UI verbessern

public/boardViewer.html

@@ -204,6 +204,13 @@ import { OrbitControls } from 'three/addons/controls/OrbitControls.js';
 
 const S = 1 / 1000;  // mm → m
 
+// ── Modus-Erkennung ──────────────────────────────────────────────────────────
+const _urlParams  = new URLSearchParams(window.location.search);
+const IS_HOMING   = _urlParams.get('mode') === 'homing';
+if (IS_HOMING) {
+  document.getElementById('run-bar').style.display = 'none';
+}
+
 // robot (x=right, y=backward, z=up) → Three.js (x=right, y=up, z=toward viewer)
 function r2v(rx, ry, rz)      { return new THREE.Vector3(rx * S, rz * S, -ry * S); }
 function r2vArr([rx, ry, rz]) { return r2v(rx, ry, rz); }
@@ -243,13 +250,86 @@ const gCompare      = new THREE.Group();   // Pos B Marker (nur fremd, orange)
 const gCompareLines = new THREE.Group();   // Verbindungslinien Pos A↔Pos B
 const gPositionC    = new THREE.Group();   // Pos C Marker (nur fremd, cyan)
 const gYAxis        = new THREE.Group();   // Y-Achse Visualisierung (Kreismittelpunkte, Achse)
-scene.add(gPaper, gMarkers, gMeasured, gCameras, gCompare, gCompareLines, gPositionC, gYAxis);
+const gSkeleton     = new THREE.Group();   // Roboter-Skeleton (FK, nur im Homing-Mode)
+scene.add(gPaper, gMarkers, gMeasured, gCameras, gCompare, gCompareLines, gPositionC, gYAxis, gSkeleton);
 
 // ── Zustand für Positionen ────────────────────────────────────────────────────
 let _primaryFremdMarkers  = [];   // Pos A – [{marker_id, position_mm, num_cameras}]
 let _compareFremdMarkers  = [];   // Pos B – [{marker_id, position_mm, num_cameras}]
 let _positionCFremdMarkers = [];  // Pos C – [{marker_id, position_mm, num_cameras}]
 
+// ── Homing-Mode Zustand ───────────────────────────────────────────────────────
+let _currentRobot  = null;   // robot.json nach loadData()
+let _homingAngles  = null;   // { x, y, z, a, b, c, e } nach Homing-Run
+
+// ── Roboter-Skeleton (Forward Kinematics) ─────────────────────────────────────
+/**
+ * Zeichnet das Roboter-Skeleton mit vorwärts-kinematischer Berechnung.
+ * Nutzt skeleton.from/to aus robot.json (in lokalem Link-Frame).
+ * angles: { x_mm→x, y_deg→y, z_deg→z, a_deg→a, b_deg→b, c_deg→c, e_mm→e }
+ */
+function buildSkeletonFK(robot, angles) {
+  clearGroup(gSkeleton);
+  if (!robot?.links) return;
+
+  const links = robot.links;
+  const order = ['Base', 'Arm1', 'Ellbow', 'Arm2', 'Hand', 'Palm', 'FingerA', 'FingerB'];
+  // frames: Link-Name → Matrix4 (link-lokal → Welt)
+  const frames = { Board: new THREE.Matrix4() };   // Board = Welt-Ursprung
+
+  for (const linkName of order) {
+    const link = links[linkName];
+    if (!link?.jointToParent) continue;
+
+    const parentName  = link.parent ?? 'Board';
+    const parentFrame = frames[parentName] ?? new THREE.Matrix4();
+    const jtp         = link.jointToParent;
+
+    // 1. Translation zum Gelenk-Ursprung (im Parent-Frame)
+    const [ox, oy, oz] = jtp.origin ?? [0, 0, 0];
+    const T_origin = new THREE.Matrix4().makeTranslation(ox * S, oz * S, -oy * S);
+
+    // 2. Gelenk-Transformation (Rotation/Translation je nach Typ)
+    const varName = jtp.variable;
+    const q       = angles?.[varName] ?? 0;
+    let T_joint   = new THREE.Matrix4();  // Einheitsmatrix bei q=0
+
+    if (jtp.type === 'revolute') {
+      const [ax, ay, az] = jtp.axis ?? [0, 1, 0];
+      // robot (x,y,z) → Three.js (x, z, -y)
+      const axisV = new THREE.Vector3(ax, az, -ay).normalize();
+      T_joint.makeRotationAxis(axisV, q * Math.PI / 180);
+    } else if (jtp.type === 'linear') {
+      const [ax, ay, az] = jtp.axis ?? [1, 0, 0];
+      T_joint.makeTranslation(ax * q * S, az * q * S, -ay * q * S);
+    }
+
+    // Child-Frame = Parent-Frame × T_origin × T_joint
+    const childFrame = parentFrame.clone().multiply(T_origin).multiply(T_joint);
+    frames[linkName] = childFrame;
+
+    // 3. Skeleton-Segment zeichnen
+    const skel = link.skeleton;
+    if (!skel?.from || !skel?.to) continue;
+
+    const [fx, fy, fz] = skel.from;
+    const [tx, ty, tz] = skel.to;
+    const fromW = new THREE.Vector3(fx * S, fz * S, -fy * S).applyMatrix4(childFrame);
+    const toW   = new THREE.Vector3(tx * S, tz * S, -ty * S).applyMatrix4(childFrame);
+
+    const [cr, cg, cb] = skel.color ?? [0.8, 0.2, 0.2];
+    const color = new THREE.Color(cr, cg, cb);
+    const rad   = Math.max((skel.radius ?? 4) * S, 0.004);
+
+    gSkeleton.add(makeLine(fromW, toW, color, 0.9));
+    gSkeleton.add(makeSphere(fromW, rad, color));
+    gSkeleton.add(makeSphere(toW,   rad, color));
+    // Gelenk-Mittelpunkt (Welt-Ursprung des Link-Frames)
+    const jointW = new THREE.Vector3().applyMatrix4(childFrame);
+    gSkeleton.add(makeSphere(jointW, 0.004, 0xc8cdd8));
+  }
+}
+
 // ── Viewer-interner Logger ────────────────────────────────────────────────────
 function vlog(msg, kind = '') {
   const el = document.getElementById('viewer-log');
@@ -810,14 +890,21 @@ function computeAndShowYAxis() {
 
 // ── Daten laden ───────────────────────────────────────────────────────────────
 
-/** Haupt-Run laden (Basis-Dropdown). Ohne Selektion → neuester Run. */
+/** Haupt-Run laden. Im Homing-Mode: immer neuester Homing-Run, kein Dropdown. */
 async function loadData() {
   const statusEl  = document.getElementById('status');
   statusEl.textContent = 'Laden …';
-  const selRun = document.getElementById('sel-run-primary')?.value ?? '';
-  const url    = selRun
-    ? `/api/board/latest?run=${encodeURIComponent(selRun)}`
-    : '/api/board/latest';
+
+  let url;
+  if (IS_HOMING) {
+    url = '/api/board/latest?from=homing';
+  } else {
+    const selRun = document.getElementById('sel-run-primary')?.value ?? '';
+    url = selRun
+      ? `/api/board/latest?run=${encodeURIComponent(selRun)}`
+      : '/api/board/latest';
+  }
+
   try {
     const r = await fetch(url);
     if (!r.ok) throw new Error(`HTTP ${r.status}`);
@@ -826,6 +913,7 @@ async function loadData() {
       statusEl.textContent = 'Kein Board-Run vorhanden.';
       document.getElementById('stats').textContent = '';
       clearGroup(gPaper); clearGroup(gMarkers); clearGroup(gMeasured); clearGroup(gCameras);
+      if (IS_HOMING) clearGroup(gSkeleton);
       return;
     }
     buildScene(data);
@@ -839,6 +927,13 @@ async function loadData() {
     buildCompareLines();
     const robotLabel = data.robotFile ? `  •  Robot: ${data.robotFile}` : '';
     statusEl.textContent = `Run: ${data.runDir}${robotLabel}  •  ${new Date().toLocaleTimeString('de-CH')}`;
+
+    // Skeleton im Homing-Mode
+    if (IS_HOMING && data.robot) {
+      _currentRobot = data.robot;
+      const angles = _homingAngles ?? data.robot.defaultPosition ?? {};
+      buildSkeletonFK(data.robot, angles);
+    }
   } catch (err) {
     statusEl.textContent = `Fehler: ${err.message ?? err}`;
   }
@@ -965,6 +1060,11 @@ async function initRunSelectors() {
 
 /** Vollständige Initialisierung: Selektoren → Pos A → Pos B → Pos C (sequenziell!) */
 async function initAll() {
+  if (IS_HOMING) {
+    // Homing-Mode: nur neuester Run laden, kein Dropdown, kein Vergleich
+    await loadData();
+    return;
+  }
   await initRunSelectors();
   await loadData();           // setzt _primaryFremdMarkers
   await loadCompareData();    // setzt _compareFremdMarkers + baut Linien + Y-Achse (no-op)
@@ -984,6 +1084,10 @@ document.getElementById('sel-run-compare')?.addEventListener('change', async ()
 document.getElementById('sel-run-c')?.addEventListener('change', loadPositionC);
 window.addEventListener('message', async (e) => {
   if (e.data?.type === 'reload') await initAll();
+  if (e.data?.type === 'homing-state' && IS_HOMING) {
+    _homingAngles = e.data.state;
+    if (_currentRobot) buildSkeletonFK(_currentRobot, _homingAngles);
+  }
 });
 
 // ── Resize & Render-Loop ──────────────────────────────────────────────────────

public/client.js

@@ -484,10 +484,13 @@ async function runHoming() {
               setHomingStatus('✗ Fehler', 'open');
               setHomingProgress(6, 6, 'Fehler aufgetreten');
             }
-            if (evt.runDir) {
-              await loadHomingImages(evt.runDir);
-              const frame = document.getElementById('board-viewer-frame');
-              if (frame) { const s = frame.src; frame.src = ''; frame.src = s; }
+            if (evt.runDir) await loadHomingImages(evt.runDir);
+            const frame = document.getElementById('board-viewer-frame');
+            if (frame?.contentWindow) {
+              frame.contentWindow.postMessage({ type: 'reload' }, '*');
+              if (evt.state) {
+                frame.contentWindow.postMessage({ type: 'homing-state', state: evt.state }, '*');
+              }
             }
             break;
         }

public/index.html

@@ -88,7 +88,7 @@
       <h2>Board-Viewer</h2>
       <iframe
         id="board-viewer-frame"
-        src="/boardViewer.html?defaults=a"
+        src="/boardViewer.html?mode=homing"
         style="width:100%;height:600px;border:1px solid #334155;border-radius:6px;background:#0d0f13;display:block;margin-top:12px"
         title="Board-Viewer"
       ></iframe>

server/server.js

@@ -667,17 +667,31 @@ app.get('/api/board/runs', async (req, res) => {
 });
 
 /**
- * GET /api/board/latest?run=<timestamp>
+ * GET /api/board/latest?run=<timestamp>&from=homing
  * Gibt Daten eines Board-Runs zurück: robot.json + Detection-Ergebnisse + Kamera-Posen.
  * Ohne ?run → neuester Run. Mit ?run=<timestamp> → genau dieser Run.
+ * ?from=homing → liest aus data/homing/ statt data/board/ (für boardViewer im Homing-Mode).
  * Wird vom Board-Viewer (boardViewer.html) abgefragt.
  */
 app.get('/api/board/latest', async (req, res) => {
   try {
-    const runName = req.query.run || await findLatestBoardRun();
+    const fromHoming = req.query.from === 'homing';
+    const dataDir    = fromHoming ? homingDataDir : boardDataDir;
+
+    let runName = req.query.run;
+    if (!runName) {
+      if (fromHoming) {
+        try {
+          const entries = await fsPromises.readdir(dataDir, { withFileTypes: true });
+          runName = entries.filter(e => e.isDirectory()).map(e => e.name).sort().reverse()[0] ?? null;
+        } catch { runName = null; }
+      } else {
+        runName = await findLatestBoardRun();
+      }
+    }
     if (!runName) return res.json({ runDir: null, robot: null, detections: [], cameraPoses: [] });
 
-    const runDir = path.join(boardDataDir, runName);
+    const runDir = path.join(dataDir, runName);
 
     let robot = null;
     try { robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}