783 lines
29 KiB
JavaScript
Executable File
783 lines
29 KiB
JavaScript
Executable File
import express from 'express';
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import https from 'https';
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import { Readable } from 'node:stream';
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import path from 'path';
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import fs from 'fs';
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import fsPromises from 'fs/promises';
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import { fileURLToPath } from 'url';
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import process from 'process';
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import { spawn } from 'child_process';
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import { WebcamClient } from './webcamClient.js';
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const __filename = fileURLToPath(import.meta.url);
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const __dirname = path.dirname(__filename);
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const app = express();
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app.use(express.json({ limit: '20mb' }));
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const PORT = parseInt(process.env.PORT || process.env.HTTPS_PORT || '2093', 10);
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const publicDir = path.join(__dirname, '..', 'public');
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const snapshotsDir = path.join(publicDir, 'snapshots');
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const WEBCAM_URL = process.env.WEBCAM_URL || '';
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const BODYTRACKER_URL = process.env.BODYTRACKER_URL || '';
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const HTTPS_KEY_PATH = process.env.HTTPS_KEY_PATH || path.join(__dirname, '..', 'https', 'localhost.key');
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const HTTPS_CERT_PATH = process.env.HTTPS_CERT_PATH || path.join(__dirname, '..', 'https', 'localhost.pem');
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const HTTPS_PASSPHRASE = process.env.HTTPS_PASSPHRASE || 'abcd';
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app.use(express.static(publicDir));
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app.get('/api/health', (req, res) => {
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res.json({ ok: true, mode: 'backend-proxy', webcamUrl: WEBCAM_URL || null, bodyTrackerUrl: BODYTRACKER_URL || null });
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});
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// ── WebCam-Proxy ─────────────────────────────────────────────────────────────
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/** Kameraliste mit Metadaten (inkl. calibrationUrl falls Kalibrierung vorhanden). */
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app.get('/api/webcam/cameras', async (req, res) => {
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if (!WEBCAM_URL) return res.status(501).json({ error: 'WEBCAM_URL ist nicht konfiguriert' });
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try {
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const wc = new WebcamClient(WEBCAM_URL);
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const data = await wc.getCameras();
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return res.json(data);
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} catch (err) {
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console.error('webcam/cameras error:', err);
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return res.status(502).json({ error: 'WebCam-Fehler', details: String(err) });
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}
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});
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/**
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* HD-JPEG einer Kamera (per Default hires).
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* Streamt die JPEG-Antwort direkt durch — kein Buffering im Backend.
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* Query-Parameter: ?hires=false für Live-Auflösung.
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*/
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app.get('/api/webcam/snapshot/:id', async (req, res) => {
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if (!WEBCAM_URL) return res.status(501).json({ error: 'WEBCAM_URL ist nicht konfiguriert' });
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const hires = req.query.hires !== 'false';
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try {
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const wc = new WebcamClient(WEBCAM_URL);
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const upstream = await wc.getSnapshot(req.params.id, hires);
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// Relevante Response-Header durchreichen
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res.setHeader('Content-Type', upstream.headers.get('content-type') || 'image/jpeg');
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res.setHeader('Cache-Control', 'no-store');
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for (const header of ['x-camera-id', 'x-frame-width', 'x-timestamp', 'content-length']) {
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const val = upstream.headers.get(header);
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if (val) res.setHeader(header, val);
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}
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const nodeStream = Readable.fromWeb(upstream.body);
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nodeStream.on('error', (err) => {
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console.error(`webcam/snapshot/${req.params.id} stream error:`, err);
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if (!res.headersSent) res.status(502).json({ error: 'Stream-Fehler' });
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});
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nodeStream.pipe(res);
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} catch (err) {
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console.error(`webcam/snapshot/${req.params.id} error:`, err);
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if (!res.headersSent) res.status(502).json({ error: 'WebCam-Fehler', details: String(err) });
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}
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});
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async function findLatestSnapshotFile() {
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const files = await fsPromises.readdir(snapshotsDir);
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const entries = await Promise.all(
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files
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.filter((name) => name.endsWith('.csv'))
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.map(async (name) => ({
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name,
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mtime: (await fsPromises.stat(path.join(snapshotsDir, name))).mtime.valueOf()
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}))
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);
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if (entries.length === 0) return null;
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entries.sort((a, b) => b.mtime - a.mtime);
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return entries[0].name;
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}
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app.get('/api/latest-snapshot', async (req, res) => {
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try {
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if (WEBCAM_URL) {
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const url = new URL('/api/latest-snapshot', WEBCAM_URL).toString();
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const fetchRes = await fetch(url);
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const contentType = fetchRes.headers.get('content-type') || '';
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if (!fetchRes.ok) {
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const text = await fetchRes.text();
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return res.status(fetchRes.status).type('text/plain').send(text);
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}
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if (contentType.includes('application/json')) {
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const body = await fetchRes.json();
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return res.json(body);
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}
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const text = await fetchRes.text();
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return res.json({ filename: 'latest.csv', mtime: new Date().toISOString(), content: text });
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}
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const latestFile = await findLatestSnapshotFile();
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if (!latestFile) {
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return res.status(404).json({ error: 'Keine Snapshot-CSV-Datei gefunden' });
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}
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const baseName = path.basename(latestFile, path.extname(latestFile));
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const csvPath = path.join(snapshotsDir, latestFile);
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const jsonPath = path.join(snapshotsDir, `${baseName}.json`);
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const imagePath = path.join(snapshotsDir, `${baseName}_annotated.jpg`);
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const imagePath2 = path.join(snapshotsDir, `${baseName}_annotated2.jpg`);
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const content = await fsPromises.readFile(csvPath, 'utf8');
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const result = { filename: latestFile, mtime: (await fsPromises.stat(csvPath)).mtime.toISOString(), content };
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try {
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result.jsonFile = { filename: `${baseName}.json`, content: await fsPromises.readFile(jsonPath, 'utf8') };
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} catch {}
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try {
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const jpg = await fsPromises.readFile(imagePath);
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result.imageFile = {
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filename: path.basename(imagePath),
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mimeType: 'image/jpeg',
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contentBase64: jpg.toString('base64')
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};
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} catch {}
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try {
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const jpg2 = await fsPromises.readFile(imagePath2);
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result.image2 = {
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filename: path.basename(imagePath2),
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mimeType: 'image/jpeg',
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contentBase64: jpg2.toString('base64')
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};
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} catch {}
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return res.json(result);
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} catch (err) {
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console.error('latest-snapshot error:', err);
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return res.status(500).json({ error: 'Fehler beim Laden des Snapshots', details: String(err) });
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}
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});
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app.post('/api/estimate', async (req, res) => {
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if (!BODYTRACKER_URL) {
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return res.status(501).json({ error: 'BODYTRACKER_URL ist nicht konfiguriert' });
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}
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try {
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const { imageFile, image2, robotIntrinsics } = req.body;
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const formData = new FormData();
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if (imageFile?.contentBase64) {
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const buffer = Buffer.from(imageFile.contentBase64, 'base64');
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formData.append('images', new Blob([buffer], { type: imageFile.mimeType || 'image/jpeg' }), imageFile.filename || 'snapshot.jpg');
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}
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if (image2?.contentBase64) {
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const buffer2 = Buffer.from(image2.contentBase64, 'base64');
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formData.append('images', new Blob([buffer2], { type: image2.mimeType || 'image/jpeg' }), image2.filename || 'snapshot2.jpg');
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}
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if (robotIntrinsics) {
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formData.append('intrinsics', new Blob([JSON.stringify(robotIntrinsics)], { type: 'application/json' }), 'intrinsics.json');
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}
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const estimateUrl = new URL('/v1/estimate', BODYTRACKER_URL).toString();
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const fetchRes = await fetch(estimateUrl, { method: 'POST', body: formData });
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if (!fetchRes.ok) {
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const message = await fetchRes.text();
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return res.status(fetchRes.status).json({ error: 'BodyTracker-Fehler', details: message });
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}
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const body = await fetchRes.json();
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return res.json(body);
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} catch (err) {
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console.error('estimate error:', err);
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return res.status(500).json({ error: 'Fehler beim Aufruf des BodyTracker', details: String(err) });
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}
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});
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// ── Kalibrierung ─────────────────────────────────────────────────────────────
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const calibDataDir = path.join(__dirname, '..', 'data', 'calibration');
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/** Timestamp-String im Format YYYYMMDD_HHmmss */
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function makeTimestamp() {
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const now = new Date();
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const p = (n, l = 2) => String(n).padStart(l, '0');
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return `${now.getFullYear()}${p(now.getMonth() + 1)}${p(now.getDate())}_${p(now.getHours())}${p(now.getMinutes())}${p(now.getSeconds())}`;
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}
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/** Neueste Kalibrierungs-Session (Verzeichnisname) oder null */
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async function findLatestCalibSession() {
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try {
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await fsPromises.access(calibDataDir);
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const entries = await fsPromises.readdir(calibDataDir, { withFileTypes: true });
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const dirs = entries.filter(e => e.isDirectory()).map(e => e.name).sort().reverse();
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return dirs[0] ?? null;
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} catch {
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return null;
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}
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}
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/** Liest meta.json einer Session */
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async function readCalibMeta(sessionName) {
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try {
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const raw = await fsPromises.readFile(path.join(calibDataDir, sessionName, 'meta.json'), 'utf8');
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return JSON.parse(raw);
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} catch {
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return null;
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}
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}
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/** Schreibt meta.json einer Session */
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async function writeCalibMeta(sessionName, meta) {
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await fsPromises.writeFile(
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path.join(calibDataDir, sessionName, 'meta.json'),
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JSON.stringify(meta, null, 2),
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'utf8'
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);
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}
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/**
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* Holt Snapshots aller verfügbaren Kameras und speichert sie im Session-Verzeichnis.
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* Dateiname: {cameraId}_{setNr}.jpg (setNr = 001, 002, …)
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*/
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async function capturePhotos(sessionName) {
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if (!WEBCAM_URL) throw new Error('WEBCAM_URL ist nicht konfiguriert – keine Kameras erreichbar');
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const wc = new WebcamClient(WEBCAM_URL);
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const data = await wc.getCameras();
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const cameraIds = (data.cameras ?? []).map(c => c.id);
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if (cameraIds.length === 0) throw new Error('Keine Kameras vom WebCam-Service gemeldet');
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// Nächste Set-Nummer bestimmen (höchste vorhandene + 1)
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const sessionDir = path.join(calibDataDir, sessionName);
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const existing = await fsPromises.readdir(sessionDir);
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const maxSet = existing.reduce((max, f) => {
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const m = f.match(/_(\d+)\.jpg$/);
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return m ? Math.max(max, parseInt(m[1], 10)) : max;
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}, 0);
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const setNr = String(maxSet + 1).padStart(3, '0');
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const savedFiles = [];
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for (const camId of cameraIds) {
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let response;
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// Bei 503 (Kamera kurz busy nach Hires-Grab) einmal nach 2 s neu versuchen
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for (let attempt = 1; attempt <= 2; attempt++) {
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response = await new WebcamClient(WEBCAM_URL).getSnapshot(camId, true);
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if (response.status !== 503) break;
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if (attempt < 2) await new Promise(r => setTimeout(r, 2000));
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}
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if (!response.ok) throw new Error(`getSnapshot(${camId}): HTTP ${response.status}`);
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const buffer = Buffer.from(await response.arrayBuffer());
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const filename = `${camId}_${setNr}.jpg`;
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await fsPromises.writeFile(path.join(sessionDir, filename), buffer);
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savedFiles.push(filename);
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}
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return { cameraIds, savedFiles, setNr: parseInt(setNr, 10) };
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}
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/** GET /api/calibration/current — aktuelle Session-Info */
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app.get('/api/calibration/current', async (req, res) => {
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try {
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const session = await findLatestCalibSession();
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if (!session) return res.json({ session: null, meta: null });
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const meta = await readCalibMeta(session);
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return res.json({ session, meta });
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} catch (err) {
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return res.status(500).json({ error: String(err) });
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}
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});
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/** POST /api/calibration/new — neue Session anlegen + erste Fotos */
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app.post('/api/calibration/new', async (req, res) => {
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try {
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const ts = makeTimestamp();
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const sessionDir = path.join(calibDataDir, ts);
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await fsPromises.mkdir(sessionDir, { recursive: true });
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const meta = { timestamp: ts, createdAt: new Date().toISOString(), cameras: [], imageSets: 0, imageCount: 0 };
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await writeCalibMeta(ts, meta);
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try {
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const capture = await capturePhotos(ts);
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meta.cameras = capture.cameraIds;
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meta.imageSets = capture.setNr;
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meta.imageCount = capture.setNr * capture.cameraIds.length;
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await writeCalibMeta(ts, meta);
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return res.json({ session: ts, meta, savedFiles: capture.savedFiles });
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} catch (captureErr) {
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// Session angelegt, aber Fotos nicht verfügbar → trotzdem OK zurück
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return res.json({ session: ts, meta, warning: String(captureErr) });
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}
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} catch (err) {
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return res.status(500).json({ error: String(err) });
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}
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});
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/** POST /api/calibration/foto — weitere Fotos für aktuelle Session */
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app.post('/api/calibration/foto', async (req, res) => {
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try {
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const session = await findLatestCalibSession();
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if (!session) {
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return res.status(400).json({ error: 'Keine Session vorhanden. Bitte zuerst "Neue Kalibrierung anlegen".' });
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}
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const capture = await capturePhotos(session);
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const meta = await readCalibMeta(session) ?? {
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timestamp: session, createdAt: new Date().toISOString(),
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cameras: [], imageSets: 0, imageCount: 0
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};
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meta.cameras = capture.cameraIds;
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meta.imageSets = capture.setNr;
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meta.imageCount = capture.setNr * capture.cameraIds.length;
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await writeCalibMeta(session, meta);
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return res.json({ session, meta, savedFiles: capture.savedFiles });
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} catch (err) {
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return res.status(500).json({ error: String(err) });
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}
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});
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/**
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* POST /api/calibration/compute
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* Führt scripts/callibriate.py für eine Kamera aus.
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* Body: { camera: "cam0" }
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* Antwortet als Server-Sent Events (SSE): jede Zeile stdout/stderr als
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* data: {"type":"log","text":"..."}
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* Abschluss:
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* data: {"type":"done","exitCode":0}
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*/
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const PYTHON_BIN = process.env.PYTHON_BIN || 'python3';
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const calibScriptPath = path.join(__dirname, '..', 'scripts', 'callibriate.py');
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app.post('/api/calibration/compute', async (req, res) => {
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try {
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const { camera } = req.body ?? {};
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if (!camera) return res.status(400).json({ error: '"camera" parameter fehlt' });
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const session = await findLatestCalibSession();
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if (!session) return res.status(400).json({ error: 'Keine Kalibrierungs-Session vorhanden' });
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const sessionDir = path.join(calibDataDir, session);
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// SSE-Header – erst NACH den Validierungen senden
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res.setHeader('Content-Type', 'text/event-stream');
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res.setHeader('Cache-Control', 'no-cache');
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res.setHeader('Connection', 'keep-alive');
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res.flushHeaders();
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// Schreibt nur wenn die Verbindung noch offen ist
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const send = (obj) => {
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if (!res.writableEnded) res.write(`data: ${JSON.stringify(obj)}\n\n`);
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};
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send({ type: 'log', text: `▶ Session: ${session}` });
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send({ type: 'log', text: `▶ Kamera: ${camera}` });
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send({ type: 'log', text: `▶ Script: ${calibScriptPath}` });
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send({ type: 'log', text: '' });
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const exitCode = await runScript([
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calibScriptPath,
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'--camera', camera,
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'--input-dir', sessionDir,
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'--output-dir', sessionDir,
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], send);
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send({ type: 'done', exitCode });
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if (!res.writableEnded) res.end();
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} catch (err) {
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// Fehler VOR flushHeaders → normaler JSON-Fehler
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// Fehler NACH flushHeaders → SSE-Fehlerevent + close
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console.error('calibration/compute error:', err);
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if (!res.headersSent) {
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res.status(500).json({ error: String(err) });
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} else {
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try {
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res.write(`data: ${JSON.stringify({ type: 'log', text: `Server-Fehler: ${err.message}` })}\n\n`);
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res.write(`data: ${JSON.stringify({ type: 'done', exitCode: -1 })}\n\n`);
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res.end();
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} catch { /* Verbindung bereits geschlossen */ }
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}
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}
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});
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// ── Board-Erkennung ───────────────────────────────────────────────────────────
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const boardDataDir = path.join(__dirname, '..', 'data', 'board');
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const ROBOT_JSON = process.env.ROBOT_JSON
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|| path.join(__dirname, '..', 'scripts', 'robot_1781069752019.json');
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const SCRIPT_1 = path.join(__dirname, '..', 'scripts', '1_detect_aruco_observations.py');
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const SCRIPT_2 = path.join(__dirname, '..', 'scripts', '2_estimate_camera_from_observations.py');
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const SCRIPT_3B = path.join(__dirname, '..', 'scripts', '3b_corner_marker_poses.py');
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/**
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* Führt ein Python-Script aus und leitet stdout/stderr zeilenweise an `send` weiter.
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* Gibt den Exit-Code zurück (Promise<number>).
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*/
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function runScript(args, send) {
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return new Promise((resolve) => {
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const proc = spawn(PYTHON_BIN, ['-u', ...args]);
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let outBuf = '';
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proc.stdout.on('data', chunk => {
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outBuf += chunk.toString();
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const lines = outBuf.split('\n');
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outBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: line });
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});
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let errBuf = '';
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proc.stderr.on('data', chunk => {
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errBuf += chunk.toString();
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const lines = errBuf.split('\n');
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errBuf = lines.pop();
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for (const line of lines) send({ type: 'log', text: `[stderr] ${line}` });
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});
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proc.on('error', err => {
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send({ type: 'log', text: `Fehler beim Starten: ${err.message}` });
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resolve(-1);
|
||
});
|
||
|
||
proc.on('close', code => {
|
||
if (outBuf) send({ type: 'log', text: outBuf });
|
||
if (errBuf) send({ type: 'log', text: `[stderr] ${errBuf}` });
|
||
resolve(code ?? -1);
|
||
});
|
||
});
|
||
}
|
||
|
||
/**
|
||
* POST /api/board/run
|
||
* 1. Erstellt data/board/{timestamp}/
|
||
* 2. Holt Snapshot jeder Kamera
|
||
* 3. Für jede Kamera: Script 1 (ArUco-Erkennung) → Script 2 (Kamera-Pose)
|
||
* SSE-Stream während der Ausführung.
|
||
*/
|
||
app.post('/api/board/run', async (req, res) => {
|
||
try {
|
||
res.setHeader('Content-Type', 'text/event-stream');
|
||
res.setHeader('Cache-Control', 'no-cache');
|
||
res.setHeader('Connection', 'keep-alive');
|
||
res.flushHeaders();
|
||
|
||
const send = (obj) => {
|
||
if (!res.writableEnded) res.write(`data: ${JSON.stringify(obj)}\n\n`);
|
||
};
|
||
|
||
// 1. Temp-Verzeichnis
|
||
const ts = makeTimestamp();
|
||
const runDir = path.join(boardDataDir, ts);
|
||
await fsPromises.mkdir(runDir, { recursive: true });
|
||
send({ type: 'log', text: `▶ Board-Run: ${ts}` });
|
||
send({ type: 'log', text: `▶ Ordner: ${runDir}` });
|
||
send({ type: 'log', text: `▶ Robot-JSON: ${ROBOT_JSON}` });
|
||
send({ type: 'log', text: '' });
|
||
|
||
// 2. Kameras ermitteln
|
||
if (!WEBCAM_URL) throw new Error('WEBCAM_URL nicht konfiguriert');
|
||
const camData = await new WebcamClient(WEBCAM_URL).getCameras();
|
||
const cameraIds = (camData.cameras ?? []).map(c => c.id);
|
||
send({ type: 'log', text: `▶ Kameras: ${cameraIds.join(', ')}` });
|
||
|
||
// 3. Aktuelle Kalibrierungs-Session für NPZ-Dateien
|
||
const calibSession = await findLatestCalibSession();
|
||
if (!calibSession) throw new Error('Keine Kalibrierungs-Session. Bitte zuerst Camera NPZ kalibrieren.');
|
||
send({ type: 'log', text: `▶ NPZ-Session: ${calibSession}` });
|
||
send({ type: 'log', text: '' });
|
||
|
||
// 4. Pro Kamera: Foto → Script 1 → Script 2
|
||
for (const camId of cameraIds) {
|
||
send({ type: 'log', text: `─── ${camId} ${'─'.repeat(40 - camId.length)}` });
|
||
|
||
// Snapshot
|
||
send({ type: 'log', text: 'Foto aufnehmen …' });
|
||
let snapResp;
|
||
for (let attempt = 1; attempt <= 2; attempt++) {
|
||
snapResp = await new WebcamClient(WEBCAM_URL).getSnapshot(camId, true);
|
||
if (snapResp.status !== 503) break;
|
||
if (attempt < 2) await new Promise(r => setTimeout(r, 2000));
|
||
}
|
||
if (!snapResp.ok) {
|
||
send({ type: 'log', text: `⚠ HTTP ${snapResp.status} – Kamera übersprungen` });
|
||
continue;
|
||
}
|
||
const imgPath = path.join(runDir, `${camId}.jpg`);
|
||
await fsPromises.writeFile(imgPath, Buffer.from(await snapResp.arrayBuffer()));
|
||
send({ type: 'log', text: `✅ Foto: ${camId}.jpg` });
|
||
|
||
// NPZ prüfen
|
||
const npzPath = path.join(calibDataDir, calibSession, `${camId}_calibration.npz`);
|
||
try { await fsPromises.access(npzPath); }
|
||
catch {
|
||
send({ type: 'log', text: `⚠ Keine NPZ (${camId}_calibration.npz) – übersprungen` });
|
||
continue;
|
||
}
|
||
|
||
// Script 1 – ArUco-Erkennung
|
||
send({ type: 'log', text: '\n▷ 1_detect_aruco_observations' });
|
||
const exit1 = await runScript([
|
||
SCRIPT_1,
|
||
'-i', imgPath,
|
||
'-npz', npzPath,
|
||
'-robot', ROBOT_JSON,
|
||
'-cameraId', camId,
|
||
'-outDir', runDir,
|
||
'--saveDebugImage',
|
||
], send);
|
||
if (exit1 !== 0) {
|
||
send({ type: 'log', text: `❌ Script 1 Exit ${exit1}` });
|
||
continue;
|
||
}
|
||
|
||
// Script 2 – Kamera-Pose schätzen
|
||
const detJson = path.join(runDir, `${camId}_aruco_detection.json`);
|
||
try { await fsPromises.access(detJson); }
|
||
catch {
|
||
send({ type: 'log', text: '⚠ Detection-JSON fehlt – Script 2 übersprungen' });
|
||
continue;
|
||
}
|
||
|
||
send({ type: 'log', text: '\n▷ 2_estimate_camera_from_observations' });
|
||
const exit2 = await runScript([
|
||
SCRIPT_2,
|
||
'-i', detJson,
|
||
'-robot', ROBOT_JSON,
|
||
'-outDir', runDir,
|
||
], send);
|
||
if (exit2 !== 0) {
|
||
send({ type: 'log', text: `❌ Script 2 Exit ${exit2}` });
|
||
}
|
||
|
||
send({ type: 'log', text: '' });
|
||
}
|
||
|
||
// ── Script 3b: Marker-Triangulierung (benötigt ≥2 Kamera-Posen) ──
|
||
send({ type: 'log', text: '' });
|
||
send({ type: 'log', text: '─── 3b: Marker-Triangulierung ────────────────────────────' });
|
||
const runFiles3b = await fsPromises.readdir(runDir);
|
||
const numPoses = runFiles3b.filter(f => f.endsWith('_camera_pose.json')).length;
|
||
if (numPoses >= 2) {
|
||
send({ type: 'log', text: `▷ 3b_corner_marker_poses (${numPoses} Kamera-Posen)` });
|
||
const exit3b = await runScript([
|
||
SCRIPT_3B,
|
||
'--evalDir', runDir,
|
||
'--robot', ROBOT_JSON,
|
||
], send);
|
||
if (exit3b !== 0) send({ type: 'log', text: `❌ Script 3b Exit ${exit3b}` });
|
||
} else {
|
||
send({ type: 'log', text: `⚠ Nur ${numPoses} Kamera-Pose(n) vorhanden – Script 3b braucht ≥2 Kameras für Triangulierung, wird übersprungen.` });
|
||
}
|
||
send({ type: 'log', text: '' });
|
||
|
||
send({ type: 'log', text: `✅ Board-Run abgeschlossen: ${ts}` });
|
||
send({ type: 'done', exitCode: 0, runDir: ts });
|
||
if (!res.writableEnded) res.end();
|
||
|
||
} catch (err) {
|
||
console.error('board/run error:', err);
|
||
if (!res.headersSent) {
|
||
res.status(500).json({ error: String(err) });
|
||
} else {
|
||
try {
|
||
res.write(`data: ${JSON.stringify({ type: 'log', text: `❌ ${err.message}` })}\n\n`);
|
||
res.write(`data: ${JSON.stringify({ type: 'done', exitCode: -1 })}\n\n`);
|
||
res.end();
|
||
} catch {}
|
||
}
|
||
}
|
||
});
|
||
|
||
/** Neuestes Board-Run-Verzeichnis (Timestamp-Name) oder null */
|
||
async function findLatestBoardRun() {
|
||
try {
|
||
await fsPromises.access(boardDataDir);
|
||
const entries = await fsPromises.readdir(boardDataDir, { withFileTypes: true });
|
||
const dirs = entries.filter(e => e.isDirectory()).map(e => e.name).sort().reverse();
|
||
return dirs[0] ?? null;
|
||
} catch {
|
||
return null;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* GET /api/board/latest
|
||
* Gibt Daten des letzten Board-Runs zurück: robot.json + Detection-Ergebnisse + Kamera-Posen.
|
||
* Wird vom Board-Viewer (boardViewer.html) abgefragt.
|
||
*/
|
||
app.get('/api/board/latest', async (req, res) => {
|
||
try {
|
||
const runName = await findLatestBoardRun();
|
||
if (!runName) return res.json({ runDir: null, robot: null, detections: [], cameraPoses: [] });
|
||
|
||
const runDir = path.join(boardDataDir, runName);
|
||
|
||
let robot = null;
|
||
try { robot = JSON.parse(await fsPromises.readFile(ROBOT_JSON, 'utf8')); } catch {}
|
||
|
||
let files = [];
|
||
try { files = await fsPromises.readdir(runDir); } catch {}
|
||
|
||
const detections = [];
|
||
const cameraPoses = [];
|
||
|
||
for (const f of files.sort()) {
|
||
if (f.endsWith('_aruco_detection.json')) {
|
||
try {
|
||
const data = JSON.parse(await fsPromises.readFile(path.join(runDir, f), 'utf8'));
|
||
detections.push({
|
||
file: f,
|
||
cameraId: data.camera?.camera_id ?? f.replace('_aruco_detection.json', ''),
|
||
detectedMarkerIds: (data.detections ?? []).map(d => d.marker_id),
|
||
numDetected: data.aruco?.num_detected_markers ?? 0,
|
||
numRejected: data.aruco?.num_rejected_candidates ?? 0,
|
||
});
|
||
} catch {}
|
||
} else if (f.endsWith('_camera_pose.json')) {
|
||
try {
|
||
const data = JSON.parse(await fsPromises.readFile(path.join(runDir, f), 'utf8'));
|
||
const cp = data.camera_pose;
|
||
cameraPoses.push({
|
||
file: f,
|
||
cameraId: data.camera?.camera_id ?? f.replace('_camera_pose.json', ''),
|
||
position_mm: cp?.camera_in_world?.position_mm ?? null,
|
||
rotation_matrix: cp?.world_to_camera?.rotation_matrix ?? null,
|
||
usedMarkerIds: data.estimation?.used_marker_ids ?? [],
|
||
rms_px: data.estimation?.residual_rms_px ?? null,
|
||
});
|
||
} catch {}
|
||
}
|
||
}
|
||
|
||
// aruco_marker_poses.json (Ausgabe von 3b_corner_marker_poses.py)
|
||
let measuredMarkers = null;
|
||
try {
|
||
const raw = await fsPromises.readFile(path.join(runDir, 'aruco_marker_poses.json'), 'utf8');
|
||
measuredMarkers = JSON.parse(raw);
|
||
} catch {}
|
||
|
||
return res.json({ runDir: runName, robot, detections, cameraPoses, measuredMarkers });
|
||
} catch (err) {
|
||
return res.status(500).json({ error: String(err) });
|
||
}
|
||
});
|
||
|
||
/**
|
||
* POST /api/calibration/upload-npz
|
||
* Liest {camera}_calibration.npz aus der aktuellen Session und
|
||
* schickt sie per PUT an den Webcam-Service.
|
||
* Body: { camera: "cam0" }
|
||
*/
|
||
app.post('/api/calibration/upload-npz', async (req, res) => {
|
||
try {
|
||
const { camera } = req.body ?? {};
|
||
if (!camera) return res.status(400).json({ error: '"camera" parameter fehlt' });
|
||
if (!WEBCAM_URL) return res.status(501).json({ error: 'WEBCAM_URL ist nicht konfiguriert' });
|
||
|
||
const session = await findLatestCalibSession();
|
||
if (!session) return res.status(400).json({ error: 'Keine Kalibrierungs-Session vorhanden' });
|
||
|
||
const npzPath = path.join(calibDataDir, session, `${camera}_calibration.npz`);
|
||
|
||
try {
|
||
await fsPromises.access(npzPath);
|
||
} catch {
|
||
return res.status(404).json({
|
||
error: `Datei nicht gefunden: ${camera}_calibration.npz — bitte zuerst "Kalibrierung berechnen".`
|
||
});
|
||
}
|
||
|
||
const npzData = await fsPromises.readFile(npzPath);
|
||
const putUrl = new URL(`/api/cameras/${camera}/calibration`, WEBCAM_URL).toString();
|
||
|
||
const putRes = await fetch(putUrl, {
|
||
method: 'PUT',
|
||
headers: { 'Content-Type': 'application/octet-stream' },
|
||
body: npzData,
|
||
});
|
||
|
||
if (!putRes.ok) {
|
||
const text = await putRes.text();
|
||
return res.status(putRes.status).json({ error: `Webcam-Service: ${putRes.status} – ${text}` });
|
||
}
|
||
|
||
const result = await putRes.json();
|
||
return res.json({ ok: true, camera, session, size: npzData.length, webcam: result });
|
||
|
||
} catch (err) {
|
||
console.error('calibration/upload-npz error:', err);
|
||
return res.status(500).json({ error: String(err) });
|
||
}
|
||
});
|
||
|
||
async function checkServiceReachability(name, url) {
|
||
try {
|
||
const controller = new AbortController();
|
||
const timeout = setTimeout(() => controller.abort(), 5000);
|
||
const res = await fetch(url, { signal: controller.signal });
|
||
clearTimeout(timeout);
|
||
|
||
if (!res.ok) {
|
||
console.warn(`${name} ist nicht vollständig erreichbar (${res.status}) unter ${url}`);
|
||
return false;
|
||
}
|
||
|
||
console.log(`${name} erreichbar unter ${url}`);
|
||
return true;
|
||
} catch (err) {
|
||
console.warn(`${name} konnte nicht erreicht werden unter ${url}:`, err.message || err);
|
||
return false;
|
||
}
|
||
}
|
||
|
||
async function createHttpsServer() {
|
||
try {
|
||
await fsPromises.access(HTTPS_KEY_PATH);
|
||
await fsPromises.access(HTTPS_CERT_PATH);
|
||
|
||
const key = fs.readFileSync(HTTPS_KEY_PATH);
|
||
const cert = fs.readFileSync(HTTPS_CERT_PATH);
|
||
const httpsOptions = { key, cert, passphrase: HTTPS_PASSPHRASE };
|
||
|
||
console.log(`HTTPS-Zertifikate geladen: ${HTTPS_KEY_PATH}, ${HTTPS_CERT_PATH}`);
|
||
return https.createServer(httpsOptions, app);
|
||
} catch (err) {
|
||
console.warn('HTTPS-Zertifikate konnten nicht geladen werden:', err.message || err);
|
||
console.warn('Fallback auf HTTP. External proxy muss HTTPS terminieren.');
|
||
return null;
|
||
}
|
||
}
|
||
|
||
async function startServer() {
|
||
if (WEBCAM_URL) {
|
||
await checkServiceReachability('WEBCAM_URL', new URL('/health', WEBCAM_URL).toString());
|
||
}
|
||
|
||
if (BODYTRACKER_URL) {
|
||
await checkServiceReachability('BODYTRACKER_URL', new URL('/v1/health', BODYTRACKER_URL).toString());
|
||
}
|
||
|
||
const server = await createHttpsServer();
|
||
const isHttps = Boolean(server);
|
||
const listenServer = server || app;
|
||
|
||
listenServer.listen(PORT, () => {
|
||
console.log(`appRobotHoming backend listening on port ${PORT} (${isHttps ? 'HTTPS' : 'HTTP'})`);
|
||
console.log(`WEBCAM_URL=${WEBCAM_URL || '<lokal>'}`);
|
||
console.log(`BODYTRACKER_URL=${BODYTRACKER_URL || '<nicht konfiguriert>'}`);
|
||
});
|
||
}
|
||
|
||
startServer().catch((err) => {
|
||
console.error('Fehler beim Starten des Servers:', err);
|
||
console.log('Starte trotzdem den Server weiter...');
|
||
app.listen(PORT, () => {
|
||
console.log(`appRobotHoming backend listening on port ${PORT} (HTTP)`);
|
||
console.log(`WEBCAM_URL=${WEBCAM_URL || '<lokal>'}`);
|
||
console.log(`BODYTRACKER_URL=${BODYTRACKER_URL || '<nicht konfiguriert>'}`);
|
||
});
|
||
});
|