp0build_exe.py" %*
-if errorlevel 1 (
-    echo.
-    echo Build failed.
-    pause
-    exit /b 1
-)
-echo.
-echo Build finished.
-pause
@@ -1,19 +0,0 @@
-param(
-    [string]$CondaEnv = "py311"
-)
-
-$ErrorActionPreference = "Stop"
-
-$ScriptDir = Split-Path -Parent $MyInvocation.MyCommand.Path
-$ProjectRoot = Split-Path -Parent $ScriptDir
-
-Set-Location $ProjectRoot
-
-Write-Host "Project root: $ProjectRoot"
-Write-Host "Conda env:    $CondaEnv"
-
-$ForwardArgs = $args -join " "
-cmd /d /s /c "call conda activate $CondaEnv && python `"$ScriptDir\build_exe.py`" $ForwardArgs"
-if ($LASTEXITCODE -ne 0) {
-    throw "build failed"
-}
@@ -1,5 +1,6 @@
 import argparse
 import importlib.util
+import json
 import shutil
 import subprocess
 import sys
@@ -13,6 +14,33 @@ LOGO_FILES = (
    PROJECT_ROOT / "gripper" / "logo.png",
    PROJECT_ROOT / "gripper" / "logo_topbar.png",
 )
+LITE_EXCLUDES = (
+    # RAFT and its CUDA runtime. The default application uses OpenCV DIS.
+    "torch",
+    "torchvision",
+    "torchaudio",
+    "torchgen",
+    # Optional Orisys GPU Poisson backends.
+    "cupy",
+    "cupyx",
+    "cupy_backends",
+    "pyopencl",
+    "pyvkfft",
+    # Optional Orisys mesh viewer and its notebook/web dependencies.
+    "open3d",
+    "dash",
+    "flask",
+    "plotly",
+    "IPython",
+    "jedi",
+    "parso",
+    "nbformat",
+    "notebook",
+    # Transitive data-science packages not used by this GUI.
+    "matplotlib",
+    "pandas",
+    "sklearn",
+)


 def module_exists(name):
@@ -25,10 +53,6 @@ def require_module(name, install_hint):
    raise SystemExit(f"Missing module '{name}'. Install it first: {install_hint}")


-def data_arg(source, target):
-    return f"{source};{target}"
-
-
 def copy_runtime_dir(source, app_dir, name):
    target = app_dir / name
    if target.exists():
@@ -36,13 +60,69 @@ def copy_runtime_dir(source, app_dir, name):
    shutil.copytree(
        source,
        target,
-        ignore=shutil.ignore_patterns("__pycache__", "*.pyc"),
+        ignore=shutil.ignore_patterns(
+            "__pycache__",
+            "*.pyc",
+            "gui_layout.json",
+            "gui_layout.json.tmp",
+        ),
    )
    return target


-def build(app_name, clean_dist):
+def directory_size(path):
+    return sum(item.stat().st_size for item in path.rglob("*") if item.is_file())
+
+
+def print_size_report(app_dir, budget_mb):
+    total_bytes = directory_size(app_dir)
+    total_mb = total_bytes / (1024 * 1024)
+    print(f"Package size: {total_mb:.1f} MiB ({total_bytes / 1_000_000:.1f} MB)")
+    if total_mb > budget_mb:
+        print(f"Warning: package exceeds the {budget_mb:.0f} MiB target.")
+
+    largest = sorted(
+        (item for item in app_dir.rglob("*") if item.is_file()),
+        key=lambda item: item.stat().st_size,
+        reverse=True,
+    )[:10]
+    print("Largest packaged files:")
+    for item in largest:
+        print(f"  {item.stat().st_size / (1024 * 1024):8.1f} MiB  {item.relative_to(app_dir)}")
+
+
+def validate_lite_sensor_configs():
+    control_path = PROJECT_ROOT / "config" / "gripper.json"
+    try:
+        control_config = json.loads(control_path.read_text(encoding="utf-8"))
+    except (OSError, ValueError) as exc:
+        raise SystemExit(f"Cannot validate lite build config '{control_path}': {exc}") from exc
+
+    config_names = {
+        control_config.get("sensor_config1", "./config/ddjx01.json"),
+        control_config.get("sensor_config2", "./config/ddjx01.json"),
+    }
+    for config_name in config_names:
+        config_path = Path(config_name)
+        if not config_path.is_absolute():
+            config_path = PROJECT_ROOT / config_path
+        try:
+            sensor_config = json.loads(config_path.read_text(encoding="utf-8"))
+        except (OSError, ValueError) as exc:
+            raise SystemExit(f"Cannot validate lite sensor config '{config_path}': {exc}") from exc
+        algorithm = str(sensor_config.get("tracker", {}).get("algorithm", "dis")).lower()
+        if algorithm == "raft":
+            raise SystemExit(
+                f"Lite profile cannot package RAFT configured in '{config_path}'. "
+                "Set tracker.algorithm to 'dis' or build with --profile full."
+            )
+
+
+def build(app_name, clean_dist, profile, size_budget_mb):
    require_module("PyInstaller", "pip install pyinstaller")
+    require_module("numba", "pip install numba")
+    if profile == "lite":
+        validate_lite_sensor_configs()

    dist_dir = PROJECT_ROOT / "dist"
    work_dir = BUILD_DIR / "_pyinstaller"
@@ -73,10 +153,6 @@ def build(app_name, clean_dist):
        str(PROJECT_ROOT),
        "--paths",
        str(PROJECT_ROOT / "sdk"),
-        "--add-data",
-        data_arg(PROJECT_ROOT / "config", "config"),
-        "--add-data",
-        data_arg(PROJECT_ROOT / "sdk", "sdk"),
        "--hidden-import",
        "changingtek_p_rtu_Servo",
        "--hidden-import",
@@ -87,26 +163,19 @@ def build(app_name, clean_dist):
        "cv2",
        "--hidden-import",
        "numpy",
-        "--collect-all",
-        "PyQt5",
-        "--collect-all",
-        "pyqtgraph",
+        "--hidden-import",
+        "pyqtgraph.opengl",
    ]

-    if VISUALIZATION_DIR.exists():
-        args.extend(
-            [
-                "--add-data",
-                data_arg(VISUALIZATION_DIR, "crt_ctag2f90d_gripper_visualization"),
-            ]
-        )
-    else:
+    if profile == "lite":
+        for module_name in LITE_EXCLUDES:
+            args.extend(["--exclude-module", module_name])
+
+    if not VISUALIZATION_DIR.exists():
        print(f"Warning: visualization assets were not found: {VISUALIZATION_DIR}")

    for logo_file in LOGO_FILES:
-        if logo_file.exists():
-            args.extend(["--add-data", data_arg(logo_file, "gripper")])
-        else:
+        if not logo_file.exists():
            print(f"Warning: logo asset was not found: {logo_file}")

    if module_exists("OpenGL"):
@@ -125,7 +194,8 @@ def build(app_name, clean_dist):

    subprocess.run(args, cwd=PROJECT_ROOT, check=True)

-    exe_path = dist_dir / app_name / f"{app_name}.exe"
+    executable_name = f"{app_name}.exe" if sys.platform == "win32" else app_name
+    exe_path = dist_dir / app_name / executable_name
    if not exe_path.exists():
        raise SystemExit(f"Build finished but exe was not found: {exe_path}")

@@ -154,14 +224,28 @@ def build(app_name, clean_dist):
        print(f"Runtime 3D model copied to: {visualization_dir}")
    for logo_path in copied_logos:
        print(f"Runtime logo copied to: {logo_path}")
+    print(f"Build profile: {profile}")
+    print_size_report(app_dir, size_budget_mb)


 def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("--name", default="GripperDemo02", help="Output exe/app folder name.")
    parser.add_argument("--clean-dist", action="store_true", help="Delete dist/<name> before building.")
+    parser.add_argument(
+        "--profile",
+        choices=("lite", "full"),
+        default="lite",
+        help="lite excludes RAFT/CUDA/CuPy/Open3D; full bundles installed optional backends.",
+    )
+    parser.add_argument(
+        "--size-budget-mb",
+        type=float,
+        default=500.0,
+        help="Print a warning when the onedir package exceeds this many MiB.",
+    )
    args = parser.parse_args()
-    build(args.name, args.clean_dist)
+    build(args.name, args.clean_dist, args.profile, args.size_budget_mb)


 if __name__ == "__main__":
@@ -7,6 +7,10 @@ from pathlib import Path
 if getattr(sys, "frozen", False):
    os.chdir(Path(sys.executable).resolve().parent)

+from gripper.common.runtime_logging import configure_frozen_logging
+
+configure_frozen_logging()
+
 from gripper.visualizer import main