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server/homingOrchestrator.js

@@ -151,6 +151,108 @@ export async function runHoming({
   }
 }
 
+/**
+ * Führt den Homing-Ablauf offline aus (Bilder und NPZ bereits im runDir).
+ * Identische 4b-Kette wie runHoming — ohne Webcam-Zugriff und ohne SSE-Stream.
+ * send() akkumuliert Logs; done-Event trägt den finalen State.
+ *
+ * @param {{
+ *   robotJsonPath:          string,
+ *   runDir:                 string,
+ *   send:                   (obj: object) => void,
+ *   runScript:              (args: string[], send: Function) => Promise<number>,
+ *   runBoardPipelineOffline:(runDir: string, send: Function) => Promise<void>,
+ *   SCRIPT_4B:              string,
+ *   SCRIPT_5POSE:           string,
+ * }} opts
+ */
+export async function runHomingOffline({
+  robotJsonPath,
+  runDir,
+  send,
+  runScript,
+  runBoardPipelineOffline,
+  SCRIPT_4B,
+  SCRIPT_5POSE,
+}) {
+  send({ type: 'log', text: `▶ Homing-Offline: ${path.basename(runDir)}` });
+  send({ type: 'log', text: `▶ Robot-JSON:     ${robotJsonPath}` });
+  send({ type: 'log', text: '' });
+
+  // ── Schritt 1: Marker-Triangulierung (Bilder liegen bereits im runDir) ──────
+  send({ type: 'step', step: 1, total: 5, text: 'Marker-Triangulierung …' });
+  await runBoardPipelineOffline(runDir, send);
+
+  const arucoJson = path.join(runDir, 'aruco_marker_poses.json');
+  try {
+    await fsPromises.access(arucoJson);
+  } catch {
+    send({ type: 'error', text: '❌ aruco_marker_poses.json fehlt – Script 3b hat nicht funktioniert.' });
+    send({ type: 'done', exitCode: -1 });
+    return;
+  }
+
+  // ── Schritt 2: X-Position schätzen ──────────────────────────────────────────
+  const xMm = estimateXFromMarkers(arucoJson, robotJsonPath);
+  send({ type: 'log', text: `▶ Geschätzte X-Position: ${xMm.toFixed(1)} mm` });
+  send({ type: 'analysis', key: 'x_mm', value: xMm });
+
+  // ── Schritte 3–5 (2–4): 4b-Kette Arm1 → Ellbow → Arm2 → Hand ───────────────
+  const links = ['Arm1', 'Ellbow', 'Arm2', 'Hand'];
+  let fromState = null;
+  let chainComplete = true;
+
+  for (let i = 0; i < links.length; i++) {
+    const link = links[i];
+    send({ type: 'step', step: 2 + i, total: 5, text: `Gelenkwinkel ${link} …` });
+    send({ type: 'log', text: `\n─── 4b: ${link} ${'─'.repeat(35 - link.length)}` });
+
+    const outputPath = path.join(runDir, `state_${link}.json`);
+    const args = [SCRIPT_4B, '--robot', robotJsonPath, '--aruco', arucoJson, '--link', link, '--output', outputPath];
+    if (fromState) args.push('--from-state', fromState);
+    else           args.push('--x-mm', String(xMm));
+
+    const exit = await runScript(args, send);
+    if (exit !== 0) {
+      send({ type: 'log', text: `⚠ 4b ${link} Exit ${exit} — falle auf 5_pose_estimation.py zurück` });
+      chainComplete = false;
+      break;
+    }
+    fromState = outputPath;
+
+    try {
+      const stateData = JSON.parse(await fsPromises.readFile(outputPath, 'utf8'));
+      send({ type: 'analysis', key: `state_${link}`, value: stateData.accumulated_state ?? stateData });
+    } catch { /* ignorieren */ }
+  }
+
+  // ── Endergebnis ──────────────────────────────────────────────────────────────
+  try {
+    let finalState;
+    if (chainComplete) {
+      const finalData = JSON.parse(await fsPromises.readFile(fromState, 'utf8'));
+      finalState = finalData.accumulated_state ?? finalData;
+    } else {
+      send({ type: 'step', step: 5, total: 5, text: '5_pose_estimation.py (Fallback) …' });
+      const poseOut = path.join(runDir, 'robot_state.json');
+      const args = [SCRIPT_5POSE, arucoJson, '-robot', robotJsonPath, '-out', poseOut];
+      if (fromState) args.push('--from-state', fromState);
+      const exit = await runScript(args, send);
+      if (exit !== 0) throw new Error(`5_pose_estimation.py Exit ${exit}`);
+      const poseData = JSON.parse(await fsPromises.readFile(poseOut, 'utf8'));
+      finalState = Object.fromEntries(
+        Object.entries(poseData.movements).map(([k, v]) => [k, v.value])
+      );
+    }
+    send({ type: 'log', text: '' });
+    send({ type: 'log', text: '✅ Homing-Offline abgeschlossen' });
+    send({ type: 'done', exitCode: 0, state: finalState });
+  } catch (err) {
+    send({ type: 'error', text: `❌ Endzustand konnte nicht gelesen werden: ${err.message}` });
+    send({ type: 'done', exitCode: -1 });
+  }
+}
+
 /** Timestamp-String YYYYMMDD_HHmmss */
 function makeTimestamp() {
   const now = new Date();