Läuft mal mit kontinuierlicher Kuppelposition

2025-09-24 11:35:07 +02:00
parent d02588b554
commit cfa3f6112e
9 changed files with 1070 additions and 9 deletions
--- a/JS/public/dome.js
+++ b/JS/public/dome.js
@@ -0,0 +1,142 @@
+class Dome {
+  constructor(socketUrl) {
+    // Verhindere mehrfache Instanzen
+    if (window.activeDomeInstance) {
+      console.warn('Dome instance already exists! Stopping old one...');
+      window.activeDomeInstance.stop();
+    }
+    
+    this.angle = 0; // Grad (Mitte des Spalts)
+    this.slotWidth = 20; // Spaltbreite in Grad
+    this.domeSpeed = 3.0; // Grad pro Frame (für smoothe animation) 
+    this.telescopeAngle = 0;
+    
+    // State Machine für diskrete Bewegung (wie Original)
+    this.state = "IDLE"; // "IDLE" oder "MOVING"
+    this.targetDomeAngle = this.angle;
+    
+    this.socket = io(socketUrl);
+    
+    // Registriere als aktive Instanz
+    window.activeDomeInstance = this;
+    
+    this.setupSocketListeners();
+    this.startTracking();
+  }
+
+  setupSocketListeners() {
+    this.socket.on('connect', () => {
+      console.log('Dome connected to server');
+    });
+
+    this.socket.on('telescope-position', (data) => {
+      this.updateTelescopePosition(data.angle);
+    });
+  }
+
+  startTracking() {
+    this.isTracking = true;
+    
+    // Tracking-Loop (30x pro Sekunde für smooth movement)
+    this.trackingInterval = setInterval(() => {
+      if (this.isTracking) {
+        this.updateDomePosition();
+      }
+    }, 1000 / 30); // 30 FPS für sehr smooth movement
+
+    // Position broadcasting (10x pro Sekunde für responsive Visualisierung)
+    this.broadcastInterval = setInterval(() => {
+      this.broadcastPosition();
+    }, 100); // 10x pro Sekunde
+  }
+
+  updateTelescopePosition(telescopeAngle) {
+    this.telescopeAngle = telescopeAngle;
+  }
+
+  updateDomePosition() {
+    let diff = this.angleDiff(this.telescopeAngle, this.angle);
+    let halfSlot = this.slotWidth / 2;
+    let triggerPoint = halfSlot - 2.0; // Starte früher! (8° statt 10°)
+    let moveDir = "STOP";
+
+    if (this.state === "IDLE") {
+      // Prüfen, ob Teleskop aus Schlitz läuft - aber früher triggern!
+      if (diff > triggerPoint) {
+        // CW-Bewegung → Kuppel zentriert sich um das Teleskop
+        this.targetDomeAngle = (this.telescopeAngle + 360) % 360;
+        this.state = "MOVING";
+        console.log(`[Dome] START MOVING: Tel out of slot CW (${diff.toFixed(1)}° > ${triggerPoint.toFixed(1)}°), target: ${this.targetDomeAngle.toFixed(1)}° (centered on telescope)`);
+      } else if (diff < -triggerPoint) {
+        // CCW-Bewegung → Kuppel zentriert sich um das Teleskop
+        this.targetDomeAngle = (this.telescopeAngle + 360) % 360;
+        this.state = "MOVING";
+        console.log(`[Dome] START MOVING: Tel out of slot CCW (${diff.toFixed(1)}° < ${-triggerPoint.toFixed(1)}°), target: ${this.targetDomeAngle.toFixed(1)}° (centered on telescope)`);
+      }
+    }
+
+    if (this.state === "MOVING") {
+      let delta = this.angleDiff(this.targetDomeAngle, this.angle);
+      if (Math.abs(delta) > this.domeSpeed) {
+        this.angle = (this.angle + Math.sign(delta) * this.domeSpeed + 360) % 360;
+        moveDir = Math.sign(delta) > 0 ? "CW" : "CCW";
+      } else {
+        // Ziel erreicht
+        this.angle = this.targetDomeAngle;
+        this.state = "IDLE";
+        console.log(`[Dome] REACHED TARGET: ${this.angle.toFixed(1)}°, back to IDLE`);
+      }
+    }
+    
+    // Debug nur bei Aktivität
+    if (moveDir !== "STOP") {
+      console.log(`[Dome] ${this.state}: Tel=${this.telescopeAngle.toFixed(1)}°, Dome=${this.angle.toFixed(1)}° → ${this.targetDomeAngle.toFixed(1)}°, Dir=${moveDir}`);
+    }
+  }
+
+  // Winkeldifferenz berechnen - kürzester Weg zwischen zwei Winkeln
+  angleDiff(target, source) {
+    // Standard-Formel für kürzesten Winkel
+    let diff = target - source;
+    
+    // Normalisiere auf -180 bis +180
+    while (diff > 180) diff -= 360;
+    while (diff < -180) diff += 360;
+    
+    return diff;
+  }
+
+  broadcastPosition() {
+    const data = {
+      angle: this.angle,
+      slotWidth: this.slotWidth,
+      telescopeAngle: this.telescopeAngle,
+      diff: this.angleDiff(this.telescopeAngle, this.angle),
+      timestamp: Date.now()
+    };
+    this.socket.emit('dome-position', data);
+  }
+
+  stop() {
+    this.isTracking = false;
+    if (this.trackingInterval) clearInterval(this.trackingInterval);
+    if (this.broadcastInterval) clearInterval(this.broadcastInterval);
+    
+    // Entferne Referenz als aktive Instanz
+    if (window.activeDomeInstance === this) {
+      window.activeDomeInstance = null;
+    }
+  }
+}
+
+// Wenn wir in einem Browser sind, NICHT automatisch initialisieren  
+// Die Visualisierung wird die Kuppel kontrollieren
+if (typeof window !== 'undefined') {
+  // Nur die Klasse verfügbar machen, aber noch nicht instanziieren
+  window.Dome = Dome;
+}
+
+// Node.js Export für separate Prozesse
+if (typeof module !== 'undefined' && module.exports) {
+  module.exports = Dome;
+}