ChK/appRobotHoming
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Marker Update Live

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chk
2026-06-14 21:50:42 +02:00
parent 42742485f1
commit 1db66d06c0
2 changed files with 20 additions and 1 deletions
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2
public/boardViewer.html
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@@ -349,7 +349,7 @@ function buildSkeletonFK(robot, angles) {
const [nx, ny, nz] = m.normal ?? [0, 0, 1]; const [nx, ny, nz] = m.normal ?? [0, 0, 1];
const normalWorld = new THREE.Vector3(nx, nz, -ny).transformDirection(childFrame); const normalWorld = new THREE.Vector3(nx, nz, -ny).transformDirection(childFrame);
gArmMarkers.add(makeMarkerSquareOriented(posWorld, normalWorld, markerSizeM, col)); gArmMarkers.add(makeMarkerSquareOriented(posWorld, normalWorld, markerSizeM, col));
gArmMarkers.add(makeSphere(posWorld, 0.003, col)); gArmMarkers.add(makeSphere(posWorld, 0.0006, col));
} }
} }
} }

19
public/client.js
View File

@@ -346,6 +346,17 @@ function setHomingProgress(step, total, text) {
if (txt) txt.textContent = text || `Schritt ${step} / ${total}`; if (txt) txt.textContent = text || `Schritt ${step} / ${total}`;
} }
function writePartialGCode(state) {
const axisMap = { x: 'X', y: 'Y', z: 'Z', a: 'A', b: 'B', c: 'C', e: 'E' };
const parts = [];
for (const [key, axis] of Object.entries(axisMap)) {
if (state[key] != null) parts.push(`${axis}${Number(state[key]).toFixed(2)}`);
}
if (!parts.length) return;
const el = document.getElementById('gcodePayload');
if (el) el.value = `G92 ${parts.join(' ')}`;
}
function showHomingResult(state) { function showHomingResult(state) {
// Raw JSON // Raw JSON
const jsonEl = document.getElementById('result-json'); const jsonEl = document.getElementById('result-json');
@@ -518,6 +529,14 @@ async function runHoming() {
el.value += `${evt.key}:\n${JSON.stringify(evt.value, null, 2)}\n\n`; el.value += `${evt.key}:\n${JSON.stringify(evt.value, null, 2)}\n\n`;
el.scrollTop = el.scrollHeight; el.scrollTop = el.scrollHeight;
} }
// Progressiver Skeleton-Update: accumulated_state nach jedem Gelenk
if (evt.key?.startsWith('state_') && evt.value) {
const frame = document.getElementById('board-viewer-frame');
if (frame?.contentWindow) {
frame.contentWindow.postMessage({ type: 'homing-state', state: evt.value }, '*');
}
writePartialGCode(evt.value);
}
break; break;
} }