660 lines
27 KiB
JavaScript
660 lines
27 KiB
JavaScript
/* calibration.js – Kalibrierungs-Frontend */
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// ── Panel-Loading (lazy) ───────────────────────────────────────────────────────
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const _panelLoaded = new Set();
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async function loadPanel(tab, src) {
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if (_panelLoaded.has(tab)) return;
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try {
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const r = await fetch(src);
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if (!r.ok) throw new Error(`HTTP ${r.status}`);
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document.getElementById('tab-' + tab).innerHTML = await r.text();
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_panelLoaded.add(tab);
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// h2-Klick → Section ein-/ausklappen
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document.getElementById('tab-' + tab).querySelectorAll('.section h2').forEach(h2 => {
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h2.addEventListener('click', () => h2.closest('.section').classList.toggle('collapsed'));
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});
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// Tab-spezifische Initialisierung
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if (tab === 'camera-npz') initCameraNpz();
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else if (tab === 'board') initBoard();
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else if (tab === 'robot-x-axis') initXAxis();
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} catch (err) {
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document.getElementById('tab-' + tab).innerHTML =
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`<p style="color:#f87171;margin:16px">Panel konnte nicht geladen werden: ${err}</p>`;
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}
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}
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// ── Tab-Switching ─────────────────────────────────────────────────────────────
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document.getElementById('tabSidebar').addEventListener('click', e => {
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const btn = e.target.closest('.tab-btn');
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if (!btn) return;
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document.querySelectorAll('.tab-btn').forEach(b => b.classList.remove('active'));
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document.querySelectorAll('.tab-panel').forEach(p => p.classList.remove('active'));
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btn.classList.add('active');
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document.getElementById('tab-' + btn.dataset.tab).classList.add('active');
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loadPanel(btn.dataset.tab, btn.dataset.src);
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});
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// Erstes Tab sofort laden
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(function () {
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const first = document.querySelector('.tab-btn.active');
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if (first) loadPanel(first.dataset.tab, first.dataset.src);
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})();
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// ── Shared: SSE-Stream lesen ──────────────────────────────────────────────────
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async function readSseStream(response, logFn, onDone) {
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const reader = response.body.getReader();
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const decoder = new TextDecoder();
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let buffer = '';
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while (true) {
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const { done, value } = await reader.read();
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if (done) break;
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buffer += decoder.decode(value, { stream: true });
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const parts = buffer.split('\n\n');
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buffer = parts.pop(); // unvollständiges letztes Fragment behalten
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for (const part of parts) {
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for (const line of part.split('\n')) {
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if (!line.startsWith('data: ')) continue;
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try {
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const evt = JSON.parse(line.slice(6));
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if (evt.type === 'log') { if (evt.text !== '') logFn(evt.text); }
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else if (evt.type === 'done') { onDone(evt); }
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} catch { /* ungültiges JSON überspringen */ }
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}
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}
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}
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}
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// ── Camera NPZ ────────────────────────────────────────────────────────────────
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function initCameraNpz() {
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const logCamera = document.getElementById('log-camera');
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function logC(msg) {
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const ts = new Date().toLocaleTimeString('de-CH');
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logCamera.value += `[${ts}] ${msg}\n`;
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logCamera.scrollTop = logCamera.scrollHeight;
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}
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function formatDate(isoString) {
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if (!isoString) return '–';
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return new Date(isoString).toLocaleString('de-CH');
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}
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function updateCalibInfo(meta) {
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const sel = document.getElementById('cam-select-calib');
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if (!meta) {
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document.getElementById('info-timestamp').textContent = '(keine Session vorhanden)';
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document.getElementById('info-created').textContent = '–';
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document.getElementById('info-images').textContent = '–';
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sel.innerHTML = '<option value="">– Kamera –</option>';
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return;
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}
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document.getElementById('info-timestamp').textContent = meta.timestamp ?? '–';
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document.getElementById('info-created').textContent = formatDate(meta.createdAt);
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const cameras = meta.cameras ?? [];
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const imgTxt = meta.imageCount != null
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? `${meta.imageCount} Bilder total. ${cameras.length} Kamera(s) verwendet.`
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: '–';
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document.getElementById('info-images').textContent = imgTxt;
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const prev = sel.value;
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sel.innerHTML = '<option value="">– Kamera –</option>';
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for (const cam of cameras) {
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const opt = document.createElement('option');
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opt.value = cam; opt.textContent = cam;
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if (cam === prev) opt.selected = true;
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sel.appendChild(opt);
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}
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if (cameras.length === 1) sel.value = cameras[0];
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}
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async function loadCalibCurrent() {
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try {
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const r = await fetch('/api/calibration/current');
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const d = await r.json();
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updateCalibInfo(d.meta);
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if (d.session) logC(`Session geladen: ${d.session}`);
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else logC('Noch keine Kalibrierungs-Session vorhanden.');
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} catch (err) {
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logC(`Fehler beim Laden: ${err}`);
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}
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}
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async function safeJson(r) {
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const raw = await r.text().catch(() => '');
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try { return { ok: r.ok, status: r.status, data: JSON.parse(raw) }; }
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catch { return { ok: r.ok, status: r.status, data: null, raw: raw.slice(0, 300) }; }
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}
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// Aktuelle Session laden
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loadCalibCurrent();
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// "Neue Kalibrierung anlegen"
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document.getElementById('btn-new-calib').addEventListener('click', async () => {
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logC('Neue Kalibrierung wird angelegt …');
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try {
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const r = await fetch('/api/calibration/new', { method: 'POST' });
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const d = await r.json();
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if (d.error) { logC(`Fehler: ${d.error}`); return; }
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updateCalibInfo(d.meta);
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if (d.warning) logC(`Warnung: ${d.warning}`);
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else logC(`Session angelegt: ${d.session} | Fotos: ${(d.savedFiles ?? []).join(', ')}`);
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} catch (err) {
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logC(`Fehler: ${err}`);
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}
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});
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// "Foto aufnehmen"
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document.getElementById('btn-foto-calib').addEventListener('click', async () => {
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logC('Fotos werden aufgenommen …');
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try {
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const r = await fetch('/api/calibration/foto', { method: 'POST' });
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const d = await r.json();
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if (d.error) { logC(`Fehler: ${d.error}`); return; }
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updateCalibInfo(d.meta);
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logC(`Gespeichert: ${(d.savedFiles ?? []).join(', ')}`);
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} catch (err) {
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logC(`Fehler: ${err}`);
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}
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});
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// "Kalibrierung berechnen" – SSE
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document.getElementById('btn-compute-calib').addEventListener('click', async () => {
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const camera = document.getElementById('cam-select-calib').value;
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if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
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logC(`Starte Kalibrierung für ${camera} …`);
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const btn = document.getElementById('btn-compute-calib');
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btn.disabled = true;
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try {
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const response = await fetch('/api/calibration/compute', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ camera }),
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});
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if (!response.ok) {
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const raw = await response.text().catch(() => '');
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let msg;
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try { msg = JSON.parse(raw).error || raw; }
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catch { msg = raw.slice(0, 300) || response.statusText; }
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logC(`❌ HTTP ${response.status}: ${msg || '(kein Fehlertext – evtl. Server neu starten?)'}`);
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return;
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}
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await readSseStream(response, logC, (evt) => {
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if (evt.exitCode === 0) logC('✅ Kalibrierung abgeschlossen.');
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else logC(`❌ Script beendet mit Exit-Code ${evt.exitCode}`);
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});
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} catch (err) {
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logC(`Fehler: ${err}`);
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} finally {
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btn.disabled = false;
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}
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});
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// "NPZ speichern" → an Webcam-Service übertragen
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document.getElementById('btn-upload-npz').addEventListener('click', async () => {
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const camera = document.getElementById('cam-select-calib').value;
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if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
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logC(`NPZ wird an Webcam-Service übertragen (${camera}) …`);
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try {
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const { ok, status, data, raw } = await safeJson(await fetch('/api/calibration/upload-npz', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ camera }),
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}));
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if (!ok || data?.error) {
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logC(`❌ HTTP ${status}: ${data?.error ?? raw ?? '(kein Fehlertext)'}`);
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return;
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}
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logC(`✅ Gespeichert: ${data.webcam?.saved} (${data.size} Bytes)`);
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logC(` calibrationUrl: ${data.webcam?.calibrationUrl}`);
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} catch (err) {
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logC(`❌ Fehler: ${err}`);
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}
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});
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}
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// ── Board: Marker-Tabelle ─────────────────────────────────────────────────────
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async function loadBoardTable() {
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const wrap = document.getElementById('board-marker-table-wrap');
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if (!wrap) return;
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const th = (a) => `style="text-align:${a};padding:3px 8px;border-bottom:1px solid #2a2d35;white-space:nowrap;background:#1e293b;color:#555b6e;font-weight:normal"`;
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const td = (a, x = '') => `style="padding:2px 8px;border-bottom:1px solid #111418;text-align:${a};white-space:nowrap;${x}"`;
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try {
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const r = await fetch('/api/board/latest');
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if (!r.ok) throw new Error(`HTTP ${r.status}`);
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const data = await r.json();
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if (!data.runDir) {
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wrap.innerHTML = '<p style="font-size:11px;color:#555b6e;padding:4px 0">Noch kein Board-Run vorhanden.</p>';
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return;
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}
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const meas = data.measuredMarkers;
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if (!meas?.markers?.length) {
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wrap.innerHTML = `<p style="font-size:11px;color:#555b6e;padding:4px 0">Run: ${data.runDir} – kein 3b-Output (≥2 Kameras erforderlich).</p>`;
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return;
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}
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// Modell-Info aus robot.json
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const boardMarkers = data.robot?.links?.Board?.markers ?? [];
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const modelMap = {};
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for (const m of boardMarkers) modelMap[m.id] = m;
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const f1 = v => (v == null ? '–' : Number(v).toFixed(1));
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const f2 = v => (v == null ? '–' : Number(v).toFixed(2));
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const f4 = v => (v == null ? '–' : Number(v).toFixed(4));
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const markers = [...meas.markers].sort((a, b) => {
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if (a.link !== b.link) return a.link === 'Board' ? -1 : 1;
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return a.marker_id - b.marker_id;
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});
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let html = `<p style="font-size:10px;color:#555b6e;margin-bottom:4px">
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Run: ${data.runDir} · ${markers.length} Marker trianguliert
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</p>
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<table style="border-collapse:collapse;font-size:11px;font-family:inherit;width:100%">
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<thead><tr>
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<th ${th('left')}>ID</th>
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<th ${th('left')}>Set</th>
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<th ${th('left')}>Link</th>
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<th ${th('right')}>Kam.</th>
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<th ${th('right')}>x mm</th>
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<th ${th('right')}>y mm</th>
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<th ${th('right')}>z mm</th>
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<th ${th('right')}>nx</th>
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<th ${th('right')}>ny</th>
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<th ${th('right')}>nz</th>
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<th ${th('right')}>dist mm</th>
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<th ${th('right')}>Δz mm</th>
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<th ${th('right')}>Kante mm</th>
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</tr></thead>
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<tbody>`;
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for (const m of markers) {
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const model = modelMap[m.marker_id];
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const set = m.set ?? model?.set ?? '–';
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const [px, py, pz] = m.position_mm;
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const [mnx, mny, mnz] = m.normal;
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let dist = '–', dz = '–';
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if (model && m.link === 'Board') {
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const [mx, my, mz] = model.position;
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const ddx = px - mx, ddy = py - my, ddz = pz - mz;
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dist = Math.sqrt(ddx * ddx + ddy * ddy + ddz * ddz).toFixed(2);
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dz = ddz.toFixed(2);
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}
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const col = m.link === 'Board' ? '' : 'color:#3b82f6;';
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html += `<tr>
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<td ${td('left', col)}>${m.marker_id}</td>
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<td ${td('left', col)}>${set}</td>
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<td ${td('left', col)}>${m.link}</td>
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<td ${td('right', col)}>${m.num_cameras}</td>
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<td ${td('right', col)}>${f1(px)}</td>
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<td ${td('right', col)}>${f1(py)}</td>
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<td ${td('right', col)}>${f1(pz)}</td>
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<td ${td('right', col)}>${f4(mnx)}</td>
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<td ${td('right', col)}>${f4(mny)}</td>
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<td ${td('right', col)}>${f4(mnz)}</td>
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<td ${td('right', col)}>${dist}</td>
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<td ${td('right', col)}>${dz}</td>
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<td ${td('right', col)}>${f1(m.edge_length_mm)}</td>
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</tr>`;
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}
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html += `</tbody></table>`;
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// Kamera-Tabelle
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const cams = meas.cameras ?? [];
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if (cams.length > 0) {
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html += `<p style="font-size:10px;color:#555b6e;margin-top:12px;margin-bottom:4px">KAMERAS</p>
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<table style="border-collapse:collapse;font-size:11px;font-family:inherit;width:auto">
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<thead><tr>
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<th ${th('left')}>ID</th>
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<th ${th('right')}>x mm</th>
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<th ${th('right')}>y mm</th>
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<th ${th('right')}>z mm</th>
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<th ${th('right')}>dir_x</th>
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<th ${th('right')}>dir_y</th>
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<th ${th('right')}>dir_z</th>
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</tr></thead>
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<tbody>`;
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for (const c of cams) {
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const [cx, cy, cz] = c.position_mm ?? [null, null, null];
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const [dx, dy, dz] = c.direction ?? [null, null, null];
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html += `<tr>
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<td ${td('left', 'color:#4a9eff;')}>${c.camera_id}</td>
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<td ${td('right')}>${f1(cx)}</td>
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<td ${td('right')}>${f1(cy)}</td>
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<td ${td('right')}>${f1(cz)}</td>
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<td ${td('right')}>${f4(dx)}</td>
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<td ${td('right')}>${f4(dy)}</td>
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<td ${td('right')}>${f4(dz)}</td>
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</tr>`;
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}
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html += `</tbody></table>`;
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}
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wrap.innerHTML = html;
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} catch (err) {
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if (wrap) wrap.innerHTML = `<p style="color:#f87171;font-size:11px">Fehler: ${err}</p>`;
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}
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}
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// ── Board ─────────────────────────────────────────────────────────────────────
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// ── Tab: Robot X Axis ─────────────────────────────────────────────────────────
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async function populateXAxisSetDropdowns() {
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let sets = [];
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try {
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const r = await fetch('/api/robot/board-sets');
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if (r.ok) sets = (await r.json()).sets ?? [];
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} catch {}
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const sel = document.getElementById('xaxis-ref-set');
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if (sel) {
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sel.innerHTML = '<option value="">alle</option>' +
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sets.map(s => `<option value="${s}">${s}</option>`).join('');
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}
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}
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function initXAxis() {
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const logEl = document.getElementById('log-xaxis');
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function logX(msg) {
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const ts = new Date().toLocaleTimeString('de-CH');
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logEl.value += `[${ts}] ${msg}\n`;
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logEl.scrollTop = logEl.scrollHeight;
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}
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populateXAxisSetDropdowns();
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document.getElementById('btn-xaxis-run').addEventListener('click', async () => {
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const refSet = document.getElementById('xaxis-ref-set')?.value ?? '';
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logX(`Board-Erkennung … Referenz: ${refSet || 'alle'}`);
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const btn = document.getElementById('btn-xaxis-run');
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btn.disabled = true;
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try {
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const response = await fetch('/api/board/run', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ refSet: refSet || undefined }),
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});
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if (!response.ok) {
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const raw = await response.text().catch(() => '');
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let msg;
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try { msg = JSON.parse(raw).error || raw; }
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catch { msg = raw.slice(0, 300) || `HTTP ${response.status}`; }
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logX(`❌ HTTP ${response.status}: ${msg}`);
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return;
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}
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await readSseStream(response, logX, (evt) => {
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if (evt.exitCode === 0) {
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logX('✅ Board-Run abgeschlossen.');
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if (evt.runDir) {
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document.getElementById('xaxis-last-run').textContent = evt.runDir;
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const frame = document.getElementById('xaxis-viewer-frame');
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if (frame?.contentWindow) {
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frame.contentWindow.postMessage({ type: 'reload' }, '*');
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}
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}
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} else {
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logX(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
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}
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});
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} catch (err) {
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logX(`❌ Fehler: ${err}`);
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} finally {
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btn.disabled = false;
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}
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});
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}
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// ── Tab: Board (shared helpers) ───────────────────────────────────────────────
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/** Befüllt alle Set-Dropdowns aus /api/robot/board-sets */
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async function populateBoardSetDropdowns() {
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let sets = [];
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try {
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const r = await fetch('/api/robot/board-sets');
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if (r.ok) sets = (await r.json()).sets ?? [];
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} catch { /* kein Server / noch keine Sets → leere Dropdowns */ }
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// Hilfsfunktion: <select> mit Optionen füllen
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function fill(selId, placeholder, selected = '') {
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const sel = document.getElementById(selId);
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if (!sel) return;
|
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sel.innerHTML = `<option value="">${placeholder}</option>` +
|
||
sets.map(s => `<option value="${s}"${s === selected ? ' selected' : ''}>${s}</option>`).join('');
|
||
}
|
||
|
||
fill('board-ref-set', 'alle');
|
||
fill('act-align-fixed', '– bleibt –');
|
||
fill('act-align-move', '– verschoben –');
|
||
}
|
||
|
||
function initBoard() {
|
||
const logBoard = document.getElementById('log-board');
|
||
|
||
function logB(msg) {
|
||
const ts = new Date().toLocaleTimeString('de-CH');
|
||
logBoard.value += `[${ts}] ${msg}\n`;
|
||
logBoard.scrollTop = logBoard.scrollHeight;
|
||
}
|
||
|
||
// Dropdowns mit Sets aus robot.json befüllen
|
||
populateBoardSetDropdowns();
|
||
|
||
// Tabelle beim ersten Öffnen des Tabs befüllen
|
||
loadBoardTable();
|
||
|
||
document.getElementById('btn-board-run').addEventListener('click', async () => {
|
||
const refSet = document.getElementById('board-ref-set')?.value ?? '';
|
||
logB(`Board-Erkennung wird gestartet … Referenz: ${refSet || 'alle'}`);
|
||
const btn = document.getElementById('btn-board-run');
|
||
btn.disabled = true;
|
||
try {
|
||
const response = await fetch('/api/board/run', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ refSet: refSet || undefined }),
|
||
});
|
||
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}`; }
|
||
logB(`❌ HTTP ${response.status}: ${msg}`);
|
||
return;
|
||
}
|
||
await readSseStream(response, logB, (evt) => {
|
||
if (evt.exitCode === 0) {
|
||
logB('✅ Board-Run abgeschlossen.');
|
||
if (evt.runDir) {
|
||
document.getElementById('board-last-run').textContent = evt.runDir;
|
||
// Board-Viewer im iframe nach dem Run neu laden
|
||
const frame = document.getElementById('board-viewer-frame');
|
||
if (frame?.contentWindow) {
|
||
frame.contentWindow.postMessage({ type: 'reload' }, '*');
|
||
}
|
||
// Marker-Tabelle + Set-Dropdowns aktualisieren
|
||
loadBoardTable();
|
||
populateBoardSetDropdowns();
|
||
}
|
||
} else {
|
||
logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
|
||
}
|
||
});
|
||
} catch (err) {
|
||
logB(`❌ Fehler: ${err}`);
|
||
} finally {
|
||
btn.disabled = false;
|
||
}
|
||
});
|
||
|
||
// ── Aktion 1: Z-Bereich Zuordnung ───────────────────────────────────────────
|
||
document.getElementById('btn-act-assign').addEventListener('click', async () => {
|
||
const zMin = document.getElementById('act-z-min').value;
|
||
const zMax = document.getElementById('act-z-max').value;
|
||
const set = document.getElementById('act-set').value.trim();
|
||
const link = document.getElementById('act-link').value.trim();
|
||
const result = document.getElementById('act-result');
|
||
|
||
if (zMin === '' || zMax === '') {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte z-Bereich eingeben.</span>'; return;
|
||
}
|
||
if (!set && !link) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte mindestens Set oder Link angeben.</span>'; return;
|
||
}
|
||
|
||
result.innerHTML = '<span style="color:#555b6e">Zuordnung läuft …</span>';
|
||
try {
|
||
const r = await fetch('/api/robot/assign-by-z', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ zMin: parseFloat(zMin), zMax: parseFloat(zMax), set, link }),
|
||
});
|
||
const data = await r.json();
|
||
if (!r.ok || data.error) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
|
||
}
|
||
if (data.numChanged === 0) {
|
||
result.innerHTML = '<span style="color:#555b6e">Keine Marker im Z-Bereich gefunden (weder in robot.json noch im letzten 3b-Run).</span>'; return;
|
||
}
|
||
const added = data.changes.filter(c => c.action === 'added').length;
|
||
const moved = data.changes.filter(c => c.action === 'updated' && c.oldLink !== c.newLink).length;
|
||
const updated = data.changes.filter(c => c.action === 'updated').length - moved;
|
||
const parts = [];
|
||
if (added) parts.push(`${added} neu hinzugefügt`);
|
||
if (moved) parts.push(`${moved} verschoben`);
|
||
if (updated) parts.push(`${updated} aktualisiert`);
|
||
result.innerHTML = `<span style="color:#22c55e">✅ ${data.numChanged} Marker: ${parts.join(', ')}.</span>` +
|
||
` IDs: ${data.changes.map(c => c.markerId).join(', ')}`;
|
||
loadBoardTable();
|
||
} catch (err) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
|
||
}
|
||
});
|
||
|
||
// ── Aktion 2: Zuordnung entfernen ───────────────────────────────────────────
|
||
document.getElementById('btn-act-remove').addEventListener('click', async () => {
|
||
const markerId = document.getElementById('act-rm-id').value.trim();
|
||
const removeFrom = document.querySelector('input[name="act-rm-from"]:checked')?.value;
|
||
const result = document.getElementById('act-result');
|
||
|
||
if (!markerId) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte Marker-ID eingeben.</span>'; return;
|
||
}
|
||
|
||
result.innerHTML = '<span style="color:#555b6e">Verarbeite …</span>';
|
||
try {
|
||
const r = await fetch('/api/robot/remove-marker', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ markerId: parseInt(markerId, 10), removeFrom }),
|
||
});
|
||
const data = await r.json();
|
||
if (!r.ok) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
|
||
}
|
||
if (!data.changed) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error}</span>`; return;
|
||
}
|
||
const info = data.action === 'set-removed'
|
||
? `Set "${data.oldSet}" entfernt (bleibt in Link "${data.link}")`
|
||
: `Aus Link "${data.link}" entfernt`;
|
||
result.innerHTML = `<span style="color:#22c55e">✅ Marker ${markerId}: ${info}</span>`;
|
||
loadBoardTable();
|
||
} catch (err) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
|
||
}
|
||
});
|
||
|
||
// ── Aktion 3: Sets justieren (Kabsch 2D+Z) ─────────────────────────────────
|
||
document.getElementById('btn-act-align').addEventListener('click', async () => {
|
||
const setFixed = document.getElementById('act-align-fixed').value;
|
||
const setToMove = document.getElementById('act-align-move').value;
|
||
const result = document.getElementById('act-result');
|
||
|
||
if (!setToMove) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte Set auswählen, das verschoben werden soll.</span>'; return;
|
||
}
|
||
if (setFixed && setFixed === setToMove) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ "Bleibt" und "verschoben" dürfen nicht dasselbe Set sein.</span>'; return;
|
||
}
|
||
|
||
result.innerHTML = '<span style="color:#555b6e">Justierung läuft …</span>';
|
||
try {
|
||
const r = await fetch('/api/robot/align-sets', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ setFixed: setFixed || undefined, setToMove }),
|
||
});
|
||
const data = await r.json();
|
||
if (!r.ok || data.error) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
|
||
}
|
||
const t = data.transform;
|
||
result.innerHTML =
|
||
`<span style="color:#22c55e">✅ Set "${setToMove}": ${data.numChanged} Marker verschoben` +
|
||
` (${data.numMatchingPts} Messpunkte)${setFixed ? ` – "${setFixed}" bleibt` : ''}</span>` +
|
||
`  Δx=${t.tx} mm Δy=${t.ty} mm Δz=${t.tz} mm` +
|
||
` θ=${t.thetaDeg}°`;
|
||
loadBoardTable();
|
||
} catch (err) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
|
||
}
|
||
});
|
||
|
||
// ── Aktion 4: Zuordnung hinzufügen ─────────────────────────────────────────
|
||
document.getElementById('btn-act-add').addEventListener('click', async () => {
|
||
const markerId = document.getElementById('act-add-id').value.trim();
|
||
const set = document.getElementById('act-add-set').value.trim();
|
||
const link = document.getElementById('act-add-link').value.trim();
|
||
const result = document.getElementById('act-result');
|
||
|
||
if (!markerId) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte Marker-ID eingeben.</span>'; return;
|
||
}
|
||
if (!set && !link) {
|
||
result.innerHTML = '<span style="color:#f87171">⚠ Bitte mindestens Set oder Link angeben.</span>'; return;
|
||
}
|
||
|
||
result.innerHTML = '<span style="color:#555b6e">Hinzufügen …</span>';
|
||
try {
|
||
const r = await fetch('/api/robot/assign-id', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ markerId: parseInt(markerId, 10), set, link }),
|
||
});
|
||
const data = await r.json();
|
||
if (!r.ok) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error ?? `HTTP ${r.status}`}</span>`; return;
|
||
}
|
||
if (!data.changed) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${data.error}</span>`; return;
|
||
}
|
||
const c = data.change;
|
||
const info = c.action === 'added'
|
||
? `neu in Link "${c.newLink}"${c.newSet ? ` Set "${c.newSet}"` : ''}`
|
||
: `aktualisiert → Link "${c.newLink}"${c.newSet ? ` Set "${c.newSet}"` : ''}`;
|
||
result.innerHTML = `<span style="color:#22c55e">✅ Marker ${markerId}: ${info}</span>`;
|
||
loadBoardTable();
|
||
} catch (err) {
|
||
result.innerHTML = `<span style="color:#f87171">❌ ${err}</span>`;
|
||
}
|
||
});
|
||
}
|