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calculateAngles

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Versuch, es vom Browser aus zugänglich zu machen
This commit is contained in:
chk
2026-05-11 16:46:26 +02:00
parent 33c946867e
commit ba2cc8f6ec
6 changed files with 537 additions and 6 deletions
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485
package-lock.json generated
View File

@@ -15,6 +15,7 @@
"ws": "^8.18.0"
},
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"jest": "^30.3.0",
"jest-environment-jsdom": "^30.3.0",
"nodemon": "^3.0.2"
@@ -736,6 +737,448 @@
"tslib": "^2.4.0"
}
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@@ -2600,6 +3043,48 @@
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"bin": {
"esbuild": "bin/esbuild"
},
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},
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1
package.json
View File

@@ -22,6 +22,7 @@
"ws": "^8.18.0"
},
"devDependencies": {
"esbuild": "^0.28.0",
"jest": "^30.3.0",
"jest-environment-jsdom": "^30.3.0",
"nodemon": "^3.0.2"

24
public/calculateAngles.js
View File

@@ -4,9 +4,27 @@
* Browser + Server + Jest (CJS) kompatibel
*/
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 calculateXPos(listIdAndX, jsonRobot){
const partsMovingFixedX = new Set(['Base', 'Arm1', 'Joint1']);
const markersMovingFixedX = jsonRobot.Marker.filter(m => partsMovingFixedX.has(m.on));
appendToAnalysis("Calculate XPos");
const partsMovingFixedX = new Set(['Base', 'Arm1', 'Joint1']);
const markersMovingFixedX = jsonRobot.Marker.filter(m => partsMovingFixedX.has(m.on));
// Join: Robot-Marker ↔ Found-Marker
const markersListeWithRobotInfo = jsonRobot.Marker
@@ -169,7 +187,7 @@ const markerFound = markerUsed
return average, deviation;
}
function calculate(foundMarkers, jsonRobot) {
async function calculate(foundMarkers, jsonRobot) {
const foundById = new Map(foundMarkers.markers.map(f => [f.id, f.position_mm ]));
const { meanPx: x, stdDevPx: varx } = calculateXPos(foundById, jsonRobot);

16
public/calculateAnglesBrowser.js
View File

@@ -1,9 +1,21 @@
import { calculate } from './calculateAngles.js';
import cjs from './calculateAngles.js';
export const calculate = cjs.calculate;
export const optimizeRobot = cjs.optimizeRobot;
export async function fetchAndCalculate() {
const res = await fetch("/api/latest-snapshot");
console.log(res);
}
if (typeof window !== 'undefined') {
window.calculateAngles = window.calculateAngles || {};
window.calculateAngles.calculate = calculate;
window.calculateAngles.fetchAndCalculate = fetchAndCalculate;
// automatisch starten
fetchAndCalculate();
}
export { calculate };
export { calculate, fetchAndCalculate };

5
public/index.html
View File

@@ -35,7 +35,7 @@
GCodeMotor
</button>
<button id="btn-calculate">Calculate Actions</button>
<button id="btn-calculate" onclick="fetchAndCalculate()">Calculate Actions</button>
</div>
</div>
@@ -87,7 +87,10 @@
</div>
<script src="/calculateActions.js"></script>
<script type="module" src="/calculateAnglesBrowser.js"></script>
<script src="/client.js"></script>
<script> window.calculateAngles.fetchAndCalculate(); </script>
</body>
</html>

12
server/server.js
View File

@@ -207,6 +207,7 @@ app.get('/api/latest-snapshot', (req, res) => {
}
const latestFile = csvFiles[0];
const baseName = path.basename(latestFile.name, path.extname(latestFile.name));
const jsonFilename = `${baseName}.json`;
const imageFilename = `${baseName}_annotated.jpg`;
const imagePath = path.join(snapshotsDir, imageFilename);
const imatePath2 = imagePath.includes('video0') ? imagePath.replace('video0', 'video1') : imagePath.replace('video1', 'video0');
@@ -223,6 +224,17 @@ app.get('/api/latest-snapshot', (req, res) => {
content: data
};
// Lade JSON wenn vorhanden
fs.readFile(jsonFilename, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
if (!jpgErr && jpgBase64) {
response.imageFile = {
filename: jsonFilename,
mimeType: 'json',
contentBase64: jpgBase64
};
}
});
// Lade beide Bilder
fs.readFile(imagePath, { encoding: 'base64' }, (jpgErr, jpgBase64) => {
if (!jpgErr && jpgBase64) {