330 lines
14 KiB
JavaScript
330 lines
14 KiB
JavaScript
document.addEventListener('DOMContentLoaded', function() {
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function fmt(v) {
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if (v === undefined || v === null || isNaN(v)) return '–';
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return Number(v).toFixed(0);
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}
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function updatePosition() {
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fetch('/api/position')
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.then(res => res.json())
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.then(data => {
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const p = data.position || {};
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const m = data.motorCounts || {};
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document.getElementById('state-x').textContent = fmt(p.x);
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document.getElementById('state-y').textContent = fmt(p.y);
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document.getElementById('state-z').textContent = fmt(p.z);
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document.getElementById('state-phi').textContent = fmt(p.a*180/Math.PI);
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document.getElementById('state-theta').textContent = fmt(p.b*180/Math.PI);
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document.getElementById('state-psi').textContent = fmt(p.c*180/Math.PI);
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document.getElementById('state-e').textContent = fmt(m.e*180/Math.PI);
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/* Motor-Zustand */
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document.getElementById('motor-x').textContent = fmt(m.x);
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document.getElementById('motor-y').textContent = fmt(m.y*180/Math.PI);
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document.getElementById('motor-z').textContent = fmt(m.z*180/Math.PI);
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document.getElementById('motor-a').textContent = fmt(m.a*180/Math.PI);
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document.getElementById('motor-b').textContent = fmt(m.b*180/Math.PI);
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document.getElementById('motor-c').textContent = fmt(m.c*180/Math.PI);
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document.getElementById('motor-e').textContent = fmt(m.e);
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})
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.catch(err => console.error('Error fetching position:', err));
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}
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function updateStatus() {
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fetch('/api/status')
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.then(response => response.json())
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.then(data => {
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// WebClients
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const clientsUl = document.getElementById('clients');
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clientsUl.innerHTML = '';
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data.clients.forEach(client => {
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const li = document.createElement('li');
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li.textContent = client;
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clientsUl.appendChild(li);
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});
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// Sender
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const sendersUl = document.getElementById('senderList');
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sendersUl.innerHTML = '';
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data.senders.forEach(sender => {
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const li = document.createElement('li');
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const state = sender.state || 'disconnected';
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const label = sender.url ? `${sender.name} (${sender.url}): ${state}` : `${sender.name}: ${state}`;
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li.textContent = label;
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li.classList.add(state.toLowerCase());
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sendersUl.appendChild(li);
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});
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// Letzte Commands
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const commandsUl = document.getElementById('commandList');
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commandsUl.innerHTML = '';
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data.lastCommands.forEach(cmd => {
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const li = document.createElement('li');
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li.textContent = cmd;
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commandsUl.appendChild(li);
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});
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// Letzte Pings
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const pingsUl = document.getElementById('pingList');
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pingsUl.innerHTML = '';
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data.lastPings.forEach(ping => {
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const li = document.createElement('li');
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li.textContent = ping;
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pingsUl.appendChild(li);
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});
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})
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.catch(error => console.error('Error fetching status:', error));
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}
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// ── Robot.json + History ─────────────────────────────────────────────────
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let robotJsonActive = 'current';
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let robotJsonLastSerialized = null;
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function renderJsonTree(data, container) {
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container.innerHTML = '';
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const tree = document.createElement('div');
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tree.className = 'json-tree';
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for (const [key, value] of Object.entries(data)) {
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if (value !== null && typeof value === 'object' && !Array.isArray(value)) {
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const details = document.createElement('details');
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const summary = document.createElement('summary');
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summary.textContent = key;
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details.appendChild(summary);
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const pre = document.createElement('pre');
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pre.textContent = JSON.stringify(value, null, 2);
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details.appendChild(pre);
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tree.appendChild(details);
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} else {
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const row = document.createElement('div');
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row.className = 'json-scalar';
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row.innerHTML =
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`<span class="json-key">${key}</span>` +
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`<span class="json-val">${JSON.stringify(value)}</span>`;
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tree.appendChild(row);
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}
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}
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container.appendChild(tree);
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}
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function updateRobotJson() {
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const url = robotJsonActive === 'current'
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? '/api/robot'
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: `/api/robot/history/${robotJsonActive}`;
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fetch(url)
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.then(res => res.ok ? res.json() : Promise.reject(res.status))
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.then(data => {
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const serialized = JSON.stringify(data);
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document.getElementById('robotJsonLabel').textContent =
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robotJsonActive === 'current' ? '(aktuell)' : `(${robotJsonActive})`;
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if (serialized !== robotJsonLastSerialized) {
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robotJsonLastSerialized = serialized;
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renderJsonTree(data, document.getElementById('robotJsonTree'));
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}
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})
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.catch(err => {
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document.getElementById('robotJsonTree').textContent = `Fehler: ${err}`;
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});
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}
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function setHistoryActive(ts) {
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robotJsonActive = ts;
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robotJsonLastSerialized = null; // Neuaufbau erzwingen beim Snapshot-Wechsel
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updateRobotJson();
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document.querySelectorAll('#robotHistoryList li').forEach(l => {
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l.classList.toggle('rh-active', l.dataset.ts === ts);
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});
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}
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function updateRobotHistory() {
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fetch('/api/robot/history')
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.then(res => res.json())
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.then(({ history }) => {
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const ul = document.getElementById('robotHistoryList');
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ul.innerHTML = '';
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const liCurrent = document.createElement('li');
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liCurrent.textContent = 'robot.json (aktuell)';
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liCurrent.dataset.ts = 'current';
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if (robotJsonActive === 'current') liCurrent.classList.add('rh-active');
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liCurrent.addEventListener('click', () => setHistoryActive('current'));
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ul.appendChild(liCurrent);
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history.forEach(entry => {
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const ts = entry.filename.slice(6, -5); // robot_YYYYMMDD_HHmmss.json → YYYYMMDD_HHmmss
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const li = document.createElement('li');
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li.textContent = entry.filename;
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li.dataset.ts = ts;
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if (robotJsonActive === ts) li.classList.add('rh-active');
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li.addEventListener('click', () => setHistoryActive(ts));
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ul.appendChild(li);
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});
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})
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.catch(err => console.error('Error fetching robot history:', err));
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}
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// ── Emergency Stop Panel ─────────────────────────────────────────────
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// SVG-Button: Farbe + Text je nach armed-Zustand.
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// armed=true → rot "EMERGENCY STOP" → POST /api/emergency-stop
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// armed=false → grün "START ROBOT" → POST /api/power-on
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let _lastArmed = null;
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function updateEmergencyStopButton(armed) {
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if (armed === _lastArmed) return;
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_lastArmed = armed;
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const stops = document.querySelectorAll('#estopGrad stop');
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const textPath = document.querySelector('#emergency-stop textPath');
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const btnInner = document.querySelector('#emergency-stop circle:last-of-type');
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const label = document.getElementById('armed-status');
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if (armed) {
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// Rot: Roboter bestromt → Klick = Emergency Stop
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if (stops[0]) stops[0].setAttribute('stop-color', '#ff5555');
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if (stops[1]) stops[1].setAttribute('stop-color', '#cc0000');
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if (stops[2]) stops[2].setAttribute('stop-color', '#880000');
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if (btnInner) btnInner.setAttribute('stroke', '#660000');
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if (textPath) textPath.textContent = 'EMERGENCY STOP';
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if (label) { label.textContent = '● Bestromt'; label.className = 'estop-armed-label armed'; }
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} else {
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// Grün: Strom AUS → Klick = Strom einschalten
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if (stops[0]) stops[0].setAttribute('stop-color', '#88ff99');
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if (stops[1]) stops[1].setAttribute('stop-color', '#00aa44');
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if (stops[2]) stops[2].setAttribute('stop-color', '#005522');
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if (btnInner) btnInner.setAttribute('stroke', '#003311');
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if (textPath) textPath.textContent = 'START ROBOT';
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if (label) { label.textContent = '○ Kein Strom'; label.className = 'estop-armed-label disarmed'; }
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}
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}
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// ── Click-Handler (einmalig registriert, liest _lastArmed dynamisch) ─────────
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//
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// Zeigt Lade-/Erfolgs-/Fehlerstatus unter dem Button.
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// Schreibt console.warn ⚠️ für den Browser-Dev-Tools-Log.
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async function handleEstopClick() {
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const armed = _lastArmed;
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const url = armed ? '/api/emergency-stop' : '/api/power-on';
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const action = armed ? 'EmergencyStop' : 'PowerOn';
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const statusEl = document.getElementById('estop-action-status');
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if (statusEl) { statusEl.textContent = '⏳ …'; statusEl.className = 'estop-status'; }
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console.warn(`⚠️ [${action}] wird ausgeführt …`);
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try {
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const res = await fetch(url, { method: 'POST' });
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const data = await res.json();
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const ok = data.ok || (data.results || []).every(r => r.ok || r.skipped);
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if (ok) {
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if (statusEl) { statusEl.textContent = `✅ ${action} OK`; statusEl.className = 'estop-status ok'; }
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console.warn(`⚠️ [${action}] OK`);
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} else {
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const failed = (data.results || [])
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.filter(r => !r.ok && !r.skipped)
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.map(r => `${r.name}(${r.error || '?'})`)
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.join(', ');
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if (statusEl) { statusEl.textContent = `⚠️ Teilfehler: ${failed}`; statusEl.className = 'estop-status err'; }
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console.warn(`⚠️ [${action}] Teilfehler — ${failed}`);
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}
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} catch (err) {
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if (statusEl) { statusEl.textContent = `❌ Netzwerkfehler`; statusEl.className = 'estop-status err'; }
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console.error(`❌ [${action}] Netzwerkfehler: ${err.message}`);
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}
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}
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// onclick einmalig setzen — bleibt dauerhaft, Handler liest _lastArmed dynamisch.
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const estopDiv = document.getElementById('emergency-stop');
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if (estopDiv) estopDiv.onclick = handleEstopClick;
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async function pollPowerStatus() {
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try {
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const res = await fetch('/api/power-status');
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if (!res.ok) return;
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const data = await res.json();
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// Immer aktualisieren (auch bei ok:false → disarmed als sicherer Fallback)
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updateEmergencyStopButton(data.ok ? data.armed : false);
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} catch { /* Netzwerkfehler → Button bleibt im letzten Zustand */ }
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}
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// Sofort sicheren Startzustand (grün "START ROBOT") setzen, damit der onclick
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// sofort aktiv ist — noch bevor der erste Poll antwortet.
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updateEmergencyStopButton(false);
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pollPowerStatus();
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setInterval(pollPowerStatus, 2000);
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const btnAlarmUnlock = document.getElementById('btn-alarm-unlock');
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const alarmUnlockStatus = document.getElementById('alarm-unlock-status');
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if (btnAlarmUnlock) {
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btnAlarmUnlock.addEventListener('click', async () => {
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btnAlarmUnlock.disabled = true;
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alarmUnlockStatus.textContent = 'Wird ausgeführt…';
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alarmUnlockStatus.className = 'estop-status';
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try {
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const res = await fetch('/api/alarm-unlock', { method: 'POST' });
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const data = await res.json();
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if (data.ok) {
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alarmUnlockStatus.textContent = '✅ Alarm entsperrt';
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alarmUnlockStatus.className = 'estop-status ok';
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} else {
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const failed = (data.results || [])
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.filter(r => !r.ok && !r.skipped)
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.map(r => r.name)
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.join(', ');
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alarmUnlockStatus.textContent = `⚠️ Fehlgeschlagen: ${failed || 'unbekannt'}`;
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alarmUnlockStatus.className = 'estop-status err';
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}
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} catch (err) {
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alarmUnlockStatus.textContent = `❌ Fehler: ${err.message}`;
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alarmUnlockStatus.className = 'estop-status err';
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} finally {
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btnAlarmUnlock.disabled = false;
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}
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});
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}
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updateStatus();
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updatePosition();
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updateRobotJson();
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updateRobotHistory();
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setInterval(() => {
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updateStatus();
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updatePosition();
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if (robotJsonActive === 'current') updateRobotJson();
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}, 1000);
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setInterval(updateRobotHistory, 30000);
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});
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document.querySelectorAll('.section').forEach(sec => {
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const id = sec.dataset.id;
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const saved = localStorage.getItem('section_' + id);
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if (saved === 'collapsed') sec.classList.add('collapsed');
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sec.querySelector('h2').addEventListener('click', () => {
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sec.classList.toggle('collapsed');
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localStorage.setItem(
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'section_' + id,
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sec.classList.contains('collapsed') ? 'collapsed' : 'open'
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);
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});
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});
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/* Initial-Zustand
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['clients','pings'].forEach(id => {
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if (!localStorage.getItem('section_' + id))
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localStorage.setItem('section_' + id, 'collapsed');
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});
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*/ |