517 lines
17 KiB
HTML
517 lines
17 KiB
HTML
<!DOCTYPE html>
|
||
<html lang="de">
|
||
<head>
|
||
<meta charset="UTF-8" />
|
||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||
<title>Kalibrierung – appRobotHoming</title>
|
||
<link rel="stylesheet" href="/styles.css">
|
||
<style>
|
||
|
||
/* ===== LAYOUT ===== */
|
||
|
||
body {
|
||
display: flex;
|
||
flex-direction: column;
|
||
height: 100vh;
|
||
margin: 0;
|
||
padding: 0;
|
||
overflow: hidden;
|
||
}
|
||
|
||
/* ===== HEADER (gleicher Stil wie .section auf index.html) ===== */
|
||
|
||
.calib-topbar {
|
||
display: flex;
|
||
align-items: center;
|
||
gap: 16px;
|
||
padding: 14px 20px;
|
||
background: var(--panel);
|
||
border-bottom: 1px solid var(--border);
|
||
flex-shrink: 0;
|
||
}
|
||
|
||
.calib-topbar a {
|
||
color: var(--muted);
|
||
text-decoration: none;
|
||
font-size: 13px;
|
||
border: 1px solid #334155;
|
||
border-radius: 6px;
|
||
padding: 6px 14px;
|
||
transition: border-color 0.2s, color 0.2s;
|
||
}
|
||
|
||
.calib-topbar a:hover {
|
||
border-color: var(--accent);
|
||
color: var(--accent);
|
||
}
|
||
|
||
.calib-topbar h1 {
|
||
margin: 0;
|
||
font-size: 15px;
|
||
font-weight: 500;
|
||
color: var(--accent);
|
||
}
|
||
|
||
/* ===== BODY: SIDEBAR + CONTENT ===== */
|
||
|
||
.calib-body {
|
||
display: flex;
|
||
flex: 1;
|
||
overflow: hidden;
|
||
padding: 16px;
|
||
gap: 0;
|
||
}
|
||
|
||
/* ===== LESEZEICHEN-TABS LINKS ===== */
|
||
|
||
.tab-sidebar {
|
||
display: flex;
|
||
flex-direction: column;
|
||
gap: 3px;
|
||
padding-top: 4px;
|
||
flex-shrink: 0;
|
||
width: 148px;
|
||
}
|
||
|
||
.tab-btn {
|
||
background: #0e1a2b;
|
||
border: 1px solid #1f2937;
|
||
border-right: none;
|
||
border-radius: 6px 0 0 6px;
|
||
padding: 11px 16px;
|
||
color: var(--muted);
|
||
font-size: 13px;
|
||
text-align: left;
|
||
cursor: pointer;
|
||
transition: color 0.15s, background 0.15s, border-color 0.15s;
|
||
white-space: nowrap;
|
||
}
|
||
|
||
.tab-btn:hover {
|
||
color: var(--text);
|
||
background: #132c44;
|
||
border-color: #334155;
|
||
}
|
||
|
||
.tab-btn.active {
|
||
color: var(--accent);
|
||
background: var(--panel); /* gleiche Farbe wie Content-Area */
|
||
border-color: #334155;
|
||
border-right: none;
|
||
border-left: 3px solid var(--accent);
|
||
padding-left: 13px; /* kompensiert den dickeren linken Rand */
|
||
z-index: 1;
|
||
}
|
||
|
||
/* ===== CONTENT AREA ===== */
|
||
|
||
.tab-content {
|
||
flex: 1;
|
||
background: var(--panel);
|
||
border: 1px solid #334155;
|
||
border-radius: 0 8px 8px 8px;
|
||
overflow-y: auto;
|
||
padding: 20px 24px;
|
||
}
|
||
|
||
/* ===== TAB PANELS ===== */
|
||
|
||
.tab-panel { display: none; }
|
||
.tab-panel.active { display: block; }
|
||
|
||
/* ===== SECTION OVERRIDE: kein äusserer Rand in der Content-Area ===== */
|
||
|
||
.tab-content .section {
|
||
background: #0e1a2b;
|
||
}
|
||
|
||
/* ===== PLACEHOLDER NOTE ===== */
|
||
|
||
.placeholder-note {
|
||
margin-top: 14px;
|
||
padding: 14px 18px;
|
||
background: #0b1220;
|
||
border: 1px dashed #334155;
|
||
border-radius: 8px;
|
||
color: var(--muted);
|
||
font-size: 13px;
|
||
line-height: 1.7;
|
||
}
|
||
|
||
/* ===== STATUS BADGE ===== */
|
||
|
||
.status-badge {
|
||
display: inline-block;
|
||
font-size: 11px;
|
||
padding: 2px 8px;
|
||
border-radius: 4px;
|
||
background: #1e293b;
|
||
color: var(--muted);
|
||
margin-left: 8px;
|
||
vertical-align: middle;
|
||
font-weight: normal;
|
||
}
|
||
.status-badge.open { color: #f59e0b; }
|
||
.status-badge.done { color: #34d399; background: #064e3b; }
|
||
.status-badge.wip { color: #60a5fa; }
|
||
|
||
/* ===== INFO GRID ===== */
|
||
|
||
.info-grid {
|
||
display: grid;
|
||
grid-template-columns: 160px 1fr;
|
||
gap: 6px 12px;
|
||
margin-top: 14px;
|
||
font-size: 13px;
|
||
}
|
||
|
||
.info-label {
|
||
color: var(--muted);
|
||
}
|
||
|
||
.info-value {
|
||
color: var(--text);
|
||
font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
|
||
}
|
||
|
||
/* Buttons: aktiv vs. deaktiviert visuell unterscheiden */
|
||
.controls button:disabled {
|
||
opacity: 0.35;
|
||
cursor: not-allowed;
|
||
}
|
||
|
||
</style>
|
||
</head>
|
||
<body>
|
||
|
||
<!-- HEADER -->
|
||
<div class="calib-topbar">
|
||
<a href="/">← Zurück</a>
|
||
<h1>Kalibrierung</h1>
|
||
</div>
|
||
|
||
<!-- SIDEBAR + CONTENT -->
|
||
<div class="calib-body">
|
||
|
||
<!-- LESEZEICHEN-TABS -->
|
||
<nav class="tab-sidebar" id="tabSidebar">
|
||
<button class="tab-btn active" data-tab="camera-npz">Camera NPZ</button>
|
||
<button class="tab-btn" data-tab="board">Board</button>
|
||
<button class="tab-btn" data-tab="robot-x-axis">Robot X Axis</button>
|
||
<button class="tab-btn" data-tab="arm">Arm1 / Arm2</button>
|
||
</nav>
|
||
|
||
<!-- CONTENT -->
|
||
<div class="tab-content">
|
||
|
||
<!-- PANEL: Camera NPZ -->
|
||
<div class="tab-panel active" id="tab-camera-npz">
|
||
<div class="sections">
|
||
|
||
<!-- Info-Box: Aktuelle Kalibrierung -->
|
||
<div class="section full">
|
||
<h2>Aktuelle Kalibrierung</h2>
|
||
<div id="calib-info" class="info-grid">
|
||
<span class="info-label">Timestamp</span>
|
||
<span class="info-value" id="info-timestamp">–</span>
|
||
|
||
<span class="info-label">Erstellt am</span>
|
||
<span class="info-value" id="info-created">–</span>
|
||
|
||
<span class="info-label">Bilder / Kameras</span>
|
||
<span class="info-value" id="info-images">–</span>
|
||
</div>
|
||
</div>
|
||
|
||
<!-- Aktionen -->
|
||
<div class="section full">
|
||
<h2>Aktionen</h2>
|
||
<div class="controls" style="margin-top: 14px;">
|
||
<button id="btn-new-calib">Neue Kalibrierung anlegen</button>
|
||
<button id="btn-foto-calib">Foto aufnehmen</button>
|
||
|
||
<select id="cam-select-calib" title="Kamera für Kalibrierung wählen">
|
||
<option value="">– Kamera –</option>
|
||
</select>
|
||
<button id="btn-compute-calib">Kalibrierung berechnen</button>
|
||
|
||
<button disabled title="Folgt später">NPZ speichern</button>
|
||
</div>
|
||
</div>
|
||
|
||
<!-- Ausgabe -->
|
||
<div class="section full">
|
||
<h2>Ausgabe / Log</h2>
|
||
<textarea id="log-camera" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
|
||
</div>
|
||
|
||
</div>
|
||
</div>
|
||
|
||
<!-- PANEL: Board -->
|
||
<div class="tab-panel" id="tab-board">
|
||
<div class="sections">
|
||
|
||
<div class="section full">
|
||
<h2>Board <span class="status-badge open">offen</span></h2>
|
||
<div class="placeholder-note">
|
||
Ziel: Extrinsische Position des Marker-Boards im Kamera-Koordinatensystem bestimmen
|
||
(Rotations- und Translationsvektor via <code>solvePnP</code>).<br><br>
|
||
Geplante Aktionen: Kamerabild mit erkannten Markern anzeigen · Pose berechnen ·
|
||
Kalibrierungsdatei speichern.<br><br>
|
||
<em>Aktionen werden ergänzt sobald das Konzept feststeht.</em>
|
||
</div>
|
||
<div class="controls" style="margin-top: 14px;">
|
||
<button disabled>Foto aufnehmen</button>
|
||
<button disabled>Marker erkennen</button>
|
||
<button disabled>Pose berechnen</button>
|
||
<button disabled>Board-Pose speichern</button>
|
||
</div>
|
||
</div>
|
||
|
||
<div class="section full">
|
||
<h2>Ausgabe / Log</h2>
|
||
<textarea id="log-board" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
|
||
</div>
|
||
|
||
</div>
|
||
</div>
|
||
|
||
<!-- PANEL: Robot X Axis -->
|
||
<div class="tab-panel" id="tab-robot-x-axis">
|
||
<div class="sections">
|
||
|
||
<div class="section full">
|
||
<h2>Robot X Axis <span class="status-badge open">offen</span></h2>
|
||
<div class="placeholder-note">
|
||
Ziel: X-Achse des Roboters im Weltkoordinatensystem verorten (Richtungsvektor und
|
||
Nullpunkt). Roboter fährt zwei bekannte Positionen an, Kamera beobachtet den
|
||
Endeffektor-Marker.<br><br>
|
||
Geplante Aktionen: Referenzposition 1 anfahren · Foto · Marker merken ·
|
||
Referenzposition 2 anfahren · Foto · Achsvektor berechnen · Speichern.<br><br>
|
||
<em>Aktionen werden ergänzt sobald das Konzept feststeht.</em>
|
||
</div>
|
||
<div class="controls" style="margin-top: 14px;">
|
||
<button disabled>Pos 1 anfahren</button>
|
||
<button disabled>Foto Pos 1</button>
|
||
<button disabled>Pos 2 anfahren</button>
|
||
<button disabled>Foto Pos 2</button>
|
||
<button disabled>Achse berechnen</button>
|
||
<button disabled>Speichern</button>
|
||
</div>
|
||
</div>
|
||
|
||
<div class="section full">
|
||
<h2>Ausgabe / Log</h2>
|
||
<textarea id="log-xaxis" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
|
||
</div>
|
||
|
||
</div>
|
||
</div>
|
||
|
||
<!-- PANEL: Arm1 / Arm2 -->
|
||
<div class="tab-panel" id="tab-arm">
|
||
<div class="sections">
|
||
|
||
<div class="section full">
|
||
<h2>Arm1 / Arm2 <span class="status-badge open">offen</span></h2>
|
||
<div class="placeholder-note">
|
||
Ziel: Nullposition und Kinematikparameter von Arm1 und Arm2 einmessen.
|
||
Arm fährt in mechanische Nullposition, Kamera prüft die tatsächliche Pose,
|
||
Offset wird berechnet und gespeichert.<br><br>
|
||
Geplante Aktionen: Arm1 → Nullpos → Foto → Winkel · Arm2 → Nullpos → Foto →
|
||
Winkel · Offset-Korrektur speichern.<br><br>
|
||
<em>Aktionen werden ergänzt sobald das Konzept feststeht.</em>
|
||
</div>
|
||
<div class="controls" style="margin-top: 14px;">
|
||
<button disabled>Arm1 → Nullpos</button>
|
||
<button disabled>Foto Arm1</button>
|
||
<button disabled>Arm2 → Nullpos</button>
|
||
<button disabled>Foto Arm2</button>
|
||
<button disabled>Offsets berechnen</button>
|
||
<button disabled>Speichern</button>
|
||
</div>
|
||
</div>
|
||
|
||
<div class="section full">
|
||
<h2>Ausgabe / Log</h2>
|
||
<textarea id="log-arm" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
|
||
</div>
|
||
|
||
</div>
|
||
</div>
|
||
|
||
</div><!-- /.tab-content -->
|
||
</div><!-- /.calib-body -->
|
||
|
||
<script>
|
||
// ── Tab-Switching ──────────────────────────────────────────────────────────
|
||
document.getElementById('tabSidebar').addEventListener('click', e => {
|
||
const btn = e.target.closest('.tab-btn');
|
||
if (!btn) return;
|
||
document.querySelectorAll('.tab-btn').forEach(b => b.classList.remove('active'));
|
||
document.querySelectorAll('.tab-panel').forEach(p => p.classList.remove('active'));
|
||
btn.classList.add('active');
|
||
document.getElementById('tab-' + btn.dataset.tab).classList.add('active');
|
||
});
|
||
|
||
// ── Section collapse ───────────────────────────────────────────────────────
|
||
document.querySelectorAll('.section h2').forEach(h2 => {
|
||
h2.addEventListener('click', () => h2.closest('.section').classList.toggle('collapsed'));
|
||
});
|
||
|
||
// ── Camera NPZ ─────────────────────────────────────────────────────────────
|
||
|
||
const logCamera = document.getElementById('log-camera');
|
||
|
||
function logC(msg) {
|
||
const ts = new Date().toLocaleTimeString('de-CH');
|
||
logCamera.value += `[${ts}] ${msg}\n`;
|
||
logCamera.scrollTop = logCamera.scrollHeight;
|
||
}
|
||
|
||
function formatDate(isoString) {
|
||
if (!isoString) return '–';
|
||
return new Date(isoString).toLocaleString('de-CH');
|
||
}
|
||
|
||
function updateCalibInfo(meta) {
|
||
const sel = document.getElementById('cam-select-calib');
|
||
|
||
if (!meta) {
|
||
document.getElementById('info-timestamp').textContent = '(keine Session vorhanden)';
|
||
document.getElementById('info-created').textContent = '–';
|
||
document.getElementById('info-images').textContent = '–';
|
||
// Selector leeren
|
||
sel.innerHTML = '<option value="">– Kamera –</option>';
|
||
return;
|
||
}
|
||
document.getElementById('info-timestamp').textContent = meta.timestamp ?? '–';
|
||
document.getElementById('info-created').textContent = formatDate(meta.createdAt);
|
||
const cameras = meta.cameras ?? [];
|
||
const imgTxt = meta.imageCount != null
|
||
? `${meta.imageCount} Bilder total. ${cameras.length} Kamera(s) verwendet.`
|
||
: '–';
|
||
document.getElementById('info-images').textContent = imgTxt;
|
||
|
||
// Kamera-Selector aktualisieren
|
||
const prev = sel.value;
|
||
sel.innerHTML = '<option value="">– Kamera –</option>';
|
||
for (const cam of cameras) {
|
||
const opt = document.createElement('option');
|
||
opt.value = cam;
|
||
opt.textContent = cam;
|
||
if (cam === prev) opt.selected = true;
|
||
sel.appendChild(opt);
|
||
}
|
||
// Falls nur eine Kamera vorhanden – automatisch vorwählen
|
||
if (cameras.length === 1) sel.value = cameras[0];
|
||
}
|
||
|
||
// Beim Laden aktuelle Session holen
|
||
async function loadCalibCurrent() {
|
||
try {
|
||
const r = await fetch('/api/calibration/current');
|
||
const d = await r.json();
|
||
updateCalibInfo(d.meta);
|
||
if (d.session) logC(`Session geladen: ${d.session}`);
|
||
else logC('Noch keine Kalibrierungs-Session vorhanden.');
|
||
} catch (err) {
|
||
logC(`Fehler beim Laden: ${err}`);
|
||
}
|
||
}
|
||
loadCalibCurrent();
|
||
|
||
// "Neue Kalibrierung anlegen"
|
||
document.getElementById('btn-new-calib').addEventListener('click', async () => {
|
||
logC('Neue Kalibrierung wird angelegt …');
|
||
try {
|
||
const r = await fetch('/api/calibration/new', { method: 'POST' });
|
||
const d = await r.json();
|
||
if (d.error) { logC(`Fehler: ${d.error}`); return; }
|
||
updateCalibInfo(d.meta);
|
||
if (d.warning) logC(`Warnung: ${d.warning}`);
|
||
else logC(`Session angelegt: ${d.session} | Fotos: ${(d.savedFiles ?? []).join(', ')}`);
|
||
} catch (err) {
|
||
logC(`Fehler: ${err}`);
|
||
}
|
||
});
|
||
|
||
// "Foto aufnehmen"
|
||
document.getElementById('btn-foto-calib').addEventListener('click', async () => {
|
||
logC('Fotos werden aufgenommen …');
|
||
try {
|
||
const r = await fetch('/api/calibration/foto', { method: 'POST' });
|
||
const d = await r.json();
|
||
if (d.error) { logC(`Fehler: ${d.error}`); return; }
|
||
updateCalibInfo(d.meta);
|
||
logC(`Gespeichert: ${(d.savedFiles ?? []).join(', ')}`);
|
||
} catch (err) {
|
||
logC(`Fehler: ${err}`);
|
||
}
|
||
});
|
||
|
||
// "Kalibrierung berechnen" – SSE-Stream lesen
|
||
document.getElementById('btn-compute-calib').addEventListener('click', async () => {
|
||
const camera = document.getElementById('cam-select-calib').value;
|
||
if (!camera) { logC('⚠ Bitte zuerst eine Kamera auswählen.'); return; }
|
||
|
||
logC(`Starte Kalibrierung für ${camera} …`);
|
||
const btn = document.getElementById('btn-compute-calib');
|
||
btn.disabled = true;
|
||
|
||
try {
|
||
const response = await fetch('/api/calibration/compute', {
|
||
method: 'POST',
|
||
headers: { 'Content-Type': 'application/json' },
|
||
body: JSON.stringify({ camera }),
|
||
});
|
||
|
||
if (!response.ok) {
|
||
const err = await response.json().catch(() => ({ error: response.statusText }));
|
||
logC(`Fehler: ${err.error}`);
|
||
return;
|
||
}
|
||
|
||
// SSE-Stream zeilenweise verarbeiten
|
||
const reader = response.body.getReader();
|
||
const decoder = new TextDecoder();
|
||
let buffer = '';
|
||
|
||
while (true) {
|
||
const { done, value } = await reader.read();
|
||
if (done) break;
|
||
|
||
buffer += decoder.decode(value, { stream: true });
|
||
|
||
// Vollständige SSE-Ereignisse (getrennt durch \n\n) extrahieren
|
||
const parts = buffer.split('\n\n');
|
||
buffer = parts.pop(); // letztes unvollständiges Fragment behalten
|
||
|
||
for (const part of parts) {
|
||
for (const line of part.split('\n')) {
|
||
if (!line.startsWith('data: ')) continue;
|
||
try {
|
||
const evt = JSON.parse(line.slice(6));
|
||
if (evt.type === 'log') {
|
||
if (evt.text !== '') logC(evt.text);
|
||
} else if (evt.type === 'done') {
|
||
logC(evt.exitCode === 0
|
||
? '✅ Kalibrierung abgeschlossen.'
|
||
: `❌ Script beendet mit Exit-Code ${evt.exitCode}`);
|
||
}
|
||
} catch { /* ungültiges JSON überspringen */ }
|
||
}
|
||
}
|
||
}
|
||
} catch (err) {
|
||
logC(`Fehler: ${err}`);
|
||
} finally {
|
||
btn.disabled = false;
|
||
}
|
||
});
|
||
</script>
|
||
|
||
</body>
|
||
</html>
|