Viewer

server/server.js

@@ -572,6 +572,73 @@ app.post('/api/board/run', async (req, res) => {
   }
 });
 
+/** Neuestes Board-Run-Verzeichnis (Timestamp-Name) oder null */
+async function findLatestBoardRun() {
+  try {
+    await fsPromises.access(boardDataDir);
+    const entries = await fsPromises.readdir(boardDataDir, { withFileTypes: true });
+    const dirs = entries.filter(e => e.isDirectory()).map(e => e.name).sort().reverse();
+    return dirs[0] ?? null;
+  } catch {
+    return null;
+  }
+}
+
+/**
+ * GET /api/board/latest
+ * Gibt Daten des letzten Board-Runs zurück: robot.json + Detection-Ergebnisse + Kamera-Posen.
+ * Wird vom Board-Viewer (boardViewer.html) abgefragt.
+ */
+app.get('/api/board/latest', async (req, res) => {
+  try {
+    const runName = await findLatestBoardRun();
+    if (!runName) return res.json({ runDir: null, robot: null, detections: [], cameraPoses: [] });
+
+    const runDir = path.join(boardDataDir, runName);
+
+    let robot = null;
+    try { robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
+
+    let files = [];
+    try { files = await fsPromises.readdir(runDir); } catch {}
+
+    const detections  = [];
+    const cameraPoses = [];
+
+    for (const f of files.sort()) {
+      if (f.endsWith('_aruco_detection.json')) {
+        try {
+          const data = JSON.parse(await fsPromises.readFile(path.join(runDir, f), 'utf8'));
+          detections.push({
+            file:              f,
+            cameraId:          data.camera?.camera_id ?? f.replace('_aruco_detection.json', ''),
+            detectedMarkerIds: (data.detections ?? []).map(d => d.marker_id),
+            numDetected:       data.aruco?.num_detected_markers ?? 0,
+            numRejected:       data.aruco?.num_rejected_candidates ?? 0,
+          });
+        } catch {}
+      } else if (f.endsWith('_camera_pose.json')) {
+        try {
+          const data = JSON.parse(await fsPromises.readFile(path.join(runDir, f), 'utf8'));
+          const cp = data.camera_pose;
+          cameraPoses.push({
+            file:            f,
+            cameraId:        data.camera?.camera_id ?? f.replace('_camera_pose.json', ''),
+            position_mm:     cp?.camera_in_world?.position_mm     ?? null,
+            rotation_matrix: cp?.world_to_camera?.rotation_matrix ?? null,
+            usedMarkerIds:   data.estimation?.used_marker_ids     ?? [],
+            rms_px:          data.estimation?.residual_rms_px     ?? null,
+          });
+        } catch {}
+      }
+    }
+
+    return res.json({ runDir: runName, robot, detections, cameraPoses });
+  } catch (err) {
+    return res.status(500).json({ error: String(err) });
+  }
+});
+
 /**
  * POST /api/calibration/upload-npz
  * Liest {camera}_calibration.npz aus der aktuellen Session und