Turn on Point kann jetzt schon im Admin aufgerufen werden um den Rover in eine Richtug zu drehen

scripts/exomy_admin_api.py

@@ -227,6 +227,7 @@ def _connect_imu_ros():
     global IMU_ROS_CLIENT, IMU_ROS_TOPICS
 
     import roslibpy
+    import imu_rotate
 
     client = roslibpy.Ros(host=ROSBRIDGE_HOST, port=ROSBRIDGE_PORT)
     client.run()
@@ -239,13 +240,29 @@ def _connect_imu_ros():
     imu_topic = roslibpy.Topic(client, '/imu/data', 'sensor_msgs/Imu')
     mag_topic = roslibpy.Topic(client, '/imu/mag', 'sensor_msgs/MagneticField')
     status_topic = roslibpy.Topic(client, '/imu/status', 'std_msgs/String')
+    rover_cmd_topic = roslibpy.Topic(client, '/rover_command', 'exomy/RoverCommand')
     imu_topic.subscribe(_on_imu_data_message)
     mag_topic.subscribe(_on_imu_mag_message)
     status_topic.subscribe(_on_imu_status_message)
+    rover_cmd_topic.advertise()
     IMU_ROS_CLIENT = client
-    IMU_ROS_TOPICS = [imu_topic, mag_topic, status_topic]
+    IMU_ROS_TOPICS = [imu_topic, mag_topic, status_topic, rover_cmd_topic]
     _imu_ros_cache_update(status='ROS verbunden', error='')
 
+    def _publish_rover_cmd(locomotion_mode, vel, steering):
+        try:
+            rover_cmd_topic.publish(roslibpy.Message({
+                'connected': True,
+                'motors_enabled': True,
+                'locomotion_mode': int(locomotion_mode),
+                'vel': int(vel),
+                'steering': int(steering),
+            }))
+        except Exception:
+            pass
+
+    imu_rotate.set_publish_fn(_publish_rover_cmd)
+
 
 def _imu_ros_worker():
     global IMU_ROS_CLIENT, IMU_ROS_TOPICS
@@ -1957,6 +1974,10 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.end_headers()
 
     def do_GET(self):
+        if self.path == '/api/imu/rotate-status':
+            import imu_rotate
+            self.write_json(200, {'rotate': imu_rotate.get_rotate_status()})
+            return
         if self.path == '/api/delay':
             self.write_json(200, {'delay_seconds': get_delay()})
             return
@@ -1999,7 +2020,8 @@ class Handler(http.server.BaseHTTPRequestHandler):
 
     def do_POST(self):
         raw_body = b'{}'
-        if self.path in ('/api/routes/save', '/api/routes/delete', '/api/imu/heading-offset'):
+        if self.path in ('/api/routes/save', '/api/routes/delete', '/api/imu/heading-offset',
+                         '/api/imu/rotate-to'):
             try:
                 content_length = int(self.headers.get('Content-Length', '0'))
             except ValueError:
@@ -2290,6 +2312,39 @@ class Handler(http.server.BaseHTTPRequestHandler):
             self.write_json(status_code, response)
             return
 
+        if self.path == '/api/imu/rotate-to':
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+                target_deg = float(payload.get('target_deg', 0))
+            except (UnicodeDecodeError, json.JSONDecodeError, TypeError, ValueError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+            with IMU_ROS_LOCK:
+                heading = IMU_ROS_CACHE.get('heading_deg')
+            if heading is None:
+                self.write_json(409, {'status': 'Noch keine frischen IMU-Daten'})
+                return
+            import imu_rotate
+            heading_offset = read_imu_heading_calibration()['offset_deg']
+
+            def _get_corrected_heading():
+                with IMU_ROS_LOCK:
+                    raw = IMU_ROS_CACHE.get('heading_deg')
+                return get_corrected_heading_deg(raw, heading_offset) if raw is not None else None
+
+            status = imu_rotate.start_rotate(
+                target_deg=target_deg,
+                get_heading_fn=_get_corrected_heading,
+            )
+            self.write_json(200, {'status': 'Drehung gestartet', 'rotate': status})
+            return
+
+        if self.path == '/api/imu/rotate-stop':
+            import imu_rotate
+            imu_rotate.stop_rotate()
+            self.write_json(200, {'status': 'Drehung gestoppt', 'rotate': imu_rotate.get_rotate_status()})
+            return
+
         actions = {
             '/api/cold-start-gps': {
                 'handler': cold_start_gps_receiver,