407 lines
15 KiB
JavaScript
407 lines
15 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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} 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: ${err}</p>`;
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}
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}
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// ── Board ─────────────────────────────────────────────────────────────────────
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function initBoard() {
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const logBoard = document.getElementById('log-board');
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function logB(msg) {
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const ts = new Date().toLocaleTimeString('de-CH');
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logBoard.value += `[${ts}] ${msg}\n`;
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logBoard.scrollTop = logBoard.scrollHeight;
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}
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// Tabelle beim ersten Öffnen des Tabs befüllen
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loadBoardTable();
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document.getElementById('btn-board-run').addEventListener('click', async () => {
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logB('Board-Erkennung wird gestartet …');
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const btn = document.getElementById('btn-board-run');
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btn.disabled = true;
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try {
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const response = await fetch('/api/board/run', { method: 'POST' });
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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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logB(`❌ HTTP ${response.status}: ${msg}`);
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return;
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}
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await readSseStream(response, logB, (evt) => {
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if (evt.exitCode === 0) {
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logB('✅ Board-Run abgeschlossen.');
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if (evt.runDir) {
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document.getElementById('board-last-run').textContent = evt.runDir;
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// Board-Viewer im iframe nach dem Run neu laden
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const frame = document.getElementById('board-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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// Marker-Tabelle aktualisieren
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loadBoardTable();
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}
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} else {
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logB(`❌ Beendet mit Exit-Code ${evt.exitCode}`);
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}
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});
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} catch (err) {
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logB(`❌ 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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