Emergency Stop

2026-06-12 18:16:15 +02:00
parent 6fc6605080
commit 59d4cf7df4
17 changed files with 1098 additions and 540 deletions
--- a/public/app.js
+++ b/public/app.js
@@ -173,6 +173,91 @@ document.addEventListener('DOMContentLoaded', function() {
            .catch(err => console.error('Error fetching robot history:', err));
    }

+    // ── Emergency Stop Panel ─────────────────────────────────────────────
+
+    // SVG-Button: Farbe + Text + Click-Handler je nach armed-Zustand wechseln.
+    // armed=true  → rot  "EMERGENCY STOP" → POST /api/emergency-stop
+    // armed=false → grün "START  ROBOT"   → POST /api/power-on
+    let _lastArmed = null;
+
+    function updateEmergencyStopButton(armed) {
+        if (armed === _lastArmed) return;
+        _lastArmed = armed;
+
+        const stops = document.querySelectorAll('#estopGrad stop');
+        const textPath = document.querySelector('#emergency-stop textPath');
+        const btnInner = document.querySelector('#emergency-stop circle:last-of-type');
+        const label    = document.getElementById('armed-status');
+
+        if (armed) {
+            // Rot: Roboter bestromt → Klick = Emergency Stop
+            if (stops[0]) stops[0].setAttribute('stop-color', '#ff5555');
+            if (stops[1]) stops[1].setAttribute('stop-color', '#cc0000');
+            if (stops[2]) stops[2].setAttribute('stop-color', '#880000');
+            if (btnInner) btnInner.setAttribute('stroke', '#660000');
+            if (textPath) textPath.textContent = 'EMERGENCY STOP';
+            if (label) { label.textContent = '● Bestromt'; label.className = 'estop-armed-label armed'; }
+        } else {
+            // Grün: Strom AUS → Klick = Strom einschalten (Start Robot)
+            if (stops[0]) stops[0].setAttribute('stop-color', '#88ff99');
+            if (stops[1]) stops[1].setAttribute('stop-color', '#00aa44');
+            if (stops[2]) stops[2].setAttribute('stop-color', '#005522');
+            if (btnInner) btnInner.setAttribute('stroke', '#003311');
+            if (textPath) textPath.textContent = 'START  ROBOT';
+            if (label) { label.textContent = '○ Kein Strom'; label.className = 'estop-armed-label disarmed'; }
+        }
+
+        const div = document.getElementById('emergency-stop');
+        if (div) {
+            div.onclick = armed
+                ? () => fetch('/api/emergency-stop', { method: 'POST' })
+                : () => fetch('/api/power-on',       { method: 'POST' });
+        }
+    }
+
+    async function pollPowerStatus() {
+        try {
+            const res  = await fetch('/api/power-status');
+            if (!res.ok) return;
+            const data = await res.json();
+            if (data.ok) updateEmergencyStopButton(data.armed);
+        } catch { /* Netzwerkfehler → Button bleibt im letzten Zustand */ }
+    }
+
+    pollPowerStatus();
+    setInterval(pollPowerStatus, 2000);
+
+    const btnAlarmUnlock    = document.getElementById('btn-alarm-unlock');
+    const alarmUnlockStatus = document.getElementById('alarm-unlock-status');
+
+    if (btnAlarmUnlock) {
+        btnAlarmUnlock.addEventListener('click', async () => {
+            btnAlarmUnlock.disabled = true;
+            alarmUnlockStatus.textContent = 'Wird ausgeführt…';
+            alarmUnlockStatus.className   = 'estop-status';
+            try {
+                const res  = await fetch('/api/alarm-unlock', { method: 'POST' });
+                const data = await res.json();
+                if (data.ok) {
+                    alarmUnlockStatus.textContent = '✅ Alarm entsperrt';
+                    alarmUnlockStatus.className   = 'estop-status ok';
+                } else {
+                    const failed = (data.results || [])
+                        .filter(r => !r.ok && !r.skipped)
+                        .map(r => r.name)
+                        .join(', ');
+                    alarmUnlockStatus.textContent = `⚠️ Fehlgeschlagen: ${failed || 'unbekannt'}`;
+                    alarmUnlockStatus.className   = 'estop-status err';
+                }
+            } catch (err) {
+                alarmUnlockStatus.textContent = `❌ Fehler: ${err.message}`;
+                alarmUnlockStatus.className   = 'estop-status err';
+            } finally {
+                btnAlarmUnlock.disabled = false;
+            }
+        });
+    }
+
    updateStatus();
    updatePosition();
    updateRobotJson();