ChK/appRobotHoming
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G92 senden

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chk
2026-06-25 17:16:30 +02:00
parent 1db62e08df
commit 7818604c02
10 changed files with 934 additions and 121 deletions
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56
server/server.js
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@@ -12,6 +12,8 @@ import { assignByZRange, removeMarkerAssignment, alignSetToMeasured, assignMarke
import multer from 'multer';
import { runHoming, runHomingOffline } from './homingOrchestrator.js';
import { fetchRobot, robotCachePath } from './robotConfig.js';
import { sendGcode, isDriverConfigured } from './driverClient.js';
import { buildG92 } from './buildG92.cjs';
const __filename = fileURLToPath(import.meta.url);
const __dirname = path.dirname(__filename);
@@ -24,7 +26,8 @@ const publicDir = path.join(__dirname, '..', 'public');
const snapshotsDir = path.join(publicDir, 'snapshots');
const WEBCAM_URL = process.env.WEBCAM_URL || '';
const BODYTRACKER_URL = process.env.BODYTRACKER_URL || '';
const ROBOT_URL = process.env.ROBOT_URL || '';
// Roboter-Transport läuft über den Driver-WebSocket (DRIVER_WS_URL,
// server/driverClient.js), nicht mehr über HTTP ROBOT_URL.
const HTTPS_KEY_PATH = process.env.HTTPS_KEY_PATH || path.join(__dirname, '..', 'https', 'localhost.key');
const HTTPS_CERT_PATH = process.env.HTTPS_CERT_PATH || path.join(__dirname, '..', 'https', 'localhost.pem');
const HTTPS_PASSPHRASE = process.env.HTTPS_PASSPHRASE || 'abcd';
@@ -912,29 +915,50 @@ app.post('/api/homing/run', async (req, res) => {
/**
* POST /api/homing/send-state
* Sendet { state: { x, y, z, a, b, c, e } } an ROBOT_URL/api/state.
* Baut aus { state: { x, y, z, a, b[, c, e] } } ein G92 und sendet es als
* Plain-Text-G-Code über den Driver-WebSocket (DRIVER_WS_URL). G92 setzt am
* Driver die Motorposition ohne Bewegung (intern M92) = Homing.
* Fehlende Achsen (c/Palm, e/Greifer werden vom Homing nicht bestimmt) werden
* als 0 mitgesendet (siehe server/buildG92.cjs).
*/
app.post('/api/homing/send-state', async (req, res) => {
try {
const { state } = req.body ?? {};
if (!state) return res.status(400).json({ error: '"state" fehlt' });
if (!ROBOT_URL) return res.status(501).json({ error: 'ROBOT_URL ist nicht konfiguriert' });
if (!isDriverConfigured())
return res.status(501).json({ error: 'DRIVER_WS_URL ist nicht konfiguriert' });
const url = new URL('/api/state', ROBOT_URL).toString();
const upstream = await fetch(url, {
method: 'POST',
headers: { 'Content-Type': 'application/json' },
body: JSON.stringify(state),
});
if (!upstream.ok) {
const text = await upstream.text();
return res.status(upstream.status).json({ error: `Robot-Fehler: ${text}` });
}
const result = await upstream.json().catch(() => ({}));
return res.json({ ok: true, result });
const gcode = buildG92(state);
const result = await sendGcode(gcode);
if (!result.ok)
return res.status(502).json({ error: `Robot-Fehler: ${result.error}`, gcode });
return res.json({ ok: true, gcode, result: result.response, note: result.note });
} catch (err) {
console.error('homing/send-state error:', err);
return res.status(500).json({ error: String(err) });
return res.status(err.statusCode || 500).json({ error: String(err.message || err) });
}
});
/**
* POST /api/robot/gcode { line: "G92 X… Y…" }
* Sendet eine beliebige G-Code-Zeile über den Driver-WebSocket. Transport für
* die G-Code-/Befehl-Buttons im Frontend (window.sendCommand) — ersetzt den
* toten WSS-Altpfad.
*/
app.post('/api/robot/gcode', async (req, res) => {
try {
const line = (req.body?.line ?? '').toString().trim();
if (!line) return res.status(400).json({ error: '"line" fehlt' });
if (!isDriverConfigured())
return res.status(501).json({ error: 'DRIVER_WS_URL ist nicht konfiguriert' });
const result = await sendGcode(line);
if (!result.ok)
return res.status(502).json({ error: `Robot-Fehler: ${result.error}`, line });
return res.json({ ok: true, line, result: result.response, note: result.note });
} catch (err) {
console.error('robot/gcode error:', err);
return res.status(err.statusCode || 500).json({ error: String(err.message || err) });
}
});