From ba2cc8f6ec24e2d179952885ed548844c951e2d8 Mon Sep 17 00:00:00 2001 From: chk <79915315+ChKendel@users.noreply.github.com> Date: Mon, 11 May 2026 16:46:26 +0200 Subject: [PATCH] calculateAngles MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Versuch, es vom Browser aus zugänglich zu machen --- package-lock.json | 485 +++++++++++++++++++++++++++++++ package.json | 1 + public/calculateAngles.js | 24 +- public/calculateAnglesBrowser.js | 16 +- public/index.html | 5 +- server/server.js | 12 + 6 files changed, 537 insertions(+), 6 deletions(-) diff --git a/package-lock.json b/package-lock.json index aa2eb9e..3cddeb3 100644 --- a/package-lock.json +++ b/package-lock.json @@ -15,6 +15,7 @@ "ws": "^8.18.0" }, "devDependencies": { + "esbuild": "^0.28.0", "jest": "^30.3.0", "jest-environment-jsdom": "^30.3.0", "nodemon": "^3.0.2" @@ -736,6 +737,448 @@ "tslib": "^2.4.0" } }, + "node_modules/@esbuild/aix-ppc64": { + "version": "0.28.0", + "resolved": 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"0.28.0", + "@esbuild/linux-ia32": "0.28.0", + "@esbuild/linux-loong64": "0.28.0", + "@esbuild/linux-mips64el": "0.28.0", + "@esbuild/linux-ppc64": "0.28.0", + "@esbuild/linux-riscv64": "0.28.0", + "@esbuild/linux-s390x": "0.28.0", + "@esbuild/linux-x64": "0.28.0", + "@esbuild/netbsd-arm64": "0.28.0", + "@esbuild/netbsd-x64": "0.28.0", + "@esbuild/openbsd-arm64": "0.28.0", + "@esbuild/openbsd-x64": "0.28.0", + "@esbuild/openharmony-arm64": "0.28.0", + "@esbuild/sunos-x64": "0.28.0", + "@esbuild/win32-arm64": "0.28.0", + "@esbuild/win32-ia32": "0.28.0", + "@esbuild/win32-x64": "0.28.0" + } + }, "node_modules/escalade": { "version": "3.2.0", "resolved": "https://registry.npmjs.org/escalade/-/escalade-3.2.0.tgz", diff --git a/package.json b/package.json index 98fca1d..f2a2b52 100755 --- a/package.json +++ b/package.json @@ -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" diff --git a/public/calculateAngles.js b/public/calculateAngles.js index c595eb5..f9057d8 100644 --- a/public/calculateAngles.js +++ b/public/calculateAngles.js @@ -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); diff --git a/public/calculateAnglesBrowser.js b/public/calculateAnglesBrowser.js index ad69ec9..64fcab1 100644 --- a/public/calculateAnglesBrowser.js +++ b/public/calculateAnglesBrowser.js @@ -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 }; \ No newline at end of file diff --git a/public/index.html b/public/index.html index 53a2fe1..5b2adc2 100755 --- a/public/index.html +++ b/public/index.html @@ -35,7 +35,7 @@ GCodeMotor - + @@ -87,7 +87,10 @@ + + + \ No newline at end of file diff --git a/server/server.js b/server/server.js index f1683d5..6eed246 100755 --- a/server/server.js +++ b/server/server.js @@ -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) {