feat: 调整pad端模型加载

src/adapters/XacroAdapter.js

@@ -121,7 +121,8 @@ export class XacroAdapter {
 
             return new Promise((resolve, reject) => {
                 const loader = new URDFLoader();
-                loader.parseCollision = true;
+                // 查看器只渲染 visual；跳过碰撞网格可显著降低 Pad 的内存占用。
+                loader.parseCollision = false;
 
                 // Extract directory where URDF file is located
                 const urdfDir = workingPath;

src/views/arm/UrdfView.vue

@@ -3,6 +3,8 @@
     <div ref="viewerContainer" class="viewer-container">
       <!-- Three.js 渲染 -->
     </div>
+    <div v-if="isLoading" class="viewer-status">模型加载中...</div>
+    <div v-else-if="loadError" class="viewer-status viewer-status--error">{{ loadError }}</div>
   </div>
 </template>
 
@@ -15,6 +17,7 @@ import URDFLoader from 'urdf-loader';
 import { XacroAdapter } from '@/adapters/XacroAdapter.js'
 import { URDFAdapter } from '@/adapters/URDFAdapter.js'
 import { getThemeColor } from '@/utils/themeColors.js'
+import { ElMessage } from 'element-plus'
 
 const props = defineProps({
   modelPath: {
@@ -49,6 +52,9 @@ const modelDirectory = computed(() => modelUrl.value.slice(0, modelUrl.value.las
 const viewerContainer = ref(null);
 
 let scene, camera, renderer, controls;
+let containerResizeObserver;
+const isLoading = ref(true)
+const loadError = ref('')
 
 const animationId = ref(null);
 const jointControls = reactive([]);
@@ -65,8 +71,13 @@ const initScene = () => {
   camera = new THREE.PerspectiveCamera(35, width / height, 0.1, 1000);
   camera.position.set(0, 0, 4);
 
-  renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+  renderer = new THREE.WebGLRenderer({
+    antialias: true,
+    alpha: true,
+    powerPreference: 'high-performance'
+  });
   renderer.setSize(width, height);
+  renderer.domElement.addEventListener('webglcontextlost', onWebGLContextLost)
 
   container.appendChild(renderer.domElement);
 
@@ -116,6 +127,11 @@ const resetJoints = () => {
 };
 
 const fileMap = new Map()
+const isBrowserModelDependency = (url) => {
+  const path = url.split(/[?#]/, 1)[0]
+  return /\.(?:xacro|urdf|xml|stl|dae|obj|mtl|gltf|glb|jpg|jpeg|png|gif|bmp|tga|tiff|webp)$/i.test(path)
+}
+
 const resolveReferencedUrl = (reference, parentUrl) => {
   const normalized = reference.replace(/\\/g, '/')
   const rosPath = normalized.match(/^(?:file:\/\/)?\$\(find\s+[^)]+\)\/(.+)$/)
@@ -151,7 +167,10 @@ const loadFiles = async () => {
     const references = [...content.matchAll(/\b(?:filename|url)=["']([^"']+)["']/gi)]
     references.forEach(([, reference]) => {
       const referencedUrl = resolveReferencedUrl(reference, url)
-      if (!visitedUrls.has(referencedUrl)) pendingUrls.push(referencedUrl)
+      // .so/.dll 等 Gazebo 原生插件不是浏览器模型依赖，不应由前端请求。
+      if (isBrowserModelDependency(referencedUrl) && !visitedUrls.has(referencedUrl)) {
+        pendingUrls.push(referencedUrl)
+      }
     })
   }
 }
@@ -161,7 +180,8 @@ let robotInstance = null; // 保存 URDFRobot 对象
 
 const parseUrdf = async (urdfContent) => {
   const loader = new URDFLoader()
-  loader.parseCollision = true
+  // 展示场景不需要碰撞网格，Pad 上重复解析大型 STL 容易耗尽内存。
+  loader.parseCollision = false
 
   const packageNames = [...urdfContent.matchAll(/package:\/\/([^/]+)/g)].map(match => match[1])
   loader.packages = Object.fromEntries(
@@ -196,6 +216,7 @@ const loadRobot = async () => {
   currentModel.value = model
 
   robotInstance = robot;
+  fileMap.clear()
 
   // 获取关节条目数组
   let jointEntries = [];
@@ -238,18 +259,46 @@ const animate = () => {
 };
 
 // ============ 生命周期 ============
+const waitForContainerSize = async () => {
+  for (let index = 0; index < 10; index += 1) {
+    await new Promise(resolve => requestAnimationFrame(resolve))
+    if (viewerContainer.value?.clientWidth && viewerContainer.value?.clientHeight) return
+  }
+  throw new Error('模型显示区域尺寸无效')
+}
+
+const onWebGLContextLost = (event) => {
+  event.preventDefault()
+  loadError.value = '模型渲染资源不足，请刷新页面后重试'
+  isLoading.value = false
+  ElMessage.error(loadError.value)
+}
+
 onMounted(async () => {
-  await nextTick();
+  try {
-  await loadFiles()
+    await nextTick();
-  initScene();
+    await waitForContainerSize()
-  await loadRobot();
+    initScene();
-  animate();
+    containerResizeObserver = new ResizeObserver(onResize)
-  window.addEventListener('resize', onResize);
+    containerResizeObserver.observe(viewerContainer.value)
+    window.addEventListener('resize', onResize);
+    await loadFiles()
+    await loadRobot();
+    isLoading.value = false
+    animate();
+  } catch (error) {
+    console.error('[UrdfView] 模型加载失败:', error)
+    loadError.value = error?.message || '模型加载失败'
+    isLoading.value = false
+    ElMessage.error(loadError.value)
+  }
 });
 
 onBeforeUnmount(() => {
   if (animationId.value) cancelAnimationFrame(animationId.value);
   window.removeEventListener('resize', onResize);
+  containerResizeObserver?.disconnect()
+  renderer?.domElement.removeEventListener('webglcontextlost', onWebGLContextLost)
   renderer?.dispose();
   controls?.dispose();
 });
@@ -285,6 +334,20 @@ defineExpose({ updateJoint, resetJoints, jointControls });
       height: 100% !important;
     }
   }
+
+  .viewer-status {
+    position: absolute;
+    inset: 0;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    color: $color-text-secondary;
+    pointer-events: none;
+
+    &--error {
+      color: $color-danger;
+    }
+  }
 }
 
 

src/views/chassis/canvasUtils.js

@@ -175,7 +175,7 @@ export const drawAdvancedAreaList = (canvasCtx, map, dataStore) => {
         centroidWorldX /= vertices.length;                        // 求平均得到质心 X
         centroidWorldY /= vertices.length;                        // 求平均得到质心 Y
         const centroidScreen = worldToScreen(centroidWorldX, centroidWorldY, store);
-        canvasCtx.font = '500 8px "JetBrains Mono"';             // 标签字体
+        canvasCtx.font = '500 16px "JetBrains Mono"';             // 标签字体
         canvasCtx.fillStyle = strokeColorCss;                     // 与描边同色
         canvasCtx.textAlign = 'center';                           // 居中对齐
         canvasCtx.fillText(area.instanceName || '', centroidScreen.x, centroidScreen.y + 3); // 绘制文字
@@ -441,7 +441,7 @@ export const drawAdvancedPointList = (canvasCtx, map, dataStore) => {
         }
 
         // ── 名称标签 ──
-        canvasCtx.font = '500 7px "JetBrains Mono"';
+        canvasCtx.font = '500 16px "JetBrains Mono"';
         canvasCtx.fillStyle = hexToCssRgba(pointColorHex, 0.7);
         canvasCtx.textAlign = 'center';
         canvasCtx.fillText(advPoint.instanceName || '', pointScreen.x, pointScreen.y - diamondRadius - 4);