dies und das

ExoMy_Software-master/gui/index.html

@@ -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",