Homing nicht als SubPage

2026-06-14 17:14:22 +02:00
parent dd8de5674d
commit fdbdb5f1e7
3 changed files with 273 additions and 17 deletions
--- a/public/client.js
+++ b/public/client.js
@@ -325,6 +325,202 @@ async function onFotoClick() {
  display.appendChild(wrapper);
 }

+// ── Homing ────────────────────────────────────────────────────────────────────
+
+let _homingState = null;
+
+function setHomingStatus(label, cls) {
+  const el = document.getElementById('homing-status');
+  if (!el) return;
+  el.textContent = label;
+  el.className   = `status-badge ${cls}`;
+}
+
+function setHomingProgress(step, total, text) {
+  const wrap = document.getElementById('homing-progress');
+  const bar  = document.getElementById('homing-progress-bar');
+  const txt  = document.getElementById('homing-progress-text');
+  if (!wrap) return;
+  wrap.style.display = 'block';
+  if (bar) bar.style.width = (total > 0 ? Math.round(step / total * 100) : 0) + '%';
+  if (txt) txt.textContent = text || `Schritt ${step} / ${total}`;
+}
+
+function showHomingResult(state) {
+  // Raw JSON
+  const jsonEl = document.getElementById('result-json');
+  if (jsonEl) jsonEl.value = JSON.stringify(state, null, 2);
+
+  // Tree View: Labels + Einheiten statt generischem renderTree
+  const treeEl = document.getElementById('result-tree');
+  if (treeEl) {
+    const LABELS = {
+      x_mm:  'x (Slider)', y_deg: 'y (Arm1)',   z_deg: 'z (Ellbow)',
+      a_deg: 'a (Arm2)',   b_deg: 'b (Hand)',   c_deg: 'c (Palm)',
+      e_mm:  'e (Greifer)',
+    };
+    const UNITS = {
+      x_mm: 'mm', y_deg: '°', z_deg: '°',
+      a_deg: '°', b_deg: '°', c_deg: '°', e_mm: 'mm',
+    };
+    let html = '';
+    for (const [key, val] of Object.entries(state)) {
+      const label  = LABELS[key] ?? key;
+      const unit   = UNITS[key]  ?? '';
+      const valStr = typeof val === 'number' ? val.toFixed(2) : String(val ?? '–');
+      html += `<div style="display:flex;gap:8px;padding:3px 0;font-family:ui-monospace,monospace;font-size:13px">
+        <span style="min-width:130px;color:#94a3b8">${label}</span>
+        <span style="font-weight:600">${valStr}&thinsp;${unit}</span>
+      </div>`;
+    }
+    treeEl.innerHTML = html || '<span style="color:#64748b">–</span>';
+  }
+}
+
+async function loadHomingImages(runDir) {
+  const display = document.getElementById('snapshot-info-picture');
+  if (!display || !runDir) return;
+  try {
+    const res = await fetch(`/api/homing/run-data?run=${encodeURIComponent(runDir)}`);
+    if (!res.ok) return;
+    const data = await res.json();
+
+    let html = '<div style="display:flex;gap:8px;flex-wrap:wrap;margin-top:8px">';
+    for (const img of (data.images ?? [])) {
+      html += `<figure style="margin:0">
+        <img src="data:image/jpeg;base64,${img.contentBase64}"
+          style="max-width:380px;height:auto;border:1px solid #1f2937;border-radius:4px;display:block"
+          alt="${img.filename}">
+        <figcaption style="font-size:11px;color:#64748b;text-align:center;margin-top:3px">
+          ${img.filename}
+        </figcaption>
+      </figure>`;
+    }
+    html += '</div>';
+    display.innerHTML = html;
+  } catch { /* nicht kritisch */ }
+}
+
+async function runHoming() {
+  // UI zurücksetzen
+  clearTextarea('log');
+  clearTextarea('analysis-log');
+  clearTextarea('result-json');
+  clearElement('result-tree');
+  clearElement('snapshot-table');
+  clearElement('snapshot-info-picture');
+
+  const btnRun  = document.getElementById('btn-homing-run');
+  const btnSend = document.getElementById('btn-homing-send');
+  _homingState  = null;
+
+  if (btnRun)  btnRun.disabled  = true;
+  if (btnSend) {
+    btnSend.disabled     = true;
+    btnSend.style.opacity = '.4';
+    btnSend.style.cursor  = 'not-allowed';
+  }
+  setHomingStatus('● Läuft …', 'wip');
+  setHomingProgress(0, 6, 'Verbinde …');
+
+  try {
+    const response = await fetch('/api/homing/run', { method: 'POST' });
+    if (!response.ok || !response.body) throw new Error(`HTTP ${response.status}`);
+
+    const reader  = response.body.getReader();
+    const decoder = new TextDecoder();
+    let buf = '';
+
+    while (true) {
+      const { done, value } = await reader.read();
+      if (done) break;
+
+      buf += decoder.decode(value, { stream: true });
+      const lines = buf.split('\n');
+      buf = lines.pop();
+
+      for (const line of lines) {
+        if (!line.startsWith('data: ')) continue;
+        let evt;
+        try { evt = JSON.parse(line.slice(6)); } catch { continue; }
+
+        switch (evt.type) {
+          case 'log':
+            appendLog(evt.text ?? '');
+            break;
+
+          case 'step':
+            setHomingProgress(evt.step, evt.total, evt.text);
+            appendLog(`[${evt.step}/${evt.total}] ${evt.text || ''}`);
+            break;
+
+          case 'analysis': {
+            const el = document.getElementById('analysis-log');
+            if (el) {
+              el.value += `${evt.key}:\n${JSON.stringify(evt.value, null, 2)}\n\n`;
+              el.scrollTop = el.scrollHeight;
+            }
+            break;
+          }
+
+          case 'error':
+            appendLog(evt.text ?? '');
+            setHomingStatus('✗ Fehler', 'open');
+            break;
+
+          case 'done':
+            if (evt.state) {
+              _homingState = evt.state;
+              showHomingResult(evt.state);
+              if (btnSend) {
+                btnSend.disabled     = false;
+                btnSend.style.opacity = '';
+                btnSend.style.cursor  = '';
+              }
+              setHomingStatus('✓ Fertig', 'done');
+              setHomingProgress(6, 6, 'Homing abgeschlossen');
+            } else {
+              setHomingStatus('✗ Fehler', 'open');
+              setHomingProgress(6, 6, 'Fehler aufgetreten');
+            }
+            if (evt.runDir) await loadHomingImages(evt.runDir);
+            break;
+        }
+      }
+    }
+  } catch (err) {
+    appendLog(`❌ Verbindungsfehler: ${err.message}`);
+    setHomingStatus('✗ Fehler', 'open');
+  } finally {
+    if (btnRun) btnRun.disabled = false;
+  }
+}
+
+async function sendHomingToRobot() {
+  if (!_homingState) return;
+  const btnSend = document.getElementById('btn-homing-send');
+  if (btnSend) btnSend.disabled = true;
+
+  try {
+    const res = await fetch('/api/homing/send-state', {
+      method:  'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body:    JSON.stringify({ state: _homingState }),
+    });
+    const data = await res.json();
+    if (res.ok) {
+      appendLog('✅ State erfolgreich an Roboter gesendet');
+      setHomingStatus('✓ Gesendet', 'done');
+    } else {
+      appendLog(`❌ Fehler beim Senden: ${data.error ?? JSON.stringify(data)}`);
+      if (btnSend) btnSend.disabled = false;
+    }
+  } catch (err) {
+    appendLog(`❌ Netzwerkfehler: ${err.message}`);
+    if (btnSend) btnSend.disabled = false;
+  }
+}
+
 async function onCommandClick(btn) {
  const cmd = btn.dataset.cmd;
  const payloadSelector = btn.dataset.payload;
@@ -346,6 +542,14 @@ async function onCommandClick(btn) {
 }

 function setupUi() {
+  // Homing-Buttons
+  const homingRunBtn  = document.getElementById('btn-homing-run');
+  if (homingRunBtn)  homingRunBtn.addEventListener('click', runHoming);
+
+  const homingSendBtn = document.getElementById('btn-homing-send');
+  if (homingSendBtn) homingSendBtn.addEventListener('click', sendHomingToRobot);
+
+  // Ältere Buttons (Fallback / Debug)
  const calculateBtn = document.getElementById("btn-calculate");
  if (calculateBtn) {
    calculateBtn.addEventListener("click", onCalculateClick);
--- a/public/index.html
+++ b/public/index.html
@@ -15,30 +15,40 @@
    <div class="section full">
      <h2>Aktionen</h2>

-      <div class="controls">
-        <button data-cmd="HOME">HOME</button>
-        <button data-cmd="PING">PING</button>
+      <!-- Homing – primäre Aktion -->
+      <div class="controls" style="flex-wrap:wrap;gap:10px;align-items:center">
+        <button id="btn-homing-run">📷 Foto &amp; Homing berechnen</button>
+        <button id="btn-homing-send" disabled
+          style="opacity:.4;cursor:not-allowed"
+          title="Erst Homing ausführen">
+          ✅ An Roboter senden
+        </button>
+        <span id="homing-status" class="status-badge open">○ Warte</span>
+      </div>

+      <!-- Fortschrittsbalken -->
+      <div id="homing-progress" style="display:none;margin-top:12px">
+        <div id="homing-progress-track">
+          <div id="homing-progress-bar"></div>
+        </div>
+        <span id="homing-progress-text"></span>
+      </div>
+
+      <!-- Sekundäre Aktionen -->
+      <div class="controls" style="margin-top:14px;flex-wrap:wrap;gap:8px;padding-top:12px;border-top:1px solid #1e293b">
+        <button data-cmd="HOME" style="font-size:12px;padding:4px 12px">HOME</button>
+        <button data-cmd="PING" style="font-size:12px;padding:4px 12px">PING</button>
        <input
          id="gcodePayload"
          type="text"
          placeholder="G-Code / Motorbefehl"
+          style="font-size:12px;padding:4px 8px"
        />
-
-        <button data-cmd="GCODEMOTOR" data-payload="#gcodePayload">
-          GCodeMotor
-        </button>
-
-        <button id="btn-calculate">Read Position from Markers</button>
-
-        <button id="btn-foto">Foto</button>
-
+        <button data-cmd="GCODEMOTOR" data-payload="#gcodePayload"
+          style="font-size:12px;padding:4px 12px">GCodeMotor</button>
+        <button id="btn-foto" style="font-size:12px;padding:4px 12px">Foto-Vorschau</button>
        <a href="/calibration.html">
-          <button type="button">Calibration Page</button>
-        </a>
-
-        <a href="/homing.html">
-          <button type="button">Homing</button>
+          <button type="button" style="font-size:12px;padding:4px 12px">Kalibrierung</button>
        </a>
      </div>
    </div>
--- a/public/styles.css
+++ b/public/styles.css
@@ -224,4 +224,46 @@ textarea {

 #snapshot-info-picture {
  margin-top: 10px;
+}
+
+/* ===== STATUS-BADGE (Homing) ===== */
+
+.status-badge {
+  display: inline-block;
+  padding: 2px 10px;
+  border-radius: 12px;
+  font-size: 12px;
+  font-weight: 600;
+  background: #1e293b;
+  color: #94a3b8;
+}
+.status-badge.open { color: #f59e0b; }
+.status-badge.wip  { color: #60a5fa; }
+.status-badge.done { color: #34d399; background: #064e3b; }
+
+/* ===== HOMING FORTSCHRITTSBALKEN ===== */
+
+#homing-progress {
+  margin-top: 12px;
+}
+
+#homing-progress-track {
+  background: #1e293b;
+  border-radius: 3px;
+  height: 5px;
+  overflow: hidden;
+}
+
+#homing-progress-bar {
+  height: 100%;
+  background: var(--accent);
+  width: 0%;
+  transition: width .4s ease;
+}
+
+#homing-progress-text {
+  font-size: 11px;
+  color: var(--muted);
+  display: block;
+  margin-top: 4px;
 }