Neubau auf Abrufe

README.md

@@ -1,57 +1,49 @@
 # appRobotHoming
 
-Eine kleine Node.js-App mit HTTPS-Frontend (einige Buttons + Textfeld) und Backend, das sich mit einem konfigurierbaren **WSS** (WebSocket Secure) verbindet. Die Buttons senden Befehle an den WSS, und das Textfeld zeigt eingehende Nachrichten/Logs an.
+`appRobotHoming` ist eine browserbasierte Benutzeroberfläche für die
+WebCam-gestützte Ermittlung der Roboterpose. Der Einstieg bleibt als einfaches
+Frontend erhalten, während die Auswertung künftig an den BodyTracker weitergeleitet
+wird.
 
-## Features
+## Was das Projekt jetzt macht
-- **HTTPS**-Server wird automatisch mit **selbstsignierten Zertifikaten** betrieben.
+- Holt aus der WebCam alle 3 bis 10 Bilder ab (siehe `doc/README_WebCam.md`).
-- **Postinstall-Task** erstellt bei `npm install` die Zertifikate unter `./certs`.
+- Zeigt ausgewählte Bilder und die zugehörigen `.npz`-Daten in einer Auswertungsansicht.
-- **WSS-Client** mit Auto-Reconnect und optionaler TLS-Validierung (in `.env` steuerbar).
+- Übergibt diese Daten an den BodyTracker (`doc/README_BodyTracker.md`).
-- **SSE** (Server-Sent Events) für Live-Logs im Browser.
+- Ermittelt daraus die Roboterpose und gibt sie aus.
 
-## Schnellstart
+## Aktueller Fokus
-```bash
+- Benutzeroberfläche bleibt der Einstieg.
-# 1) Abhängigkeiten installieren und Zertifikate erzeugen
+- Bildanzeige und Poseausgabe sind zentral.
-npm install
+- Der alte HTTPS/WSS-Server wurde entfernt.
+- `certs/`, `scripts/` und `server/` sind nicht mehr Teil des aktuellen Projekts.
 
-# 2) (Optional) .env anlegen, basierend auf .env.sample
+## Integration
-cp .env.sample .env
+- Die WebCam- und BodyTracker-Aufrufe laufen über das Backend, nicht direkt aus dem Browser.
-# Werte nach Bedarf anpassen
+- Das Frontend lädt Snapshot-Daten über `/api/latest-snapshot`.
+- Der Browser sendet Pose-Anfragen an `/api/estimate`.
+- Das Backend kann dann auf interne Docker-Container zugreifen, z. B. auf den WebCam-Service und den BodyTracker-Service.
+- Als Fallback verwendet das Backend lokale `public/snapshots`, wenn keine externe WebCam verfügbar ist.
+- Konfigurierbare Umgebungsvariablen:
+  - `WEBCAM_URL` – Basis-URL des internen Webcam-Services.
+  - `BODYTRACKER_URL` – Basis-URL des internen BodyTracker-Services.
 
-# 3) Starten
+## Geplante Erweiterungen
-npm run dev     # mit Nodemon
+1. Pose an `appRobotDriver` weitergeben.
-# oder
+2. Wenn die Hand nicht erkannt wird: Vorschlag für eine bessere Arm-/Foto-Position.
-npm start       # ohne Nodemon
+3. Manuelle Eingabe von `x, y, z, a, b, c, e`.
-```
+4. Erkennungsergebnis und erkannte Pose klar im UI ausgeben.
 
-Öffne danach: https://localhost:8443
+## Dateien & Struktur
-(Da selbstsigniert, musst du dem Zertifikat im Browser einmalig vertrauen.)
+- `public/` – Frontend, UI, Client-Logik und Anzeige.
+- `doc/README_WebCam.md` – Details zur Webcam-Architektur und Bildabholung.
+- `doc/README_BodyTracker.md` – BodyTracker-Integration und Poseermittlung.
+- `test/` – bestehende Tests für die Berechnung und Auswertung.
 
-## Konfiguration (`.env`)
+## Nutzung
-Siehe `.env.sample` für alle verfügbaren Variablen:
+1. `npm install`
-- `HTTPS_PORT` (Standard: `8443`)
+2. `npm test`
-- `WSS_URL` (z. B. `wss://localhost:9001`)
+3. Öffne `public/index.html` im Browser oder nutze einen beliebigen statischen Server.
-- `WSS_INSECURE_TLS` (`true|false`) – bei selbstsignierten Upstream-Zertifikaten oft `true`
-- `HTTPS_HOST` (CN für das Zertifikat, Standard: `localhost`)
-- `HTTPS_CERT_DAYS` (Gültigkeitsdauer des selbstsignierten Zertifikats in Tagen)
-- `ALLOWED_COMMANDS` (kommasepariert; nur diese Kommandos akzeptiert das Backend)
 
-## Sicherheitshinweise
+> Hinweis: Die Anwendung ist aktuell als Frontend/Analyse-UI aufgebaut. Die
-- Die Inhalte des Verzeichnisses `certs/` sowie `.env` sind **absichtlich** in `.gitignore` eingetragen und werden nicht in Gitea eingecheckt.
+> Backend-Serverlogik aus früheren Versionen wurde bereinigt, um das Projekt zu
-- In Entwicklungsumgebungen kann `WSS_INSECURE_TLS=true` nötig sein. In Produktion **deaktivieren** und echte Zertifikate verwenden.
+> fokussieren.
-
-## Ordnerstruktur
-```
-appRobotHoming/
-├─ public/           # Statisches Frontend (HTML/JS/CSS)
-├─ src/              # Backend-Quellcode
-├─ scripts/          # Utility-Skripte (z. B. Zertifikatserzeugung)
-├─ certs/            # (auto-generiert) selbstsignierte Zertifikate
-├─ .gitignore
-├─ .env.sample
-├─ package.json
-└─ README.md
-```
-
-## Gitea-Upload
-- Committe den Code **ohne** `certs/` und **ohne** `.env`.
-- Nach dem Klonen auf einem anderen System einfach `npm install` ausführen – die Zertifikate werden wieder neu erzeugt.

doc/README_BodyTracker.md

@@ -0,0 +1,149 @@
+# appRobotBodyTrack
+
+3D-Body-Tracking für Roboter aus Mehrkamera-ArUco-Bildern.
+
+**Input**  
+- Bilder: `render_*.png`  
+- Intrinsics: `render_*.npz`  
+- Konfiguration: `robot.json`  
+
+**Output**  
+- Gelenke **R⁷** → `{x, y, z, a, b, c, e}` (mm / Grad)
+
+---
+
+## Interfaces
+
+Eine Logik, drei Zugänge:
+
+- **Python**
+- **CLI**
+- **REST (FastAPI)**
+
+---
+
+## Quickstart
+
+### Python
+
+```python
+from scripts import estimate_from_dir
+
+result = estimate_from_dir("data/Scene8", robot_json="robot.json")
+
+print(result.joints)
+print(result.confidence)
+```
+
+---
+
+### CLI
+
+```bash
+pip install -e .
+
+python -m scripts data/Scene8 --robot robot.json
+python -m scripts data/Scene8 --robot robot.json --cameras a,b,d
+```
+
+---
+
+### REST API
+
+```bash
+docker compose up
+```
+
+**Request:**
+
+```python
+import requests
+
+resp = requests.post(
+    "http://localhost:8446/v1/estimate",
+    files=[
+        ("images", ("render_a.png", open("render_a.png", "rb"))),
+        ("intrinsics", ("render_a.npz", open("render_a.npz", "rb"))),
+    ],
+)
+
+print(resp.json()["joints"])
+```
+
+---
+
+## API
+
+| Endpoint | Methode | Zweck |
+|----------|--------|------|
+| `/v1/estimate` | POST | Bilder → Gelenke |
+| `/v1/health` | GET | Status |
+| `/v1/config` | GET | aktive Konfiguration |
+
+**Response:**
+
+```json
+{
+  "joints": {"x": 50.2, "y": -2.1, "z": 94.8, "a": 20.1},
+  "confidence": {"x": "high", "b": "low"},
+  "residual_rms": 1.45,
+  "n_markers": 56,
+  "processing_ms": 1240
+}
+```
+
+---
+
+## Struktur
+
+```
+.
+├── scripts/
+├── config/robot.json
+├── tests/
+└── docker-compose.yaml
+```
+
+---
+
+## Deployment (Docker / Portainer)
+
+**Volume:**
+```yaml
+- /opt/approbot/config/robot.json:/config/robot.json:ro
+```
+
+**Healthcheck:**
+```bash
+curl http://<host>:8446/v1/health
+```
+
+---
+
+## Konfiguration
+
+Zentrale Datei: **`robot.json`**
+
+Verwendete Bereiche:
+- `links`
+- `pose_estimation`
+- `vision_config`
+- `movements`
+- `units`
+
+---
+
+## Stack (minimal)
+
+- numpy  
+- scipy  
+- opencv (aruco)  
+- fastapi + uvicorn  
+
+---
+
+## Naming
+
+- **BodyTrack** → Tracking (dynamisch) ✅  
+- **BodyMap** → Modell / Repräsentation  
+- **BodySense** → Wahrnehmung (low-level)

doc/README_WebCam.md

@@ -0,0 +1,65 @@
+# AppRobotWebcam
+
+Webcam-Service für den AppRobot. Liefert Live-MJPEG-Streams und HD-Standbilder
+über einen einzelnen HTTP-Port — als Docker-Container, ohne externe Streaming-Server.
+
+## Was es tut
+
+| | |
+|---|---|
+| **Live-Stream** | MJPEG multipart im Browser `<img>`, ~139 ms Latenz |
+| **HD-Snapshot** | Ein JPEG pro Kamera auf Knopfdruck oder per HTTP GET |
+| **Snapshot alle** | Alle Kameras parallel in einem Schritt |
+| **REST-API** | Kameraliste, Snapshots, Streams — für andere Container nutzbar |
+
+## Kameras (aktuell)
+
+| ID | Modell | Live | HD-Grab |
+|---|---|---|---|
+| cam0 | Logitech C270 | 640×480 | 1280×960 |
+| cam1 | Logitech C270 | 640×480 | 1280×960 |
+| cam2 | Logitech C920 | 640×480 | 1920×1080 |
+
+Konfiguration ausschliesslich über `cameras.json` — kein Redeploy bei Kamera-Änderungen.
+
+## Zugriff
+
+```
+http://<host>:8444/                          Viewer
+http://<host>:8444/api/stream/cam0           Live-MJPEG
+http://<host>:8444/api/snapshot/cam0         640er JPEG
+http://<host>:8444/api/snapshot/cam0/hires   HD-JPEG
+http://<host>:8444/api/cameras               Kamera-Metadaten (JSON)
+http://<host>:8444/health                    Status
+```
+
+## Deploy (Portainer)
+
+1. Portainer → Stacks → Web editor → `docker-compose.yaml` einfügen
+2. `APP_PATH` auf den absoluten Pfad des Projektverzeichnisses setzen
+3. Deploy — der Container baut sich selbst (Node + FFmpeg)
+
+```yaml
+# Minimal-Konfiguration:
+APP_PATH=/home/user/appRobotWebcam
+```
+
+## Architektur
+
+```
+cameras.json → server.js → CameraSwitch (/dev/videoN)
+                                ├── Live: ffmpeg → MJPEG → Browser
+                                └── Grab: Live stoppen → hires → zurück
+```
+
+Ein FFmpeg pro Kamera, nie zwei gleichzeitig. Das `close`-Event ist der harte Beweis
+„Gerät frei" — kein Race, kein 106%-CPU-Bug (der mit go2rtc aufgetreten war).
+
+## Dokumentation
+
+| Datei | Inhalt |
+|---|---|
+| `doc/01_WebcamRoadmap.md` | Ziel, Architektur, Entwicklungsgeschichte |
+| `doc/05_screenShot_roadmap.md` | HD-Grab, Encode-Qualität, Kamera-Eigenheiten |
+| `doc/07_multipleCam_roadmap.md` | cameras.json-Referenz, Multi-Kamera-Setup |
+| `doc/09_Bug_reports.md` | Bug-Dokumentation |

package-lock.json

@@ -7,15 +7,11 @@
     "": {
       "name": "approbothoming",
       "version": "0.1.0",
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       "dependencies": {
         "dotenv": "^16.4.5",
-        "express": "^4.19.2",
+        "express": "^4.19.2"
-        "selfsigned": "^2.4.1",
-        "ws": "^8.18.0"
       },
       "devDependencies": {
-        "esbuild": "^0.28.0",
         "jest": "^29.7.0",
         "jest-environment-jsdom": "^29.7.0",
         "nodemon": "^3.0.2"
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-    "node_modules/@esbuild/win32-ia32": {
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-      "cpu": [
-        "ia32"
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
-      "os": [
-        "win32"
-      ],
-      "engines": {
-        "node": ">=18"
-      }
-    },
-    "node_modules/@esbuild/win32-x64": {
-      "version": "0.28.0",
-      "resolved": "https://registry.npmjs.org/@esbuild/win32-x64/-/win32-x64-0.28.0.tgz",
-      "integrity": "sha512-pEl1bO9mfAmIC+tW5btTmrKaujg3zGtUmWNdCw/xs70FBjwAL3o9OEKNHvNmnyylD6ubxUERiEhdsL0xBQ9efw==",
-      "cpu": [
-        "x64"
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-      "dev": true,
-      "license": "MIT",
-      "optional": true,
-      "os": [
-        "win32"
-      ],
-      "engines": {
-        "node": ">=18"
-      }
-    },
     "node_modules/@istanbuljs/load-nyc-config": {
       "version": "1.1.0",
       "resolved": "https://registry.npmjs.org/@istanbuljs/load-nyc-config/-/load-nyc-config-1.1.0.tgz",
@@ -1513,20 +1067,12 @@
       "version": "25.6.0",
       "resolved": "https://registry.npmjs.org/@types/node/-/node-25.6.0.tgz",
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+      "dev": true,
       "license": "MIT",
       "dependencies": {
         "undici-types": "~7.19.0"
       }
     },
-    "node_modules/@types/node-forge": {
-      "version": "1.3.14",
-      "resolved": "https://registry.npmjs.org/@types/node-forge/-/node-forge-1.3.14.tgz",
-      "integrity": "sha512-mhVF2BnD4BO+jtOp7z1CdzaK4mbuK0LLQYAvdOLqHTavxFNq4zA1EmYkpnFjP8HOUzedfQkRnp0E2ulSAYSzAw==",
-      "license": "MIT",
-      "dependencies": {
-        "@types/node": "*"
-      }
-    },
     "node_modules/@types/stack-utils": {
       "version": "2.0.3",
       "resolved": "https://registry.npmjs.org/@types/stack-utils/-/stack-utils-2.0.3.tgz",
@@ -1906,21 +1452,6 @@
         "npm": "1.2.8000 || >= 1.4.16"
       }
     },
-    "node_modules/body-parser/node_modules/qs": {
-      "version": "6.15.1",
-      "resolved": "https://registry.npmjs.org/qs/-/qs-6.15.1.tgz",
-      "integrity": "sha512-6YHEFRL9mfgcAvql/XhwTvf5jKcOiiupt2FiJxHkiX1z4j7WL8J/jRHYLluORvc1XxB5rV20KoeK00gVJamspg==",
-      "license": "BSD-3-Clause",
-      "dependencies": {
-        "side-channel": "^1.1.0"
-      },
-      "engines": {
-        "node": ">=0.6"
-      },
-      "funding": {
-        "url": "https://github.com/sponsors/ljharb"
-      }
-    },
     "node_modules/brace-expansion": {
       "version": "1.1.14",
       "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-1.1.14.tgz",
@@ -2586,48 +2117,6 @@
         "node": ">= 0.4"
       }
     },
-    "node_modules/esbuild": {
-      "version": "0.28.0",
-      "resolved": "https://registry.npmjs.org/esbuild/-/esbuild-0.28.0.tgz",
-      "integrity": "sha512-sNR9MHpXSUV/XB4zmsFKN+QgVG82Cc7+/aaxJ8Adi8hyOac+EXptIp45QBPaVyX3N70664wRbTcLTOemCAnyqw==",
-      "dev": true,
-      "hasInstallScript": true,
-      "license": "MIT",
-      "bin": {
-        "esbuild": "bin/esbuild"
-      },
-      "engines": {
-        "node": ">=18"
-      },
-      "optionalDependencies": {
-        "@esbuild/aix-ppc64": "0.28.0",
-        "@esbuild/android-arm": "0.28.0",
-        "@esbuild/android-arm64": "0.28.0",
-        "@esbuild/android-x64": "0.28.0",
-        "@esbuild/darwin-arm64": "0.28.0",
-        "@esbuild/darwin-x64": "0.28.0",
-        "@esbuild/freebsd-arm64": "0.28.0",
-        "@esbuild/freebsd-x64": "0.28.0",
-        "@esbuild/linux-arm": "0.28.0",
-        "@esbuild/linux-arm64": "0.28.0",
-        "@esbuild/linux-ia32": "0.28.0",
-        "@esbuild/linux-loong64": "0.28.0",
-        "@esbuild/linux-mips64el": "0.28.0",
-        "@esbuild/linux-ppc64": "0.28.0",
-        "@esbuild/linux-riscv64": "0.28.0",
-        "@esbuild/linux-s390x": "0.28.0",
-        "@esbuild/linux-x64": "0.28.0",
-        "@esbuild/netbsd-arm64": "0.28.0",
-        "@esbuild/netbsd-x64": "0.28.0",
-        "@esbuild/openbsd-arm64": "0.28.0",
-        "@esbuild/openbsd-x64": "0.28.0",
-        "@esbuild/openharmony-arm64": "0.28.0",
-        "@esbuild/sunos-x64": "0.28.0",
-        "@esbuild/win32-arm64": "0.28.0",
-        "@esbuild/win32-ia32": "0.28.0",
-        "@esbuild/win32-x64": "0.28.0"
-      }
-    },
     "node_modules/escalade": {
       "version": "3.2.0",
       "resolved": "https://registry.npmjs.org/escalade/-/escalade-3.2.0.tgz",
@@ -2770,14 +2259,14 @@
       }
     },
     "node_modules/express": {
-      "version": "4.22.1",
+      "version": "4.22.2",
-      "resolved": "https://registry.npmjs.org/express/-/express-4.22.1.tgz",
+      "resolved": "https://registry.npmjs.org/express/-/express-4.22.2.tgz",
-      "integrity": "sha512-F2X8g9P1X7uCPZMA3MVf9wcTqlyNp7IhH5qPCI0izhaOIYXaW9L535tGA3qmjRzpH+bZczqq7hVKxTR4NWnu+g==",
+      "integrity": "sha512-IuL+Elrou2ZvCFHs18/CIzy2Nzvo25nZ1/D2eIZlz7c+QUayAcYoiM2BthCjs+EBHVpjYjcuLDAiCWgeIX3X1Q==",
       "license": "MIT",
       "dependencies": {
         "accepts": "~1.3.8",
         "array-flatten": "1.1.1",
-        "body-parser": "~1.20.3",
+        "body-parser": "~1.20.5",
         "content-disposition": "~0.5.4",
         "content-type": "~1.0.4",
         "cookie": "~0.7.1",
@@ -2796,7 +2285,7 @@
         "parseurl": "~1.3.3",
         "path-to-regexp": "~0.1.12",
         "proxy-addr": "~2.0.7",
-        "qs": "~6.14.0",
+        "qs": "~6.15.1",
         "range-parser": "~1.2.1",
         "safe-buffer": "5.2.1",
         "send": "~0.19.0",
@@ -4505,15 +3994,6 @@
         "node": ">= 0.6"
       }
     },
-    "node_modules/node-forge": {
-      "version": "1.4.0",
-      "resolved": "https://registry.npmjs.org/node-forge/-/node-forge-1.4.0.tgz",
-      "integrity": "sha512-LarFH0+6VfriEhqMMcLX2F7SwSXeWwnEAJEsYm5QKWchiVYVvJyV9v7UDvUv+w5HO23ZpQTXDv/GxdDdMyOuoQ==",
-      "license": "(BSD-3-Clause OR GPL-2.0)",
-      "engines": {
-        "node": ">= 6.13.0"
-      }
-    },
     "node_modules/node-int64": {
       "version": "0.4.0",
       "resolved": "https://registry.npmjs.org/node-int64/-/node-int64-0.4.0.tgz",
@@ -4568,9 +4048,9 @@
       }
     },
     "node_modules/nodemon/node_modules/brace-expansion": {
-      "version": "5.0.5",
+      "version": "5.0.6",
-      "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-5.0.5.tgz",
+      "resolved": "https://registry.npmjs.org/brace-expansion/-/brace-expansion-5.0.6.tgz",
-      "integrity": "sha512-VZznLgtwhn+Mact9tfiwx64fA9erHH/MCXEUfB/0bX/6Fz6ny5EGTXYltMocqg4xFAQZtnO3DHWWXi8RiuN7cQ==",
+      "integrity": "sha512-kLpxurY4Z4r9sgMsyG0Z9uzsBlgiU/EFKhj/h91/8yHu0edo7XuixOIH3VcJ8kkxs6/jPzoI6U9Vj3WqbMQ94g==",
       "dev": true,
       "license": "MIT",
       "dependencies": {
@@ -4632,9 +4112,9 @@
       "license": "MIT"
     },
     "node_modules/nodemon/node_modules/semver": {
-      "version": "7.7.4",
+      "version": "7.8.2",
-      "resolved": "https://registry.npmjs.org/semver/-/semver-7.7.4.tgz",
+      "resolved": "https://registry.npmjs.org/semver/-/semver-7.8.2.tgz",
-      "integrity": "sha512-vFKC2IEtQnVhpT78h1Yp8wzwrf8CM+MzKMHGJZfBtzhZNycRFnXsHk6E5TxIkkMsgNS7mdX3AGB7x2QM2di4lA==",
+      "integrity": "sha512-c8jsqUZm3omBOI66G90z1Dyw5z622G8oLG+omfsHBJf3CWQTlOcwOjvOG6wtiNfW6anKm/eA39LMwMtMez2TiQ==",
       "dev": true,
       "license": "ISC",
       "bin": {
@@ -5022,9 +4502,9 @@
       "license": "MIT"
     },
     "node_modules/qs": {
-      "version": "6.14.2",
+      "version": "6.15.2",
-      "resolved": "https://registry.npmjs.org/qs/-/qs-6.14.2.tgz",
+      "resolved": "https://registry.npmjs.org/qs/-/qs-6.15.2.tgz",
-      "integrity": "sha512-V/yCWTTF7VJ9hIh18Ugr2zhJMP01MY7c5kh4J870L7imm6/DIzBsNLTXzMwUA3yZ5b/KBqLx8Kp3uRvd7xSe3Q==",
+      "integrity": "sha512-Rzq0KEyX/w/tEybncDgdkZrJgVUsUMk3xjh3t5bv3S1HTAtg+uOYt72+ZfwiQwKdysThkTBdL/rTi6HDmX9Ddw==",
       "license": "BSD-3-Clause",
       "dependencies": {
         "side-channel": "^1.1.0"
@@ -5198,19 +4678,6 @@
         "node": ">=v12.22.7"
       }
     },
-    "node_modules/selfsigned": {
-      "version": "2.4.1",
-      "resolved": "https://registry.npmjs.org/selfsigned/-/selfsigned-2.4.1.tgz",
-      "integrity": "sha512-th5B4L2U+eGLq1TVh7zNRGBapioSORUeymIydxgFpwww9d2qyKvtuPU2jJuHvYAwwqi2Y596QBL3eEqcPEYL8Q==",
-      "license": "MIT",
-      "dependencies": {
-        "@types/node-forge": "^1.3.0",
-        "node-forge": "^1"
-      },
-      "engines": {
-        "node": ">=10"
-      }
-    },
     "node_modules/semver": {
       "version": "6.3.1",
       "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
@@ -5388,9 +4855,9 @@
       }
     },
     "node_modules/simple-update-notifier/node_modules/semver": {
-      "version": "7.7.4",
+      "version": "7.8.2",
-      "resolved": "https://registry.npmjs.org/semver/-/semver-7.7.4.tgz",
+      "resolved": "https://registry.npmjs.org/semver/-/semver-7.8.2.tgz",
-      "integrity": "sha512-vFKC2IEtQnVhpT78h1Yp8wzwrf8CM+MzKMHGJZfBtzhZNycRFnXsHk6E5TxIkkMsgNS7mdX3AGB7x2QM2di4lA==",
+      "integrity": "sha512-c8jsqUZm3omBOI66G90z1Dyw5z622G8oLG+omfsHBJf3CWQTlOcwOjvOG6wtiNfW6anKm/eA39LMwMtMez2TiQ==",
       "dev": true,
       "license": "ISC",
       "bin": {
@@ -5705,6 +5172,7 @@
       "version": "7.19.2",
       "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.19.2.tgz",
       "integrity": "sha512-qYVnV5OEm2AW8cJMCpdV20CDyaN3g0AjDlOGf1OW4iaDEx8MwdtChUp4zu4H0VP3nDRF/8RKWH+IPp9uW0YGZg==",
+      "dev": true,
       "license": "MIT"
     },
     "node_modules/universalify": {
@@ -5944,6 +5412,7 @@
       "version": "8.20.0",
       "resolved": "https://registry.npmjs.org/ws/-/ws-8.20.0.tgz",
       "integrity": "sha512-sAt8BhgNbzCtgGbt2OxmpuryO63ZoDk/sqaB/znQm94T4fCEsy/yV+7CdC1kJhOU9lboAEU7R3kquuycDoibVA==",
+      "dev": true,
       "license": "MIT",
       "engines": {
         "node": ">=10.0.0"

package.json

@@ -7,8 +7,6 @@
   "scripts": {
     "start": "node server/server.js",
     "dev": "nodemon server/server.js",
-    "postinstall": "node scripts/generate-certs.js || true",
-    "create": "node scripts/generate-certs.js",
     "test": "jest",
     "test:coverage": "jest --coverage"
   },
@@ -17,12 +15,9 @@
   },
   "dependencies": {
     "dotenv": "^16.4.5",
-    "express": "^4.19.2",
+    "express": "^4.19.2"
-    "selfsigned": "^2.4.1",
-    "ws": "^8.18.0"
   },
   "devDependencies": {
-    "esbuild": "^0.28.0",
     "jest": "^29.7.0",
     "jest-environment-jsdom": "^29.7.0",
     "nodemon": "^3.0.2"

public/client.js

@@ -148,6 +148,34 @@ async function fetchCSV_fromServer() {
   return { data, headers, rows };
 }
 
+async function fetchWebcamSnapshotData() {
+  const { data, headers, rows } = await fetchCSV();
+  return {
+    filename: data.filename,
+    mtime: data.mtime,
+    headers,
+    rows,
+    robotIntrinsics: jsonCache,
+    imageFile: data.imageFile,
+    image2: data.image2
+  };
+}
+
+async function sendToBodyTracker({imageFile, image2, robotIntrinsics}) {
+  const response = await fetch('/api/estimate', {
+    method: 'POST',
+    headers: { 'Content-Type': 'application/json' },
+    body: JSON.stringify({ imageFile, image2, robotIntrinsics })
+  });
+
+  if (!response.ok) {
+    const message = await response.text();
+    throw new Error(`BodyTracker fehlgeschlagen (${response.status}): ${message}`);
+  }
+
+  return await response.json();
+}
+
 async function renderSnapshot() {
   const table = document.getElementById("snapshot-table");
   const pictureEl = document.getElementById("snapshot-info-picture");
@@ -227,14 +255,24 @@ async function onCalculateClick() {
 
   try {
     const response = await fetch("robot.json");
-    await fetchCSV();
-    
-    //console.log("Data:", dataCache);
-    //console.log("json: ", JSON.stringify(jsonCache));
-    //console.log("Keys:", Object.keys(dataCache));
-
     const robot = await response.json();
-    const result = await window.calculate(jsonCache, robot);
+    const snapshot = await fetchWebcamSnapshotData();
+
+    appendLog(`Snapshot geladen: ${snapshot.filename} (${snapshot.rows.length} Zeilen)`);
+
+    let result = null;
+    try {
+      result = await sendToBodyTracker(snapshot);
+      appendLog("BodyTracker wurde aufgerufen.");
+    } catch (err) {
+      appendLog(`BodyTracker nicht aufgerufen: ${err.message}`);
+    }
+
+    if (!result) {
+      appendLog("Fallback: lokale Pose-Berechnung mit calculateAngles.js");
+      result = await window.calculate(snapshot.robotIntrinsics, robot);
+    }
+
     renderResult(result);
     await renderSnapshot();
     appendLog("Result angezeigt.");

scripts/generate-certs.js

@@ -1,63 +0,0 @@
-// Generiert selbstsignierte Zertifikate bei npm install
-import fs from 'fs';
-import path from 'path';
-import selfsigned from 'selfsigned';
-
-const CERT_DIR = path.resolve('certs');
-const KEY_PATH = path.join(CERT_DIR, 'localhost.key');
-const CRT_PATH = path.join(CERT_DIR, 'localhost.crt');
-
-function ensureDir(p) {
-  if (!fs.existsSync(p)) fs.mkdirSync(p, { recursive: true });
-}
-
-function generateIfMissing() {
-  ensureDir(CERT_DIR);
-  const host = process.env.HTTPS_HOST || 'localhost';
-  const days = parseInt(process.env.HTTPS_CERT_DAYS || '3650', 10);
-
-  const needKey = !fs.existsSync(KEY_PATH);
-  const needCrt = !fs.existsSync(CRT_PATH);
-
-  if (!needKey && !needCrt) {
-    console.log(`[certs] Zertifikate existieren bereits in ${CERT_DIR}`);
-    return;
-  }
-
-  console.log(`[certs] Erzeuge selbstsigniertes Zertifikat für CN=${host}, ${days} Tage gültig...`);
-  const attrs = [{ name: 'commonName', value: host }];
-  const pems = selfsigned.generate(attrs, {
-    keySize: 2048,
-    days,
-    algorithm: 'sha256',
-    extensions: [
-      { name: 'basicConstraints', cA: true },
-      { name: 'keyUsage', keyCertSign: true, digitalSignature: true, nonRepudiation: true, keyEncipherment: true },
-      { name: 'extKeyUsage', serverAuth: true, clientAuth: true },
-      { name: 'subjectAltName', altNames: [ { type: 2, value: host }, { type: 7, ip: '127.0.0.1' } ] }
-    ]
-  });
-
-  fs.writeFileSync(KEY_PATH, pems.private, { mode: 0o600 });
-  fs.writeFileSync(CRT_PATH, pems.cert, { mode: 0o644 });
-
-  const readme = `Diese Zertifikate sind nur für lokale Entwicklung gedacht.
-
-` +
-    `Dateien:
-- ${KEY_PATH}
-- ${CRT_PATH}
-
-` +
-    `Nicht committen! Siehe .gitignore.`;
-  fs.writeFileSync(path.join(CERT_DIR, 'README.txt'), readme);
-
-  console.log(`[certs] Zertifikate erzeugt unter ${CERT_DIR}`);
-}
-
-try {
-  generateIfMissing();
-} catch (err) {
-  console.error('[certs] Fehler beim Erzeugen der Zertifikate:', err?.message || err);
-  process.exit(0); // nicht als harter Fehler werten
-}

server/server.js

@@ -1,288 +1,147 @@
-import fs from 'fs';
-import path from 'path';
-import https from 'https';
 import express from 'express';
-import dotenv from 'dotenv';
+import path from 'path';
-import { WebSocket } from 'ws';
+import fs from 'fs/promises';
-import { EventEmitter } from 'events';
+import { fileURLToPath } from 'url';
+import process from 'process';
 
-dotenv.config();
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = path.dirname(__filename);
 
 const app = express();
-app.use(express.json());
+app.use(express.json({ limit: '20mb' }));
 
-const CERT_DIR = path.resolve('certs');
+const PORT = parseInt(process.env.PORT || process.env.HTTPS_PORT || '2093', 10);
-const KEY_PATH = path.join(CERT_DIR, 'localhost.key');
+const publicDir = path.join(__dirname, '..', 'public');
-const CRT_PATH = path.join(CERT_DIR, 'localhost.crt');
+const snapshotsDir = path.join(publicDir, 'snapshots');
+const WEBCAM_URL = process.env.WEBCAM_URL || '';
+const BODYTRACKER_URL = process.env.BODYTRACKER_URL || '';
 
-function loadHttpsCredentials() {
+app.use(express.static(publicDir));
-  if (!fs.existsSync(KEY_PATH) || !fs.existsSync(CRT_PATH)) {
-    console.error(`HTTPS-Zertifikate fehlen in ${CERT_DIR}. Bitte 'npm install' ausführen (Postinstall generiert Zertifikate).`);
-    process.exit(1);
-  }
-  return { key: fs.readFileSync(KEY_PATH), cert: fs.readFileSync(CRT_PATH) };
-}
 
-const HTTPS_PORT = parseInt(process.env.HTTPS_PORT || '2033', 10);
+app.get('/api/health', (req, res) => {
-const WSS_URL = process.env.WSS_URL || 'wss://localhost:2096';
+  res.json({ ok: true, mode: 'backend-proxy', webcamUrl: WEBCAM_URL || null, bodyTrackerUrl: BODYTRACKER_URL || null });
-const WSS_INSECURE_TLS = String(process.env.WSS_INSECURE_TLS || 'true').toLowerCase() === 'true';
-
-// Nur bestimmte Kommandos erlauben (aus .env)
-const allowedCommands = new Set(
-  (process.env.ALLOWED_COMMANDS || 'HOME,STOP,STATUS,RESET,PING,GCODEMOTOR')
-    .split(',')
-    .map(s => s.trim())
-    .filter(Boolean)
-);
-
-// Broadcaster für Server-Sent Events
-const bus = new EventEmitter();
-
-let wsDriver = null;
-let wsState = {
-  connected: false,
-  lastError: null,
-  reconnectAttempts: 0,
-};
-
-function logAndBroadcast(level, message, data) {
-  const payload = { ts: new Date().toISOString(), level, message, data };
-  // Konsole
-  const line = `[${payload.ts}] [${level}] ${message}`;
-  //console.log(line, data ? data : '');
-  // SSE an Clients
-  bus.emit('event', JSON.stringify(payload));
-}
-
-function connectWss() {
-  if (wsDriver && (wsDriver.readyState === wsDriver.OPEN || wsDriver.readyState === wsDriver.CONNECTING)) {
-    return;
-  }
-
-  const tlsOptions = { rejectUnauthorized: !WSS_INSECURE_TLS };
-  logAndBroadcast('info', `Verbinde zu WSS: ${WSS_URL} (rejectUnauthorized=${tlsOptions.rejectUnauthorized})`);
-
-  wsDriver = new WebSocket(WSS_URL, tlsOptions);
-
-  wsDriver.on('open', () => {
-    wsState.connected = true;
-    wsState.lastError = null;
-    wsState.reconnectAttempts = 0;
-    logAndBroadcast('info', 'WSS Driver verbunden');
-
-  });
-
-  wsDriver.on('message', (data) => {
-    let text = '';
-    try { text = typeof data === 'string' ? data : data.toString('utf8'); } catch { text = '[binary data]'; }
-
-    logAndBroadcast('msg', 'Eingang von WSS', { text });  
-  });
-
-  wsDriver.on('close', (code, reason) => {
-    wsState.connected = false;
-    logAndBroadcast('warn', `WSS getrennt (code=${code}, reason=${reason?.toString?.() || ''})`);
-    scheduleReconnect();
-  });
-
-  wsDriver.on('error', (err) => {
-    wsState.lastError = err?.message || String(err);
-    logAndBroadcast('error', 'WSS Fehler', { error: wsState.lastError });
-  });
-}
-
-function scheduleReconnect() {
-  wsState.reconnectAttempts += 1;
-  const delay = 10000; // 10s
-  logAndBroadcast('info', `Reconnecting in ${Math.round(delay/1000)}s...`);
-  setTimeout(connectWss, delay);
-}
-
-// HTTP API
-app.get('/api/status', (req, res) => {
-  wsDriver.send("M114");
-  console.log("M114 gesendet, warte auf Antwort...");
-  res.json({
-    httpsPort: HTTPS_PORT,
-    wssUrl: WSS_URL,
-    connected: wsState.connected,
-    wsDriver: wsDriver ? wsDriver.readyState : null,
-    reconnectAttempts: wsState.reconnectAttempts,
-    lastError: wsState.lastError,
-    allowedCommands: Array.from(allowedCommands)
-  });
 });
 
-app.post('/api/send', (req, res) => {
+async function findLatestSnapshotFile() {
-  const { cmd, payload } = req.body || {};
+  const files = await fs.readdir(snapshotsDir);
-  if (!cmd || !allowedCommands.has(String(cmd).trim())) {
+  const entries = await Promise.all(
-    return res.status(400).json({ ok: false, error: 'Ungültiges oder nicht erlaubtes Kommando', allowed: Array.from(allowedCommands) });
+    files
-  }
+      .filter((name) => name.endsWith('.csv'))
-  if (!wsDriver || wsDriver.readyState !== wsDriver.OPEN) {
+      .map(async (name) => ({
-    return res.status(503).json({ ok: false, error: 'WSS nicht verbunden' });
+        name,
-  }
+        mtime: (await fs.stat(path.join(snapshotsDir, name))).mtime.valueOf()
-  const msg = { type: String(cmd).trim(), payload: payload ?? null };
+      }))
+  );
+  if (entries.length === 0) return null;
+  entries.sort((a, b) => b.mtime - a.mtime);
+  return entries[0].name;
+}
 
-  if(msg.type==="STATUS"){
+app.get('/api/latest-snapshot', async (req, res) => {
-    wsDriver.send("M114");
+  try {
-    logAndBroadcast('tx', 'Sende STATUS (M114) an WSS');
+    if (WEBCAM_URL) {
-    return res.json({ ok: true, sent: msg });
+      const url = new URL('/api/latest-snapshot', WEBCAM_URL).toString();
+      const fetchRes = await fetch(url);
+      const contentType = fetchRes.headers.get('content-type') || '';
+
+      if (!fetchRes.ok) {
+        const text = await fetchRes.text();
+        return res.status(fetchRes.status).type('text/plain').send(text);
       }
 
-  if(msg.type==="GCODEMOTOR"){
+      if (contentType.includes('application/json')) {
-    if(typeof msg.payload !== 'string' || !msg.payload.trim()){
+        const body = await fetchRes.json();
-      return res.status(400).json({ ok: false, error: 'Ungültiger Payload für GCODEMOTOR. Erwartet: String mit G-Code Befehl.' });
+        return res.json(body);
       }
 
-    wsDriver.send(msg.payload);
+      const text = await fetchRes.text();
-    console.log(`G-Code gesendet: ${msg.payload}`);
+      return res.json({ filename: 'latest.csv', mtime: new Date().toISOString(), content: text });
-    /*
-    msg.payload = msg.payload.trim();
-    var arrayMsg = msg.payload.split(' ').filter(s => s.trim());
-    if(arrayMsg.length === 0 || !['G0','G1','G28', 'M0', 'M1', 'M114'].includes(arrayMsg[0].toUpperCase())){
-      return res.status(400).json({ ok: false, error: 'Ungültiger G-Code Befehl. Nur G0, G1 und G28 sind erlaubt.' });
     }
-    if(arrayMsg[1].toUpperCase().startsWith('X')){
+
-      wsDriver.send(`G0 ${arrayMsg[1].toUpperCase()} F1000`); // Schnelles Verfahren zu X-Position
+    const latestFile = await findLatestSnapshotFile();
-      console.log(`G0 ${arrayMsg[1].toUpperCase()} F1000 gesendet`);
+    if (!latestFile) {
+      return res.status(404).json({ error: 'Keine Snapshot-CSV-Datei gefunden' });
     }
-    */
+
-    return res.json({ ok: true, sent: msg.payload});
+    const baseName = path.basename(latestFile, path.extname(latestFile));
+    const csvPath = path.join(snapshotsDir, latestFile);
+    const jsonPath = path.join(snapshotsDir, `${baseName}.json`);
+    const imagePath = path.join(snapshotsDir, `${baseName}_annotated.jpg`);
+    const imagePath2 = path.join(snapshotsDir, `${baseName}_annotated2.jpg`);
+
+    const content = await fs.readFile(csvPath, 'utf8');
+    const result = { filename: latestFile, mtime: (await fs.stat(csvPath)).mtime.toISOString(), content };
+
+    try {
+      result.jsonFile = { filename: `${baseName}.json`, content: await fs.readFile(jsonPath, 'utf8') };
+    } catch {}
+
+    try {
+      const jpg = await fs.readFile(imagePath);
+      result.imageFile = {
+        filename: path.basename(imagePath),
+        mimeType: 'image/jpeg',
+        contentBase64: jpg.toString('base64')
+      };
+    } catch {}
+
+    try {
+      const jpg2 = await fs.readFile(imagePath2);
+      result.image2 = {
+        filename: path.basename(imagePath2),
+        mimeType: 'image/jpeg',
+        contentBase64: jpg2.toString('base64')
+      };
+    } catch {}
+
+    return res.json(result);
+  } catch (err) {
+    console.error('latest-snapshot error:', err);
+    return res.status(500).json({ error: 'Fehler beim Laden des Snapshots', details: String(err) });
+  }
+});
+
+app.post('/api/estimate', async (req, res) => {
+  if (!BODYTRACKER_URL) {
+    return res.status(501).json({ error: 'BODYTRACKER_URL ist nicht konfiguriert' });
   }
 
   try {
-    wsDriver.send(JSON.stringify(msg));
+    const { imageFile, image2, robotIntrinsics } = req.body;
-    logAndBroadcast('tx', 'Sende an WSS', msg);
+    const formData = new FormData();
-    return res.json({ ok: true, sent: msg });
+
+    if (imageFile?.contentBase64) {
+      const buffer = Buffer.from(imageFile.contentBase64, 'base64');
+      formData.append('images', new Blob([buffer], { type: imageFile.mimeType || 'image/jpeg' }), imageFile.filename || 'snapshot.jpg');
+    }
+
+    if (image2?.contentBase64) {
+      const buffer2 = Buffer.from(image2.contentBase64, 'base64');
+      formData.append('images', new Blob([buffer2], { type: image2.mimeType || 'image/jpeg' }), image2.filename || 'snapshot2.jpg');
+    }
+
+    if (robotIntrinsics) {
+      formData.append('intrinsics', new Blob([JSON.stringify(robotIntrinsics)], { type: 'application/json' }), 'intrinsics.json');
+    }
+
+    const estimateUrl = new URL('/v1/estimate', BODYTRACKER_URL).toString();
+    const fetchRes = await fetch(estimateUrl, { method: 'POST', body: formData });
+
+    if (!fetchRes.ok) {
+      const message = await fetchRes.text();
+      return res.status(fetchRes.status).json({ error: 'BodyTracker-Fehler', details: message });
+    }
+
+    const body = await fetchRes.json();
+    return res.json(body);
   } catch (err) {
-    logAndBroadcast('error', 'Senden an WSS fehlgeschlagen', { error: err?.message || String(err) });
+    console.error('estimate error:', err);
-    return res.status(500).json({ ok: false, error: 'Senden fehlgeschlagen' });
+    return res.status(500).json({ error: 'Fehler beim Aufruf des BodyTracker', details: String(err) });
   }
 });
 
-// SSE-Endpoint
+app.listen(PORT, () => {
-app.get('/api/events', (req, res) => {
+  console.log(`appRobotHoming backend listening on port ${PORT}`);
-  res.setHeader('Content-Type', 'text/event-stream');
+  console.log(`WEBCAM_URL=${WEBCAM_URL || '<lokal>'}`);
-  res.setHeader('Cache-Control', 'no-cache');
+  console.log(`BODYTRACKER_URL=${BODYTRACKER_URL || '<nicht konfiguriert>'}`);
-  res.setHeader('Connection', 'keep-alive');
-  res.flushHeaders?.();
-
-  const send = (data) => {
-    res.write(`data: ${data}
-
-`);
-  };
-
-  const listener = (data) => send(data);
-  bus.on('event', listener);
-
-  // Initialstatus schicken
-  send(JSON.stringify({ ts: new Date().toISOString(), level: 'info', message: 'SSE verbunden' }));
-
-  req.on('close', () => {
-    bus.off('event', listener);
-    res.end();
-  });
-});
-
-
-//snapshot_video0_1775319258906_two_cam.csv
-//snapshot_video0_1775319258906_two_cam_annotated.jpg
-
-// Neuester Snapshot-Endpunkt
-app.get('/api/latest-snapshot', (req, res) => {
-  const snapshotsDir = path.join(path.resolve('public'), 'snapshots');
-  fs.readdir(snapshotsDir, (err, files) => {
-    if (err) {
-      return res.status(500).json({ error: 'Fehler beim Lesen des Snapshots-Verzeichnisses' });
-    }
-    const csvFiles = files.filter(file => file.endsWith('.csv')).map(file => ({
-      name: file,
-      path: path.join(snapshotsDir, file),
-      mtime: fs.statSync(path.join(snapshotsDir, file)).mtime
-    })).sort((a, b) => b.mtime - a.mtime);
-
-    if (csvFiles.length === 0) {
-      return res.status(404).json({ error: 'Keine CSV-Dateien gefunden' });
-    }
-    const latestFile = csvFiles[0];
-    const baseName = path.basename(latestFile.name, path.extname(latestFile.name));
-    const jsonFilename = `${baseName}.json`;
-    const jsonPath = path.join(snapshotsDir, jsonFilename);
-    
-console.log("JSON Pfad:", jsonPath);
-console.log("Existiert JSON:", fs.existsSync(jsonPath));
-
-    const imageFilename = `${baseName}_annotated.jpg`;
-    const imagePath = path.join(snapshotsDir, imageFilename);
-    const imatePath2 = imagePath.includes('video0') ? imagePath.replace('video0', 'video1') : imagePath.replace('video1', 'video0');
-    
-    //-- 
-    fs.readFile(latestFile.path, 'utf8', (err, data) => {
-      if (err) {
-        return res.status(500).json({ error: 'Fehler beim Lesen der Datei' });
-      }
-
-      const response = {
-        filename: latestFile.name,
-        mtime: latestFile.mtime.toISOString(),
-        content: data
-      };
-
-      const jsonPath = path.join(snapshotsDir, jsonFilename);
-
-      // ✅ JSON FIRST, dann alles andere
-      fs.readFile(jsonPath, 'utf8', (jsonErr, jsonData) => {
-        if (!jsonErr && jsonData) {
-          response.jsonFile = {
-            filename: jsonFilename,
-            content: jsonData
-          };
-        }
-
-        // Bild 1
-        fs.readFile(imagePath, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
-          if (!jpgErr && jpgBase64) {
-            response.imageFile = {
-              filename: imageFilename,
-              mimeType: 'image/jpeg',
-              contentBase64: jpgBase64
-            };
-          }
-
-          // Bild 2
-          fs.readFile(imatePath2, { encoding: 'base64' }, (jpgErr2, jpgBase642) => {
-            if (!jpgErr2 && jpgBase642) {
-              response.image2 = {
-                filename: path.basename(imatePath2),
-                mimeType: 'image/jpeg',
-                contentBase64: jpgBase642
-              };
-            }
-
-            // ✅ jetzt erst senden
-            res.json(response);
-          });
-        });
-      });
-    });
-
-    //-- 
-  });
-});
-
-// Statisches Frontend
-app.use('/', express.static(path.resolve('public')));
-
-// HTTPS-Server starten
-const creds = loadHttpsCredentials();
-const server = https.createServer({
-  key: creds.key,
-  cert: creds.cert,
-}, app);
-
-server.listen(HTTPS_PORT, () => {
-  logAndBroadcast('info', `HTTPS Server läuft auf https://localhost:${HTTPS_PORT}`);
-  // Nach Start WSS verbinden
-  connectWss();
 });