rotation vorbereitung

public/calibration.js

@@ -21,6 +21,10 @@ async function loadPanel(tab, src) {
     if      (tab === 'camera-npz')   initCameraNpz();
     else if (tab === 'board')        initBoard();
     else if (tab === 'robot-x-axis') initXAxis();
+    else if (tab === 'arm1')         initArm('arm1');
+    else if (tab === 'arm2')         initArm('arm2');
+    else if (tab === 'elbow')        initArm('elbow');
+    else if (tab === 'hand')         initArm('hand');
 
   } catch (err) {
     document.getElementById('tab-' + tab).innerHTML =
@@ -496,6 +500,75 @@ function initXAxis() {
   }
 }
 
+// ── Tabs: Arm1 / Arm2 / Elbow / Hand (generisch) ────────────────────────────
+// Alle Gelenk-Tabs teilen dieselbe Init-Logik – der Tab-Name (arm1, arm2, …)
+// wird als Prefix für Element-IDs und Viewer-Frame-ID genutzt.
+
+function initArm(tab) {
+  const logEl    = document.getElementById(`log-${tab}`);
+  const frameEl  = document.getElementById(`${tab}-viewer-frame`);
+  const runBtn   = document.getElementById(`btn-${tab}-run`);
+  const lastRunEl = document.getElementById(`${tab}-last-run`);
+
+  if (!logEl) return;   // Panel noch nicht geladen
+
+  function log(msg) {
+    const ts = new Date().toLocaleTimeString('de-CH');
+    logEl.value += `[${ts}] ${msg}\n`;
+    logEl.scrollTop = logEl.scrollHeight;
+  }
+
+  // "Board erkennen"-Button
+  if (runBtn) {
+    runBtn.addEventListener('click', async () => {
+      log('Board-Erkennung …');
+      runBtn.disabled = true;
+      try {
+        const response = await fetch('/api/board/run', {
+          method:  'POST',
+          headers: { 'Content-Type': 'application/json' },
+          body:    JSON.stringify({}),
+        });
+        if (!response.ok) {
+          const raw = await response.text().catch(() => '');
+          let msg;
+          try   { msg = JSON.parse(raw).error || raw; }
+          catch { msg = raw.slice(0, 300) || `HTTP ${response.status}`; }
+          log(`❌ HTTP ${response.status}: ${msg}`);
+          return;
+        }
+        await readSseStream(response, log, (evt) => {
+          if (evt.exitCode === 0) {
+            log('✅ Board-Run abgeschlossen.');
+            if (evt.runDir) {
+              if (lastRunEl) lastRunEl.textContent = evt.runDir;
+              if (frameEl?.contentWindow) frameEl.contentWindow.postMessage({ type: 'reload' }, '*');
+            }
+          } else {
+            log(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
+          }
+        });
+      } catch (err) {
+        log(`❌ Fehler: ${err}`);
+      } finally {
+        runBtn.disabled = false;
+      }
+    });
+  }
+
+  // Achsen-Messung vom Viewer empfangen
+  window.addEventListener('message', (e) => {
+    if (!frameEl || e.source !== frameEl.contentWindow) return;
+    const msg = e.data;
+    if (msg?.type === 'yaxis-measurement' && Array.isArray(msg.axisDir)) {
+      const fmt = v => (v >= 0 ? '+' : '') + v.toFixed(3) + '°';
+      log(`📐 Achse (${msg.numMarkers} Marker): dir=[${msg.axisDir.map(v => v.toFixed(4)).join(', ')}]` +
+          `  XY=${fmt(msg.tiltXY)}  YZ=${fmt(msg.tiltYZ)}`);
+      log(`   Referenzpunkt: [${msg.axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
+    }
+  });
+}
+
 // ── Tab: Board (shared helpers) ───────────────────────────────────────────────
 
 /** Befüllt alle Set-Dropdowns aus /api/robot/board-sets */