Y-Axis checks
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chk
@@ -556,15 +556,145 @@ function initArm(tab) {
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});
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}
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// Achsen-Messung vom Viewer empfangen
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// ── Kalibrierungs-Aktionen (werden nach Rotation-Messung aktiv) ──────────
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// Tab-Name → Link-Name in robot.json
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const TAB_TO_LINK = { arm1: 'Arm1', arm2: 'Arm2', elbow: 'Ellbow', hand: 'Hand' };
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const robotLink = TAB_TO_LINK[tab] ?? tab;
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const calibActionsEl = document.getElementById(`${tab}-calib-actions`);
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const assignFixedBtn = document.getElementById(`btn-${tab}-assign-fixed`);
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const assignFixedInfo = document.getElementById(`${tab}-assign-fixed-info`);
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const setOriginBtn = document.getElementById(`btn-${tab}-set-origin`);
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const setOriginInfo = document.getElementById(`${tab}-set-origin-info`);
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let _lastYAxisMsg = null; // letztes gültiges yaxis-measurement
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function enableCalibActions(msg) {
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if (!calibActionsEl) return;
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calibActionsEl.style.display = 'block';
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// ── Button 1: Fixe Marker → Base ────────────────────────────────────────
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if (assignFixedBtn) {
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const skipped = msg.skipped ?? [];
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if (skipped.length > 0) {
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const ids = skipped.map(s => s.id).join(', ');
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assignFixedBtn.disabled = false;
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assignFixedBtn.style.opacity = '1';
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assignFixedBtn.style.cursor = 'pointer';
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assignFixedBtn.title =
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`Marker ${ids} in robot.json dem Link 'Base' zuordnen`;
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if (assignFixedInfo) {
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assignFixedInfo.textContent =
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`Kaum-bewegende Marker: ${ids} ` +
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`(Bewegung < ${msg.skipped.map(s => s.maxMoveMm + ' mm').join(', ')}) ` +
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`→ Link 'Base' in robot.json eintragen.`;
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}
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} else {
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assignFixedBtn.disabled = true;
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if (assignFixedInfo) assignFixedInfo.textContent = 'Alle erkannten Marker rotieren – kein fixer Marker gefunden.';
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}
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}
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// ── Button 2: Joint-Origin Y/Z ───────────────────────────────────────────
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if (setOriginBtn) {
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const [, ay, az] = msg.axisPoint;
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setOriginBtn.disabled = false;
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setOriginBtn.style.opacity = '1';
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setOriginBtn.style.cursor = 'pointer';
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setOriginBtn.title = `Joint '${robotLink}': origin[Y]=${ay.toFixed(1)} mm, origin[Z]=${az.toFixed(1)} mm`;
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if (setOriginInfo) {
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setOriginInfo.textContent =
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`Berechnete Achse: Y = ${ay.toFixed(1)} mm · Z = ${az.toFixed(1)} mm ` +
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`→ in robot.json links.${robotLink}.jointToParent.origin setzen.`;
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}
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}
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}
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function disableCalibActions() {
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if (assignFixedBtn) {
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assignFixedBtn.disabled = true;
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assignFixedBtn.style.opacity = '.45';
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assignFixedBtn.style.cursor = 'not-allowed';
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}
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if (setOriginBtn) {
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setOriginBtn.disabled = true;
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setOriginBtn.style.opacity = '.45';
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setOriginBtn.style.cursor = 'not-allowed';
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}
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}
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if (assignFixedBtn) {
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assignFixedBtn.addEventListener('click', async () => {
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if (!_lastYAxisMsg) return;
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const skipped = _lastYAxisMsg.skipped ?? [];
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const markerIds = skipped.map(s => s.id);
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const measuredPositions = skipped
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.filter(s => Array.isArray(s.posA))
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.map(s => ({ id: s.id, position_mm: s.posA }));
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log(`🔄 Ordne Marker [${markerIds.join(', ')}] dem Link 'Base' zu …`);
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assignFixedBtn.disabled = true;
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try {
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const r = await fetch('/api/robot/assign-fixed-markers', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ markerIds, targetLink: 'Base', measuredPositions }),
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});
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const data = await r.json();
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if (!r.ok) { log(`❌ Fehler: ${data.error ?? r.status}`); return; }
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log(`✅ Zugeordnet: ${data.numAdded} neu, ${data.numAlreadyPresent} bereits vorhanden`);
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data.changes.forEach(c => {
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if (c.action === 'added') log(` + Marker ${c.markerId} → ${c.targetLink}`);
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else if (c.action === 'already-present') log(` ○ Marker ${c.markerId} bereits in '${c.existingLink}'`);
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else if (c.action === 'skipped-no-position') log(` ⚠ Marker ${c.markerId}: keine Positions-Daten`);
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});
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} catch (err) {
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log(`❌ Netzwerkfehler: ${err}`);
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} finally {
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assignFixedBtn.disabled = false;
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}
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});
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}
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if (setOriginBtn) {
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setOriginBtn.addEventListener('click', async () => {
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if (!_lastYAxisMsg) return;
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const [, ay, az] = _lastYAxisMsg.axisPoint;
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log(`🔄 Setze ${robotLink}.jointToParent.origin: Y=${ay.toFixed(1)} Z=${az.toFixed(1)} …`);
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setOriginBtn.disabled = true;
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try {
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const r = await fetch('/api/robot/set-joint-origin', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ linkName: robotLink, y: ay, z: az }),
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});
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const data = await r.json();
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if (!r.ok) { log(`❌ Fehler: ${data.error ?? r.status}`); return; }
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log(`✅ Joint-Origin gesetzt: [${data.oldOrigin.join(', ')}] → [${data.newOrigin.join(', ')}]`);
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} catch (err) {
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log(`❌ Netzwerkfehler: ${err}`);
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} finally {
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setOriginBtn.disabled = false;
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}
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});
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}
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// ── Achsen-Messung vom Viewer empfangen ───────────────────────────────────
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window.addEventListener('message', (e) => {
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if (!frameEl || e.source !== frameEl.contentWindow) return;
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const msg = e.data;
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if (msg?.type === 'yaxis-measurement' && Array.isArray(msg.axisDir)) {
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if (msg?.type !== 'yaxis-measurement') return;
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if (Array.isArray(msg.axisDir)) {
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_lastYAxisMsg = msg;
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const fmt = v => (v >= 0 ? '+' : '') + v.toFixed(3) + '°';
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log(`📐 Achse (${msg.numMarkers} Marker): dir=[${msg.axisDir.map(v => v.toFixed(4)).join(', ')}]` +
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log(`📐 Achse (${msg.numMarkers}/${msg.numMarkersCommon} Marker): dir=[${msg.axisDir.map(v => v.toFixed(4)).join(', ')}]` +
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` XY=${fmt(msg.tiltXY)} YZ=${fmt(msg.tiltYZ)}`);
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log(` Referenzpunkt: [${msg.axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
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if ((msg.skipped ?? []).length) {
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log(` Gefiltert (zu geringe Bewegung): ${msg.skipped.map(s => `${s.id} (${s.maxMoveMm} mm)`).join(', ')}`);
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}
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enableCalibActions(msg);
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// In rotation_detection.json speichern (anhängen)
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fetch('/api/xaxis/save-rotation-detection', {
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@@ -579,6 +709,11 @@ function initArm(tab) {
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}).then(r => r.json())
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.then(d => log(`💾 Gespeichert: ${d.file} (${d.total} Messungen)`))
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.catch(e => log(`⚠ Speichern fehlgeschlagen: ${e.message}`));
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} else {
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// Kein gültiges Ergebnis → Buttons deaktivieren
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_lastYAxisMsg = null;
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disableCalibActions();
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}
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});
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}
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