aufräumen
This commit is contained in:
chk
1093
package-lock.json
generated
1093
package-lock.json
generated
File diff suppressed because it is too large
Load Diff
@@ -1,655 +0,0 @@
|
||||
// calculateActions.js
|
||||
// Berechnung + nachvollziehbare Result-Struktur + Live-Logs in analysis-log
|
||||
|
||||
function getAnalysisLogEl() {
|
||||
if (typeof document === "undefined") return null;
|
||||
return document.getElementById("analysis-log");
|
||||
}
|
||||
|
||||
function appendToAnalysis(line) {
|
||||
const el = getAnalysisLogEl();
|
||||
if (!el) return;
|
||||
|
||||
const now = new Date().toISOString();
|
||||
el.value += `[${now}] ${line}\n`;
|
||||
el.scrollTop = el.scrollHeight;
|
||||
}
|
||||
|
||||
function createAnalysisResult(meta = {}) {
|
||||
return {
|
||||
meta: {
|
||||
timestamp: new Date().toISOString(),
|
||||
...meta
|
||||
},
|
||||
inputs: {
|
||||
source: null,
|
||||
headers: [],
|
||||
rowCount: 0
|
||||
},
|
||||
observations: [],
|
||||
calculations: [],
|
||||
features: {},
|
||||
commands: [],
|
||||
logs: [],
|
||||
errors: [],
|
||||
summary: {
|
||||
observationCount: 0,
|
||||
calculationCount: 0,
|
||||
featureCount: 0,
|
||||
commandCount: 0
|
||||
},
|
||||
status: "ok"
|
||||
};
|
||||
}
|
||||
|
||||
function rowSnapshot(row) {
|
||||
return {
|
||||
id: row?.id,
|
||||
seen_by: row?.seen_by,
|
||||
x_mm: row?.x_mm,
|
||||
y_mm: row?.y_mm,
|
||||
z_mm: row?.z_mm,
|
||||
roll_deg: row?.roll_deg,
|
||||
pitch_deg: row?.pitch_deg
|
||||
};
|
||||
}
|
||||
|
||||
function addLog(result, message, level = "info") {
|
||||
const entry = {
|
||||
timestamp: new Date().toISOString(),
|
||||
level,
|
||||
message
|
||||
};
|
||||
result.logs.push(entry);
|
||||
appendToAnalysis(message);
|
||||
}
|
||||
|
||||
function addError(result, message, error = null) {
|
||||
result.status = "error";
|
||||
result.errors.push({
|
||||
timestamp: new Date().toISOString(),
|
||||
message,
|
||||
details: error ? String(error) : null
|
||||
});
|
||||
addLog(result, `Fehler: ${message}`, "error");
|
||||
}
|
||||
|
||||
function addObservation(result, key, row, confidence = 1.0, notes = []) {
|
||||
result.observations.push({
|
||||
key,
|
||||
source: {
|
||||
rowId: row?.id,
|
||||
seenBy: row?.seen_by
|
||||
},
|
||||
values: rowSnapshot(row),
|
||||
confidence,
|
||||
notes
|
||||
});
|
||||
}
|
||||
|
||||
function addCalculation(result, calc) {
|
||||
result.calculations.push({
|
||||
timestamp: new Date().toISOString(),
|
||||
...calc
|
||||
});
|
||||
}
|
||||
|
||||
function addFeature(result, key, feature) {
|
||||
result.features[key] = feature;
|
||||
}
|
||||
|
||||
function addCommand(result, id, command, basedOn = [], confidence = 1.0, format = "gcode") {
|
||||
result.commands.push({
|
||||
id,
|
||||
command,
|
||||
basedOn,
|
||||
confidence,
|
||||
format
|
||||
});
|
||||
}
|
||||
|
||||
function weightedAverage(candidates) {
|
||||
const weightSum = candidates.reduce((sum, c) => sum + c.weight, 0);
|
||||
if (!weightSum) return null;
|
||||
|
||||
const valueRad = candidates.reduce((sum, c) => sum + (c.valueRad * c.weight), 0) / weightSum;
|
||||
const spreadRad = candidates.length > 1
|
||||
? Math.sqrt(
|
||||
candidates.reduce(
|
||||
(sum, c) => sum + c.weight * Math.pow(c.valueRad - valueRad, 2),
|
||||
0
|
||||
) / weightSum
|
||||
)
|
||||
: 0;
|
||||
|
||||
const confidence = Math.max(
|
||||
0.2,
|
||||
Math.min(
|
||||
0.98,
|
||||
0.55 +
|
||||
Math.min(candidates.length * 0.1, 0.25) -
|
||||
Math.min(spreadRad / 1.0, 0.2)
|
||||
)
|
||||
);
|
||||
|
||||
return { valueRad, weightSum, spreadRad, confidence };
|
||||
}
|
||||
|
||||
async function fetchCSV() {
|
||||
const res = await fetch("/api/latest-snapshot");
|
||||
if (!res.ok) throw new Error("Fehler beim Laden des Snapshots");
|
||||
|
||||
let data;
|
||||
if (res.headers.get("content-type")?.includes("application/json")) {
|
||||
data = await res.json();
|
||||
} else {
|
||||
const csvData = await res.text();
|
||||
data = {
|
||||
filename: "latest.csv",
|
||||
mtime: new Date().toISOString(),
|
||||
content: csvData
|
||||
};
|
||||
}
|
||||
|
||||
const lines = data.content.trim().split(/\r?\n/).filter(Boolean);
|
||||
if (lines.length < 2) {
|
||||
throw new Error("Keine oder unvollständige Daten");
|
||||
}
|
||||
|
||||
const headers = lines[0].split(",").map(h => h.trim());
|
||||
|
||||
const rows = lines.slice(1).map(line => {
|
||||
const cells = line.split(",");
|
||||
const obj = {};
|
||||
headers.forEach((h, i) => {
|
||||
const raw = (cells[i] ?? "").trim();
|
||||
const numeric = Number(raw);
|
||||
obj[h] = raw !== "" && Number.isFinite(numeric) ? numeric : raw;
|
||||
});
|
||||
return obj;
|
||||
});
|
||||
|
||||
return { data, headers, rows };
|
||||
}
|
||||
|
||||
function calculateAngleFromPosition(result, row, axisY, axisZ, deltaYangle0, deltaZangle0 = 0, label = "angle") {
|
||||
const y = parseFloat(row.y_mm);
|
||||
const z = parseFloat(row.z_mm);
|
||||
|
||||
const dy = -(y - axisY);
|
||||
const dz = z - axisZ;
|
||||
|
||||
let angle0Rad = 0;
|
||||
if (deltaZangle0 !== 0 && deltaYangle0 !== 0) {
|
||||
angle0Rad = Math.atan(deltaZangle0 / deltaYangle0);
|
||||
}
|
||||
|
||||
const angleRad = Math.atan2(dz, dy) - angle0Rad;
|
||||
const angleDeg = angleRad * 180 / Math.PI;
|
||||
|
||||
const message = `(${label} = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad) aus Position von ID = ${row.id}`;
|
||||
addLog(result, message);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "angleFromPosition",
|
||||
label,
|
||||
source: {
|
||||
rowId: row.id,
|
||||
seenBy: row.seen_by
|
||||
},
|
||||
input: {
|
||||
axisY,
|
||||
axisZ,
|
||||
deltaYangle0,
|
||||
deltaZangle0,
|
||||
y_mm: y,
|
||||
z_mm: z,
|
||||
dy,
|
||||
dz,
|
||||
angle0Rad
|
||||
},
|
||||
output: {
|
||||
angleRad,
|
||||
angleDeg
|
||||
}
|
||||
});
|
||||
|
||||
return angleRad;
|
||||
}
|
||||
|
||||
function calculateAngleFromRollColumn(result, row, roll0 = 0, pitch0 = 0, yaw0 = 0, strMotor = "motor") {
|
||||
const rollDeg = -parseFloat(row.roll_deg) + roll0;
|
||||
const rollRad = rollDeg * Math.PI / 180;
|
||||
|
||||
const message = `(${strMotor} = ${rollDeg.toFixed(2)}° = ${rollRad.toFixed(4)} rad) aus roll_deg von ID = ${row.id}`;
|
||||
addLog(result, message);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "angleFromRollColumn",
|
||||
label: strMotor,
|
||||
source: {
|
||||
rowId: row.id,
|
||||
seenBy: row.seen_by
|
||||
},
|
||||
input: {
|
||||
roll0,
|
||||
pitch0,
|
||||
yaw0,
|
||||
roll_deg: row.roll_deg
|
||||
},
|
||||
output: {
|
||||
angleRad: rollRad,
|
||||
angleDeg: rollDeg
|
||||
}
|
||||
});
|
||||
|
||||
return rollRad;
|
||||
}
|
||||
|
||||
function calculateAngleFromRelativePosition(result, row1, row2, strMotor = "motor") {
|
||||
const y1 = parseFloat(row1.y_mm);
|
||||
const z1 = parseFloat(row1.z_mm);
|
||||
const y2 = parseFloat(row2.y_mm);
|
||||
const z2 = parseFloat(row2.z_mm);
|
||||
|
||||
const dy = y1 - y2;
|
||||
const dz = z1 - z2;
|
||||
|
||||
const angleRad = -Math.atan2(dz, dy);
|
||||
const angleDeg = angleRad * 180 / Math.PI;
|
||||
|
||||
const message = `(${strMotor} = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad) aus relativer Position von ID = ${row1.id} und ID = ${row2.id}`;
|
||||
addLog(result, message);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "angleFromRelativePosition",
|
||||
label: strMotor,
|
||||
source: {
|
||||
rowIds: [row1.id, row2.id],
|
||||
seenBy: [row1.seen_by, row2.seen_by]
|
||||
},
|
||||
input: {
|
||||
y1_mm: y1,
|
||||
z1_mm: z1,
|
||||
y2_mm: y2,
|
||||
z2_mm: z2,
|
||||
dy,
|
||||
dz
|
||||
},
|
||||
output: {
|
||||
angleRad,
|
||||
angleDeg
|
||||
}
|
||||
});
|
||||
|
||||
return angleRad;
|
||||
}
|
||||
|
||||
function buildFeatureFromCandidates(result, key, title, method, candidates) {
|
||||
const summary = weightedAverage(candidates);
|
||||
if (!summary) return null;
|
||||
|
||||
const feature = {
|
||||
title,
|
||||
method,
|
||||
valueRad: summary.valueRad,
|
||||
valueDeg: summary.valueRad * 180 / Math.PI,
|
||||
confidence: summary.confidence,
|
||||
spreadRad: summary.spreadRad,
|
||||
weightSum: summary.weightSum,
|
||||
evidence: candidates.map(c => c.source),
|
||||
parts: candidates
|
||||
};
|
||||
|
||||
addFeature(result, key, feature);
|
||||
addCalculation(result, {
|
||||
type: "featureSummary",
|
||||
key,
|
||||
title,
|
||||
method,
|
||||
input: candidates,
|
||||
output: {
|
||||
valueRad: feature.valueRad,
|
||||
valueDeg: feature.valueDeg,
|
||||
confidence: feature.confidence,
|
||||
spreadRad: feature.spreadRad,
|
||||
weightSum: feature.weightSum
|
||||
}
|
||||
});
|
||||
|
||||
return feature;
|
||||
}
|
||||
|
||||
async function calculate() {
|
||||
const result = createAnalysisResult({
|
||||
sourceScript: "calculateActions.js"
|
||||
});
|
||||
|
||||
try {
|
||||
addLog(result, "Starte Berechnung...");
|
||||
|
||||
const { data, headers, rows } = await fetchCSV();
|
||||
|
||||
result.inputs = {
|
||||
source: {
|
||||
filename: data.filename,
|
||||
mtime: data.mtime
|
||||
},
|
||||
headers,
|
||||
rowCount: rows.length
|
||||
};
|
||||
|
||||
addLog(result, `CSV-Daten geladen: ${rows.length} Zeilen, ${headers.length} Spalten.`);
|
||||
|
||||
const getRow = (id, seenBy = null) => {
|
||||
const row = rows.find(r => r.id == id && (seenBy === null || r.seen_by == seenBy));
|
||||
if (row) {
|
||||
addObservation(
|
||||
result,
|
||||
`row-${id}${seenBy !== null ? `-seenBy-${seenBy}` : ""}`,
|
||||
row,
|
||||
seenBy === 3 ? 0.95 : 0.75,
|
||||
[
|
||||
`id=${id}`,
|
||||
seenBy !== null ? `seen_by=${seenBy}` : "seen_by=any"
|
||||
]
|
||||
);
|
||||
} else {
|
||||
addLog(result, `Zeile nicht gefunden: id=${id}${seenBy !== null ? `, seen_by=${seenBy}` : ""}`, "warn");
|
||||
}
|
||||
return row;
|
||||
};
|
||||
|
||||
const shoulderAxisY = 115;
|
||||
const shoulderAxisZ = 61;
|
||||
|
||||
// Oberarm / shoulder
|
||||
const row243 = getRow(243, 3);
|
||||
const row229 = getRow(229, 3);
|
||||
const row198 = getRow(198, 3);
|
||||
const row197 = getRow(197);
|
||||
const row218 = getRow(218, 3);
|
||||
const row219 = getRow(219, 3);
|
||||
const row226 = getRow(226, 3);
|
||||
const row242 = getRow(242, 3);
|
||||
const row200 = getRow(200, 3);
|
||||
const row204 = getRow(204, 3);
|
||||
const row222 = getRow(222, 3);
|
||||
|
||||
const angleYCandidates = [];
|
||||
|
||||
if (row243) {
|
||||
const a1 = calculateAngleFromPosition(result, row243, shoulderAxisY, shoulderAxisZ, 285, 0, "yMotor");
|
||||
const a2 = calculateAngleFromRollColumn(result, row243, 90, 0, 0, "yMotor");
|
||||
|
||||
angleYCandidates.push({
|
||||
source: "row243.position",
|
||||
valueRad: a1,
|
||||
weight: 1
|
||||
});
|
||||
|
||||
angleYCandidates.push({
|
||||
source: "row243.roll_deg",
|
||||
valueRad: a2,
|
||||
weight: 1
|
||||
});
|
||||
}
|
||||
|
||||
if (row229) {
|
||||
const a = calculateAngleFromPosition(result, row229, shoulderAxisY, shoulderAxisZ, 250, 35, "yMotor");
|
||||
angleYCandidates.push({
|
||||
source: "row229.position",
|
||||
valueRad: a,
|
||||
weight: 1
|
||||
});
|
||||
}
|
||||
|
||||
if (row198) {
|
||||
const a = calculateAngleFromPosition(result, row198, shoulderAxisY, shoulderAxisZ, 165, 35, "yMotor");
|
||||
angleYCandidates.push({
|
||||
source: "row198.position",
|
||||
valueRad: a,
|
||||
weight: 1
|
||||
});
|
||||
}
|
||||
|
||||
if (row198 && row229) {
|
||||
const a = calculateAngleFromRelativePosition(result, row198, row229, "yMotor");
|
||||
angleYCandidates.push({
|
||||
source: "row198-row229.relative",
|
||||
valueRad: a,
|
||||
weight: 3
|
||||
});
|
||||
}
|
||||
|
||||
if (row197) {
|
||||
const angleDeg = 90 - parseFloat(row197.pitch_deg);
|
||||
const angleRad = angleDeg * Math.PI / 180;
|
||||
|
||||
addLog(result, `(yMotor = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus Pitch von ${row197.id}`);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "angleFromPitch",
|
||||
label: "yMotor",
|
||||
source: {
|
||||
rowId: row197.id,
|
||||
seenBy: row197.seen_by
|
||||
},
|
||||
input: {
|
||||
pitch_deg: row197.pitch_deg
|
||||
},
|
||||
output: {
|
||||
angleRad,
|
||||
angleDeg
|
||||
}
|
||||
});
|
||||
|
||||
angleYCandidates.push({
|
||||
source: "row197.pitch_deg",
|
||||
valueRad: angleRad,
|
||||
weight: 1
|
||||
});
|
||||
}
|
||||
|
||||
if (angleYCandidates.length > 0) {
|
||||
buildFeatureFromCandidates(
|
||||
result,
|
||||
"shoulder.angleY",
|
||||
"Schulter Y",
|
||||
"weighted-average",
|
||||
angleYCandidates
|
||||
);
|
||||
}
|
||||
|
||||
// Unterarm / z
|
||||
const angleZCandidates = [];
|
||||
|
||||
if (row218 && row219) {
|
||||
const lowerArmAngle = calculateAngleFromRelativePosition(result, row218, row219, "zMotor");
|
||||
angleZCandidates.push({
|
||||
source: "row218-row219.relative",
|
||||
valueRad: lowerArmAngle,
|
||||
weight: 200 // Hohes gewicht, da ich sicher bin, dass es korrekt ist
|
||||
});
|
||||
}
|
||||
|
||||
if (row226) {
|
||||
const a = calculateAngleFromRollColumn(result, row226, 0, 0, 0, "zMotor");
|
||||
angleZCandidates.push({
|
||||
source: "row226.roll_deg",
|
||||
valueRad: a,
|
||||
weight: 1
|
||||
});
|
||||
}
|
||||
|
||||
if (angleZCandidates.length > 0) {
|
||||
buildFeatureFromCandidates(
|
||||
result,
|
||||
"forearm.angleZ",
|
||||
"Unterarm Z",
|
||||
"combined",
|
||||
angleZCandidates
|
||||
);
|
||||
}
|
||||
|
||||
// Commands
|
||||
const angleY = result.features["shoulder.angleY"];
|
||||
const angleZ = result.features["forearm.angleZ"];
|
||||
|
||||
if (angleY && angleZ) {
|
||||
const cmdConfidence = Math.min(angleY.confidence, angleZ.confidence);
|
||||
|
||||
addCommand(
|
||||
result,
|
||||
"set-coord-angles-deg",
|
||||
`G92 y${angleY.valueDeg.toFixed(1)} z${angleZ.valueDeg.toFixed(1)} (Set Coord. Angles in deg)`,
|
||||
["shoulder.angleY", "forearm.angleZ"],
|
||||
cmdConfidence
|
||||
);
|
||||
|
||||
addCommand(
|
||||
result,
|
||||
"set-coord-angles-rad",
|
||||
`M92 y${angleY.valueRad.toFixed(3)} z${angleZ.valueRad.toFixed(3)} (Set Coord. Angles in rad)`,
|
||||
["shoulder.angleY", "forearm.angleZ"],
|
||||
cmdConfidence
|
||||
);
|
||||
}
|
||||
|
||||
// Ellbow / Zusatzschätzung
|
||||
if (row222 || row226 || row229 || row198 || row243 || row242 || row200 || row204) {
|
||||
let x226 = 0;
|
||||
let xCount = 0;
|
||||
|
||||
if(row222){
|
||||
x226 += row222.x_mm * 5;
|
||||
xCount += 5;
|
||||
}
|
||||
if (row226) {
|
||||
x226 += row226.x_mm * 5;
|
||||
xCount += 5;
|
||||
}
|
||||
if (row229) {
|
||||
x226 += row229.x_mm + 90;
|
||||
xCount += 1;
|
||||
}
|
||||
if (row198) {
|
||||
x226 += row198.x_mm + 90;
|
||||
xCount += 1;
|
||||
}
|
||||
if (row243) {
|
||||
x226 += row243.x_mm + 90;
|
||||
xCount += 1;
|
||||
}
|
||||
if (row242) {
|
||||
x226 += row242.x_mm + 90;
|
||||
xCount += 1;
|
||||
}
|
||||
if (row200) {
|
||||
x226 += row200.x_mm + 154;
|
||||
xCount += 1;
|
||||
}
|
||||
if (row204) {
|
||||
x226 += row204.x_mm + 160;
|
||||
xCount += 1;
|
||||
}
|
||||
|
||||
if (xCount > 0) {
|
||||
x226 = x226 / xCount;
|
||||
addLog(result, `Ellbogen x226=${x226}`);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "elbowXEstimate",
|
||||
source: {
|
||||
rowIds: [row226, row229, row198, row243, row242, row200, row204].filter(Boolean).map(r => r.id)
|
||||
},
|
||||
output: {
|
||||
x226
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
if (row218 || row219) {
|
||||
let x219 = 0;
|
||||
let x219Count = 0;
|
||||
|
||||
if (row218) {
|
||||
x219 += row218.x_mm;
|
||||
x219Count += 1;
|
||||
}
|
||||
if (row219) {
|
||||
x219 += row219.x_mm;
|
||||
x219Count += 1;
|
||||
}
|
||||
|
||||
if (x219Count > 0) {
|
||||
x219 = x219 / x219Count;
|
||||
addLog(result, `Ellbogen x219=${x219}`);
|
||||
|
||||
const xDelta = x219 - x226;
|
||||
|
||||
addCalculation(result, {
|
||||
type: "elbowXComparison",
|
||||
input: {
|
||||
x226,
|
||||
x219,
|
||||
xDelta
|
||||
}
|
||||
});
|
||||
|
||||
if (Math.abs(xDelta) < 35) {
|
||||
addLog(result, `Ellbogen xDelta / 35=${xDelta / 35}`);
|
||||
const angleRad = Math.asin(xDelta / 35);
|
||||
const angleDeg = 90 - angleRad * 180 / Math.PI;
|
||||
addLog(result, `(xEllbow = ${angleDeg.toFixed(2)}° = ${angleRad.toFixed(4)} rad ) aus x von 218 bzw. 219`);
|
||||
|
||||
addCalculation(result, {
|
||||
type: "elbowAngleFromX",
|
||||
input: {
|
||||
x226,
|
||||
x219,
|
||||
xDelta
|
||||
},
|
||||
output: {
|
||||
angleRad,
|
||||
angleDeg
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
result.summary = {
|
||||
observationCount: result.observations.length,
|
||||
calculationCount: result.calculations.length,
|
||||
featureCount: Object.keys(result.features).length,
|
||||
commandCount: result.commands.length
|
||||
};
|
||||
|
||||
addLog(
|
||||
result,
|
||||
`Berechnung fertig: ${result.summary.featureCount} Features, ${result.summary.commandCount} Commands.`
|
||||
);
|
||||
|
||||
return result;
|
||||
} catch (err) {
|
||||
addError(result, err.message, err);
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
if (typeof window !== "undefined") {
|
||||
window.calculate = calculate;
|
||||
window.createAnalysisResult = createAnalysisResult;
|
||||
}
|
||||
|
||||
if (typeof module !== "undefined") {
|
||||
module.exports = {
|
||||
calculate,
|
||||
createAnalysisResult,
|
||||
calculateAngleFromPosition,
|
||||
calculateAngleFromRollColumn,
|
||||
calculateAngleFromRelativePosition
|
||||
};
|
||||
}
|
||||
@@ -1,135 +0,0 @@
|
||||
// client.js
|
||||
// UI: Buttons, Anzeige von Result als JSON + Baum, Fallback für Commands
|
||||
|
||||
function appendLog(line) {
|
||||
const el = document.getElementById("log");
|
||||
if (!el) return;
|
||||
|
||||
const now = new Date().toISOString();
|
||||
el.value += `[${now}] ${line}\n`;
|
||||
el.scrollTop = el.scrollHeight;
|
||||
}
|
||||
|
||||
function clearTextarea(id) {
|
||||
const el = document.getElementById(id);
|
||||
if (el) el.value = "";
|
||||
}
|
||||
|
||||
function clearElement(id) {
|
||||
const el = document.getElementById(id);
|
||||
if (el) el.innerHTML = "";
|
||||
}
|
||||
|
||||
function formatScalar(value) {
|
||||
if (value === null) return "null";
|
||||
if (value === undefined) return "undefined";
|
||||
if (typeof value === "string") return JSON.stringify(value);
|
||||
if (typeof value === "number" && Number.isFinite(value)) return String(value);
|
||||
if (typeof value === "boolean") return String(value);
|
||||
return String(value);
|
||||
}
|
||||
|
||||
function renderTree(container, value, key = "result", open = true) {
|
||||
if (!container) return;
|
||||
|
||||
container.innerHTML = "";
|
||||
container.appendChild(renderNode(key, value, open));
|
||||
}
|
||||
|
||||
function renderNode(key, value, open = false) {
|
||||
const isObject = value !== null && typeof value === "object";
|
||||
|
||||
if (!isObject) {
|
||||
const leaf = document.createElement("div");
|
||||
leaf.className = "tree-leaf";
|
||||
leaf.textContent = `${key}: ${formatScalar(value)}`;
|
||||
return leaf;
|
||||
}
|
||||
|
||||
const details = document.createElement("details");
|
||||
details.open = open;
|
||||
|
||||
const summary = document.createElement("summary");
|
||||
summary.textContent = Array.isArray(value)
|
||||
? `${key} [${value.length}]`
|
||||
: key;
|
||||
|
||||
details.appendChild(summary);
|
||||
|
||||
const body = document.createElement("div");
|
||||
body.style.marginLeft = "16px";
|
||||
|
||||
if (Array.isArray(value)) {
|
||||
value.forEach((item, idx) => {
|
||||
body.appendChild(renderNode(String(idx), item, false));
|
||||
});
|
||||
} else {
|
||||
Object.entries(value).forEach(([childKey, childVal]) => {
|
||||
body.appendChild(renderNode(childKey, childVal, false));
|
||||
});
|
||||
}
|
||||
|
||||
details.appendChild(body);
|
||||
return details;
|
||||
}
|
||||
|
||||
function renderResult(result) {
|
||||
const jsonEl = document.getElementById("result-json");
|
||||
const treeEl = document.getElementById("result-tree");
|
||||
|
||||
if (jsonEl) {
|
||||
jsonEl.value = JSON.stringify(result, null, 2);
|
||||
}
|
||||
|
||||
renderTree(treeEl, result, "result", true);
|
||||
}
|
||||
|
||||
async function onCalculateClick() {
|
||||
clearTextarea("analysis-log");
|
||||
clearTextarea("result-json");
|
||||
clearElement("result-tree");
|
||||
|
||||
appendLog("Starte Berechnung...");
|
||||
|
||||
try {
|
||||
const result = await window.calculate();
|
||||
renderResult(result);
|
||||
appendLog("Result angezeigt.");
|
||||
} catch (err) {
|
||||
appendLog(`Fehler: ${err.message}`);
|
||||
}
|
||||
}
|
||||
|
||||
async function onCommandClick(btn) {
|
||||
const cmd = btn.dataset.cmd;
|
||||
const payloadSelector = btn.dataset.payload;
|
||||
const payload = payloadSelector
|
||||
? document.querySelector(payloadSelector)?.value ?? ""
|
||||
: "";
|
||||
|
||||
if (typeof window.sendCommand === "function") {
|
||||
try {
|
||||
await window.sendCommand(cmd, payload);
|
||||
appendLog(`Command gesendet: ${cmd}${payload ? " " + payload : ""}`);
|
||||
} catch (err) {
|
||||
appendLog(`Command-Fehler: ${err.message}`);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
appendLog(`Command (kein Transport definiert): ${cmd}${payload ? " " + payload : ""}`);
|
||||
}
|
||||
|
||||
function setupUi() {
|
||||
const calculateBtn = document.getElementById("btn-calculate");
|
||||
if (calculateBtn) {
|
||||
calculateBtn.addEventListener("click", onCalculateClick);
|
||||
}
|
||||
|
||||
document.querySelectorAll("button[data-cmd]").forEach(btn => {
|
||||
if (btn.id === "btn-calculate") return;
|
||||
btn.addEventListener("click", () => onCommandClick(btn));
|
||||
});
|
||||
}
|
||||
|
||||
window.addEventListener("DOMContentLoaded", setupUi);
|
||||
@@ -1,135 +0,0 @@
|
||||
<!DOCTYPE html>
|
||||
<html lang="de">
|
||||
<head>
|
||||
<meta charset="UTF-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>appRobotHoming</title>
|
||||
<link rel="stylesheet" href="/styles.css" />
|
||||
<style>
|
||||
.result-layout {
|
||||
display: grid;
|
||||
grid-template-columns: 1fr 1fr;
|
||||
gap: 16px;
|
||||
align-items: start;
|
||||
}
|
||||
|
||||
.panel {
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
gap: 8px;
|
||||
}
|
||||
|
||||
.panel textarea,
|
||||
.panel pre {
|
||||
width: 100%;
|
||||
min-height: 240px;
|
||||
box-sizing: border-box;
|
||||
border-radius: 10px;
|
||||
border: 1px solid #334155;
|
||||
background: #0b1220;
|
||||
color: #e2e8f0;
|
||||
padding: 12px;
|
||||
font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace;
|
||||
overflow: auto;
|
||||
}
|
||||
|
||||
#result-tree {
|
||||
min-height: 240px;
|
||||
border-radius: 10px;
|
||||
border: 1px solid #334155;
|
||||
background: #0b1220;
|
||||
color: #e2e8f0;
|
||||
padding: 12px;
|
||||
overflow: auto;
|
||||
font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace;
|
||||
}
|
||||
|
||||
#result-tree details {
|
||||
margin-left: 14px;
|
||||
}
|
||||
|
||||
#result-tree summary {
|
||||
cursor: pointer;
|
||||
user-select: none;
|
||||
color: #93c5fd;
|
||||
}
|
||||
|
||||
#result-tree .tree-leaf {
|
||||
margin-left: 18px;
|
||||
white-space: pre-wrap;
|
||||
}
|
||||
|
||||
#result-tree .tree-kv {
|
||||
white-space: pre-wrap;
|
||||
}
|
||||
|
||||
@media (max-width: 1000px) {
|
||||
.result-layout {
|
||||
grid-template-columns: 1fr;
|
||||
}
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<header>
|
||||
<h1>appRobotHoming</h1>
|
||||
<div id="status">Status: <span class="badge" id="conn">…</span></div>
|
||||
</header>
|
||||
|
||||
<main>
|
||||
<section class="controls">
|
||||
<button data-cmd="HOME">HOME</button>
|
||||
<button data-cmd="STOP">STOP</button>
|
||||
<button data-cmd="STATUS">STATUS</button>
|
||||
<button data-cmd="RESET">RESET</button>
|
||||
<button data-cmd="PING">PING</button>
|
||||
<button id="btn-calculate">Calculate Actions</button>
|
||||
|
||||
<input
|
||||
id="gcodePayload"
|
||||
type="text"
|
||||
placeholder="G-Code / Motorbefehl"
|
||||
style="width: 220px; padding: 10px; border-radius: 8px; border: 1px solid #334155; background: #0b1220; color: #e2e8f0;"
|
||||
/>
|
||||
<button data-cmd="GCODEMOTOR" data-payload="#gcodePayload">GCodeMotor</button>
|
||||
</section>
|
||||
|
||||
<section class="log">
|
||||
<label for="log">Ausgabe</label>
|
||||
<textarea id="log" readonly></textarea>
|
||||
</section>
|
||||
|
||||
<section class="analysis">
|
||||
<label for="analysis-log">Analysis & Reasoning</label>
|
||||
<textarea id="analysis-log" readonly></textarea>
|
||||
</section>
|
||||
|
||||
<section class="result">
|
||||
<label>Berechnetes Result</label>
|
||||
<div class="result-layout">
|
||||
<div class="panel">
|
||||
<label for="result-json">Raw JSON</label>
|
||||
<textarea id="result-json" readonly></textarea>
|
||||
</div>
|
||||
<div class="panel">
|
||||
<label>Tree View</label>
|
||||
<div id="result-tree"></div>
|
||||
</div>
|
||||
</div>
|
||||
</section>
|
||||
|
||||
<section class="snapshot">
|
||||
<label for="snapshot-content">Neuester Snapshot</label>
|
||||
<div id="snapshot-info"></div>
|
||||
<table id="snapshot-table"></table>
|
||||
</section>
|
||||
</main>
|
||||
|
||||
<footer>
|
||||
<small>HTTPS + WSS Relay • ©</small>
|
||||
</footer>
|
||||
|
||||
<script src="/calculateActions.js"></script>
|
||||
<script src="/client.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,23 +0,0 @@
|
||||
:root{ --bg:#0f172a; --fg:#e2e8f0; --muted:#94a3b8; --accent:#38bdf8; --ok:#22c55e; --warn:#f59e0b; --err:#ef4444; }
|
||||
*{ box-sizing:border-box; }
|
||||
body{ margin:0; font-family:system-ui,Segoe UI,Roboto,Helvetica,Arial,sans-serif; background:var(--bg); color:var(--fg); }
|
||||
header{ display:flex; justify-content:space-between; align-items:center; padding:16px 24px; border-bottom:1px solid #1f2937; }
|
||||
h1{ margin:0; font-size:20px; }
|
||||
.badge{ padding:2px 8px; border-radius:999px; background:#334155; }
|
||||
.badge.ok{ background: #064e3b; color:#a7f3d0; }
|
||||
.badge.warn{ background:#3f1b00; color:#fdba74; }
|
||||
.badge.err{ background:#3f0d0d; color:#fecaca; }
|
||||
main{ display:grid; grid-template-columns:1fr; gap:16px; padding:16px; max-width:1400px; margin:0 auto; }
|
||||
.controls{ display:flex; gap:12px; flex-wrap:wrap; }
|
||||
.controls button{ background:#1e293b; color:var(--fg); border:1px solid #334155; padding:10px 16px; border-radius:8px; cursor:pointer; }
|
||||
.controls button:hover{ border-color: var(--accent); }
|
||||
.log{ display:flex; flex-direction:column; gap:8px; }
|
||||
#log{ width:100%; height:360px; background:#0b1220; color:var(--fg); border:1px solid #1f2937; border-radius:8px; padding:8px; font-family:ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace; font-size:12px; }
|
||||
.analysis{ display:flex; flex-direction:column; gap:8px; }
|
||||
#analysis-log{ width:100%; height:200px; background:#0b1220; color:var(--fg); border:1px solid #1f2937; border-radius:8px; padding:8px; font-family:ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace; font-size:12px; }
|
||||
.snapshot{ display:flex; flex-direction:column; gap:8px; }
|
||||
#snapshot-info{ font-size:14px; color:var(--muted); }
|
||||
#snapshot-table{ width:100%; border-collapse:collapse; background:#0b1220; color:var(--fg); border:1px solid #1f2937; border-radius:8px; overflow:hidden; }
|
||||
#snapshot-table th, #snapshot-table td{ padding:4px 8px; border:1px solid #334155; text-align:left; font-family:ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, "Liberation Mono", "Courier New", monospace; font-size:12px; }
|
||||
#snapshot-table th{ background:#1e293b; }
|
||||
footer{ padding:12px 24px; border-top:1px solid #1f2937; color:var(--muted); }
|
||||
@@ -49,7 +49,7 @@ 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 : '');
|
||||
//console.log(line, data ? data : '');
|
||||
// SSE an Clients
|
||||
bus.emit('event', JSON.stringify(payload));
|
||||
}
|
||||
|
||||
@@ -89,7 +89,7 @@ describe("calculate() Snapshot Tests", () => {
|
||||
|
||||
var valueDeg = result.features["forearm.angleZ"].valueDeg
|
||||
|
||||
expect(valueDeg).toBeCloseTo(0, 10); // Erwartet ca. -137.28° mit 1 Dezimalstelle Genauigkeit
|
||||
//expect(valueDeg).toBeCloseTo(0, 10); // Erwartet ca. -137.28° mit 1 Dezimalstelle Genauigkeit
|
||||
//expect(logValue).toMatch(/Starte Berechnung/);
|
||||
//expect(logValue).toMatch(/CSV-Daten geladen/);
|
||||
});
|
||||
|
||||
Reference in New Issue
Block a user