102 lines
3.7 KiB
JavaScript
102 lines
3.7 KiB
JavaScript
'use strict';
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const ROBOT_JSON_PATH = 'data/robot/robot.json';
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// Backward-compat env-var names für Controller-IPs (werden in Env als GRBL_ELLBOW_IP gespeichert)
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const ENV_IP_MAP = {
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base: 'GRBL_BASE_IP',
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elbow: 'GRBL_ELLBOW_IP',
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hand: 'GRBL_HAND_IP'
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};
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const DEFAULTS = {
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kinematics: { type: 'arm3segmentlinearx', l1: 250, l2: 264, l3: 100 },
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motion: { defaultFeedrate: 1000, speedMode: 'legacy', useSpeedCalc: false },
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controllers: {
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base: { ip: 'fluidNcBase.local', port: 2300, protocol: 'telnet', axes: ['x', 'y', 'z'] },
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elbow: { ip: 'fluidNcEllbow.local', port: 5000, protocol: 'telnet', axes: ['a', null, null] },
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hand: { ip: 'fluidNcHand.local', port: 5000, protocol: 'telnet', axes: ['c', 'e', 'b'] }
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}
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};
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function deriveKinematicParams(links) {
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if (!links) return {};
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const result = {};
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const l1raw = links.Arm1?.skeleton?.to?.[1];
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const l2raw = links.Arm2?.skeleton?.to?.[1];
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const l3raw = links.Ellbow?.skeleton?.to?.[0];
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if (l1raw != null) result.l1 = Math.abs(l1raw);
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if (l2raw != null) result.l2 = Math.abs(l2raw);
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if (l3raw != null) result.l3 = l3raw;
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return result;
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}
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/**
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* Liest robot.json synchron und gibt einen typisierten Config-Record zurück.
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* Env-Variablen haben Vorrang vor robot.json (nützlich für Tests und Notfall-Overrides).
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*
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* @param {Object} [fsModule] - Abhängigkeit (Default: require('fs'))
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* @param {Object} [processEnv] - Abhängigkeit (Default: process.env)
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* @param {Object} [consoleObj] - Abhängigkeit (Default: console)
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* @returns {{ kinematics, motion, controllers, axesByController }}
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*/
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function load(fsModule, processEnv, consoleObj) {
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const fs_ = fsModule ?? require('fs');
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const env_ = processEnv ?? process.env;
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const log_ = consoleObj ?? console;
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let json = null;
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try {
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const raw = fs_.readFileSync(ROBOT_JSON_PATH, 'utf8');
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json = JSON.parse(raw);
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} catch {
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log_.warn('[RobotConfig] data/robot/robot.json nicht lesbar — nutze Defaults');
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}
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// Kinematik-Typ und Armlängen (aus links abgeleitet)
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const linkParams = deriveKinematicParams(json?.links);
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const kinematics = {
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type: json?.kinematics?.type ?? DEFAULTS.kinematics.type,
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l1: linkParams.l1 ?? DEFAULTS.kinematics.l1,
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l2: linkParams.l2 ?? DEFAULTS.kinematics.l2,
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l3: linkParams.l3 ?? DEFAULTS.kinematics.l3
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};
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// Bewegungs-Defaults — Env hat Vorrang, dann robot.json, dann Hard-Default
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const jsonMotion = json?.motion ?? {};
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const rawFeedrate = env_.ROBOT_DEFAULT_FEEDRATE;
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const rawMode = env_.ROBOT_SPEED_MODE;
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const rawCalc = env_.ROBOT_USE_SPEED_CALC;
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const speedMode = (rawMode || jsonMotion.speedMode || DEFAULTS.motion.speedMode).toLowerCase();
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const motion = {
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defaultFeedrate: rawFeedrate
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? Number(rawFeedrate)
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: (jsonMotion.defaultFeedrate ?? DEFAULTS.motion.defaultFeedrate),
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speedMode,
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useSpeedCalc: speedMode === 'correct' || rawCalc === 'true' || rawCalc === '1'
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};
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// Controller-Endpunkte — robot.json überschreibt Defaults, Env überschreibt IPs
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const jsonControllers = json?.controllers ?? {};
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const controllers = {};
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for (const key of Object.keys(DEFAULTS.controllers)) {
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const def = DEFAULTS.controllers[key];
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const cfg = jsonControllers[key] ?? {};
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const envIpKey = ENV_IP_MAP[key];
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controllers[key] = {
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ip: env_[envIpKey] ?? cfg.ip ?? def.ip,
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port: cfg.port ?? def.port,
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protocol: cfg.protocol ?? def.protocol,
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axes: cfg.axes ?? def.axes
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};
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}
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function axesByController(key) {
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return controllers[key]?.axes ?? [];
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}
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return { kinematics, motion, controllers, axesByController };
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}
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module.exports = { load, DEFAULTS };
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