HTML split
This commit is contained in:
chk
@@ -5,182 +5,7 @@
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<meta name="viewport" content="width=device-width, initial-scale=1.0" />
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<title>Kalibrierung – appRobotHoming</title>
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<link rel="stylesheet" href="/styles.css">
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<style>
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/* ===== LAYOUT ===== */
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body {
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display: flex;
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flex-direction: column;
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height: 100vh;
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margin: 0;
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padding: 0;
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overflow: hidden;
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}
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/* ===== HEADER (gleicher Stil wie .section auf index.html) ===== */
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.calib-topbar {
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display: flex;
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align-items: center;
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gap: 16px;
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padding: 14px 20px;
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background: var(--panel);
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border-bottom: 1px solid var(--border);
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flex-shrink: 0;
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}
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.calib-topbar a {
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color: var(--muted);
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text-decoration: none;
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font-size: 13px;
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border: 1px solid #334155;
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border-radius: 6px;
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padding: 6px 14px;
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transition: border-color 0.2s, color 0.2s;
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}
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.calib-topbar a:hover {
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border-color: var(--accent);
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color: var(--accent);
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}
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.calib-topbar h1 {
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margin: 0;
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font-size: 15px;
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font-weight: 500;
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color: var(--accent);
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}
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/* ===== BODY: SIDEBAR + CONTENT ===== */
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.calib-body {
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display: flex;
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flex: 1;
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overflow: hidden;
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padding: 16px;
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gap: 0;
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}
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/* ===== LESEZEICHEN-TABS LINKS ===== */
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.tab-sidebar {
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display: flex;
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flex-direction: column;
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gap: 3px;
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padding-top: 4px;
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flex-shrink: 0;
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width: 148px;
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}
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.tab-btn {
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background: #0e1a2b;
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border: 1px solid #1f2937;
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border-right: none;
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border-radius: 6px 0 0 6px;
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padding: 11px 16px;
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color: var(--muted);
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font-size: 13px;
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text-align: left;
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cursor: pointer;
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transition: color 0.15s, background 0.15s, border-color 0.15s;
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white-space: nowrap;
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}
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.tab-btn:hover {
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color: var(--text);
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background: #132c44;
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border-color: #334155;
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}
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.tab-btn.active {
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color: var(--accent);
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background: var(--panel); /* gleiche Farbe wie Content-Area */
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border-color: #334155;
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border-right: none;
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border-left: 3px solid var(--accent);
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padding-left: 13px; /* kompensiert den dickeren linken Rand */
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z-index: 1;
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}
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/* ===== CONTENT AREA ===== */
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.tab-content {
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flex: 1;
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background: var(--panel);
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border: 1px solid #334155;
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border-radius: 0 8px 8px 8px;
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overflow-y: auto;
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padding: 20px 24px;
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}
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/* ===== TAB PANELS ===== */
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.tab-panel { display: none; }
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.tab-panel.active { display: block; }
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/* ===== SECTION OVERRIDE: kein äusserer Rand in der Content-Area ===== */
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.tab-content .section {
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background: #0e1a2b;
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}
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/* ===== PLACEHOLDER NOTE ===== */
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.placeholder-note {
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margin-top: 14px;
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padding: 14px 18px;
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background: #0b1220;
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border: 1px dashed #334155;
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border-radius: 8px;
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color: var(--muted);
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font-size: 13px;
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line-height: 1.7;
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}
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/* ===== STATUS BADGE ===== */
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.status-badge {
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display: inline-block;
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font-size: 11px;
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padding: 2px 8px;
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border-radius: 4px;
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background: #1e293b;
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color: var(--muted);
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margin-left: 8px;
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vertical-align: middle;
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font-weight: normal;
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}
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.status-badge.open { color: #f59e0b; }
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.status-badge.done { color: #34d399; background: #064e3b; }
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.status-badge.wip { color: #60a5fa; }
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/* ===== INFO GRID ===== */
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.info-grid {
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display: grid;
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grid-template-columns: 160px 1fr;
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gap: 6px 12px;
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margin-top: 14px;
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font-size: 13px;
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}
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.info-label {
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color: var(--muted);
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}
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.info-value {
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color: var(--text);
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font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
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}
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/* Buttons: aktiv vs. deaktiviert visuell unterscheiden */
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.controls button:disabled {
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opacity: 0.35;
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cursor: not-allowed;
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}
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</style>
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<link rel="stylesheet" href="/calibration.css">
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</head>
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<body>
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@@ -195,430 +20,22 @@
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<!-- LESEZEICHEN-TABS -->
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<nav class="tab-sidebar" id="tabSidebar">
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<button class="tab-btn active" data-tab="camera-npz">Camera NPZ</button>
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<button class="tab-btn" data-tab="board">Board</button>
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<button class="tab-btn" data-tab="robot-x-axis">Robot X Axis</button>
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<button class="tab-btn" data-tab="arm">Arm1 / Arm2</button>
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<button class="tab-btn active" data-tab="camera-npz" data-src="/calibration_camera.html">Camera NPZ</button>
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<button class="tab-btn" data-tab="board" data-src="/calibration_board.html">Board</button>
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<button class="tab-btn" data-tab="robot-x-axis" data-src="/calibration_xaxis.html">Robot X Axis</button>
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<button class="tab-btn" data-tab="arm" data-src="/calibration_arm.html">Arm1 / Arm2</button>
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</nav>
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<!-- CONTENT -->
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<!-- CONTENT (Panels werden lazy per fetch befüllt) -->
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<div class="tab-content">
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<div class="tab-panel active" id="tab-camera-npz"></div>
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<div class="tab-panel" id="tab-board"></div>
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<div class="tab-panel" id="tab-robot-x-axis"></div>
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<div class="tab-panel" id="tab-arm"></div>
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</div>
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<!-- PANEL: Camera NPZ -->
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<div class="tab-panel active" id="tab-camera-npz">
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<div class="sections">
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<!-- Info-Box: Aktuelle Kalibrierung -->
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<div class="section full">
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<h2>Aktuelle Kalibrierung</h2>
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<div id="calib-info" class="info-grid">
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<span class="info-label">Timestamp</span>
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<span class="info-value" id="info-timestamp">–</span>
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<span class="info-label">Erstellt am</span>
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<span class="info-value" id="info-created">–</span>
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<span class="info-label">Bilder / Kameras</span>
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<span class="info-value" id="info-images">–</span>
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</div>
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</div>
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<!-- Aktionen -->
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<div class="section full">
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<h2>Aktionen</h2>
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<div class="controls" style="margin-top: 14px;">
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<button id="btn-new-calib">Neue Kalibrierung anlegen</button>
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<button id="btn-foto-calib">Foto aufnehmen</button>
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<select id="cam-select-calib" title="Kamera für Kalibrierung wählen">
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<option value="">– Kamera –</option>
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</select>
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<button id="btn-compute-calib">Kalibrierung berechnen</button>
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<button id="btn-upload-npz">NPZ speichern</button>
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</div>
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</div>
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<!-- Ausgabe -->
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-camera" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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</div>
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</div>
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</div>
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<!-- PANEL: Board -->
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<div class="tab-panel" id="tab-board">
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<div class="sections">
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<div class="section full">
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<h2>Board – ArUco & Kamera-Pose</h2>
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<div class="info-grid" style="margin-top: 14px;">
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<span class="info-label">Ablauf</span>
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<span class="info-value" style="font-family: inherit; font-size: 13px; color: var(--muted);">
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Foto aufnehmen → ArUco erkennen → Kamera-Pose schätzen
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</span>
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<span class="info-label">Schritte</span>
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<span class="info-value" style="font-family: inherit; font-size: 13px; color: var(--muted);">
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1_detect_aruco_observations → 2_estimate_camera_from_observations
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</span>
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<span class="info-label">Letzter Run</span>
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<span class="info-value" id="board-last-run">–</span>
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</div>
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<div class="controls" style="margin-top: 16px;">
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<button id="btn-board-run">Board erkennen</button>
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<button disabled title="Folgt später">Ergebnis anzeigen</button>
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</div>
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</div>
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-board" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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</div>
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</div>
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</div>
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<!-- PANEL: Robot X Axis -->
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<div class="tab-panel" id="tab-robot-x-axis">
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<div class="sections">
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<div class="section full">
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<h2>Robot X Axis <span class="status-badge open">offen</span></h2>
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<div class="placeholder-note">
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Ziel: X-Achse des Roboters im Weltkoordinatensystem verorten (Richtungsvektor und
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Nullpunkt). Roboter fährt zwei bekannte Positionen an, Kamera beobachtet den
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Endeffektor-Marker.<br><br>
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Geplante Aktionen: Referenzposition 1 anfahren · Foto · Marker merken ·
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Referenzposition 2 anfahren · Foto · Achsvektor berechnen · Speichern.<br><br>
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<em>Aktionen werden ergänzt sobald das Konzept feststeht.</em>
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</div>
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<div class="controls" style="margin-top: 14px;">
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<button disabled>Pos 1 anfahren</button>
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<button disabled>Foto Pos 1</button>
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<button disabled>Pos 2 anfahren</button>
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<button disabled>Foto Pos 2</button>
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<button disabled>Achse berechnen</button>
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<button disabled>Speichern</button>
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</div>
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</div>
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-xaxis" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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</div>
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</div>
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</div>
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<!-- PANEL: Arm1 / Arm2 -->
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<div class="tab-panel" id="tab-arm">
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<div class="sections">
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<div class="section full">
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<h2>Arm1 / Arm2 <span class="status-badge open">offen</span></h2>
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<div class="placeholder-note">
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Ziel: Nullposition und Kinematikparameter von Arm1 und Arm2 einmessen.
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Arm fährt in mechanische Nullposition, Kamera prüft die tatsächliche Pose,
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Offset wird berechnet und gespeichert.<br><br>
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Geplante Aktionen: Arm1 → Nullpos → Foto → Winkel · Arm2 → Nullpos → Foto →
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Winkel · Offset-Korrektur speichern.<br><br>
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<em>Aktionen werden ergänzt sobald das Konzept feststeht.</em>
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</div>
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<div class="controls" style="margin-top: 14px;">
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<button disabled>Arm1 → Nullpos</button>
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<button disabled>Foto Arm1</button>
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<button disabled>Arm2 → Nullpos</button>
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<button disabled>Foto Arm2</button>
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<button disabled>Offsets berechnen</button>
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<button disabled>Speichern</button>
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</div>
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</div>
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-arm" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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</div>
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</div>
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</div>
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</div><!-- /.tab-content -->
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</div><!-- /.calib-body -->
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<script>
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// ── Tab-Switching ──────────────────────────────────────────────────────────
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document.getElementById('tabSidebar').addEventListener('click', e => {
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const btn = e.target.closest('.tab-btn');
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if (!btn) return;
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document.querySelectorAll('.tab-btn').forEach(b => b.classList.remove('active'));
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document.querySelectorAll('.tab-panel').forEach(p => p.classList.remove('active'));
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btn.classList.add('active');
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document.getElementById('tab-' + btn.dataset.tab).classList.add('active');
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});
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// ── Section collapse ───────────────────────────────────────────────────────
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document.querySelectorAll('.section h2').forEach(h2 => {
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h2.addEventListener('click', () => h2.closest('.section').classList.toggle('collapsed'));
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});
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// ── Camera NPZ ─────────────────────────────────────────────────────────────
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const logCamera = document.getElementById('log-camera');
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function logC(msg) {
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const ts = new Date().toLocaleTimeString('de-CH');
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logCamera.value += `[${ts}] ${msg}\n`;
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logCamera.scrollTop = logCamera.scrollHeight;
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}
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function formatDate(isoString) {
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if (!isoString) return '–';
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return new Date(isoString).toLocaleString('de-CH');
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}
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function updateCalibInfo(meta) {
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const sel = document.getElementById('cam-select-calib');
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if (!meta) {
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document.getElementById('info-timestamp').textContent = '(keine Session vorhanden)';
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document.getElementById('info-created').textContent = '–';
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document.getElementById('info-images').textContent = '–';
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// Selector leeren
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sel.innerHTML = '<option value="">– Kamera –</option>';
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return;
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}
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document.getElementById('info-timestamp').textContent = meta.timestamp ?? '–';
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document.getElementById('info-created').textContent = formatDate(meta.createdAt);
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const cameras = meta.cameras ?? [];
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const imgTxt = meta.imageCount != null
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? `${meta.imageCount} Bilder total. ${cameras.length} Kamera(s) verwendet.`
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: '–';
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document.getElementById('info-images').textContent = imgTxt;
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// Kamera-Selector aktualisieren
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const prev = sel.value;
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sel.innerHTML = '<option value="">– Kamera –</option>';
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for (const cam of cameras) {
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const opt = document.createElement('option');
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opt.value = cam;
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opt.textContent = cam;
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if (cam === prev) opt.selected = true;
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sel.appendChild(opt);
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}
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// Falls nur eine Kamera vorhanden – automatisch vorwählen
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if (cameras.length === 1) sel.value = cameras[0];
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}
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// Beim Laden aktuelle Session holen
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async function loadCalibCurrent() {
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try {
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const r = await fetch('/api/calibration/current');
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const d = await r.json();
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updateCalibInfo(d.meta);
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if (d.session) logC(`Session geladen: ${d.session}`);
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else logC('Noch keine Kalibrierungs-Session vorhanden.');
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} catch (err) {
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logC(`Fehler beim Laden: ${err}`);
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}
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}
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loadCalibCurrent();
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// "Neue Kalibrierung anlegen"
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document.getElementById('btn-new-calib').addEventListener('click', async () => {
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logC('Neue Kalibrierung wird angelegt …');
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try {
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const r = await fetch('/api/calibration/new', { method: 'POST' });
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const d = await r.json();
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||||
if (d.error) { logC(`Fehler: ${d.error}`); return; }
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updateCalibInfo(d.meta);
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if (d.warning) logC(`Warnung: ${d.warning}`);
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else logC(`Session angelegt: ${d.session} | Fotos: ${(d.savedFiles ?? []).join(', ')}`);
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||||
} catch (err) {
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||||
logC(`Fehler: ${err}`);
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||||
}
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||||
});
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||||
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// "Foto aufnehmen"
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||||
document.getElementById('btn-foto-calib').addEventListener('click', async () => {
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||||
logC('Fotos werden aufgenommen …');
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||||
try {
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||||
const r = await fetch('/api/calibration/foto', { method: 'POST' });
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||||
const d = await r.json();
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||||
if (d.error) { logC(`Fehler: ${d.error}`); return; }
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||||
updateCalibInfo(d.meta);
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||||
logC(`Gespeichert: ${(d.savedFiles ?? []).join(', ')}`);
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||||
} catch (err) {
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||||
logC(`Fehler: ${err}`);
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||||
}
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||||
});
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||||
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||||
// Hilfsfunktion: fetch-Response sicher als Text lesen und in lesbaren Fehler umwandeln
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||||
async function safeJson(r) {
|
||||
const raw = await r.text().catch(() => '');
|
||||
try { return { ok: r.ok, status: r.status, data: JSON.parse(raw) }; }
|
||||
catch { return { ok: r.ok, status: r.status, data: null, raw: raw.slice(0, 300) }; }
|
||||
}
|
||||
|
||||
// "NPZ speichern" → an Webcam-Service übertragen
|
||||
document.getElementById('btn-upload-npz').addEventListener('click', async () => {
|
||||
const camera = document.getElementById('cam-select-calib').value;
|
||||
if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
|
||||
|
||||
logC(`NPZ wird an Webcam-Service übertragen (${camera}) …`);
|
||||
try {
|
||||
const { ok, status, data, raw } = await safeJson(await fetch('/api/calibration/upload-npz', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ camera }),
|
||||
}));
|
||||
if (!ok || data?.error) {
|
||||
logC(`❌ HTTP ${status}: ${data?.error ?? raw ?? '(kein Fehlertext)'}`);
|
||||
return;
|
||||
}
|
||||
logC(`✅ Gespeichert: ${data.webcam?.saved} (${data.size} Bytes)`);
|
||||
logC(` calibrationUrl: ${data.webcam?.calibrationUrl}`);
|
||||
} catch (err) {
|
||||
logC(`❌ Fehler: ${err}`);
|
||||
}
|
||||
});
|
||||
|
||||
// "Kalibrierung berechnen" – SSE-Stream lesen
|
||||
document.getElementById('btn-compute-calib').addEventListener('click', async () => {
|
||||
const camera = document.getElementById('cam-select-calib').value;
|
||||
if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
|
||||
|
||||
logC(`Starte Kalibrierung für ${camera} …`);
|
||||
const btn = document.getElementById('btn-compute-calib');
|
||||
btn.disabled = true;
|
||||
|
||||
try {
|
||||
const response = await fetch('/api/calibration/compute', {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify({ camera }),
|
||||
});
|
||||
|
||||
if (!response.ok) {
|
||||
const raw = await response.text().catch(() => '');
|
||||
let msg;
|
||||
try { msg = JSON.parse(raw).error || raw; }
|
||||
catch { msg = raw.slice(0, 300) || response.statusText; }
|
||||
logC(`❌ HTTP ${response.status}: ${msg || '(kein Fehlertext – evtl. Server neu starten?)'}`);
|
||||
return;
|
||||
}
|
||||
|
||||
// SSE-Stream zeilenweise verarbeiten
|
||||
const reader = response.body.getReader();
|
||||
const decoder = new TextDecoder();
|
||||
let buffer = '';
|
||||
|
||||
while (true) {
|
||||
const { done, value } = await reader.read();
|
||||
if (done) break;
|
||||
|
||||
buffer += decoder.decode(value, { stream: true });
|
||||
|
||||
// Vollständige SSE-Ereignisse (getrennt durch \n\n) extrahieren
|
||||
const parts = buffer.split('\n\n');
|
||||
buffer = parts.pop(); // letztes unvollständiges Fragment behalten
|
||||
|
||||
for (const part of parts) {
|
||||
for (const line of part.split('\n')) {
|
||||
if (!line.startsWith('data: ')) continue;
|
||||
try {
|
||||
const evt = JSON.parse(line.slice(6));
|
||||
if (evt.type === 'log') {
|
||||
if (evt.text !== '') logC(evt.text);
|
||||
} else if (evt.type === 'done') {
|
||||
logC(evt.exitCode === 0
|
||||
? '✅ Kalibrierung abgeschlossen.'
|
||||
: `❌ Script beendet mit Exit-Code ${evt.exitCode}`);
|
||||
}
|
||||
} catch { /* ungültiges JSON überspringen */ }
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (err) {
|
||||
logC(`Fehler: ${err}`);
|
||||
} finally {
|
||||
btn.disabled = false;
|
||||
}
|
||||
});
|
||||
|
||||
// ── Board ──────────────────────────────────────────────────────────────────
|
||||
|
||||
const logBoard = document.getElementById('log-board');
|
||||
|
||||
function logB(msg) {
|
||||
const ts = new Date().toLocaleTimeString('de-CH');
|
||||
logBoard.value += `[${ts}] ${msg}\n`;
|
||||
logBoard.scrollTop = logBoard.scrollHeight;
|
||||
}
|
||||
|
||||
// SSE-Stream lesen (gleiche Logik wie compute)
|
||||
async function readSseStream(response, logFn, onDone) {
|
||||
const reader = response.body.getReader();
|
||||
const decoder = new TextDecoder();
|
||||
let buffer = '';
|
||||
while (true) {
|
||||
const { done, value } = await reader.read();
|
||||
if (done) break;
|
||||
buffer += decoder.decode(value, { stream: true });
|
||||
const parts = buffer.split('\n\n');
|
||||
buffer = parts.pop();
|
||||
for (const part of parts) {
|
||||
for (const line of part.split('\n')) {
|
||||
if (!line.startsWith('data: ')) continue;
|
||||
try {
|
||||
const evt = JSON.parse(line.slice(6));
|
||||
if (evt.type === 'log') {
|
||||
if (evt.text !== '') logFn(evt.text);
|
||||
} else if (evt.type === 'done') {
|
||||
onDone(evt);
|
||||
}
|
||||
} catch { /* ignore */ }
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
document.getElementById('btn-board-run').addEventListener('click', async () => {
|
||||
logB('Board-Erkennung wird gestartet …');
|
||||
const btn = document.getElementById('btn-board-run');
|
||||
btn.disabled = true;
|
||||
|
||||
try {
|
||||
const response = await fetch('/api/board/run', { method: 'POST' });
|
||||
|
||||
if (!response.ok) {
|
||||
const raw = await response.text().catch(() => '');
|
||||
let msg;
|
||||
try { msg = JSON.parse(raw).error || raw; }
|
||||
catch { msg = raw.slice(0, 300) || `HTTP ${response.status}`; }
|
||||
logB(`❌ HTTP ${response.status}: ${msg}`);
|
||||
return;
|
||||
}
|
||||
|
||||
await readSseStream(response, logB, (evt) => {
|
||||
if (evt.exitCode === 0) {
|
||||
logB('✅ Board-Run abgeschlossen.');
|
||||
if (evt.runDir) {
|
||||
document.getElementById('board-last-run').textContent = evt.runDir;
|
||||
}
|
||||
} else {
|
||||
logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
|
||||
}
|
||||
});
|
||||
|
||||
} catch (err) {
|
||||
logB(`❌ Fehler: ${err}`);
|
||||
} finally {
|
||||
btn.disabled = false;
|
||||
}
|
||||
});
|
||||
</script>
|
||||
|
||||
<script src="/calibration.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user