50 lines
8.6 KiB
JavaScript
50 lines
8.6 KiB
JavaScript
'use strict';
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const $=id=>document.getElementById(id);
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let config, target=Array(7).fill(90), current=target.slice(), enabled=false, dirty=false, inflight=null, needed=false, playIndex=-1, pauseUntil=0, lastTick=performance.now();
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let sequence=null;
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async function api(path,data){const r=await fetch('/braco/'+path,data===undefined?{}:{method:'POST',headers:{'Content-Type':'application/json'},body:JSON.stringify(data)});const d=await r.json();if(!r.ok)throw Error(d.erro||'Falha');return d;}
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function message(text){$('console').textContent=text;}
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function pulseAngle(p,c){const center=c.centro??1500;return p<=center?90*(p-500)/(center-500):90+90*(p-center)/(2500-center);}
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function bounds(i){const ch=config.articulacoes[i].canal,c=config.calibracao[ch];let lo=pulseAngle(c.minimo,c),hi=pulseAngle(c.maximo,c);if(ch===5){const pair=config.calibracao[6];lo=Math.max(lo,180-pulseAngle(pair.maximo,pair));hi=Math.min(hi,180-pulseAngle(pair.minimo,pair));}return [Math.ceil(lo),Math.floor(hi)];}
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function controls(){ $('enable').disabled=!config?.disponivel||dirty; document.querySelectorAll('[data-execute]').forEach(b=>{b.disabled=!enabled||dirty;b.title=b.disabled?'Marque Ativar movimento e salve a calibração':'Executar nos oito canais';}); $('play').disabled=!enabled||!config.posturas.length; $('loadPose').disabled=!config.posturas.length; $('deletePose').disabled=!config.posturas.length; }
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function render(){
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$('sliders').replaceChildren();
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config.articulacoes.forEach((a,i)=>{const [lo,hi]=bounds(i);target[i]=Math.max(lo,Math.min(hi,target[i]));const row=document.createElement('div');row.className='row';const wrap=document.createElement('div'),label=document.createElement('label'),range=document.createElement('input'),out=document.createElement('output');label.textContent=`${a.nome} · canal ${a.canal}${a.canal===5?' + 6 invertido':''} · limite ${lo}–${hi}°`;range.type='range';range.min=lo;range.max=hi;range.step=1;range.value=target[i];range.id='joint'+i;label.htmlFor=range.id;out.id='value'+i;out.textContent=String(Math.round(target[i])).padStart(3,'0');range.oninput=()=>{playIndex=-1;target[i]=Number(range.value);out.textContent=String(target[i]).padStart(3,'0');if(enabled)needed=true;else message('Posição escolhida na tela. Movimento desligado.');};wrap.append(label,range);row.append(wrap,out);$('sliders').append(row);});
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$('calibration').replaceChildren();config.calibracao.forEach((c,i)=>{const card=document.createElement('article');card.textContent=`Canal ${i}`;for(const [key,name] of [['minimo','Mínimo (µs)'],['centro','Centro (µs)'],['maximo','Máximo (µs)']]){const label=document.createElement('label');label.textContent=name;const input=document.createElement('input');input.type='number';input.min=500;input.max=2500;input.step=10;input.value=c[key]??1500;input.oninput=()=>{c[key]=Number(input.value);dirty=true;stop().catch(e=>message(e.message));controls();message('Calibração alterada. Salve para habilitar movimento.');};label.append(input);card.append(label);}$('calibration').append(card);});
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$('count').textContent=config.posturas.length+' posturas';$('poses').replaceChildren();config.posturas.forEach((pose,i)=>{const option=document.createElement('option');option.value=i;option.textContent=pose.nome;$('poses').append(option);});if(!config.posturas.length){const o=document.createElement('option');o.textContent='Sem posturas';$('poses').append(o);}controls();
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}
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function showTarget(){target.forEach((v,i)=>{$('joint'+i).value=v;$('value'+i).textContent=String(Math.round(v)).padStart(3,'0');});}
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async function stop(){enabled=false;needed=false;playIndex=-1;$('enable').checked=false;controls();if(inflight)await inflight;await api('parar',{});message('Sinais desligados. Movimento desativado.');}
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async function persist(){await stop();config=await api('config',{calibracao:config.calibracao,posturas:config.posturas});dirty=false;render();}
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$('enable').onchange=()=>{if($('enable').checked){enabled=true;needed=false;current=target.slice();lastTick=performance.now();controls();message('Ativado. Arraste uma articulação para enviar a postura aos oito canais.');}else stop().catch(e=>message(e.message));};
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$('stop').onclick=()=>stop().catch(e=>message(e.message));
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$('speed').oninput=()=>$('speedValue').textContent=$('speed').value;
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$('saveCalibration').onclick=async()=>{try{await persist();message('Calibração salva. Movimento desativado.');}catch(e){message(e.message);}};
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$('savePose').onclick=async()=>{try{const name=prompt('Nome da postura:',`Postura ${config.posturas.length+1}`);if(!name)return;config.posturas.push({nome:name,angulos:target.slice()});await persist();message('Postura salva, sem movimento.');}catch(e){config=await api('status');render();message(e.message);}};
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$('deletePose').onclick=async()=>{try{config.posturas.splice(Number($('poses').value),1);await persist();message('Postura excluída.');}catch(e){message(e.message);}};
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$('loadPose').onclick=()=>{playIndex=-1;target=config.posturas[Number($('poses').value)].angulos.slice();showTarget();if(enabled)needed=true;message(enabled?'Movendo para a postura escolhida.':'Postura carregada apenas na tela.');};
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$('play').onclick=()=>{if(!enabled||!config.posturas.length)return;sequence=config.posturas.map(p=>p.angulos.slice());playIndex=0;target=sequence[0].slice();needed=true;pauseUntil=0;showTarget();message('Reproduzindo posturas salvas uma vez.');};
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$('reset').onclick=async()=>{try{await stop();target=Array(7).fill(90);current=target.slice();showTarget();message('Centro selecionado apenas na tela.');}catch(e){message(e.message);}};
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$('export').onclick=()=>{const blob=new Blob([JSON.stringify({formato:'carinha-braco-v1',calibracao:config.calibracao,posturas:config.posturas},null,2)],{type:'application/json'});const url=URL.createObjectURL(blob),a=document.createElement('a');a.href=url;a.download='braco-posturas.json';a.click();setTimeout(()=>URL.revokeObjectURL(url),1000);};
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$('import').onclick=()=>$('importFile').click();
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$('importFile').onchange=async()=>{try{const f=$('importFile').files[0];if(!f)return;if(f.size>65536)throw Error('Arquivo maior que 64 KB');const data=JSON.parse(await f.text());if(data.formato!=='carinha-braco-v1')throw Error('Use arquivo exportado por esta aba');await stop();config=await api('config',{calibracao:data.calibracao,posturas:data.posturas});dirty=false;target=Array(7).fill(90);render();message('Importado, sem movimento.');}catch(e){message(e.message);}finally{$('importFile').value='';}};
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setInterval(()=>{
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const now=performance.now(),dt=Math.min(.2,(now-lastTick)/1000);lastTick=now;
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if(!enabled||dirty||inflight||!needed)return;
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const step=Number($('speed').value)*dt;
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const distance=Math.max(...current.map((v,i)=>Math.abs(target[i]-v)));
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const fraction=distance?Math.min(1,step/distance):1;
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current=current.map((v,i)=>v+(target[i]-v)*fraction);
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const pose=current.map(v=>Math.round(v*100)/100);
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inflight=api('mover',{angulos:pose}).then(()=>{
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if(!enabled)return;
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const reached=current.every((v,i)=>Math.abs(v-target[i])<.01);
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if(reached&&playIndex>=0){if(!pauseUntil)pauseUntil=performance.now()+700;if(performance.now()>=pauseUntil){playIndex++;pauseUntil=0;if(playIndex>=sequence.length){playIndex=-1;needed=false;message('Sequência concluída. Sinais desligam após 2 s.');}else{target=sequence[playIndex].slice();showTarget();}}}
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else if(reached){needed=false;message('Comando enviado. Sinais desligam após 2 s.');}
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}).catch(async e=>{enabled=false;needed=false;playIndex=-1;$('enable').checked=false;controls();message(e.message);try{await api('parar',{});}catch{}}).finally(()=>{inflight=null;});
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},100);
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document.addEventListener('visibilitychange',()=>{if(document.hidden&&enabled)stop().catch(()=>{});});
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api('status').then(data=>{config=data;render();$('connection').textContent=data.disponivel?'PCA9685 · conectado':'PCA9685 indisponível';message('Pronto. Movimento desativado. Calibre antes de ampliar o curso.');}).catch(e=>message(e.message));
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window.BracoUI={calibration:()=>config?.calibracao,markCalibration(ch,key,us){config.calibracao[ch][key]=us;if(ch===5||ch===6){const other=11-ch,sum=(config.calibracao[5].centro??1500)+(config.calibracao[6].centro??1500);if(key!=='centro')config.calibracao[other][key==='minimo'?'maximo':'minimo']=sum-us;}dirty=true;render();message('Limite marcado. Clique Salvar calibração para gravar.');},canExecute:()=>enabled&&!dirty,ready:()=>!!config,bounds:()=>config.articulacoes.map((a,i)=>bounds(i)),pose:()=>enabled?current.slice():target.slice(),stop,
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execute(steps){if(!enabled||dirty)throw Error('Ative o movimento e salve a calibração primeiro');sequence=steps.map(s=>s.slice());playIndex=0;target=sequence[0].slice();needed=true;pauseUntil=0;showTarget();message('Executando movimento sincronizado.');}};
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