Adriano Dal PastroandClaude Opus 4.7
ac573505b7
Pipeline completa per calibrazione hand-eye e grasp planning su robot Unitree G1/H1 con camera depth Nuwa-HP60C. Esposta come FastAPI + GUI vanilla JS, con assistente AI (OpenRouter + tool calling curato) per pilotare il sistema in linguaggio naturale. Architettura: - FastAPI orchestrator (porta da .env, default 8890) che coordina 4 microservizi upstream: Nuwa-HP60C, marker-finder, YOLO, robot bridge. - Dual-robot: services.g1 e services.h1 in config.yaml; switchabili a runtime via PUT /api/home/robot. - Calibrazione hand-eye eye-to-hand split per-side (right/left). - Marker pose: marker-finder riceve gli intrinseci RGB della Nuwa al boot, PnP server-side con quei dati. Nessun re-PnP locale richiesto. - Depth-to-RGB: registrazione iterativa IR↔RGB per back-projection 3D corretta (Nuwa /api/measure usa coords IR; il nostro /api/perception/ measure_rgb prende pixel RGB e ritorna 3D nel frame RGB OpenCV). - Correzione affine sul depth bias (calibrabile via marker come ground-truth) — riduce errore Z da ~6% a ~1.5% nei test. - AI assistant: 16 tool curati (move_wrist_*, hand_action, get_marker[_3d], detect_object, calibration_*, set_active_robot…), system prompt dinamico che riflette robot attivo + marker config + addendum customizzabile da GUI. Temperature di default 0.1 per evitare invenzioni. GUI (7 tab): - Home: stato comunicazione device + selettore robot attivo G1/H1 - Assistente AI: chat con OpenRouter, history persistita lato browser, task riutilizzabili (prompt salvati), trace tool calls - Impostazioni AI: modello da combo curata, temperature, max iterations, prompt addendum, anteprima system prompt - Calibrazione, Auto-Calibrazione, TrovaUtensile, Servo Visuale, Vista 3D, Movimento EE — invariate dalle versioni precedenti Setup: - Variabili in presa-mano/.env (template in .env.example) - OPENROUTER_API_KEY richiesta solo per il tab Assistente AI - PRESA_MANO_PORT configurabile Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
1733 lines
63 KiB
JavaScript
1733 lines
63 KiB
JavaScript
/* presa-mano GUI */
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const $ = (id) => document.getElementById(id);
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// ---------- tab switching ----------
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document.querySelectorAll('.tab').forEach(btn => {
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btn.addEventListener('click', () => {
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document.querySelectorAll('.tab').forEach(b => b.classList.remove('active'));
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document.querySelectorAll('.panel').forEach(p => p.classList.remove('active'));
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btn.classList.add('active');
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$('tab-' + btn.dataset.tab).classList.add('active');
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});
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});
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function setStatus(msg, cls = '') {
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const strip = $('statusStrip');
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strip.textContent = msg || '';
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strip.style.color = cls === 'err' ? 'var(--danger)' : cls === 'ok' ? 'var(--ok)' : 'var(--dim)';
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}
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// ---------- button flash + toast feedback ----------
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// Used by every command-sending handler so the user sees an immediate,
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// unambiguous success/failure signal (beyond the log panels that require
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// scrolling). Call flashBtn(btn, ok) to flash the button, and toast(title,
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// body, ok) to show a corner notification.
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function flashBtn(btn, ok) {
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if (!btn || !btn.classList) return;
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btn.classList.remove('flash-ok', 'flash-err');
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// restart animation
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void btn.offsetWidth;
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btn.classList.add(ok ? 'flash-ok' : 'flash-err');
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setTimeout(() => btn.classList.remove(ok ? 'flash-ok' : 'flash-err'),
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ok ? 900 : 1300);
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}
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function toast(title, body, ok = true, ttlMs = 3500) {
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const host = $('toastHost');
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if (!host) return;
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const el = document.createElement('div');
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el.className = 'toast ' + (ok ? 'ok' : 'err');
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const t = document.createElement('div');
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t.className = 't-title';
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t.textContent = (ok ? '✓ ' : '✗ ') + title;
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el.appendChild(t);
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if (body) {
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const b = document.createElement('div');
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b.className = 't-body';
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b.textContent = typeof body === 'string' ? body : JSON.stringify(body);
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el.appendChild(b);
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}
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host.appendChild(el);
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setTimeout(() => { el.classList.add('fade'); }, ttlMs - 400);
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setTimeout(() => { el.remove(); }, ttlMs);
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}
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// Short synthetic beep via Web Audio — no external asset. Used to audibly flag
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// new anomalies that flip the system from OK -> WARN/ERR. Gated by the
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// `diagBeep` checkbox so users can silence it.
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function beep(freq = 880, ms = 140, gain = 0.18) {
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if (!window.AudioContext && !window.webkitAudioContext) return;
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try {
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const ctx = beep._ctx || (beep._ctx = new (window.AudioContext || window.webkitAudioContext)());
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const osc = ctx.createOscillator();
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const g = ctx.createGain();
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osc.type = 'sine';
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osc.frequency.value = freq;
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g.gain.value = gain;
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osc.connect(g); g.connect(ctx.destination);
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osc.start();
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osc.stop(ctx.currentTime + ms / 1000);
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} catch {}
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}
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function beepWarn() { beep(880, 130); }
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function beepErr() {
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beep(440, 150);
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setTimeout(() => beep(330, 180), 170);
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}
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// Summarise a successful response in one short line — prefer "dry-run" hint
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// or response 'ok', else truncated JSON.
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function summarizeOk(resp) {
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if (!resp || typeof resp !== 'object') return '';
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if (resp.dry_run) return 'dry-run (nessun comando reale inviato)';
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if (resp.ok === true && Object.keys(resp).length <= 3) return 'ok';
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const short = JSON.stringify(resp);
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return short.length > 140 ? short.slice(0, 140) + '…' : short;
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}
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function fmtTimings(t) {
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if (!t || typeof t !== 'object') return '';
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// Put 'total' last; others in insertion order.
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const keys = Object.keys(t).filter(k => k !== 'total');
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const parts = keys.map(k => `${k}=${Number(t[k]).toFixed(1)}ms`);
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if (t.total != null) parts.push(`TOTAL=${Number(t.total).toFixed(1)}ms`);
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return parts.join(' ');
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}
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async function api(method, path, body = null) {
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const opts = { method, headers: {} };
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if (body !== null) {
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opts.headers['Content-Type'] = 'application/json';
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opts.body = JSON.stringify(body);
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}
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const r = await fetch(path, opts);
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const text = await r.text();
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let data; try { data = JSON.parse(text); } catch { data = text; }
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if (!r.ok) {
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const detail = (data && data.detail) || text || r.statusText;
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throw new Error(`${r.status} ${detail}`);
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}
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return data;
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}
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// ==================== CALIBRAZIONE ====================
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const calibCanvas = $('calibCanvas');
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const calibCtx = calibCanvas.getContext('2d');
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let displayedRgb = null; // last successfully loaded Image (stays on screen)
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let rgbInFlight = false;
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let previewInFlight = false;
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let lastMarker = null;
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let lastMarkerTs = 0;
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const MARKER_STALE_MS = 1500; // keep overlay this long across hiccups
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function drawCalibFrame() {
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if (displayedRgb) {
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if (calibCanvas.width !== displayedRgb.naturalWidth) {
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calibCanvas.width = displayedRgb.naturalWidth;
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calibCanvas.height = displayedRgb.naturalHeight;
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}
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calibCtx.drawImage(displayedRgb, 0, 0);
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} else {
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calibCtx.fillStyle = '#000';
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calibCtx.fillRect(0, 0, calibCanvas.width, calibCanvas.height);
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calibCtx.fillStyle = '#666';
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calibCtx.font = '14px sans-serif';
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calibCtx.fillText('no RGB', 20, 30);
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}
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const fresh = lastMarker && lastMarker.found && (performance.now() - lastMarkerTs < MARKER_STALE_MS);
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if (fresh) {
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const c = lastMarker.corners;
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calibCtx.strokeStyle = '#3ecf8e';
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calibCtx.lineWidth = 3;
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calibCtx.beginPath();
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calibCtx.moveTo(c[0][0], c[0][1]);
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for (let i = 1; i < c.length; i++) calibCtx.lineTo(c[i][0], c[i][1]);
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calibCtx.closePath();
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calibCtx.stroke();
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calibCtx.fillStyle = '#3ecf8e';
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c.forEach(p => { calibCtx.beginPath(); calibCtx.arc(p[0], p[1], 4, 0, 2 * Math.PI); calibCtx.fill(); });
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const cx = lastMarker.center_px[0], cy = lastMarker.center_px[1];
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calibCtx.font = 'bold 14px sans-serif';
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const d = lastMarker.pose_camera && lastMarker.pose_camera.distance_m;
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calibCtx.fillText(`ID ${lastMarker.marker_id}` + (d ? ` · ${(d*100).toFixed(1)} cm` : ''), cx + 10, cy - 10);
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}
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}
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function refreshRgb() {
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if (rgbInFlight) return;
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rgbInFlight = true;
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const img = new Image();
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img.onload = () => {
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displayedRgb = img;
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rgbInFlight = false;
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drawCalibFrame();
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};
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img.onerror = () => { rgbInFlight = false; /* keep previous frame */ };
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img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`;
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}
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async function previewMarker() {
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if (previewInFlight) return;
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if (!$('livePreview').checked) {
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if (lastMarker) { lastMarker = null; drawCalibFrame(); }
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return;
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}
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previewInFlight = true;
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try {
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const body = { marker_id: +$('arucoId').value, size_mm: +$('arucoSize').value };
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const data = await api('POST', '/api/calibration/preview', body);
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lastMarker = data;
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lastMarkerTs = performance.now();
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const info = $('markerInfo');
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const t = fmtTimings(data.timings_ms);
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if (data.found) {
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const d = data.pose_camera && data.pose_camera.distance_m;
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info.textContent = `marker ${data.marker_id} @ ${(d*100).toFixed(1)} cm · ${t}`;
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info.style.color = 'var(--ok)';
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} else {
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info.textContent = `marker ${data.marker_id} non trovato · ${t}`;
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info.style.color = 'var(--warn)';
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}
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} catch (e) {
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// transient failure — don't wipe the overlay
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$('markerInfo').textContent = `preview: ${e.message}`;
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$('markerInfo').style.color = 'var(--danger)';
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} finally {
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previewInFlight = false;
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drawCalibFrame();
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}
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}
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// Two independent loops so a slow preview doesn't starve the RGB redraw,
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// and a slow RGB doesn't block the marker polling.
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setInterval(() => {
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if ($('tab-calibration').classList.contains('active')) refreshRgb();
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}, 150);
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setInterval(() => {
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if ($('tab-calibration').classList.contains('active')) previewMarker();
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}, 500);
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$('sampleBtn').addEventListener('click', async () => {
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try {
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setStatus('Acquisisco sample…');
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const body = {
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marker_id: +$('arucoId').value,
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size_mm: +$('arucoSize').value,
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side: $('side').value,
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};
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const r = await api('POST', '/api/calibration/sample', body);
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setStatus(`Sample #${r.total} acquisito · ${fmtTimings(r.timings_ms)}`, 'ok');
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await loadSamples();
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} catch (e) { setStatus(e.message, 'err'); }
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});
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$('solveBtn').addEventListener('click', async () => {
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try {
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setStatus('Calcolo matrice…');
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const side = $('side').value;
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const r = await api('POST', '/api/calibration/solve', { method: $('method').value, side });
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renderCalibResult(r);
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setStatus(`Matrice calcolata (${side}) · ${fmtTimings(r.timings_ms)}`, 'ok');
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} catch (e) { setStatus(e.message, 'err'); }
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});
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$('clearSamplesBtn').addEventListener('click', async () => {
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const side = $('side').value;
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if (!confirm(`Rimuovere tutti i sample del braccio ${side}?`)) return;
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await api('DELETE', `/api/calibration/samples?side=${encodeURIComponent(side)}`);
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await loadSamples();
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});
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$('saveConfigBtn').addEventListener('click', async () => {
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const patch = {
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aruco: { wrist_marker: { id: +$('arucoId').value, size_mm: +$('arucoSize').value } },
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robot: { wrist_side: $('side').value },
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calibration: { method: $('method').value },
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};
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try {
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await api('PUT', '/api/config', patch);
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setStatus('Configurazione salvata', 'ok');
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} catch (e) { setStatus(e.message, 'err'); }
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});
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// When the user changes the side dropdown, reload per-side samples/result.
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$('side').addEventListener('change', async () => {
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await loadSamples().catch(() => {});
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await loadCalibResult().catch(() => {});
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});
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// index -> { reason, detail } for samples the last solve dropped
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const lastDrops = new Map();
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async function loadSamples() {
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const side = $('side') ? $('side').value : 'right';
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const r = await api('GET', `/api/calibration/samples?side=${encodeURIComponent(side)}`);
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$('sampleCount').textContent = r.total;
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const ul = $('sampleList');
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ul.innerHTML = '';
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// Display newest first while keeping the server-side index (used in drop reports).
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for (let i = r.samples.length - 1; i >= 0; i--) {
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const s = r.samples[i];
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const t = s.T_base_wrist;
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const p = [t[0][3], t[1][3], t[2][3]].map(v => v.toFixed(3)).join(', ');
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const li = document.createElement('li');
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const drop = lastDrops.get(i);
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let line = `#${i+1} side=${s.side} pos=[${p}] ${s.note || ''}`;
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if (drop) {
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line += ` · scartato (${drop.reason}: ${drop.detail})`;
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li.classList.add('sample-dropped');
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}
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li.textContent = line;
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ul.appendChild(li);
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}
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}
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function renderCalibResult(r) {
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const m = r.T_base_camera;
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const fmt = (v) => (v >= 0 ? ' ' : '') + v.toFixed(4);
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const rows = m.map(row => row.map(fmt).join(' '));
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$('calibMatrix').textContent = rows.join('\n');
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const meta = [
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`method=${r.method}`,
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`n=${r.n_samples}`,
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`residual: ${r.residual_translation_mm.toFixed(2)} mm / ${r.residual_rotation_deg.toFixed(2)}°`,
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];
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const sc = r.sanity_check;
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lastDrops.clear();
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if (sc && sc.applied) {
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const drops = [];
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const pa = sc.dropped_by_pair_angle || [];
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const wm = sc.dropped_by_wm_cluster || [];
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const pq = sc.dropped_by_pose_quality || [];
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for (const d of pq) {
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const key = d.reprojection_px != null ? 'reproj' : 'ambiguity';
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const val = d.reprojection_px != null ? `${d.reprojection_px.toFixed(2)} px` : `amb ${(d.ambiguity_ratio*100).toFixed(0)}%`;
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lastDrops.set(d.sample_index, { reason: key, detail: val });
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}
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for (const d of pa) {
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lastDrops.set(d.sample_index,
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{ reason: 'pair-angle', detail: `${d.pair_angle_err_deg.toFixed(1)}°` });
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}
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for (const d of wm) {
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// A sample can fail both checks; prefer the wm message (happens after solve).
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lastDrops.set(d.sample_index,
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{ reason: 'T_wrist_marker', detail: `${d.wm_translation_dev_mm.toFixed(1)} mm` });
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}
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if (pq.length) drops.push(`pose-quality: ${pq.map(d => `#${d.sample_index+1}(${d.reprojection_px != null ? d.reprojection_px.toFixed(2)+'px' : (d.ambiguity_ratio*100).toFixed(0)+'%'})`).join(', ')}`);
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if (pa.length) drops.push(`pair-angle: ${pa.map(d => `#${d.sample_index+1}(${d.pair_angle_err_deg.toFixed(1)}°)`).join(', ')}`);
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if (wm.length) drops.push(`T_wrist_marker: ${wm.map(d => `#${d.sample_index+1}(${d.wm_translation_dev_mm.toFixed(1)}mm)`).join(', ')}`);
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const totalDropped = (sc.dropped_by_pose_quality || []).length + pa.length + wm.length;
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if (drops.length) {
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meta.push(`\n⚠ scartati ${totalDropped}/${sc.n_input}: ${drops.join(' · ')}`);
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} else {
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meta.push(`\n✓ nessun outlier (${sc.n_input} sample usati)`);
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}
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}
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$('calibMeta').textContent = meta.join(' ');
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$('calibMeta').style.whiteSpace = 'pre-wrap';
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// Refresh the list so dropped rows turn red (if already visible).
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loadSamples().catch(() => {});
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}
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async function loadCalibResult() {
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const side = $('side') ? $('side').value : 'right';
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try { renderCalibResult(await api('GET', `/api/calibration/result?side=${encodeURIComponent(side)}`)); } catch {}
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}
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// auto-grid
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$('runGridBtn').addEventListener('click', async () => {
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const quat = $('gridQuat').value.split(',').map(Number);
|
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if (quat.length !== 4) { setStatus('quat deve avere 4 valori', 'err'); return; }
|
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const body = {
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||
start_position: [+$('gridX0').value, +$('gridY0').value, +$('gridZ0').value],
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orientation_quaternion_xyzw: quat,
|
||
step_x_m: +$('gridDX').value,
|
||
step_y_m: +$('gridDY').value,
|
||
step_z_m: +$('gridDZ').value,
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n_x: 3, n_y: 3, n_z: 3,
|
||
min_z_m: +$('gridMinZ').value,
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||
settle_s: +$('gridSettle').value,
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dry_run: $('gridDryRun').checked,
|
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auto_solve: true,
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};
|
||
$('gridLog').textContent = 'run in progress…';
|
||
try {
|
||
const r = await api('POST', '/api/calibration/auto_grid', body);
|
||
$('gridLog').textContent = JSON.stringify(r, null, 2);
|
||
if (r.calibration) renderCalibResult(r.calibration);
|
||
await loadSamples();
|
||
setStatus(body.dry_run ? 'auto-grid dry-run completato' : 'auto-grid completato', 'ok');
|
||
} catch (e) {
|
||
$('gridLog').textContent = e.message;
|
||
setStatus(e.message, 'err');
|
||
}
|
||
});
|
||
|
||
// ==================== TROVA UTENSILE ====================
|
||
const graspCanvas = $('graspCanvas');
|
||
const graspCtx = graspCanvas.getContext('2d');
|
||
let displayedGrasp = null;
|
||
let graspRgbInFlight = false;
|
||
const cropCanvas = $('cropCanvas');
|
||
const cropCtx = cropCanvas.getContext('2d');
|
||
const scatterXY = $('scatterXY');
|
||
const scatterXZ = $('scatterXZ');
|
||
let lastDetections = []; // all detections, sorted by confidence desc
|
||
let lastSelectedClass = null; // class name whose point cloud is displayed
|
||
let lastCropBbox = null;
|
||
let lastPoints = null; // array of [x,y,z]
|
||
let knownClasses = []; // names discovered from /api/perception/classes
|
||
|
||
// Stable per-class color palette (Okabe-Ito, colour-blind safe).
|
||
const CLASS_PALETTE = ['#4da3ff', '#f39c12', '#2ecc71', '#e74c3c', '#9b59b6', '#1abc9c', '#e67e22', '#fd79a8'];
|
||
function colorForClass(name) {
|
||
if (!name) return '#888';
|
||
let h = 0;
|
||
for (let i = 0; i < name.length; i++) h = (h * 31 + name.charCodeAt(i)) | 0;
|
||
return CLASS_PALETTE[Math.abs(h) % CLASS_PALETTE.length];
|
||
}
|
||
|
||
function drawGraspFrame() {
|
||
if (displayedGrasp) {
|
||
if (graspCanvas.width !== displayedGrasp.naturalWidth) {
|
||
graspCanvas.width = displayedGrasp.naturalWidth;
|
||
graspCanvas.height = displayedGrasp.naturalHeight;
|
||
}
|
||
graspCtx.drawImage(displayedGrasp, 0, 0);
|
||
}
|
||
lastDetections.forEach(d => {
|
||
const b = d.bbox;
|
||
const color = colorForClass(d.class);
|
||
const isSel = lastSelectedClass && d.class === lastSelectedClass;
|
||
graspCtx.strokeStyle = color;
|
||
graspCtx.lineWidth = isSel ? 4 : 2;
|
||
graspCtx.setLineDash(isSel ? [] : [6, 4]);
|
||
graspCtx.strokeRect(b.x1, b.y1, b.x2 - b.x1, b.y2 - b.y1);
|
||
graspCtx.setLineDash([]);
|
||
const label = `${d.class || '?'} ${(d.confidence*100).toFixed(0)}%${isSel ? ' ★' : ''}`;
|
||
graspCtx.font = 'bold 13px sans-serif';
|
||
const tw = graspCtx.measureText(label).width + 8;
|
||
const ty = b.y1 > 18 ? b.y1 - 4 : b.y1 + 16;
|
||
graspCtx.fillStyle = color;
|
||
graspCtx.fillRect(b.x1, ty - 14, tw, 18);
|
||
graspCtx.fillStyle = '#0b0f14';
|
||
graspCtx.fillText(label, b.x1 + 4, ty);
|
||
});
|
||
}
|
||
|
||
function drawCrop() {
|
||
cropCtx.fillStyle = '#000';
|
||
cropCtx.fillRect(0, 0, cropCanvas.width, cropCanvas.height);
|
||
if (!lastCropBbox || !displayedGrasp) return;
|
||
const { x1, y1, x2, y2 } = lastCropBbox;
|
||
const sw = Math.max(1, x2 - x1), sh = Math.max(1, y2 - y1);
|
||
const scale = Math.min(cropCanvas.width / sw, cropCanvas.height / sh);
|
||
const dw = sw * scale, dh = sh * scale;
|
||
const dx = (cropCanvas.width - dw) / 2, dy = (cropCanvas.height - dh) / 2;
|
||
cropCtx.drawImage(displayedGrasp, x1, y1, sw, sh, dx, dy, dw, dh);
|
||
cropCtx.strokeStyle = '#4da3ff';
|
||
cropCtx.lineWidth = 2;
|
||
cropCtx.strokeRect(dx, dy, dw, dh);
|
||
}
|
||
|
||
function drawScatter(canvas, pts, axU, axV, label) {
|
||
const ctx = canvas.getContext('2d');
|
||
ctx.fillStyle = '#0d1014';
|
||
ctx.fillRect(0, 0, canvas.width, canvas.height);
|
||
if (!pts || pts.length === 0) {
|
||
ctx.fillStyle = '#666';
|
||
ctx.font = '12px sans-serif';
|
||
ctx.fillText('(no points)', 10, 20);
|
||
return;
|
||
}
|
||
let uMin = Infinity, uMax = -Infinity, vMin = Infinity, vMax = -Infinity;
|
||
for (const p of pts) {
|
||
if (p[axU] < uMin) uMin = p[axU]; if (p[axU] > uMax) uMax = p[axU];
|
||
if (p[axV] < vMin) vMin = p[axV]; if (p[axV] > vMax) vMax = p[axV];
|
||
}
|
||
const pad = 20;
|
||
const du = Math.max(1e-6, uMax - uMin), dv = Math.max(1e-6, vMax - vMin);
|
||
const s = Math.min((canvas.width - 2*pad) / du, (canvas.height - 2*pad) / dv);
|
||
// axes
|
||
ctx.strokeStyle = '#2a2f37';
|
||
ctx.strokeRect(pad, pad, canvas.width - 2*pad, canvas.height - 2*pad);
|
||
// points
|
||
ctx.fillStyle = '#3ecf8e';
|
||
for (const p of pts) {
|
||
const x = pad + (p[axU] - uMin) * s;
|
||
const y = canvas.height - pad - (p[axV] - vMin) * s;
|
||
ctx.fillRect(x - 1, y - 1, 2, 2);
|
||
}
|
||
ctx.fillStyle = '#9aa0a6';
|
||
ctx.font = '11px ui-monospace, monospace';
|
||
ctx.fillText(label, pad + 2, 14);
|
||
ctx.fillText(`u:[${uMin.toFixed(2)},${uMax.toFixed(2)}] v:[${vMin.toFixed(2)},${vMax.toFixed(2)}]`, pad, canvas.height - 4);
|
||
}
|
||
|
||
function drawScatters() {
|
||
drawScatter(scatterXY, lastPoints, 0, 1, 'Top-down (X→, Y↑)');
|
||
drawScatter(scatterXZ, lastPoints, 0, 2, 'Laterale (X→, Z↑)');
|
||
}
|
||
|
||
function refreshGraspRgb() {
|
||
if (graspRgbInFlight) return;
|
||
graspRgbInFlight = true;
|
||
const img = new Image();
|
||
img.onload = () => {
|
||
displayedGrasp = img;
|
||
graspRgbInFlight = false;
|
||
drawGraspFrame();
|
||
drawCrop();
|
||
};
|
||
img.onerror = () => { graspRgbInFlight = false; };
|
||
img.src = `/api/calibration/rgb.jpg?t=${Date.now()}`;
|
||
}
|
||
setInterval(() => {
|
||
if ($('tab-grasp').classList.contains('active')) refreshGraspRgb();
|
||
}, 150);
|
||
|
||
// click-to-measure on RGB
|
||
graspCanvas.addEventListener('click', async (ev) => {
|
||
const rect = graspCanvas.getBoundingClientRect();
|
||
const u = Math.round((ev.clientX - rect.left) * (graspCanvas.width / rect.width));
|
||
const v = Math.round((ev.clientY - rect.top) * (graspCanvas.height / rect.height));
|
||
$('measureInfo').textContent = `measuring (u=${u}, v=${v})…`;
|
||
try {
|
||
const r = await api('GET', `/api/perception/measure?u=${u}&v=${v}&radius=6`);
|
||
const cam = r.camera || {};
|
||
let line = `(u=${u}, v=${v}) cam: `;
|
||
const xyz = (o) => o && (o.x !== undefined ? `x=${(+o.x).toFixed(3)} y=${(+o.y).toFixed(3)} z=${(+o.z).toFixed(3)}` : JSON.stringify(o));
|
||
line += xyz(cam.point || cam.xyz || cam);
|
||
const d = cam.distance_m ?? cam.distance ?? null;
|
||
if (d != null) line += ` d=${(+d*100).toFixed(1)} cm`;
|
||
if (r.base) line += ` base: ${xyz(r.base)}`;
|
||
const t = fmtTimings(r.timings_ms);
|
||
if (t) line += ` [${t}]`;
|
||
$('measureInfo').textContent = line;
|
||
// marker
|
||
graspCtx.fillStyle = '#e74c3c';
|
||
graspCtx.beginPath(); graspCtx.arc(u, v, 5, 0, 2*Math.PI); graspCtx.fill();
|
||
} catch (e) { $('measureInfo').textContent = `measure error: ${e.message}`; }
|
||
});
|
||
|
||
function pickedClass() {
|
||
const v = $('graspObjectPick').value;
|
||
return v ? v : null;
|
||
}
|
||
|
||
// Apply a /scan response to local state + canvases.
|
||
function applyScanResponse(r) {
|
||
lastDetections = Array.isArray(r.detections) ? r.detections : [];
|
||
const sel = r.selected || null;
|
||
lastSelectedClass = sel ? sel.class : null;
|
||
lastCropBbox = sel ? sel.bbox : null;
|
||
lastPoints = r.points_base || r.points_camera || null;
|
||
refreshObjectPickOptions(lastDetections);
|
||
renderGraspLegend(lastDetections);
|
||
drawGraspFrame(); drawCrop(); drawScatters();
|
||
}
|
||
|
||
$('detectBtn').addEventListener('click', async () => {
|
||
try {
|
||
setStatus('YOLO + pointcloud…');
|
||
const body = {
|
||
conf: +$('graspConf').value || null,
|
||
class_name: pickedClass(),
|
||
include_points: true,
|
||
};
|
||
const r = await api('POST', '/api/perception/scan', body);
|
||
applyScanResponse(r);
|
||
$('graspOut').textContent = JSON.stringify({
|
||
detections: r.detections,
|
||
selected: r.selected,
|
||
n_points: r.n_points,
|
||
frame: r.points_base ? 'base' : 'camera',
|
||
timings_ms: r.timings_ms,
|
||
}, null, 2);
|
||
const nDet = r.detections ? r.detections.length : 0;
|
||
setStatus(`${nDet} detection · ${r.n_points || 0} punti · ${fmtTimings(r.timings_ms)}`, 'ok');
|
||
} catch (e) { setStatus(e.message, 'err'); }
|
||
});
|
||
|
||
$('planBtn').addEventListener('click', async () => {
|
||
try {
|
||
setStatus('Pianifico…');
|
||
const body = { conf: +$('graspConf').value || null, class_name: pickedClass() };
|
||
const r = await api('POST', '/api/grasp/plan', body);
|
||
if (r.detection) {
|
||
// keep the multi-class view, but highlight the planned class
|
||
lastSelectedClass = r.detection.class || lastSelectedClass;
|
||
lastCropBbox = r.detection.bbox;
|
||
if (!lastDetections.some(d => d.class === r.detection.class)) {
|
||
lastDetections = [r.detection, ...lastDetections];
|
||
}
|
||
}
|
||
$('graspOut').textContent = JSON.stringify(r, null, 2);
|
||
renderGraspLegend(lastDetections);
|
||
drawGraspFrame(); drawCrop();
|
||
setStatus(`Plan ok · ${fmtTimings(r.timings_ms)}`, 'ok');
|
||
} catch (e) { setStatus(e.message, 'err'); }
|
||
});
|
||
|
||
// --- continuous detection loop ---
|
||
const STATS_WINDOW = 5;
|
||
const MISS_LIMIT = 5; // consecutive frames without detection before clearing the view
|
||
let loopTimer = null;
|
||
let loopInFlight = false;
|
||
let recentCentroids = []; // [[x,y,z], ...] in base frame if calibrated, else camera
|
||
let missStreak = 0;
|
||
|
||
function clearDetectionState(reason) {
|
||
lastDetections = [];
|
||
lastSelectedClass = null;
|
||
lastCropBbox = null;
|
||
lastPoints = null;
|
||
recentCentroids = [];
|
||
drawGraspFrame(); // redraws RGB without bbox overlay
|
||
drawCrop(); // wipes crop thumbnail
|
||
drawScatters(); // wipes scatter plots
|
||
updateStats(); // resets table to dashes
|
||
refreshObjectPickOptions([]);
|
||
renderGraspLegend([]);
|
||
$('graspOut').textContent = reason || '(nessuna detection)';
|
||
}
|
||
|
||
function centroidOf(pts) {
|
||
if (!pts || !pts.length) return null;
|
||
let sx = 0, sy = 0, sz = 0;
|
||
for (const p of pts) { sx += p[0]; sy += p[1]; sz += p[2]; }
|
||
return [sx / pts.length, sy / pts.length, sz / pts.length];
|
||
}
|
||
|
||
function updateStats() {
|
||
const rows = $('statsTable').querySelectorAll('tbody tr');
|
||
const empty = ['—','—','—','—','—'];
|
||
$('statsWindow').textContent = STATS_WINDOW;
|
||
if (recentCentroids.length === 0) {
|
||
rows.forEach(r => { r.children[1].textContent='—'; r.children[2].textContent='—'; r.children[3].textContent='—'; r.children[4].textContent='—'; r.children[5].textContent='—'; });
|
||
return;
|
||
}
|
||
const n = recentCentroids.length;
|
||
for (let axis = 0; axis < 3; axis++) {
|
||
const vals = recentCentroids.map(c => c[axis]);
|
||
const mean = vals.reduce((a,b) => a+b, 0) / n;
|
||
const vmin = Math.min(...vals), vmax = Math.max(...vals);
|
||
const variance = n > 1 ? vals.reduce((s,v) => s + (v-mean)*(v-mean), 0) / (n - 1) : 0;
|
||
const std = Math.sqrt(variance);
|
||
const r = rows[axis];
|
||
r.children[1].textContent = mean.toFixed(4);
|
||
r.children[2].textContent = (std * 1000).toFixed(2);
|
||
r.children[3].textContent = ((vmax - vmin) * 1000).toFixed(2);
|
||
r.children[4].textContent = vmin.toFixed(4);
|
||
r.children[5].textContent = vmax.toFixed(4);
|
||
}
|
||
}
|
||
|
||
async function loopTick() {
|
||
if (loopInFlight) return;
|
||
loopInFlight = true;
|
||
const t0 = performance.now();
|
||
try {
|
||
const body = {
|
||
conf: +$('graspConf').value || null,
|
||
class_name: pickedClass(),
|
||
include_points: true,
|
||
};
|
||
const r = await api('POST', '/api/perception/scan', body);
|
||
const pts = r.points_base || r.points_camera || [];
|
||
const frame = r.points_base ? 'base' : 'camera';
|
||
lastDetections = Array.isArray(r.detections) ? r.detections : [];
|
||
lastSelectedClass = r.selected ? r.selected.class : null;
|
||
lastCropBbox = r.selected ? r.selected.bbox : null;
|
||
lastPoints = pts;
|
||
refreshObjectPickOptions(lastDetections);
|
||
renderGraspLegend(lastDetections);
|
||
drawGraspFrame(); drawCrop(); drawScatters();
|
||
const c = centroidOf(pts);
|
||
if (c) {
|
||
recentCentroids.push(c);
|
||
if (recentCentroids.length > STATS_WINDOW) recentCentroids.shift();
|
||
updateStats();
|
||
}
|
||
const nDet = lastDetections.length;
|
||
if (nDet === 0) throw new Error('404 no object detected');
|
||
missStreak = 0;
|
||
const dt = performance.now() - t0;
|
||
const selMsg = r.selected
|
||
? `sel=${lastSelectedClass}`
|
||
: (pickedClass() ? `sel=${pickedClass()} NON rilevata` : 'sel=—');
|
||
$('statsMeta').textContent =
|
||
`loop ON · ${nDet} detection · ${selMsg} · frame=${frame} · n=${r.n_points} · iter ${dt.toFixed(0)}ms · ${fmtTimings(r.timings_ms)}`;
|
||
$('statsMeta').style.color = r.selected ? 'var(--ok)' : 'var(--warn)';
|
||
} catch (e) {
|
||
const msg = e.message || '';
|
||
// Classify:
|
||
// - true miss (404/422): object not detected → increments miss streak
|
||
// - transient upstream (500/502/503 from YOLO/Nuwa): skip silently, no streak bump
|
||
// - anything else: surface as real error
|
||
const isMiss = /^404\b|no object|^422\b|too few/i.test(msg);
|
||
const isTransient = /^(500|502|503)\b|bad gateway|service unavailable|temporarily/i.test(msg);
|
||
if (isMiss) {
|
||
missStreak++;
|
||
if (missStreak >= MISS_LIMIT) {
|
||
clearDetectionState(`nessun oggetto per ${MISS_LIMIT} frame consecutivi`);
|
||
$('statsMeta').textContent = `loop ON · nessun oggetto per ${MISS_LIMIT} frame → dati azzerati`;
|
||
$('statsMeta').style.color = 'var(--warn)';
|
||
} else {
|
||
$('statsMeta').textContent = `loop ON · miss ${missStreak}/${MISS_LIMIT}`;
|
||
$('statsMeta').style.color = 'var(--warn)';
|
||
}
|
||
} else if (isTransient) {
|
||
$('statsMeta').textContent = `loop ON · upstream busy (skip): ${msg}`;
|
||
$('statsMeta').style.color = 'var(--warn)';
|
||
} else {
|
||
$('statsMeta').textContent = `loop error: ${msg}`;
|
||
$('statsMeta').style.color = 'var(--danger)';
|
||
}
|
||
} finally {
|
||
loopInFlight = false;
|
||
}
|
||
}
|
||
|
||
function startLoop() {
|
||
if (loopTimer) return;
|
||
const rate = Math.max(100, +$('loopRateMs').value || 500);
|
||
missStreak = 0;
|
||
recentCentroids = [];
|
||
updateStats();
|
||
loopTick();
|
||
loopTimer = setInterval(loopTick, rate);
|
||
const b = $('loopBtn');
|
||
b.textContent = '■ Stop loop';
|
||
b.classList.add('running');
|
||
$('statsMeta').textContent = 'loop ON';
|
||
$('statsMeta').style.color = 'var(--ok)';
|
||
}
|
||
|
||
function stopLoop() {
|
||
if (loopTimer) { clearInterval(loopTimer); loopTimer = null; }
|
||
const b = $('loopBtn');
|
||
b.textContent = '▶ Loop riconoscimento';
|
||
b.classList.remove('running');
|
||
$('statsMeta').textContent = 'loop inattivo';
|
||
$('statsMeta').style.color = 'var(--dim)';
|
||
}
|
||
|
||
$('loopBtn').addEventListener('click', () => (loopTimer ? stopLoop() : startLoop()));
|
||
|
||
// If user leaves the tab, pause to avoid background load
|
||
document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
|
||
if (btn.dataset.tab !== 'grasp' && loopTimer) stopLoop();
|
||
}));
|
||
|
||
$('executeBtn').addEventListener('click', async () => {
|
||
if (!$('graspDryRun').checked && !confirm('Eseguire realmente la presa sul robot?')) return;
|
||
try {
|
||
setStatus('Esecuzione…');
|
||
const body = {
|
||
conf: +$('graspConf').value || null,
|
||
class_name: pickedClass(),
|
||
dry_run: $('graspDryRun').checked,
|
||
};
|
||
const r = await api('POST', '/api/grasp/execute', body);
|
||
$('graspOut').textContent = JSON.stringify(r, null, 2);
|
||
setStatus(`Grasp eseguito · ${fmtTimings(r.timings_ms)}`, 'ok');
|
||
} catch (e) { setStatus(e.message, 'err'); }
|
||
});
|
||
|
||
// --- object pick select + legend + class discovery ---
|
||
|
||
// Build per-class summary: best (highest-confidence) detection and instance count.
|
||
function bestPerClass(dets) {
|
||
const byClass = new Map();
|
||
const counts = new Map();
|
||
for (const d of dets) {
|
||
if (!d.class) continue;
|
||
counts.set(d.class, (counts.get(d.class) || 0) + 1);
|
||
const cur = byClass.get(d.class);
|
||
if (!cur || d.confidence > cur.confidence) byClass.set(d.class, d);
|
||
}
|
||
return { byClass, counts };
|
||
}
|
||
|
||
function refreshObjectPickOptions(dets) {
|
||
const sel = $('graspObjectPick');
|
||
const prev = sel.value;
|
||
// known classes (from /classes, if any) keep a stable entry order;
|
||
// detected-only classes are added after.
|
||
const known = new Set(knownClasses);
|
||
const ordered = [];
|
||
knownClasses.forEach(n => ordered.push(n));
|
||
dets.forEach(d => { if (d.class && !known.has(d.class)) { ordered.push(d.class); known.add(d.class); } });
|
||
const { byClass, counts } = bestPerClass(dets);
|
||
sel.innerHTML = '';
|
||
const opt0 = document.createElement('option');
|
||
opt0.value = ''; opt0.textContent = '(top overall)';
|
||
sel.appendChild(opt0);
|
||
for (const name of ordered) {
|
||
const d = byClass.get(name);
|
||
const n = counts.get(name) || 0;
|
||
const o = document.createElement('option');
|
||
o.value = name;
|
||
const suffix = n > 1 ? ` ×${n}` : '';
|
||
o.textContent = d
|
||
? `${name} · ${(d.confidence*100).toFixed(0)}%${suffix}`
|
||
: `${name} · —`;
|
||
if (!d) o.style.color = '#888';
|
||
sel.appendChild(o);
|
||
}
|
||
// Preserve the previous selection if still valid, else fall back to '(top)'.
|
||
const stillAvailable = prev === '' || ordered.includes(prev);
|
||
sel.value = stillAvailable ? prev : '';
|
||
}
|
||
|
||
function renderGraspLegend(dets) {
|
||
const host = $('graspLegend');
|
||
if (!host) return;
|
||
const known = new Set(knownClasses);
|
||
const ordered = [];
|
||
knownClasses.forEach(n => ordered.push(n));
|
||
dets.forEach(d => { if (d.class && !known.has(d.class)) { ordered.push(d.class); known.add(d.class); } });
|
||
const { byClass, counts } = bestPerClass(dets);
|
||
host.innerHTML = '';
|
||
if (ordered.length === 0) { host.textContent = '(nessuna classe)'; return; }
|
||
for (const name of ordered) {
|
||
const d = byClass.get(name);
|
||
const n = counts.get(name) || 0;
|
||
const item = document.createElement('span');
|
||
item.className = 'item' + (name === lastSelectedClass ? ' selected' : '') + (!d ? ' missing' : '');
|
||
const sw = document.createElement('span');
|
||
sw.className = 'sw';
|
||
sw.style.background = colorForClass(name);
|
||
item.appendChild(sw);
|
||
const suffix = n > 1 ? ` ×${n}` : '';
|
||
item.appendChild(document.createTextNode(
|
||
d ? `${name} ${(d.confidence*100).toFixed(0)}%${suffix}` : `${name} (non rilevata)`
|
||
));
|
||
host.appendChild(item);
|
||
}
|
||
}
|
||
|
||
async function loadKnownClasses() {
|
||
try {
|
||
const r = await api('GET', '/api/perception/classes');
|
||
knownClasses = (r.classes || []).map(c => c.name).filter(Boolean);
|
||
} catch (_e) {
|
||
knownClasses = [];
|
||
}
|
||
refreshObjectPickOptions(lastDetections);
|
||
renderGraspLegend(lastDetections);
|
||
}
|
||
loadKnownClasses();
|
||
|
||
// Changing the pick while the loop is idle → fire a one-off scan so the cloud
|
||
// updates immediately. While looping, the next tick picks it up automatically.
|
||
$('graspObjectPick').addEventListener('change', () => {
|
||
renderGraspLegend(lastDetections);
|
||
drawGraspFrame();
|
||
if (!loopTimer) $('detectBtn').click();
|
||
});
|
||
|
||
// ==================== EE ====================
|
||
async function refreshWrist() {
|
||
try {
|
||
const r = await api('GET', '/api/wrist');
|
||
$('wristCurrent').textContent = JSON.stringify(r, null, 2);
|
||
} catch (e) { $('wristCurrent').textContent = e.message; }
|
||
}
|
||
$('refreshWristBtn').addEventListener('click', refreshWrist);
|
||
|
||
$('absSendBtn').addEventListener('click', async () => {
|
||
const body = {
|
||
side: $('eeSide').value,
|
||
position: [+$('absPx').value, +$('absPy').value, +$('absPz').value],
|
||
quaternion: [+$('absQx').value, +$('absQy').value, +$('absQz').value, +$('absQw').value],
|
||
wait: true, timeout_s: 5.0, precise: false,
|
||
dry_run: $('eeDryRun').checked,
|
||
};
|
||
try { $('eeLog').textContent = JSON.stringify(await api('POST', '/api/wrist/absolute', body), null, 2); }
|
||
catch (e) { $('eeLog').textContent = e.message; }
|
||
});
|
||
|
||
$('relSendBtn').addEventListener('click', async () => {
|
||
const body = {
|
||
side: $('eeSide').value,
|
||
delta_position: [+$('relDx').value, +$('relDy').value, +$('relDz').value],
|
||
wait: true, timeout_s: 5.0,
|
||
dry_run: $('eeDryRun').checked,
|
||
};
|
||
try { $('eeLog').textContent = JSON.stringify(await api('POST', '/api/wrist/relative', body), null, 2); }
|
||
catch (e) { $('eeLog').textContent = e.message; }
|
||
});
|
||
|
||
const handBtn = (id, action) => $(id).addEventListener('click', async () => {
|
||
try {
|
||
const r = await api('POST', '/api/wrist/hand', { action, dry_run: $('eeDryRun').checked });
|
||
$('eeLog').textContent = JSON.stringify(r, null, 2);
|
||
} catch (e) { $('eeLog').textContent = e.message; }
|
||
});
|
||
handBtn('handOpenBtn', 'RIGHT_OPEN');
|
||
handBtn('handCloseBtn', 'RIGHT_CLOSE');
|
||
handBtn('handOpenLBtn', 'LEFT_OPEN');
|
||
handBtn('handCloseLBtn', 'LEFT_CLOSE');
|
||
|
||
$('estopBtn').addEventListener('click', async () => {
|
||
if (!confirm('EMERGENCY STOP: confermi?')) return;
|
||
try {
|
||
const r = await api('POST', `/api/wrist/emergency_stop?dry_run=${$('eeDryRun').checked}`);
|
||
$('eeLog').textContent = JSON.stringify(r, null, 2);
|
||
} catch (e) { $('eeLog').textContent = e.message; }
|
||
});
|
||
$('unlockBtn').addEventListener('click', async () => {
|
||
try {
|
||
const r = await api('POST', `/api/wrist/unlock?dry_run=${$('eeDryRun').checked}`);
|
||
$('eeLog').textContent = JSON.stringify(r, null, 2);
|
||
} catch (e) { $('eeLog').textContent = e.message; }
|
||
});
|
||
|
||
// ==================== VISTA 3D ====================
|
||
// Minimal canvas-2D 3D renderer: orthographic camera with yaw/pitch around a
|
||
// target point, painter's-algorithm depth sorting, mouse drag/zoom/pan.
|
||
|
||
const view3dCanvas = $('view3dCanvas');
|
||
const view3dCtx = view3dCanvas.getContext('2d');
|
||
|
||
const view3d = {
|
||
// camera
|
||
yaw: -0.6, // around base Z
|
||
pitch: 0.5, // 0 = horizontal, π/2 = top-down
|
||
scale: 350, // pixels per meter
|
||
target: [0.30, 0.0, 0.20], // world point at canvas center
|
||
// scene data
|
||
wrist: null, // { left:{position,quaternion}, right:{...} }
|
||
object: null, // { points:[[x,y,z],...], centroid:[x,y,z], n_points }
|
||
plan: null, // { grasp:{position,quaternion_xyzw}, pre_grasp:{position} }
|
||
calibrated: true, // false → object data unavailable
|
||
lastErr: null,
|
||
};
|
||
|
||
// ---- math helpers ----
|
||
function quatToR(q) {
|
||
const x=q[0], y=q[1], z=q[2], w=q[3];
|
||
const n = x*x + y*y + z*z + w*w;
|
||
if (n === 0) return [[1,0,0],[0,1,0],[0,0,1]];
|
||
const s = 2/n;
|
||
return [
|
||
[1 - s*(y*y + z*z), s*(x*y - z*w), s*(x*z + y*w)],
|
||
[s*(x*y + z*w), 1 - s*(x*x + z*z), s*(y*z - x*w)],
|
||
[s*(x*z - y*w), s*(y*z + x*w), 1 - s*(x*x + y*y)],
|
||
];
|
||
}
|
||
|
||
// Project world point → {sx, sy, depth}. depth = camera-axis distance for sorting.
|
||
function project(p) {
|
||
const dx = p[0] - view3d.target[0];
|
||
const dy = p[1] - view3d.target[1];
|
||
const dz = p[2] - view3d.target[2];
|
||
const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw);
|
||
// Yaw around Z
|
||
const x1 = cy*dx + sy*dy;
|
||
const y1 = -sy*dx + cy*dy;
|
||
const z1 = dz;
|
||
// Pitch around X (camera looks roughly toward +Y after yaw, tilting down by pitch)
|
||
const cp = Math.cos(view3d.pitch), sp = Math.sin(view3d.pitch);
|
||
const y2 = cp*y1 + sp*z1;
|
||
const z2 = -sp*y1 + cp*z1;
|
||
// Orthographic: screen X = +x1; screen Y = -z2 (so +Z up on screen)
|
||
const sx = view3dCanvas.width / 2 + view3d.scale * x1;
|
||
const sxy = view3dCanvas.height / 2 - view3d.scale * z2;
|
||
// depth: y2 increases away from viewer → larger y2 = farther
|
||
return { sx, sy: sxy, depth: y2 };
|
||
}
|
||
|
||
function drawSegment(items, p1, p2, color, width = 2) {
|
||
const a = project(p1), b = project(p2);
|
||
items.push({ depth: (a.depth + b.depth) / 2, draw: () => {
|
||
view3dCtx.strokeStyle = color;
|
||
view3dCtx.lineWidth = width;
|
||
view3dCtx.beginPath();
|
||
view3dCtx.moveTo(a.sx, a.sy);
|
||
view3dCtx.lineTo(b.sx, b.sy);
|
||
view3dCtx.stroke();
|
||
}});
|
||
}
|
||
|
||
function drawDot(items, p, color, radius = 3) {
|
||
const a = project(p);
|
||
items.push({ depth: a.depth, draw: () => {
|
||
view3dCtx.fillStyle = color;
|
||
view3dCtx.beginPath();
|
||
view3dCtx.arc(a.sx, a.sy, radius, 0, 2 * Math.PI);
|
||
view3dCtx.fill();
|
||
}});
|
||
}
|
||
|
||
function drawLabel(items, p, text, color, dx = 8, dy = -8) {
|
||
const a = project(p);
|
||
items.push({ depth: a.depth - 1e-6, draw: () => {
|
||
view3dCtx.fillStyle = color;
|
||
view3dCtx.font = 'bold 11px ui-monospace, monospace';
|
||
view3dCtx.fillText(text, a.sx + dx, a.sy + dy);
|
||
}});
|
||
}
|
||
|
||
function drawTriad(items, position, R, len = 0.06) {
|
||
// Columns of R = axis directions in base frame.
|
||
const axes = [
|
||
{ col: 0, color: '#e74c3c' }, // X
|
||
{ col: 1, color: '#3ecf8e' }, // Y
|
||
{ col: 2, color: '#4da3ff' }, // Z
|
||
];
|
||
for (const a of axes) {
|
||
const tip = [
|
||
position[0] + R[0][a.col] * len,
|
||
position[1] + R[1][a.col] * len,
|
||
position[2] + R[2][a.col] * len,
|
||
];
|
||
drawSegment(items, position, tip, a.color, 2);
|
||
}
|
||
}
|
||
|
||
function drawGroundGrid(items) {
|
||
if (!$('view3dShowGrid').checked) return;
|
||
const half = 0.6, step = 0.05;
|
||
const minor = '#1a1f27', major = '#2a2f37';
|
||
for (let x = -half; x <= half + 1e-6; x += step) {
|
||
const isMajor = Math.abs(x % 0.10) < 1e-6;
|
||
drawSegment(items, [x, -half, 0], [x, half, 0], isMajor ? major : minor, 1);
|
||
}
|
||
for (let y = -half; y <= half + 1e-6; y += step) {
|
||
const isMajor = Math.abs(y % 0.10) < 1e-6;
|
||
drawSegment(items, [-half, y, 0], [half, y, 0], isMajor ? major : minor, 1);
|
||
}
|
||
}
|
||
|
||
function drawBaseAxes(items) {
|
||
drawTriad(items, [0,0,0], [[1,0,0],[0,1,0],[0,0,1]], 0.12);
|
||
drawLabel(items, [0.12, 0, 0], 'X', '#e74c3c');
|
||
drawLabel(items, [0, 0.12, 0], 'Y', '#3ecf8e');
|
||
drawLabel(items, [0, 0, 0.12], 'Z', '#4da3ff');
|
||
drawLabel(items, [0,0,0], 'BASE', '#9aa0a6', 8, 14);
|
||
}
|
||
|
||
function drawWrist(items, side, pose, color) {
|
||
if (!pose || !pose.position || !pose.quaternion) return;
|
||
const p = pose.position;
|
||
const R = quatToR(pose.quaternion);
|
||
drawTriad(items, p, R, 0.08);
|
||
drawDot(items, p, color, 5);
|
||
drawLabel(items, p, `polso ${side}`, color, 10, -6);
|
||
}
|
||
|
||
function drawObject(items) {
|
||
if (!view3d.object) return;
|
||
if ($('view3dShowCloud').checked && view3d.object.points) {
|
||
// Cap render to avoid huge per-frame work.
|
||
const max = 1500;
|
||
const pts = view3d.object.points;
|
||
const stride = Math.max(1, Math.ceil(pts.length / max));
|
||
for (let i = 0; i < pts.length; i += stride) {
|
||
drawDot(items, pts[i], '#aaaaaa', 1.4);
|
||
}
|
||
}
|
||
if (view3d.object.centroid) {
|
||
drawDot(items, view3d.object.centroid, '#ffd54f', 6);
|
||
drawLabel(items, view3d.object.centroid, 'oggetto', '#ffd54f', 10, -8);
|
||
}
|
||
}
|
||
|
||
function drawPlan(items) {
|
||
if (!view3d.plan) return;
|
||
const g = view3d.plan.grasp, pg = view3d.plan.pre_grasp;
|
||
if (!g || !g.position) return;
|
||
const R = quatToR(g.quaternion_xyzw);
|
||
// grasp pose triad + marker
|
||
drawTriad(items, g.position, R, 0.07);
|
||
drawDot(items, g.position, '#ff5e7e', 6);
|
||
drawLabel(items, g.position, 'grasp', '#ff5e7e', 10, -8);
|
||
// pre-grasp marker + approach line
|
||
if (pg && pg.position) {
|
||
drawDot(items, pg.position, '#ffffff', 4);
|
||
drawLabel(items, pg.position, 'pre-grasp', '#ffffff', 10, -8);
|
||
drawSegment(items, pg.position, g.position, '#ffffff', 1.5);
|
||
}
|
||
}
|
||
|
||
function renderView3d() {
|
||
const ctx = view3dCtx;
|
||
ctx.fillStyle = '#0d1014';
|
||
ctx.fillRect(0, 0, view3dCanvas.width, view3dCanvas.height);
|
||
|
||
const items = [];
|
||
drawGroundGrid(items);
|
||
drawBaseAxes(items);
|
||
if (view3d.wrist) {
|
||
drawWrist(items, 'right', view3d.wrist.right, '#f0ad4e');
|
||
drawWrist(items, 'left', view3d.wrist.left, '#9b59b6');
|
||
}
|
||
drawObject(items);
|
||
drawPlan(items);
|
||
|
||
// Painter's algorithm: far first.
|
||
items.sort((a, b) => b.depth - a.depth);
|
||
items.forEach(it => it.draw());
|
||
|
||
// HUD
|
||
ctx.fillStyle = '#9aa0a6';
|
||
ctx.font = '11px ui-monospace, monospace';
|
||
ctx.fillText(`yaw=${(view3d.yaw*180/Math.PI).toFixed(0)}° pitch=${(view3d.pitch*180/Math.PI).toFixed(0)}° scale=${view3d.scale.toFixed(0)} px/m`, 8, 14);
|
||
ctx.fillText(`target=[${view3d.target.map(v => v.toFixed(2)).join(', ')}]`, 8, 28);
|
||
if (!view3d.calibrated) {
|
||
ctx.fillStyle = '#f0ad4e';
|
||
ctx.fillText('⚠ calibrazione mancante: punti oggetto non disponibili in frame base', 8, view3dCanvas.height - 8);
|
||
}
|
||
if (view3d.lastErr) {
|
||
ctx.fillStyle = '#e74c3c';
|
||
ctx.fillText(view3d.lastErr, 8, view3dCanvas.height - 22);
|
||
}
|
||
}
|
||
|
||
// ---- mouse interaction ----
|
||
let drag3d = null;
|
||
view3dCanvas.addEventListener('mousedown', (ev) => {
|
||
drag3d = { x: ev.clientX, y: ev.clientY, pan: ev.shiftKey };
|
||
});
|
||
window.addEventListener('mouseup', () => { drag3d = null; });
|
||
window.addEventListener('mousemove', (ev) => {
|
||
if (!drag3d) return;
|
||
const dx = ev.clientX - drag3d.x;
|
||
const dy = ev.clientY - drag3d.y;
|
||
drag3d.x = ev.clientX; drag3d.y = ev.clientY;
|
||
if (drag3d.pan) {
|
||
// Pan in screen plane → world XY (approx, ignoring pitch foreshortening on Z)
|
||
const cy = Math.cos(view3d.yaw), sy = Math.sin(view3d.yaw);
|
||
const wx = cy*dx - sy*(-dy) * Math.cos(view3d.pitch);
|
||
const wy = sy*dx + cy*(-dy) * Math.cos(view3d.pitch);
|
||
view3d.target[0] -= wx / view3d.scale;
|
||
view3d.target[1] -= wy / view3d.scale;
|
||
// also let vertical drag move target Z when looking near horizontal
|
||
view3d.target[2] += (-dy) * Math.sin(view3d.pitch) / view3d.scale;
|
||
} else {
|
||
view3d.yaw += dx * 0.01;
|
||
view3d.pitch += dy * 0.01;
|
||
view3d.pitch = Math.max(-Math.PI/2 + 0.05, Math.min(Math.PI/2 - 0.05, view3d.pitch));
|
||
}
|
||
renderView3d();
|
||
});
|
||
view3dCanvas.addEventListener('wheel', (ev) => {
|
||
ev.preventDefault();
|
||
const f = Math.exp(-ev.deltaY * 0.001);
|
||
view3d.scale = Math.max(50, Math.min(3000, view3d.scale * f));
|
||
renderView3d();
|
||
}, { passive: false });
|
||
view3dCanvas.addEventListener('dblclick', () => resetView3d());
|
||
|
||
function resetView3d() {
|
||
view3d.yaw = -0.6;
|
||
view3d.pitch = 0.5;
|
||
view3d.scale = 350;
|
||
view3d.target = [0.30, 0.0, 0.20];
|
||
renderView3d();
|
||
}
|
||
$('view3dResetBtn').addEventListener('click', resetView3d);
|
||
|
||
function autoFitView3d() {
|
||
if (!$('view3dAutoFit').checked) return;
|
||
const pts = [];
|
||
if (view3d.wrist) {
|
||
if (view3d.wrist.right && view3d.wrist.right.position) pts.push(view3d.wrist.right.position);
|
||
if (view3d.wrist.left && view3d.wrist.left.position) pts.push(view3d.wrist.left.position);
|
||
}
|
||
if (view3d.object && view3d.object.centroid) pts.push(view3d.object.centroid);
|
||
if (view3d.plan && view3d.plan.grasp && view3d.plan.grasp.position) pts.push(view3d.plan.grasp.position);
|
||
if (pts.length === 0) return;
|
||
const min = [Infinity, Infinity, Infinity], max = [-Infinity, -Infinity, -Infinity];
|
||
for (const p of pts) for (let i = 0; i < 3; i++) {
|
||
if (p[i] < min[i]) min[i] = p[i];
|
||
if (p[i] > max[i]) max[i] = p[i];
|
||
}
|
||
view3d.target = [(min[0]+max[0])/2, (min[1]+max[1])/2, (min[2]+max[2])/2];
|
||
const span = Math.max(0.15, max[0]-min[0], max[1]-min[1], max[2]-min[2]);
|
||
// fit ~70% of canvas width
|
||
view3d.scale = Math.min(2000, (view3dCanvas.width * 0.7) / (span * 2.5));
|
||
}
|
||
|
||
// ---- data fetching ----
|
||
async function refreshView3d() {
|
||
view3d.lastErr = null;
|
||
const out = { wrist: null, object: null, plan: null, calibrated: true };
|
||
const summary = [];
|
||
// Wrist (always; doesn't need calibration — already in base frame).
|
||
try {
|
||
const w = await api('GET', '/api/wrist');
|
||
// Server returns {left_wrist, right_wrist}; tolerate {left,right} too.
|
||
const data = (w && w.data) || w || {};
|
||
out.wrist = {
|
||
left: data.left_wrist || data.left || null,
|
||
right: data.right_wrist || data.right || null,
|
||
};
|
||
summary.push(`wrist: ${out.wrist.right ? 'R✓' : 'R—'} ${out.wrist.left ? 'L✓' : 'L—'}`);
|
||
} catch (e) {
|
||
summary.push(`wrist: err (${e.message})`);
|
||
}
|
||
// Object points + centroid in base frame.
|
||
try {
|
||
const body = {
|
||
conf: +$('view3dConf').value || null,
|
||
class_name: $('view3dClass').value || null,
|
||
max_points: 3000,
|
||
};
|
||
const r = await api('POST', '/api/perception/object_points', body);
|
||
const pts = r.points_base || null;
|
||
if (!pts) {
|
||
out.calibrated = false;
|
||
summary.push('oggetto: serve calibrazione');
|
||
} else {
|
||
let cx=0, cy=0, cz=0;
|
||
for (const p of pts) { cx+=p[0]; cy+=p[1]; cz+=p[2]; }
|
||
const n = Math.max(1, pts.length);
|
||
out.object = {
|
||
points: pts,
|
||
centroid: [cx/n, cy/n, cz/n],
|
||
n_points: pts.length,
|
||
detection: r.detection,
|
||
};
|
||
summary.push(`oggetto: ${pts.length} pt`);
|
||
}
|
||
} catch (e) {
|
||
if (/^412\b/.test(e.message)) out.calibrated = false;
|
||
summary.push(`oggetto: ${e.message}`);
|
||
}
|
||
// Grasp plan (optional).
|
||
if ($('view3dShowPlan').checked && out.calibrated && out.object) {
|
||
try {
|
||
const body = {
|
||
conf: +$('view3dConf').value || null,
|
||
class_name: $('view3dClass').value || null,
|
||
};
|
||
const r = await api('POST', '/api/grasp/plan', body);
|
||
out.plan = r.plan || null;
|
||
if (out.plan && out.plan.grasp) {
|
||
const p = out.plan.grasp.position;
|
||
summary.push(`grasp: [${p.map(v => v.toFixed(2)).join(', ')}]`);
|
||
}
|
||
} catch (e) {
|
||
summary.push(`plan: ${e.message}`);
|
||
}
|
||
}
|
||
Object.assign(view3d, out);
|
||
autoFitView3d();
|
||
renderView3d();
|
||
$('view3dStatusLine').textContent = summary.join(' · ');
|
||
$('view3dStatusLine').style.color = view3d.lastErr ? 'var(--danger)' : 'var(--dim)';
|
||
$('view3dOut').textContent = JSON.stringify({
|
||
wrist: out.wrist,
|
||
object: out.object && {
|
||
n_points: out.object.n_points,
|
||
centroid: out.object.centroid,
|
||
detection: out.object.detection,
|
||
},
|
||
plan: out.plan,
|
||
}, null, 2);
|
||
}
|
||
|
||
$('view3dRefreshBtn').addEventListener('click', async () => {
|
||
setStatus('Aggiorno scena 3D…');
|
||
try { await refreshView3d(); setStatus('Scena 3D aggiornata', 'ok'); }
|
||
catch (e) { setStatus(e.message, 'err'); }
|
||
});
|
||
|
||
// loop
|
||
let view3dTimer = null;
|
||
let view3dInFlight = false;
|
||
async function view3dTick() {
|
||
if (view3dInFlight) return;
|
||
view3dInFlight = true;
|
||
try { await refreshView3d(); } catch {} finally { view3dInFlight = false; }
|
||
}
|
||
function startView3dLoop() {
|
||
if (view3dTimer) return;
|
||
const rate = Math.max(200, +$('view3dRateMs').value || 800);
|
||
view3dTick();
|
||
view3dTimer = setInterval(view3dTick, rate);
|
||
const b = $('view3dLoopBtn');
|
||
b.textContent = '■ Stop loop';
|
||
b.classList.add('running');
|
||
}
|
||
function stopView3dLoop() {
|
||
if (view3dTimer) { clearInterval(view3dTimer); view3dTimer = null; }
|
||
const b = $('view3dLoopBtn');
|
||
b.textContent = '▶ Loop';
|
||
b.classList.remove('running');
|
||
}
|
||
$('view3dLoopBtn').addEventListener('click', () => view3dTimer ? stopView3dLoop() : startView3dLoop());
|
||
|
||
// Pause loop when leaving the tab (mirrors the grasp-tab behavior).
|
||
document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
|
||
if (btn.dataset.tab !== 'view3d' && view3dTimer) stopView3dLoop();
|
||
if (btn.dataset.tab === 'view3d') renderView3d();
|
||
}));
|
||
|
||
// Initial empty render so the canvas isn't blank when first shown.
|
||
renderView3d();
|
||
|
||
// ==================== HOME ====================
|
||
// Shows reachability + latency for every upstream microservice and lets the
|
||
// user switch the active robot (G1 ↔ H1). The orchestrator runs the actual
|
||
// switch via PUT /api/home/robot, which deep-merges into config.yaml.
|
||
let homePollTimer = null;
|
||
let homePollInFlight = false;
|
||
|
||
function fmtLatency(ms) {
|
||
if (ms == null) return '—';
|
||
if (ms < 1) return '<1 ms';
|
||
return `${Math.round(ms)} ms`;
|
||
}
|
||
|
||
function renderHomeStatus(data) {
|
||
const tbody = document.querySelector('#homeDeviceTable tbody');
|
||
if (!tbody) return;
|
||
tbody.innerHTML = '';
|
||
if (!data || !Array.isArray(data.devices) || data.devices.length === 0) {
|
||
tbody.innerHTML = '<tr><td colspan="5" class="dim">nessun servizio configurato</td></tr>';
|
||
return;
|
||
}
|
||
for (const d of data.devices) {
|
||
const tr = document.createElement('tr');
|
||
const status = d.ok ? 'ok' : 'err';
|
||
const icon = d.ok ? '✓' : '✗';
|
||
const detail = d.ok
|
||
? (d.status_code != null ? `HTTP ${d.status_code}` : 'reachable')
|
||
: (d.error || (d.status_code != null ? `HTTP ${d.status_code}` : 'unreachable'));
|
||
tr.innerHTML = `
|
||
<td>${d.label}${d.active ? ' <span class="badge ok">attivo</span>' : ''}</td>
|
||
<td><code>${d.url}</code></td>
|
||
<td><span class="device-pill ${status}">${icon} ${d.ok ? 'online' : 'offline'}</span></td>
|
||
<td>${fmtLatency(d.latency_ms)}</td>
|
||
<td>${detail}</td>
|
||
`;
|
||
tbody.appendChild(tr);
|
||
}
|
||
const pill = $('activeRobotPill');
|
||
if (pill) pill.textContent = `robot: ${(data.active_robot || '—').toUpperCase()}`;
|
||
}
|
||
|
||
async function homePollOnce() {
|
||
if (homePollInFlight) return;
|
||
homePollInFlight = true;
|
||
try {
|
||
const r = await api('GET', '/api/home/status');
|
||
renderHomeStatus(r);
|
||
} catch (e) {
|
||
const tbody = document.querySelector('#homeDeviceTable tbody');
|
||
if (tbody) tbody.innerHTML = `<tr><td colspan="5" class="err">errore: ${e.message}</td></tr>`;
|
||
} finally {
|
||
homePollInFlight = false;
|
||
}
|
||
}
|
||
|
||
function startHomePoll() {
|
||
stopHomePoll();
|
||
if (!$('homeAutoPoll').checked) return;
|
||
const rate = Math.max(500, +$('homePollMs').value || 2000);
|
||
homePollOnce();
|
||
homePollTimer = setInterval(homePollOnce, rate);
|
||
}
|
||
function stopHomePoll() {
|
||
if (homePollTimer) { clearInterval(homePollTimer); homePollTimer = null; }
|
||
}
|
||
|
||
$('homeAutoPoll').addEventListener('change', startHomePoll);
|
||
$('homePollMs').addEventListener('change', startHomePoll);
|
||
$('homeRefreshBtn').addEventListener('click', homePollOnce);
|
||
|
||
$('homeApplyRobotBtn').addEventListener('click', async (ev) => {
|
||
const btn = ev.currentTarget;
|
||
const target = $('homeRobotSelect').value;
|
||
try {
|
||
const r = await api('PUT', '/api/home/robot', { active: target });
|
||
$('homeLog').textContent = `robot attivo: ${r.active}`;
|
||
$('homeLog').classList.remove('err');
|
||
flashBtn(btn, true);
|
||
toast('Robot attivo', `${r.active.toUpperCase()}`, true);
|
||
homePollOnce();
|
||
} catch (e) {
|
||
$('homeLog').textContent = e.message;
|
||
$('homeLog').classList.add('err');
|
||
flashBtn(btn, false);
|
||
toast('Errore cambio robot', e.message, false);
|
||
}
|
||
});
|
||
|
||
// Sync the dropdown with whatever the backend currently reports as active.
|
||
async function refreshHomeRobotSelector() {
|
||
try {
|
||
const r = await api('GET', '/api/home/robot');
|
||
if (r && r.active) $('homeRobotSelect').value = r.active;
|
||
const pill = $('activeRobotPill');
|
||
if (pill) pill.textContent = `robot: ${(r.active || '—').toUpperCase()}`;
|
||
} catch {}
|
||
}
|
||
refreshHomeRobotSelector();
|
||
startHomePoll();
|
||
|
||
// ---------- init ----------
|
||
(async () => {
|
||
try {
|
||
const cfg = await api('GET', '/api/config');
|
||
$('arucoId').value = cfg.aruco.wrist_marker.id;
|
||
$('arucoSize').value = cfg.aruco.wrist_marker.size_mm;
|
||
$('side').value = cfg.robot.wrist_side;
|
||
$('eeSide').value = cfg.robot.wrist_side;
|
||
} catch {}
|
||
await loadSamples();
|
||
await loadCalibResult();
|
||
refreshWrist();
|
||
refreshRgb();
|
||
})();
|
||
|
||
// ==================== ASSISTENTE AI ====================
|
||
// Curated tool-use chat: l'utente parla in linguaggio naturale, il backend
|
||
// passa la richiesta a OpenRouter con i tool definiti in agent/tools.py.
|
||
// La cronologia è tenuta lato browser e ribaltata indietro a ogni POST.
|
||
const agentState = {
|
||
history: [], // OpenAI-format messages (escluso system, ricostruito server-side)
|
||
visualMessages: [], // {role, content, traceIdx?} per il render
|
||
busy: false,
|
||
health: null,
|
||
};
|
||
|
||
function agentEscape(s) {
|
||
return String(s == null ? '' : s)
|
||
.replace(/&/g, '&').replace(/</g, '<').replace(/>/g, '>');
|
||
}
|
||
|
||
function renderAgentChat() {
|
||
const host = $('agentChat');
|
||
host.innerHTML = '';
|
||
if (agentState.visualMessages.length === 0) {
|
||
const sys = document.createElement('div');
|
||
sys.className = 'agent-msg system';
|
||
sys.textContent = 'Conversazione vuota. Scrivi una richiesta sotto.';
|
||
host.appendChild(sys);
|
||
return;
|
||
}
|
||
for (const m of agentState.visualMessages) {
|
||
const div = document.createElement('div');
|
||
div.className = `agent-msg ${m.role}`;
|
||
div.textContent = m.content || '';
|
||
if (m.tools && m.tools.length) {
|
||
const meta = document.createElement('div');
|
||
meta.className = 'meta';
|
||
for (const t of m.tools) {
|
||
const pill = document.createElement('span');
|
||
pill.className = 'agent-tool-pill' + (t.ok ? '' : ' err');
|
||
pill.textContent = `${t.name} · ${t.latency_ms}ms`;
|
||
pill.title = JSON.stringify(t.args || {}, null, 2);
|
||
meta.appendChild(pill);
|
||
}
|
||
div.appendChild(meta);
|
||
}
|
||
host.appendChild(div);
|
||
}
|
||
host.scrollTop = host.scrollHeight;
|
||
}
|
||
|
||
async function refreshAgentHealth() {
|
||
try {
|
||
const h = await api('GET', '/api/agent/health');
|
||
agentState.health = h;
|
||
const el = $('agentHealth');
|
||
if (h.configured) {
|
||
el.textContent = `pronto · modello ${h.model}`;
|
||
el.style.color = 'var(--ok)';
|
||
$('agentSendBtn').disabled = false;
|
||
} else {
|
||
el.textContent = `API key mancante (env ${h.api_key_env}): chat disabilitata`;
|
||
el.style.color = 'var(--danger)';
|
||
$('agentSendBtn').disabled = true;
|
||
}
|
||
} catch (e) {
|
||
$('agentHealth').textContent = `errore: ${e.message}`;
|
||
$('agentHealth').style.color = 'var(--danger)';
|
||
}
|
||
// mirror del robot attivo nella pill della tab
|
||
try {
|
||
const r = await api('GET', '/api/home/robot');
|
||
const pill = $('agentActiveRobotPill');
|
||
if (pill) pill.textContent = `robot: ${(r.active || '—').toUpperCase()}`;
|
||
} catch {}
|
||
}
|
||
|
||
async function sendAgentMessage() {
|
||
if (agentState.busy) return;
|
||
const input = $('agentInput');
|
||
const message = input.value.trim();
|
||
if (!message) return;
|
||
agentState.busy = true;
|
||
$('agentSendBtn').disabled = true;
|
||
$('agentStatus').textContent = 'invio…';
|
||
$('agentStatus').style.color = 'var(--dim)';
|
||
|
||
agentState.visualMessages.push({ role: 'user', content: message });
|
||
renderAgentChat();
|
||
input.value = '';
|
||
|
||
try {
|
||
const r = await api('POST', '/api/agent/chat', {
|
||
message,
|
||
history: agentState.history,
|
||
});
|
||
agentState.history = r.history || [];
|
||
const tools = (r.tool_calls || []).map(tc => ({
|
||
name: tc.name, ok: tc.result && tc.result.ok !== false,
|
||
latency_ms: tc.latency_ms, args: tc.arguments,
|
||
}));
|
||
agentState.visualMessages.push({
|
||
role: 'assistant', content: r.reply || '(nessuna risposta)',
|
||
tools,
|
||
});
|
||
renderAgentChat();
|
||
// Tool trace dettagliata nel pannello di destra.
|
||
if (r.tool_calls && r.tool_calls.length) {
|
||
$('agentTrace').textContent = JSON.stringify(r.tool_calls, null, 2);
|
||
} else {
|
||
$('agentTrace').textContent = '(nessuna chiamata)';
|
||
}
|
||
const usage = r.usage || {};
|
||
const u = usage.total_tokens != null ? `· ${usage.total_tokens} tokens` : '';
|
||
$('agentStatus').textContent = `ok · ${r.iterations} iterazioni · ${tools.length} tool ${u}`;
|
||
$('agentStatus').style.color = 'var(--ok)';
|
||
// se la risposta ha cambiato robot attivo, aggiorna pill
|
||
refreshAgentHealth().catch(() => {});
|
||
} catch (e) {
|
||
agentState.visualMessages.push({
|
||
role: 'error', content: e.message,
|
||
});
|
||
renderAgentChat();
|
||
$('agentStatus').textContent = `errore: ${e.message}`;
|
||
$('agentStatus').style.color = 'var(--danger)';
|
||
} finally {
|
||
agentState.busy = false;
|
||
$('agentSendBtn').disabled = !(agentState.health && agentState.health.configured);
|
||
}
|
||
}
|
||
|
||
$('agentSendBtn').addEventListener('click', sendAgentMessage);
|
||
$('agentInput').addEventListener('keydown', (e) => {
|
||
if (e.ctrlKey && e.key === 'Enter') {
|
||
e.preventDefault();
|
||
sendAgentMessage();
|
||
}
|
||
});
|
||
|
||
$('agentClearBtn').addEventListener('click', () => {
|
||
if (agentState.visualMessages.length === 0 && agentState.history.length === 0) return;
|
||
if (!confirm('Resetta la conversazione corrente?')) return;
|
||
agentState.history = [];
|
||
agentState.visualMessages = [];
|
||
renderAgentChat();
|
||
$('agentTrace').textContent = '(nessuna chiamata)';
|
||
$('agentStatus').textContent = 'conversazione svuotata';
|
||
});
|
||
|
||
// ----- Task salvati -----
|
||
async function loadAgentTasks() {
|
||
const ul = $('agentTaskList');
|
||
try {
|
||
const r = await api('GET', '/api/agent/tasks');
|
||
const items = r.tasks || [];
|
||
ul.innerHTML = '';
|
||
if (items.length === 0) {
|
||
ul.innerHTML = '<li class="dim">(nessun task salvato)</li>';
|
||
return;
|
||
}
|
||
for (const it of items) {
|
||
const li = document.createElement('li');
|
||
const name = document.createElement('span');
|
||
name.className = 'task-name';
|
||
name.textContent = it.name;
|
||
const desc = document.createElement('span');
|
||
desc.className = 'task-desc';
|
||
desc.textContent = it.description || it.prompt;
|
||
desc.title = it.prompt;
|
||
const useBtn = document.createElement('button');
|
||
useBtn.className = 'link-btn';
|
||
useBtn.textContent = '↥ usa';
|
||
useBtn.title = 'Carica questo prompt nella casella di input';
|
||
useBtn.addEventListener('click', () => {
|
||
$('agentInput').value = it.prompt;
|
||
$('agentInput').focus();
|
||
});
|
||
const runBtn = document.createElement('button');
|
||
runBtn.className = 'link-btn';
|
||
runBtn.textContent = '▶ esegui';
|
||
runBtn.addEventListener('click', () => {
|
||
$('agentInput').value = it.prompt;
|
||
sendAgentMessage();
|
||
});
|
||
const delBtn = document.createElement('button');
|
||
delBtn.className = 'link-btn';
|
||
delBtn.textContent = '✕';
|
||
delBtn.title = 'Elimina';
|
||
delBtn.addEventListener('click', async () => {
|
||
if (!confirm(`Eliminare task "${it.name}"?`)) return;
|
||
try {
|
||
await api('DELETE', `/api/agent/tasks/${encodeURIComponent(it.name)}`);
|
||
loadAgentTasks();
|
||
} catch (e) { toast('Eliminazione fallita', e.message, false); }
|
||
});
|
||
li.appendChild(name);
|
||
li.appendChild(desc);
|
||
li.appendChild(useBtn);
|
||
li.appendChild(runBtn);
|
||
li.appendChild(delBtn);
|
||
ul.appendChild(li);
|
||
}
|
||
} catch (e) {
|
||
ul.innerHTML = `<li class="err">errore: ${agentEscape(e.message)}</li>`;
|
||
}
|
||
}
|
||
|
||
$('agentTaskSaveBtn').addEventListener('click', async (ev) => {
|
||
const name = $('agentTaskName').value.trim();
|
||
const prompt = $('agentInput').value.trim();
|
||
const description = $('agentTaskDesc').value.trim() || null;
|
||
if (!name) { toast('Manca il nome', 'Indica un nome per il task', false); return; }
|
||
if (!prompt) { toast('Prompt vuoto', 'Scrivi prima il prompt nella casella', false); return; }
|
||
try {
|
||
await api('POST', '/api/agent/tasks', { name, prompt, description });
|
||
flashBtn(ev.currentTarget, true);
|
||
toast('Task salvato', name, true);
|
||
$('agentTaskName').value = '';
|
||
$('agentTaskDesc').value = '';
|
||
loadAgentTasks();
|
||
} catch (e) {
|
||
flashBtn(ev.currentTarget, false);
|
||
toast('Salvataggio fallito', e.message, false);
|
||
}
|
||
});
|
||
|
||
$('agentTaskReloadBtn').addEventListener('click', loadAgentTasks);
|
||
|
||
// Carica health + task quando si apre la tab Assistente AI.
|
||
document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
|
||
if (btn.dataset.tab === 'agent') {
|
||
refreshAgentHealth();
|
||
loadAgentTasks();
|
||
}
|
||
}));
|
||
|
||
// Bootstrap iniziale (anche se la tab non è attiva, così la pill si popola).
|
||
refreshAgentHealth();
|
||
loadAgentTasks();
|
||
|
||
// ==================== IMPOSTAZIONI AI ====================
|
||
async function loadAiSettings() {
|
||
const select = $('aiModelSelect');
|
||
// Lista modelli (statica con override custom): si carica una sola volta.
|
||
if (select && select.options.length <= 1) {
|
||
try {
|
||
const r = await api('GET', '/api/agent/known_models');
|
||
select.innerHTML = '';
|
||
for (const m of r.models) {
|
||
const opt = document.createElement('option');
|
||
opt.value = m.id;
|
||
opt.textContent = `${m.id} — ${m.label}`;
|
||
select.appendChild(opt);
|
||
}
|
||
} catch (e) {
|
||
select.innerHTML = `<option value="">errore: ${e.message}</option>`;
|
||
}
|
||
}
|
||
// Carica config corrente
|
||
try {
|
||
const cfg = await api('GET', '/api/config');
|
||
const o = (cfg.chat && cfg.chat.openrouter) || {};
|
||
const model = o.model || 'anthropic/claude-sonnet-4.5';
|
||
if ([...$('aiModelSelect').options].some(opt => opt.value === model)) {
|
||
$('aiModelSelect').value = model;
|
||
$('aiModelCustom').value = '';
|
||
} else {
|
||
$('aiModelCustom').value = model;
|
||
}
|
||
$('aiTemperature').value = (o.temperature != null) ? o.temperature : 0.1;
|
||
$('aiMaxIterations').value = o.max_tool_iterations || 8;
|
||
$('aiTimeout').value = o.timeout_s || 60;
|
||
$('aiPromptAddendum').value = o.user_prompt_addendum || '';
|
||
$('aiSettingsStatus').textContent = 'caricato da config';
|
||
$('aiSettingsStatus').style.color = 'var(--dim)';
|
||
} catch (e) {
|
||
$('aiSettingsStatus').textContent = `errore: ${e.message}`;
|
||
$('aiSettingsStatus').style.color = 'var(--danger)';
|
||
}
|
||
}
|
||
|
||
async function saveAiSettings(btn) {
|
||
const customModel = $('aiModelCustom').value.trim();
|
||
const model = customModel || $('aiModelSelect').value;
|
||
if (!model) { toast('Modello mancante', 'Seleziona o scrivi un modello', false); return; }
|
||
const temperature = parseFloat($('aiTemperature').value);
|
||
const max_tool_iterations = parseInt($('aiMaxIterations').value, 10);
|
||
const timeout_s = parseFloat($('aiTimeout').value);
|
||
if (Number.isNaN(temperature) || temperature < 0 || temperature > 2) {
|
||
toast('Temperature non valido', '0..2', false); return;
|
||
}
|
||
if (Number.isNaN(max_tool_iterations) || max_tool_iterations < 1) {
|
||
toast('Max iterations non valido', '>=1', false); return;
|
||
}
|
||
const patch = {
|
||
chat: { openrouter: {
|
||
model,
|
||
temperature,
|
||
max_tool_iterations,
|
||
timeout_s,
|
||
user_prompt_addendum: $('aiPromptAddendum').value,
|
||
}},
|
||
};
|
||
try {
|
||
await api('PUT', '/api/config', patch);
|
||
flashBtn(btn, true);
|
||
toast('Salvato', `model=${model}, T=${temperature}`, true);
|
||
$('aiSettingsStatus').textContent = `salvato · model=${model} · T=${temperature}`;
|
||
$('aiSettingsStatus').style.color = 'var(--ok)';
|
||
refreshAgentHealth().catch(() => {});
|
||
} catch (e) {
|
||
flashBtn(btn, false);
|
||
toast('Errore salvataggio', e.message, false);
|
||
$('aiSettingsStatus').textContent = e.message;
|
||
$('aiSettingsStatus').style.color = 'var(--danger)';
|
||
}
|
||
}
|
||
|
||
async function previewSystemPrompt() {
|
||
const pre = $('aiPromptPreview');
|
||
pre.textContent = 'caricamento…';
|
||
try {
|
||
const r = await api('GET', '/api/agent/system_prompt_preview');
|
||
pre.textContent = r.system_prompt || '(vuoto)';
|
||
} catch (e) {
|
||
pre.textContent = `errore: ${e.message}`;
|
||
}
|
||
}
|
||
|
||
$('aiSaveBtn').addEventListener('click', (ev) => saveAiSettings(ev.currentTarget));
|
||
$('aiReloadBtn').addEventListener('click', loadAiSettings);
|
||
$('aiResetTempBtn').addEventListener('click', () => { $('aiTemperature').value = 0.1; });
|
||
$('aiPromptPreviewBtn').addEventListener('click', previewSystemPrompt);
|
||
$('aiPromptCopyBtn').addEventListener('click', async () => {
|
||
try {
|
||
await navigator.clipboard.writeText($('aiPromptPreview').textContent);
|
||
toast('Copiato', 'Prompt nel clipboard', true);
|
||
} catch (e) { toast('Copia fallita', e.message, false); }
|
||
});
|
||
// Quando l'utente seleziona un modello dalla combo, svuota il custom (priorità chiara).
|
||
$('aiModelSelect').addEventListener('change', () => { $('aiModelCustom').value = ''; });
|
||
|
||
// Carica i valori quando si apre la tab.
|
||
document.querySelectorAll('.tab').forEach(btn => btn.addEventListener('click', () => {
|
||
if (btn.dataset.tab === 'ai-settings') {
|
||
loadAiSettings();
|
||
previewSystemPrompt();
|
||
}
|
||
}));
|