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Eskimue
2026-05-25 14:41:15 +02:00
parent 54516f29da
commit 1855a2446b
4 changed files with 157 additions and 12 deletions
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ExoMy_Software-master/gui/admin.html
+56
View File
@@ -427,6 +427,21 @@
Für eine gute Fix-Qualität sind niedrige DOP-Werte und hohe, gleichmäßig verteilte Satelliten sinnvoll. Der Himmelsplot zeigt nur Satelliten, die der Empfänger per GSV mit Richtung und Höhe meldet.
</div>
</div>
<div class="panel">
<div class="p-hdr">
<div class="p-dot"></div>
<span class="p-lbl">GPS-Rohdaten</span>
<span class="p-tag">NMEA</span>
</div>
<div class="copy-text gps-copy gps-copy_compact">
Letzte direkt empfangene NMEA-Sätze des Empfängers. Die Ansicht scrollt intern und ist für Diagnose bei Abschattung, Drift und fehlerhaften Fixen gedacht.
</div>
<div class="neutral-toolbar">
<button class="button buttonA" onclick="copyGpsRawData()">Rohdaten kopieren</button>
</div>
<textarea id="gps_raw_output" class="gps-raw-output" readonly spellcheck="false">--</textarea>
</div>
</div>
</div>
</section>
@@ -663,6 +678,7 @@
utcTime: null,
lastFixAgeS: null,
satellites: [],
rawSentences: [],
selectedSatellitePrn: null,
plottedSatellites: []
};
@@ -734,6 +750,7 @@
gpsDiagnosticsState.utcTime = null;
gpsDiagnosticsState.lastFixAgeS = null;
gpsDiagnosticsState.satellites = [];
gpsDiagnosticsState.rawSentences = [];
updateGpsDiagnosticsPanel();
}
@@ -1003,9 +1020,47 @@
setGpsQualityState('gps_diag_vdop', gpsDiagnosticsState.vdop);
setText('gps_diag_sat_used', gpsDiagnosticsState.satellitesUsed);
setText('gps_diag_sat_visible', gpsDiagnosticsState.satellitesVisible);
setGpsRawOutput(gpsDiagnosticsState.rawSentences);
drawGpsSkyPlot();
}
function setGpsRawOutput(sentences) {
var node = document.getElementById('gps_raw_output');
if (!node) return;
if (!Array.isArray(sentences) || !sentences.length) {
node.value = '--';
return;
}
var wasNearBottom = (node.scrollTop + node.clientHeight + 24) >= node.scrollHeight;
node.value = sentences.join('\n');
if (wasNearBottom) node.scrollTop = node.scrollHeight;
}
async function copyGpsRawData() {
var node = document.getElementById('gps_raw_output');
if (!node) return;
var text = String(node.value || '').trim();
if (!text || text === '--') {
setAdminStatus('Keine GPS-Rohdaten zum Kopieren');
return;
}
try {
if (navigator.clipboard && navigator.clipboard.writeText) {
await navigator.clipboard.writeText(text);
} else {
node.focus();
node.select();
document.execCommand('copy');
node.setSelectionRange(node.value.length, node.value.length);
}
setAdminStatus('GPS-Rohdaten kopiert');
window.setTimeout(function() { setAdminStatus('Bereit'); }, 1800);
} catch (error) {
setAdminStatus('Kopieren fehlgeschlagen');
}
}
function getSelectedSatellite() {
if (!gpsDiagnosticsState.satellites.length) return null;
var selected = gpsDiagnosticsState.satellites.find(function(item) {
@@ -1172,6 +1227,7 @@
gpsDiagnosticsState.utcTime = data.utc_time || null;
gpsDiagnosticsState.lastFixAgeS = typeof data.last_fix_age_s === 'number' ? data.last_fix_age_s : null;
gpsDiagnosticsState.satellites = Array.isArray(data.satellites) ? data.satellites : [];
gpsDiagnosticsState.rawSentences = Array.isArray(data.raw_sentences) ? data.raw_sentences : [];
if (gpsDiagnosticsState.selectedSatellitePrn) {
var stillExists = gpsDiagnosticsState.satellites.some(function(item) {
return item.prn === gpsDiagnosticsState.selectedSatellitePrn;
ExoMy_Software-master/gui/app.css
+19
View File
@@ -1295,6 +1295,25 @@ body.page-admin .gps-copy{
body.page-admin .gps-copy_compact{
border-bottom:none;
}
body.page-admin .gps-raw-output{
width:100%;
min-height:220px;
max-height:320px;
resize:vertical;
overflow:auto;
margin-top:14px;
padding:12px 14px;
border:1px solid rgba(0,255,145,.18);
border-radius:12px;
background:#07111c;
color:#b8ffe1;
font:12px/1.45 Consolas, "Courier New", monospace;
box-shadow:inset 0 0 0 1px rgba(255,255,255,.02);
}
body.page-admin .gps-raw-output:focus{
outline:none;
border-color:rgba(0,255,145,.28);
}
body.page-admin .gps-sky-stage{
padding:18px;
position:relative;
ExoMy_Software-master/gui/index.html
+76 -11
View File
@@ -285,6 +285,7 @@ var roverCommandListener = null;
var motorCommandsListener = null;
var gpsFixListener = null;
var gpsStatusListener = null;
var gpsDiagnosticsListener = null;
var publishTimer = null;
var statusTimer = null;
var axes = [0, 0, 0, 0, 0, 0];
@@ -294,6 +295,7 @@ var motorsEnabled = true;
var inputMode = "joystick";
var metBase = Date.now();
var dragging = false;
var lastGpsDiagnostics = null;
var REQUIRED_CALIBRATION_POINTS = [0, 20, 30, 40, 50, 60, 80, 100];
var driveEstimator = {
drivePwmNeutralAverage: 307,
@@ -603,41 +605,86 @@ function updateAxesDisplay(x, y) {
setText("dpy", formatAxis(y));
}
function setGpsAccuracyDisplay(valueMeters) {
function setGpsAccuracyDisplay(label) {
var node = document.getElementById("gps-accuracy");
if (!node) return;
node.classList.remove("gps-quality-good", "gps-quality-mid", "gps-quality-bad");
if (typeof valueMeters !== "number" || isNaN(valueMeters) || valueMeters <= 0) {
if (typeof label !== "string" || !label) {
node.textContent = "--";
return;
}
node.textContent = formatNumber(valueMeters, 1) + " m";
if (valueMeters <= 1.0) {
node.textContent = label;
}
function setGpsAccuracyState(label, tone) {
var node = document.getElementById("gps-accuracy");
if (!node) return;
node.classList.remove("gps-quality-good", "gps-quality-mid", "gps-quality-bad");
node.textContent = label || "--";
if (tone === "good") {
node.classList.add("gps-quality-good");
} else if (valueMeters <= 3.0) {
} else if (tone === "mid") {
node.classList.add("gps-quality-mid");
} else {
} else if (tone === "bad") {
node.classList.add("gps-quality-bad");
}
}
function updateGpsAccuracyFromDiagnostics() {
if (!lastGpsDiagnostics || !lastGpsDiagnostics.connected || !lastGpsDiagnostics.valid) {
setGpsAccuracyState("--", "");
return;
}
var fixQuality = Number(lastGpsDiagnostics.fix_quality || 0);
var hdop = Number(lastGpsDiagnostics.hdop);
var pdop = Number(lastGpsDiagnostics.pdop);
var satellitesUsed = Number(lastGpsDiagnostics.satellites_used || 0);
var lastFixAge = Number(lastGpsDiagnostics.last_fix_age_s || 0);
if (fixQuality <= 0 || isNaN(hdop)) {
setGpsAccuracyState("schlecht", "bad");
return;
}
var label = "schlecht";
var tone = "bad";
if (hdop <= 1.2 && (isNaN(pdop) || pdop <= 2.0) && satellitesUsed >= 10 && lastFixAge <= 2.0) {
label = "sehr gut";
tone = "good";
} else if (hdop <= 2.5 && (isNaN(pdop) || pdop <= 4.0) && satellitesUsed >= 6 && lastFixAge <= 4.0) {
label = "gut";
tone = "good";
} else if (hdop <= 4.5 && (isNaN(pdop) || pdop <= 7.0) && satellitesUsed >= 4 && lastFixAge <= 8.0) {
label = "mäßig";
tone = "mid";
}
if (satellitesUsed < 5 || lastFixAge > 8.0) {
label = "schlecht";
tone = "bad";
}
setGpsAccuracyState(label, tone);
}
function updateGpsOverlayFromFix(message) {
if (!message) return;
markGpsFresh();
var hasFix = message.status && message.status.status >= 0;
if (!hasFix) {
setGpsAccuracyDisplay(NaN);
setGpsAccuracyState("--", "");
setText("gps-lat", "--");
setText("gps-lon", "--");
return;
}
var covariance = Array.isArray(message.position_covariance) ? Number(message.position_covariance[0]) : NaN;
var accuracyMeters = covariance > 0 ? Math.sqrt(covariance) : NaN;
setGpsAccuracyDisplay(accuracyMeters);
updateGpsAccuracyFromDiagnostics();
setText("gps-lat", formatNumber(Number(message.latitude || 0), 5));
setText("gps-lon", formatNumber(Number(message.longitude || 0), 5));
}
@@ -648,6 +695,15 @@ function updateGpsOverlayFromStatus(text) {
setText("gps-state", value);
}
function updateGpsOverlayFromDiagnostics(text) {
try {
lastGpsDiagnostics = JSON.parse(String(text || "{}"));
} catch (error) {
lastGpsDiagnostics = null;
}
updateGpsAccuracyFromDiagnostics();
}
function updateModeDisplay() {
var label = "Ackermann";
if (driveMode === "turn-on-point") {
@@ -748,7 +804,7 @@ function clearRosLiveDisplay() {
liveIndicator.classList.add("is-offline");
}
setText("gps-state", "Offline");
setGpsAccuracyDisplay(NaN);
setGpsAccuracyState("--", "");
setText("gps-lat", "--");
setText("gps-lon", "--");
setText("overlay-speed", "--");
@@ -1226,6 +1282,15 @@ window.addEventListener("load", function () {
updateGpsOverlayFromStatus(message.data);
});
gpsDiagnosticsListener = new ROSLIB.Topic({
ros: ros,
name: "/gps/diagnostics_json",
messageType: "std_msgs/String"
});
gpsDiagnosticsListener.subscribe(function (message) {
updateGpsOverlayFromDiagnostics(message.data);
});
var joySubscriber = new ROSLIB.Topic({
ros: ros,
name: "/joy",
ExoMy_Software-master/src/gps_node.py
+6 -1
View File
@@ -4,6 +4,7 @@ import json
import os
import select
import termios
from collections import deque
from datetime import datetime
import rospy
@@ -86,6 +87,7 @@ class GpsState(object):
self.visible_satellites = {}
self.visible_satellite_count = 0
self._gsv_groups = {}
self.raw_sentences = deque(maxlen=200)
def summary_text(self):
if not self.connected:
@@ -334,6 +336,8 @@ def parse_sentence(sentence, state):
if not verify_checksum(sentence):
return False
state.raw_sentences.append(sentence)
fields = sentence.split('*', 1)[0].split(',')
if not fields:
return False
@@ -379,7 +383,8 @@ def build_diagnostics_payload(state, frame_id):
'utc_time': state.utc_datetime.strftime('%H:%M:%S') if state.utc_datetime else None,
'utc_date': state.utc_datetime.strftime('%Y-%m-%d') if state.utc_datetime else None,
'last_fix_age_s': last_fix_age,
'satellites': list(state.visible_satellites.values())
'satellites': list(state.visible_satellites.values()),
'raw_sentences': list(state.raw_sentences)
}