Homing API

server/server.js

@@ -10,6 +10,7 @@ import { spawn } from 'child_process';
 import { WebcamClient } from './webcamClient.js';
 import { assignByZRange, removeMarkerAssignment, alignSetToMeasured, assignMarkerId, adoptXAxis, assignFixedMarkersToLink, setJointOriginYZ, setArmMarkerSpin } from './editRobot.js';
 import { runHoming } from './homingOrchestrator.js';
+import { fetchRobot, robotCachePath } from './robotConfig.js';
 
 const __filename = fileURLToPath(import.meta.url);
 const __dirname = path.dirname(__filename);
@@ -439,8 +440,6 @@ app.post('/api/calibration/compute', async (req, res) => {
 
 const boardDataDir  = path.join(__dirname, '..', 'data', 'board');
 const homingDataDir = path.join(__dirname, '..', 'data', 'homing');
-const ROBOT_JSON    = process.env.ROBOT_JSON
-  || path.join(__dirname, '..', 'scripts', 'robot_1781069752019.json');
 const SCRIPT_1      = path.join(__dirname, '..', 'scripts', '1_detect_aruco_observations.py');
 const SCRIPT_2      = path.join(__dirname, '..', 'scripts', '2_estimate_camera_from_observations.py');
 const SCRIPT_3B     = path.join(__dirname, '..', 'scripts', '3b_corner_marker_poses.py');
@@ -496,6 +495,12 @@ function runScript(args, send) {
  * @param {{ refSet?: string }} [opts]
  */
 async function runBoardPipeline(runDir, send, { refSet } = {}) {
+  try {
+    await fetchRobot();
+  } catch (err) {
+    send({ type: 'log', text: `⚠ robot.json-Cache: Driver nicht erreichbar – nutze lokale Datei (${err.message})` });
+  }
+
   // Kameras ermitteln
   if (!WEBCAM_URL) throw new Error('WEBCAM_URL nicht konfiguriert');
   const camData   = await new WebcamClient(WEBCAM_URL).getCameras();
@@ -538,7 +543,7 @@ async function runBoardPipeline(runDir, send, { refSet } = {}) {
       SCRIPT_1,
       '-i',          imgPath,
       '-npz',        npzPath,
-      '-robot',      ROBOT_JSON,
+      '-robot',      robotCachePath,
       '-cameraId',   camId,
       '-outDir',     runDir,
       '--saveDebugImage',
@@ -556,7 +561,7 @@ async function runBoardPipeline(runDir, send, { refSet } = {}) {
       continue;
     }
     send({ type: 'log', text: '\n▷ 2_estimate_camera_from_observations' });
-    const script2Args = [SCRIPT_2, '-i', detJson, '-robot', ROBOT_JSON, '-outDir', runDir];
+    const script2Args = [SCRIPT_2, '-i', detJson, '-robot', robotCachePath, '-outDir', runDir];
     if (refSet) script2Args.push('--refSet', refSet);
     const exit2 = await runScript(script2Args, send);
     if (exit2 !== 0) send({ type: 'log', text: `❌ Script 2 Exit ${exit2}` });
@@ -574,7 +579,7 @@ async function runBoardPipeline(runDir, send, { refSet } = {}) {
     const exit3b = await runScript([
       SCRIPT_3B,
       '--evalDir', runDir,
-      '--robot',   ROBOT_JSON,
+      '--robot',   robotCachePath,
     ], send);
     if (exit3b !== 0) send({ type: 'log', text: `❌ Script 3b Exit ${exit3b}` });
   } else {
@@ -612,13 +617,13 @@ app.post('/api/board/run', async (req, res) => {
 
     // Robot-JSON laden und Marker-Anzahl loggen
     let robotData = null;
-    try { robotData = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
+    try { robotData = JSON.parse(await fsPromises.readFile(robotCachePath, 'utf8')); } catch {}
     const boardMarkers  = robotData?.links?.Board?.markers ?? [];
     const boardMarkerCount = boardMarkers.length;
     const refMarkerCount   = refSet
       ? boardMarkers.filter(m => m.set === refSet).length
       : boardMarkerCount;
-    send({ type: 'log', text: `▶ Robot-JSON: ${ROBOT_JSON}` });
+    send({ type: 'log', text: `▶ Robot-JSON: ${robotCachePath}` });
     send({ type: 'log', text: `▶ Board-Marker: ${boardMarkerCount} (links.Board.markers)` });
     send({ type: 'log', text: `▶ Referenz-Set: ${refSet ? `"${refSet}" (${refMarkerCount} Marker)` : 'alle'}` });
     send({ type: 'log', text: '' });
@@ -703,7 +708,7 @@ app.get('/api/board/latest', async (req, res) => {
     const runDir = path.join(dataDir, runName);
 
     let robot = null;
-    try { robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
+    try { robot = JSON.parse(await fsPromises.readFile(robotCachePath, 'utf8')); } catch {}
 
     let files = [];
     try { files = await fsPromises.readdir(runDir); } catch {}
@@ -746,7 +751,7 @@ app.get('/api/board/latest', async (req, res) => {
       measuredMarkers = JSON.parse(raw);
     } catch {}
 
-    return res.json({ runDir: runName, robotFile: path.basename(ROBOT_JSON), robot, detections, cameraPoses, measuredMarkers });
+    return res.json({ runDir: runName, robotFile: path.basename(robotCachePath), robot, detections, cameraPoses, measuredMarkers });
   } catch (err) {
     return res.status(500).json({ error: String(err) });
   }
@@ -771,7 +776,7 @@ app.post('/api/homing/run', async (req, res) => {
   try {
     await fsPromises.mkdir(homingDataDir, { recursive: true });
     await runHoming({
-      robotJsonPath:    ROBOT_JSON,
+      robotJsonPath:    robotCachePath,
       homingDir:        homingDataDir,
       send,
       runScript,
@@ -890,7 +895,7 @@ app.post('/api/robot/assign-by-z', async (req, res) => {
       }
     } catch { /* kein 3b-Output vorhanden – nur bestehende robot.json-Marker bearbeiten */ }
 
-    const result = await assignByZRange(ROBOT_JSON, { zMin, zMax, set, link, extraMarkers });
+    const result = await assignByZRange(robotCachePath, { zMin, zMax, set, link, extraMarkers });
     const added   = result.changes.filter(c => c.action === 'added').length;
     const updated = result.changes.filter(c => c.action === 'updated').length;
     console.log(`robot/assign-by-z z=[${zMin}..${zMax}] set="${set}" link="${link}" → ${updated} aktualisiert, ${added} neu (von ${extraMarkers.length} 3b-Markern)`);
@@ -915,7 +920,7 @@ app.post('/api/robot/remove-marker', async (req, res) => {
     if (!['set', 'link'].includes(removeFrom)) {
       return res.status(400).json({ error: 'removeFrom muss "set" oder "link" sein' });
     }
-    const result = await removeMarkerAssignment(ROBOT_JSON, { markerId, removeFrom });
+    const result = await removeMarkerAssignment(robotCachePath, { markerId, removeFrom });
     console.log(`robot/remove-marker id=${markerId} from=${removeFrom} → changed=${result.changed}`);
     return res.json(result);
   } catch (err) {
@@ -930,7 +935,7 @@ app.post('/api/robot/remove-marker', async (req, res) => {
  */
 app.get('/api/robot', async (req, res) => {
   try {
-    const robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8'));
+    const robot = await fetchRobot();
     return res.json(robot);
   } catch (err) {
     return res.status(500).json({ error: String(err) });
@@ -944,7 +949,7 @@ app.get('/api/robot', async (req, res) => {
  */
 app.get('/api/robot/board-sets', async (req, res) => {
   try {
-    const robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8'));
+    const robot = await fetchRobot();
     const markers = robot?.links?.Board?.markers ?? [];
     const sets = [...new Set(markers.map(m => m.set).filter(Boolean))].sort();
     return res.json({ sets });
@@ -975,7 +980,7 @@ app.post('/api/robot/align-sets', async (req, res) => {
       }
     } catch { /* kein 3b-Output vorhanden */ }
 
-    const result = await alignSetToMeasured(ROBOT_JSON, { setToMove, extraMarkers });
+    const result = await alignSetToMeasured(robotCachePath, { setToMove, extraMarkers });
     if (result.error) return res.status(400).json(result);
 
     console.log(
@@ -1010,7 +1015,7 @@ app.post('/api/robot/assign-id', async (req, res) => {
       }
     } catch { /* kein 3b-Output vorhanden */ }
 
-    const result = await assignMarkerId(ROBOT_JSON, { markerId, set, link, extraMarkers });
+    const result = await assignMarkerId(robotCachePath, { markerId, set, link, extraMarkers });
     if (!result.changed && result.error) return res.status(400).json(result);
 
     console.log(
@@ -1036,7 +1041,7 @@ app.post('/api/robot/adopt-x-axis', async (req, res) => {
     if (!Array.isArray(direction) || direction.length < 3) {
       return res.status(400).json({ error: '"direction" muss ein Array [vx,vy,vz] sein.' });
     }
-    const result = await adoptXAxis(ROBOT_JSON, { direction });
+    const result = await adoptXAxis(robotCachePath, { direction });
     console.log(
       `robot/adopt-x-axis dir=[${direction.map(v => Number(v).toFixed(4)).join(', ')}]` +
       ` → ${result.numChanged} Marker, Ursprung=[${result.origin.join(', ')}]` +
@@ -1064,7 +1069,7 @@ app.post('/api/robot/assign-fixed-markers', async (req, res) => {
     if (!targetLink) {
       return res.status(400).json({ error: '"targetLink" muss angegeben werden.' });
     }
-    const result = await assignFixedMarkersToLink(ROBOT_JSON, { markerIds, targetLink, measuredPositions });
+    const result = await assignFixedMarkersToLink(robotCachePath, { markerIds, targetLink, measuredPositions });
     console.log(
       `robot/assign-fixed-markers [${markerIds.join(',')}] → ${targetLink}` +
       `  added=${result.numAdded}  alreadyPresent=${result.numAlreadyPresent}`,
@@ -1089,7 +1094,7 @@ app.post('/api/robot/set-joint-origin', async (req, res) => {
     if (!Number.isFinite(Number(y)) || !Number.isFinite(Number(z))) {
       return res.status(400).json({ error: '"y" und "z" müssen Zahlen sein.' });
     }
-    const result = await setJointOriginYZ(ROBOT_JSON, { linkName, y: Number(y), z: Number(z) });
+    const result = await setJointOriginYZ(robotCachePath, { linkName, y: Number(y), z: Number(z) });
     if (!result.changed) {
       return res.status(400).json({ error: result.error });
     }
@@ -1115,7 +1120,7 @@ app.post('/api/robot/set-arm-marker-spin', async (req, res) => {
     if (!linkName) return res.status(400).json({ error: '"linkName" muss angegeben werden.' });
     if (markerId == null) return res.status(400).json({ error: '"markerId" muss angegeben werden.' });
     if (!Number.isFinite(Number(spin))) return res.status(400).json({ error: '"spin" muss eine Zahl sein.' });
-    const result = await setArmMarkerSpin(ROBOT_JSON, { linkName, markerId, spin: Number(spin) });
+    const result = await setArmMarkerSpin(robotCachePath, { linkName, markerId, spin: Number(spin) });
     if (!result.changed) return res.status(400).json({ error: result.error });
     console.log(`robot/set-arm-marker-spin ${linkName}#${markerId}: ${result.oldSpin}° → ${result.newSpin}°`);
     return res.json(result);
@@ -1268,6 +1273,13 @@ async function startServer() {
     await checkServiceReachability('BODYTRACKER_URL', new URL('/v1/health', BODYTRACKER_URL).toString());
   }
 
+  try {
+    await fetchRobot();
+    console.log('✅ robot.json geladen und gecacht.');
+  } catch (err) {
+    console.warn(`⚠ robot.json: Driver nicht erreichbar – nutze lokale Datei: ${err.message}`);
+  }
+
   const server = await createHttpsServer();
   const isHttps = Boolean(server);
   const listenServer = server || app;