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<!DOCTYPE html>
<html lang="pl">
<head>
<meta charset="UTF-8" />
<title>Makarena Control</title>
<style>
:root {
color-scheme: dark;
--bg: #0f1115;
--panel: #171a21;
--accent: #4f9dff;
--ok: #35c759;
--bad: #ff453a;
--text: #e6e8eb;
--muted: #8a8f98;
}
* { box-sizing: border-box; }
body {
margin: 0;
font-family: -apple-system, Segoe UI, Roboto, sans-serif;
background: var(--bg);
color: var(--text);
display: flex;
flex-direction: column;
align-items: center;
padding: 24px 16px;
min-height: 100vh;
}
h1 { font-size: 18px; font-weight: 600; margin: 0 0 16px; color: var(--muted); }
.panel {
background: var(--panel);
border-radius: 12px;
padding: 20px;
width: 100%;
max-width: 420px;
margin-bottom: 16px;
}
.status-row { display: flex; align-items: center; gap: 8px; font-size: 14px; margin-bottom: 4px; }
.dot { width: 10px; height: 10px; border-radius: 50%; background: var(--bad); flex-shrink: 0; }
.dot.on { background: var(--ok); }
.error { color: var(--bad); font-size: 12px; margin-top: 4px; }
.keys {
display: grid;
grid-template-columns: repeat(3, 56px);
grid-template-rows: repeat(2, 56px);
gap: 8px;
justify-content: center;
margin: 16px 0;
}
.key {
display: flex; align-items: center; justify-content: center;
background: #22262f; border: 1px solid #2c313c; border-radius: 8px;
font-weight: 600; font-size: 16px; color: var(--muted);
user-select: none; -webkit-user-select: none; touch-action: none;
}
.key.active { background: var(--accent); color: #fff; border-color: var(--accent); }
#w { grid-column: 2; grid-row: 1; }
#a { grid-column: 1; grid-row: 2; }
#s { grid-column: 2; grid-row: 2; }
#d { grid-column: 3; grid-row: 2; }
.bars { display: flex; flex-direction: column; gap: 10px; }
.bar-label { display: flex; justify-content: space-between; font-size: 12px; color: var(--muted); margin-bottom: 4px; }
.bar-track { height: 10px; background: #22262f; border-radius: 5px; position: relative; overflow: hidden; }
.bar-fill { position: absolute; top: 0; bottom: 0; background: var(--accent); left: 50%; width: 0; }
.pwm-value { font-variant-numeric: tabular-nums; }
.hint { font-size: 12px; color: var(--muted); text-align: center; margin-top: 8px; }
.btn-row { display: flex; gap: 8px; width: 100%; max-width: 420px; }
.stop-btn, .fig8-btn {
flex: 1; padding: 14px;
color: #fff; border: none; border-radius: 8px;
font-size: 15px; font-weight: 600; cursor: pointer;
}
.stop-btn { background: var(--bad); }
.fig8-btn { background: #2c313c; }
.fig8-btn.active { background: var(--accent); }
.mode-text { font-size: 12px; color: var(--muted); text-align: center; margin: 8px 0 0; }
.panel-title { font-size: 12px; font-weight: 700; letter-spacing: 0.04em; color: var(--muted); margin-bottom: 12px; }
.param { margin-bottom: 14px; }
.param input[type="range"] { width: 100%; }
.param-desc { font-size: 11px; color: var(--muted); margin-top: 4px; line-height: 1.4; }
.rec-btn {
width: 100%; padding: 14px; background: #2c313c; color: #fff; border: none;
border-radius: 8px; font-size: 15px; font-weight: 600; cursor: pointer;
}
.rec-btn.active { background: var(--bad); }
.rec-row {
display: flex; align-items: center; justify-content: space-between;
background: #22262f; border-radius: 8px; padding: 10px 12px; margin-bottom: 6px;
}
.rec-row-name { font-size: 13px; }
.rec-row-dur { font-size: 11px; color: var(--muted); margin-left: 6px; }
.rec-row-btns button {
background: #2c313c; color: #fff; border: none; border-radius: 6px;
padding: 6px 10px; font-size: 12px; cursor: pointer; margin-left: 6px;
}
.rec-row-btns button.play { background: var(--accent); }
.rec-row-btns button.del { background: var(--bad); }
.seq-form { display: flex; gap: 8px; flex-wrap: wrap; align-items: center; margin-bottom: 8px; }
.seq-form select, .seq-form input {
font: inherit; color: var(--text); background: #22262f; border: 1px solid #2c313c; border-radius: 8px; padding: 8px; min-width: 0;
}
.seq-form input[type=number] { width: 78px; }
.seq-form label { font-size: 12px; color: var(--muted); display: flex; align-items: center; gap: 4px; }
.seq-form button, .seq-btns button {
font: inherit; color: var(--text); background: #22262f; border: 1px solid #2c313c; border-radius: 8px; padding: 10px 12px; font-weight: 600; cursor: pointer;
}
.seq-btns { display: flex; gap: 8px; flex-wrap: wrap; margin: 8px 0; }
.seq-btns button.play { background: var(--ok); border-color: var(--ok); color: #fff; }
.seq-steps { font-size: 13px; font-variant-numeric: tabular-nums; }
.seq-steps div { display: flex; justify-content: space-between; align-items: center; padding: 4px 0; border-bottom: 1px solid #2c313c; gap: 8px; }
.seq-steps div.cur { color: var(--accent); font-weight: 600; }
.seq-steps button { font: inherit; background: none; border: 1px solid #2c313c; color: var(--muted); border-radius: 6px; padding: 2px 8px; cursor: pointer; }
.seq-status { font-size: 13px; margin-top: 8px; min-height: 1.2em; }
.seq-status.err { color: var(--bad); }
</style>
</head>
<body>
<h1>MAKARENA CONTROL</h1>
<div class="panel">
<div class="status-row"><span class="dot" id="conn-dot"></span><span id="conn-text">łączenie...</span></div>
<div class="status-row" id="port-row" style="color: var(--muted)"></div>
<div class="error" id="error-text"></div>
</div>
<div class="panel">
<div class="keys">
<div class="key" id="w">W</div>
<div class="key" id="a">A</div>
<div class="key" id="s">S</div>
<div class="key" id="d">D</div>
</div>
<div class="hint">klawiatura albo dotyk (przytrzymaj)</div>
</div>
<div class="panel bars">
<div>
<div class="bar-label"><span>SPEED</span><span class="pwm-value" id="speed-val">0</span></div>
<div class="bar-track"><div class="bar-fill" id="speed-bar"></div></div>
</div>
<div>
<div class="bar-label"><span>STEER</span><span class="pwm-value" id="steer-val">0</span></div>
<div class="bar-track"><div class="bar-fill" id="steer-bar"></div></div>
</div>
</div>
<div class="panel">
<div class="bar-label"><span>LIMIT PRĘDKOŚCI</span><span class="pwm-value" id="speed-scale-val">100%</span></div>
<input type="range" id="speed-scale" min="0" max="100" value="100" style="width: 100%;" />
</div>
<div class="panel" id="params-panel">
<div class="panel-title">STEROWANIE RĘCZNE (WASD)</div>
<div class="param" data-key="accel_step" data-min="0.005" data-max="0.3" data-step="0.005" data-unit="pct">
<div class="bar-label"><span>jak szybko reaguje na klawisze</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0.005" max="0.3" step="0.005" />
<div class="param-desc">mało = łagodny rozpęd, dużo = reaguje niemal od razu</div>
</div>
<div class="panel-title" style="margin-top: 20px;">OSEMKA</div>
<div class="param" data-key="fig8_speed" data-min="0" data-max="1" data-step="0.01" data-unit="pct">
<div class="bar-label"><span>jak szybko jedzie do przodu</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0" max="1" step="0.01" />
</div>
<div class="param" data-key="fig8_steer" data-min="0" data-max="1" data-step="0.005" data-unit="pct">
<div class="bar-label"><span>jak ostro skręca (promień pętli)</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0" max="1" step="0.005" />
<div class="param-desc">za dużo względem prędkości powyżej = robot kręci się w kółko w miejscu zamiast jechać łukiem</div>
</div>
<div class="param" data-key="fig8_ramp" data-min="0.005" data-max="0.3" data-step="0.005" data-unit="pct">
<div class="bar-label"><span>jak płynnie zmienia kierunek skrętu</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0.005" max="0.3" step="0.005" />
</div>
<div class="param" data-key="fig8_loop_seconds" data-min="0.5" data-max="60" data-step="0.5" data-unit="s">
<div class="bar-label"><span>ile jedzie w jedną stronę zanim zawróci</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0.5" max="60" step="0.5" />
<div class="param-desc">to jest połowa jednej pętli ósemki</div>
</div>
<div class="panel-title" style="margin-top: 20px;">POKRYCIE (jak kosiarka)</div>
<div class="param" data-key="cov_speed" data-min="0" data-max="1" data-step="0.01" data-unit="pct">
<div class="bar-label"><span>jak szybko jedzie do przodu</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0" max="1" step="0.01" />
</div>
<div class="param" data-key="cov_forward_seconds" data-min="0.5" data-max="120" data-step="0.5" data-unit="s">
<div class="bar-label"><span>jak długo jedzie prosto w jednym rzędzie</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0.5" max="120" step="0.5" />
<div class="param-desc">im dłużej, tym dłuższy pojedynczy przejazd (dopasuj do długości pokoju)</div>
</div>
<div class="param" data-key="cov_turn_steer" data-min="0" data-max="1" data-step="0.01" data-unit="pct">
<div class="bar-label"><span>jak mocno kręci przy zawracaniu</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0" max="1" step="0.01" />
</div>
<div class="param" data-key="cov_turn_seconds" data-min="0.1" data-max="10" data-step="0.1" data-unit="s">
<div class="bar-label"><span>jak długo trwa jeden obrót w miejscu</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0.1" max="10" step="0.1" />
<div class="param-desc">dostrój tak, żeby obrót wychodził na ok. 90 stopni; robi to dwa razy pod rząd</div>
</div>
<div class="param" data-key="cov_lane_seconds" data-min="0" data-max="10" data-step="0.1" data-unit="s">
<div class="bar-label"><span>jak duży odstęp między rzędami</span><span class="pwm-value param-val"></span></div>
<input type="range" class="param-slider" min="0" max="10" step="0.1" />
<div class="param-desc">krótki kawałek jazdy prosto pomiędzy dwoma obrotami — im dłuższy, tym rzędy dalej od siebie</div>
</div>
<div class="hint">kolejność ruchu: prosto -> obrót ~90° w miejscu -> mały krok -> obrót ~90° (razem 180°) -> prosto w drugą stronę, o rząd dalej. Powtarza w kółko.</div>
</div>
<div class="btn-row">
<button class="fig8-btn" id="fig8-btn">OSEMKA</button>
<button class="fig8-btn" id="cov-btn">POKRYCIE</button>
<button class="stop-btn" id="stop-btn">STOP</button>
</div>
<div class="mode-text" id="mode-text"></div>
<div class="hint">wyłącznik na telefon: <a href="/stop" style="color: var(--accent)">/stop</a> (jeden duży STOP, blokuje jazdę do odblokowania)</div>
<div class="panel">
<div class="panel-title">NAGRYWANIE RUCHÓW</div>
<input type="text" id="record-name" placeholder="nazwa nagrania" style="width:100%; padding:10px; border-radius:8px; border:1px solid #2c313c; background:#22262f; color:var(--text); margin-bottom:10px; box-sizing:border-box;" />
<button class="rec-btn" id="record-btn">● NAGRAJ</button>
<div class="hint" id="record-status" style="margin-top:8px;"></div>
<div id="recordings-list" style="margin-top: 14px;"></div>
<div class="hint">nagraj jadąc na WASD, potem odtwórz jako kolejny tryb auto. Odtwarzanie kończy się i wraca do manuala samo.</div>
</div>
<div class="panel">
<div class="panel-title">SEKWENCJA - zbieranie szyszek na sztywno</div>
<div class="hint" style="text-align:left; margin: -6px 0 12px;">
Ułóż kroki: <b>jazda</b> (speed: + przód / - tył, steer: + prawo / - lewo, jak W/S i D/A; ułamki 0..1 bez limitu z suwaka),
<b>ramię</b> (ruch z motions/, nagraj go niżej w sekcji ramienia), <b>czekaj</b>. Zapisz pod nazwą i odtwórz. STOP przerywa wszystko.
</div>
<div class="seq-form">
<select id="seq-type">
<option value="drive">jazda</option>
<option value="arm">ramię</option>
<option value="wait">czekaj</option>
</select>
<span id="seq-f-drive" class="seq-form" style="margin:0">
<label>speed <input id="seq-speed" type="number" min="-1" max="1" step="0.05" value="0.3" /></label>
<label>steer <input id="seq-steer" type="number" min="-1" max="1" step="0.05" value="0" /></label>
<label>s <input id="seq-secs" type="number" min="0" max="30" step="0.1" value="2" /></label>
</span>
<span id="seq-f-arm" class="seq-form" style="margin:0; display:none">
<select id="seq-motion"></select>
</span>
<span id="seq-f-wait" class="seq-form" style="margin:0; display:none">
<label>s <input id="seq-wait" type="number" min="0" max="60" step="0.1" value="1" /></label>
</span>
</div>
<div class="seq-btns">
<button id="seq-add">+ DODAJ KROK</button>
<button id="seq-test">TEST TEGO KROKU</button>
<button id="seq-play-draft" class="play">▶ ODTWÓRZ SZKIC</button>
<button id="seq-clear">wyczyść</button>
</div>
<div class="seq-steps" id="seq-steps"></div>
<div class="seq-form" style="margin-top:10px">
<input type="text" id="seq-name" placeholder="nazwa sekwencji (np. szyszka1)" maxlength="40" style="flex:1 1 160px" />
<button id="seq-save">ZAPISZ</button>
</div>
<div class="seq-status" id="seq-status"></div>
<div id="sequences-list" style="margin-top: 10px;"></div>
</div>
<div class="panel">
<div class="panel-title">RAMIĘ SO-101</div>
<div class="hint" style="text-align:left; margin: -6px 0 12px;">osobny serwer na Pi: python tools/arm_web.py (port 8010). Główny STOP zatrzymuje też ramię.</div>
<div id="arm-root"></div>
</div>
<script src="arm_panel.js"></script>
<script>
// Ramie: osobny proces (tools/arm_web.py, :8010), zeby blad magistrali serw nie zatrzymal jazdy.
const armPanel = mountArmPanel(document.getElementById('arm-root'), { base: `http://${location.hostname}:8010` });
const WS_URL = `ws://${location.hostname}:8765`;
let ws = null;
let mode = 'manual';
const keys = { w: false, a: false, s: false, d: false };
const connDot = document.getElementById('conn-dot');
const connText = document.getElementById('conn-text');
const portRow = document.getElementById('port-row');
const errorText = document.getElementById('error-text');
const speedVal = document.getElementById('speed-val');
const steerVal = document.getElementById('steer-val');
const speedBar = document.getElementById('speed-bar');
const steerBar = document.getElementById('steer-bar');
function formatParam(value, unit) {
if (unit === 'pct') return Math.round(value * 100) + '%';
if (unit === 's') return value + 's';
return String(value);
}
function setBar(el, valuePct) {
// valuePct: -1..1 -> bar grows from center left/right
const half = 50;
const w = Math.abs(valuePct) * half;
el.style.width = w + '%';
el.style.left = valuePct >= 0 ? '50%' : (50 - w) + '%';
}
function sendKeys() {
if (ws && ws.readyState === WebSocket.OPEN) {
ws.send(JSON.stringify({ type: 'keys', ...keys }));
}
for (const k of Object.keys(keys)) {
document.getElementById(k).classList.toggle('active', keys[k]);
}
}
function connect() {
ws = new WebSocket(WS_URL);
ws.onopen = () => { connText.textContent = 'WebSocket połączony, czekam na Arduino...'; };
ws.onclose = () => {
connDot.classList.remove('on');
connText.textContent = 'brak połączenia z serwerem, ponawiam...';
setTimeout(connect, 1000);
};
ws.onerror = () => ws.close();
ws.onmessage = (ev) => {
const data = JSON.parse(ev.data);
if (data.type !== 'status') return;
connDot.classList.toggle('on', data.connected);
connText.textContent = data.connected ? 'Arduino połączone' : 'szukam Arduino...';
portRow.textContent = `port: ${data.port}`;
errorText.textContent = data.error ? data.error : '';
speedVal.textContent = data.pwm_speed;
steerVal.textContent = data.pwm_steer;
setBar(speedBar, data.speed);
setBar(steerBar, data.steer);
mode = data.mode;
fig8Btn.classList.toggle('active', mode === 'figure8');
covBtn.classList.toggle('active', mode === 'coverage');
if (mode === 'figure8') modeText.textContent = 'tryb: OSEMKA (auto)';
else if (mode === 'coverage') modeText.textContent = `tryb: POKRYCIE (auto) — faza: ${data.cov_phase}`;
else if (mode === 'playback') modeText.textContent = `tryb: ODTWARZANIE — ${data.playback_name}`;
else if (mode === 'sequence') modeText.textContent = `tryb: SEKWENCJA ${data.sequence.name} — krok ${data.sequence.index + 1}/${data.sequence.total}: ${data.sequence.step || ''}`;
else modeText.textContent = 'tryb: manualny';
if (data.failsafe) modeText.textContent = 'STOP: brak sygnału od operatora';
if (data.estop) modeText.textContent = 'E-STOP z telefonu: jazda zablokowana, odblokuj na stronie /stop';
renderSequence(data.sequence || {}, data.sequences || {}, data.seq_error);
recordBtn.classList.toggle('active', data.recording);
recordBtn.textContent = data.recording ? `■ STOP (${data.record_seconds}s)` : '● NAGRAJ';
recordStatus.textContent = data.recording ? 'nagrywam — jedź WASD' : '';
renderRecordings(data.recordings || {}, mode === 'playback' ? data.playback_name : null);
if (!speedScaleSlider.matches(':active')) {
speedScaleSlider.value = Math.round(data.speed_scale * 100);
}
speedScaleVal.textContent = Math.round(data.speed_scale * 100) + '%';
if (data.params) {
for (const el of paramEls) {
const key = el.dataset.key;
const slider = el.querySelector('.param-slider');
const val = el.querySelector('.param-val');
if (key in data.params) {
if (!slider.matches(':active')) slider.value = data.params[key];
val.textContent = formatParam(data.params[key], el.dataset.unit);
}
}
}
};
}
connect();
// Heartbeat: the server stops the robot if it hears nothing for HEARTBEAT_TIMEOUT (1.0 s)
// and clears its keys. Plain ping on purpose - do NOT put the key state in it: on the
// hotspot, delayed heartbeats arrive in bursts and stale "W held" messages would restart
// the robot after the failsafe (2026-09-26: robot drove into the arm). After a failsafe
// the operator has to press the key again.
setInterval(() => {
if (ws && ws.readyState === WebSocket.OPEN) ws.send(JSON.stringify({ type: 'ping' }));
}, 200);
const keyMap = { KeyW: 'w', KeyA: 'a', KeyS: 's', KeyD: 'd' };
window.addEventListener('keydown', (e) => {
const k = keyMap[e.code];
if (k && !keys[k]) { keys[k] = true; sendKeys(); }
});
window.addEventListener('keyup', (e) => {
const k = keyMap[e.code];
if (k && keys[k]) { keys[k] = false; sendKeys(); }
});
window.addEventListener('blur', () => {
for (const k of Object.keys(keys)) keys[k] = false;
sendKeys();
});
// Phone locked / tab switched: release keys (background tabs also throttle the heartbeat).
document.addEventListener('visibilitychange', () => {
if (document.hidden) {
for (const k of Object.keys(keys)) keys[k] = false;
sendKeys();
}
});
// touch/mouse support on the on-screen keys
for (const k of ['w', 'a', 's', 'd']) {
const el = document.getElementById(k);
const down = (e) => { e.preventDefault(); keys[k] = true; sendKeys(); };
const up = (e) => { e.preventDefault(); keys[k] = false; sendKeys(); };
el.addEventListener('mousedown', down);
el.addEventListener('mouseup', up);
el.addEventListener('mouseleave', up);
el.addEventListener('touchstart', down);
el.addEventListener('touchend', up);
}
const fig8Btn = document.getElementById('fig8-btn');
const modeText = document.getElementById('mode-text');
function sendMode(newMode) {
if (ws && ws.readyState === WebSocket.OPEN) {
ws.send(JSON.stringify({ type: 'set_mode', mode: newMode }));
}
}
fig8Btn.addEventListener('click', () => {
sendMode(mode === 'figure8' ? 'manual' : 'figure8');
});
const covBtn = document.getElementById('cov-btn');
covBtn.addEventListener('click', () => {
sendMode(mode === 'coverage' ? 'manual' : 'coverage');
});
const speedScaleSlider = document.getElementById('speed-scale');
const speedScaleVal = document.getElementById('speed-scale-val');
speedScaleSlider.addEventListener('input', () => {
const pct = Number(speedScaleSlider.value);
speedScaleVal.textContent = pct + '%';
if (ws && ws.readyState === WebSocket.OPEN) {
ws.send(JSON.stringify({ type: 'set_speed', value: pct / 100 }));
}
});
const paramEls = Array.from(document.querySelectorAll('.param'));
for (const el of paramEls) {
const key = el.dataset.key;
const slider = el.querySelector('.param-slider');
const val = el.querySelector('.param-val');
slider.addEventListener('input', () => {
val.textContent = formatParam(Number(slider.value), el.dataset.unit);
if (ws && ws.readyState === WebSocket.OPEN) {
ws.send(JSON.stringify({ type: 'set_params', values: { [key]: Number(slider.value) } }));
}
});
}
document.getElementById('stop-btn').addEventListener('click', () => {
armPanel.stop();
if (ws && ws.readyState === WebSocket.OPEN) ws.send(JSON.stringify({ type: 'stop_sequence' }));
for (const k of Object.keys(keys)) keys[k] = false;
if (isRecording) {
ws.send(JSON.stringify({ type: 'stop_record', name: recordNameInput.value }));
isRecording = false;
}
sendMode('manual');
sendKeys();
});
let isRecording = false;
const recordBtn = document.getElementById('record-btn');
const recordNameInput = document.getElementById('record-name');
const recordStatus = document.getElementById('record-status');
const recordingsList = document.getElementById('recordings-list');
recordBtn.addEventListener('click', () => {
if (!ws || ws.readyState !== WebSocket.OPEN) return;
if (!isRecording) {
isRecording = true;
ws.send(JSON.stringify({ type: 'start_record' }));
} else {
isRecording = false;
ws.send(JSON.stringify({ type: 'stop_record', name: recordNameInput.value }));
}
});
let lastRecordingsSig = null;
function renderRecordings(recordings, playbackName) {
const sig = JSON.stringify(recordings) + '|' + playbackName;
if (sig === lastRecordingsSig) return;
lastRecordingsSig = sig;
const names = Object.keys(recordings);
if (names.length === 0) {
recordingsList.innerHTML = '<div class="hint">brak zapisanych nagrań</div>';
return;
}
recordingsList.innerHTML = names.map(name => `
<div class="rec-row">
<span class="rec-row-name">${name}<span class="rec-row-dur">${recordings[name]}s</span></span>
<span class="rec-row-btns">
<button class="play" data-action="play" data-name="${name}" ${playbackName === name ? 'disabled' : ''}>${playbackName === name ? 'GRA' : '▶'}</button>
<button class="del" data-action="del" data-name="${name}">✕</button>
</span>
</div>
`).join('');
for (const btn of recordingsList.querySelectorAll('button')) {
btn.addEventListener('click', () => {
const name = btn.dataset.name;
if (btn.dataset.action === 'play') {
ws.send(JSON.stringify({ type: 'play_record', name }));
} else {
ws.send(JSON.stringify({ type: 'delete_record', name }));
}
});
}
}
// ---------------------------------------------------------------------------
// Sekwencja: kroki jazda / ramię / czekaj (pinecone_bot/sequence.py, tryb "sequence").
// Szkic trzymany w przeglądarce (localStorage), zapisane sekwencje na serwerze (sequences/*.json).
// ---------------------------------------------------------------------------
const seqEl = {
type: document.getElementById('seq-type'), speed: document.getElementById('seq-speed'),
steer: document.getElementById('seq-steer'), secs: document.getElementById('seq-secs'),
motion: document.getElementById('seq-motion'), wait: document.getElementById('seq-wait'),
steps: document.getElementById('seq-steps'), name: document.getElementById('seq-name'),
status: document.getElementById('seq-status'), list: document.getElementById('sequences-list'),
};
let seqSteps = [];
try { seqSteps = JSON.parse(localStorage.getItem('seqDraft') || '[]'); } catch (e) { seqSteps = []; }
function seqStepText(st) {
if (st.type === 'drive') return `jazda ${st.seconds}s (speed ${st.speed >= 0 ? '+' : ''}${st.speed}, steer ${st.steer >= 0 ? '+' : ''}${st.steer})`;
if (st.type === 'arm') return `ramię: ${st.name}`;
return `czekaj ${st.seconds}s`;
}
function seqSend(msg) {
if (ws && ws.readyState === WebSocket.OPEN) ws.send(JSON.stringify(msg));
}
function seqSetStatus(text, err) {
seqEl.status.textContent = text || '';
seqEl.status.classList.toggle('err', !!err);
}
function readStepFromForm() {
const t = seqEl.type.value;
if (t === 'drive') {
return { type: 'drive', speed: Number(seqEl.speed.value), steer: Number(seqEl.steer.value), seconds: Number(seqEl.secs.value) };
}
if (t === 'arm') {
if (!seqEl.motion.value) { seqSetStatus('brak ruchów w motions/ - nagraj ruch w sekcji ramienia', true); return null; }
return { type: 'arm', name: seqEl.motion.value };
}
return { type: 'wait', seconds: Number(seqEl.wait.value) };
}
let seqCurIndex = -1;
function renderSteps() {
try { localStorage.setItem('seqDraft', JSON.stringify(seqSteps)); } catch (e) { /* prywatne okno */ }
if (!seqSteps.length) { seqEl.steps.innerHTML = '<div class="hint">brak kroków - dodaj wyżej</div>'; return; }
seqEl.steps.innerHTML = seqSteps.map((st, i) => `
<div data-i="${i}"><span>${i + 1}. ${seqStepText(st)}</span>
<span><button data-act="up" data-i="${i}" title="w górę">↑</button> <button data-act="del" data-i="${i}">✕</button></span></div>`).join('');
for (const b of seqEl.steps.querySelectorAll('button')) {
b.addEventListener('click', () => {
const i = Number(b.dataset.i);
if (b.dataset.act === 'del') seqSteps.splice(i, 1);
else if (i > 0) { const t = seqSteps[i - 1]; seqSteps[i - 1] = seqSteps[i]; seqSteps[i] = t; }
renderSteps();
});
}
}
seqEl.type.addEventListener('change', () => {
for (const t of ['drive', 'arm', 'wait']) document.getElementById('seq-f-' + t).style.display = seqEl.type.value === t ? '' : 'none';
});
let seqMotionsKey = '';
function refreshMotionOptions() {
const names = armPanel.motions();
const key = names.join(',');
if (key === seqMotionsKey) return;
seqMotionsKey = key;
const cur = seqEl.motion.value;
seqEl.motion.innerHTML = names.map(n => `<option value="${n}">${n}</option>`).join('');
if (names.includes(cur)) seqEl.motion.value = cur;
}
setInterval(refreshMotionOptions, 1000);
document.getElementById('seq-add').addEventListener('click', () => {
const st = readStepFromForm();
if (!st) return;
seqSteps.push(st);
renderSteps();
seqSetStatus(`dodano: ${seqStepText(st)}`);
});
document.getElementById('seq-test').addEventListener('click', () => {
const st = readStepFromForm();
if (!st) return;
if (st.type === 'drive') seqSend({ type: 'drive_step', speed: st.speed, steer: st.steer, seconds: st.seconds });
else if (st.type === 'arm') { seqSend({ type: 'save_sequence', name: '_test', steps: [st] }); seqSend({ type: 'play_sequence', name: '_test' }); }
else seqSetStatus('krok "czekaj" nie ma czego testować');
});
document.getElementById('seq-play-draft').addEventListener('click', () => {
if (!seqSteps.length) { seqSetStatus('szkic pusty', true); return; }
// szkic idzie na serwer jako "_szkic", zeby odtwarzanie bylo tym samym kodem co zapisane sekwencje
seqSend({ type: 'save_sequence', name: '_szkic', steps: seqSteps });
seqSend({ type: 'play_sequence', name: '_szkic' });
});
document.getElementById('seq-clear').addEventListener('click', () => {
if (seqSteps.length && !window.confirm('Wyczyścić szkic sekwencji?')) return;
seqSteps = [];
renderSteps();
});
document.getElementById('seq-save').addEventListener('click', () => {
const name = seqEl.name.value.trim();
if (!name) { seqSetStatus('podaj nazwę sekwencji', true); return; }
if (!seqSteps.length) { seqSetStatus('szkic pusty', true); return; }
seqSend({ type: 'save_sequence', name, steps: seqSteps });
pendingSave = name;
seqSetStatus(`zapisuję "${name}"...`);
});
let pendingSave = null;
let lastSeqSig = null;
let lastSeqStatusSig = null;
function renderSequence(seq, sequences, seqError) {
const statusSig = JSON.stringify([seq, seqError]);
if (statusSig !== lastSeqStatusSig) {
lastSeqStatusSig = statusSig;
if (seqError) seqSetStatus(seqError, true);
else if (seq.running) seqSetStatus(`gra "${seq.name}": krok ${seq.index + 1}/${seq.total} - ${seq.step || ''}`);
else if (seq.error) seqSetStatus(`"${seq.name}" błąd: ${seq.error}`, true);
else if (seq.finished) seqSetStatus(`"${seq.name}": ${seq.finished}`);
const cur = seq.running && (seq.name === '_szkic') ? seq.index : -1;
if (cur !== seqCurIndex) {
seqCurIndex = cur;
for (const row of seqEl.steps.querySelectorAll('div[data-i]')) row.classList.toggle('cur', Number(row.dataset.i) === cur);
}
}
const names = Object.keys(sequences).filter(n => !n.startsWith('_'));
const sig = JSON.stringify(sequences) + '|' + (seq.running ? seq.name : '');
if (sig === lastSeqSig) return;
lastSeqSig = sig;
if (pendingSave && pendingSave in sequences && !seqError) {
seqSetStatus(`zapisano "${pendingSave}" (${sequences[pendingSave].length} kroków) -> sequences/${pendingSave}.json`);
pendingSave = null;
}
if (!names.length) { seqEl.list.innerHTML = '<div class="hint">brak zapisanych sekwencji (pliki sequences/*.json)</div>'; return; }
seqEl.list.innerHTML = names.map(name => `
<div class="rec-row">
<span class="rec-row-name">${name}<span class="rec-row-dur">${sequences[name].length} kroków</span></span>
<span class="rec-row-btns">
<button class="play" data-action="play" data-name="${name}" ${seq.running ? 'disabled' : ''}>${seq.running && seq.name === name ? 'GRA' : '▶'}</button>
<button data-action="edit" data-name="${name}" title="wczytaj do szkicu">✎</button>
<button class="del" data-action="del" data-name="${name}">✕</button>
</span>
</div>`).join('');
for (const btn of seqEl.list.querySelectorAll('button')) {
btn.addEventListener('click', () => {
const name = btn.dataset.name;
if (btn.dataset.action === 'play') seqSend({ type: 'play_sequence', name });
else if (btn.dataset.action === 'edit') { seqSteps = sequences[name].map(st => ({ ...st })); seqEl.name.value = name; renderSteps(); seqSetStatus(`wczytano "${name}" do szkicu`); }
else if (window.confirm(`Usunąć sekwencję "${name}"?`)) seqSend({ type: 'delete_sequence', name });
});
}
}
renderSteps();
</script>
</body>
</html>