Eskimue/ExoMy_Cuno
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Eskimue
2026-05-28 14:52:28 +02:00
parent 7a9e0ae62e
commit 580029730a
3 changed files with 210 additions and 3 deletions
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README.md
+9 -2
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@@ -16,12 +16,17 @@ Die Software liegt in diesem Repository direkt an der Wurzel. Nicht zur Software
| **Hostname** | `cuno` |
| **Benutzer** | `pi` |
| **SSH-Passwort** | `Sonneberg` |
| **LAN-IP** | `192.168.1.83` |
| **WLAN-IP** | `192.168.1.9` |
| **LAN-IP (`eskimue.de`)** | `192.168.1.83` |
| **WLAN-IP (`eskimue.de`)** | `192.168.1.9` |
| **WLAN-IP (`4pi`, SSH)** | `10.42.44.150` |
| **Fallback-AP** | SSID `CUNO`, IP `192.168.50.1`, Passwort `astr0cun042` |
```bash
# im WLAN "eskimue.de"
ssh pi@192.168.1.9
# im WLAN "4pi"
ssh pi@10.42.44.150
```
---
@@ -134,6 +139,8 @@ ssh pi@192.168.1.9 "docker cp /home/pi/ExoMy_Software/src/meine_datei.py exomy_a
ssh pi@192.168.1.9 "docker restart exomy_autostart"
```
Im WLAN `4pi` dieselben Befehle jeweils mit `10.42.44.150` statt `192.168.1.9` verwenden.
GUI-Dateien:
```bash
gui/admin.html
+68
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@@ -96,6 +96,49 @@
<strong id="service_exomy" class="sr-val service_state state_unknown">-</strong>
</div>
</div>
<div class="panel">
<div class="p-hdr">
<div class="p-dot"></div>
<span class="p-lbl">IMU BNO085</span>
<span class="p-tag">I2C 0x4A</span>
</div>
<div class="sr">
<span class="sr-led led-blue"></span>
<span class="sr-key">Status</span>
<strong id="imu_state" class="sr-val service_state state_unknown">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Adresse</span>
<strong id="imu_address" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Accel</span>
<strong id="imu_acceleration" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Gyro</span>
<strong id="imu_gyro" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Mag</span>
<strong id="imu_magnetic" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Quaternion</span>
<strong id="imu_quaternion" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Hinweis</span>
<strong id="imu_error" class="sr-val">-</strong>
</div>
</div>
</div>
<div class="admin-col">
@@ -934,6 +977,13 @@
setServiceState('camera_service_state', '-');
setServiceState('service_admin_api', '-');
setServiceState('service_exomy', '-');
setStateText('imu_state', 'unknown', '-');
setText('imu_address', '--');
setText('imu_acceleration', '--');
setText('imu_gyro', '--');
setText('imu_magnetic', '--');
setText('imu_quaternion', '--');
setText('imu_error', '--');
var bar = document.getElementById('bar-temp-adm');
if (bar) bar.style.width = '0%';
}
@@ -1147,6 +1197,16 @@
node.classList.add('state_unknown');
}
function setStateText(id, state, text) {
var node = document.getElementById(id);
if (!node) return;
node.textContent = text || '-';
node.classList.remove('state_active', 'state_inactive', 'state_unknown');
if (state === 'active' || state === 'running') { node.classList.add('state_active'); return; }
if (state === 'inactive' || state === 'failed' || state === 'exited') { node.classList.add('state_inactive'); return; }
node.classList.add('state_unknown');
}
function formatNumber(value, digits) {
return Number(value || 0).toLocaleString('de-DE', {
minimumFractionDigits: digits,
@@ -2428,6 +2488,7 @@
function renderStatus(data) {
var system = data.system || {};
var services = data.services || {};
var imu = data.imu || {};
setAdminStatus(data.status || 'Bereit');
setText('info_ips', system.ips);
setText('info_wifi', system.wifi);
@@ -2463,6 +2524,13 @@
setServiceState('camera_service_state', services.camera);
setServiceState('service_admin_api', services.admin_api);
setServiceState('service_exomy', services.exomy);
setStateText('imu_state', imu.state || 'unknown', imu.status || '-');
setText('imu_address', imu.address);
setText('imu_acceleration', imu.acceleration);
setText('imu_gyro', imu.gyro);
setText('imu_magnetic', imu.magnetic);
setText('imu_quaternion', imu.quaternion);
setText('imu_error', imu.error || '-');
}
async function fetchStatus() {
scripts/exomy_admin_api.py
+133 -1
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@@ -14,6 +14,7 @@ import subprocess
import termios
import threading
import time
import warnings
from zoneinfo import ZoneInfo
PORT = 8082
@@ -66,6 +67,11 @@ CAMERA_PROFILE_MAP = {profile['id']: profile for profile in CAMERA_PROFILES}
DEFAULT_CAMERA_PROFILE_ID = '1296x972'
CAMERA_FPS_OPTIONS = [1, 2, 3, 4, 5, 7, 10, 20]
DEFAULT_CAMERA_FPS = 10
IMU_I2C_ADDRESS = '0x4A'
IMU_LOCK = threading.Lock()
IMU_SENSOR = None
IMU_LAST_ERROR = None
IMU_WORKAROUND_APPLIED = False
class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
@@ -77,6 +83,130 @@ def run_command(command):
return result.stdout.strip(), result.stderr.strip(), result.returncode
def _format_vector(values, unit, decimals=2):
if not values:
return 'unbekannt'
return 'X {0:.{d}f} | Y {1:.{d}f} | Z {2:.{d}f} {u}'.format(
values[0], values[1], values[2], d=decimals, u=unit
)
def _format_quaternion(values):
if not values:
return 'unbekannt'
return 'I {0:.3f} | J {1:.3f} | K {2:.3f} | R {3:.3f}'.format(
values[0], values[1], values[2], values[3]
)
def _apply_bno08x_workaround(module):
global IMU_WORKAROUND_APPLIED
if IMU_WORKAROUND_APPLIED:
return
original_handle_packet = module.BNO08X._handle_packet
def safe_handle_packet(self, packet):
try:
return original_handle_packet(self, packet)
except KeyError as exc:
# Some BNO085 firmwares emit undocumented reports that the Adafruit
# library cannot decode yet. Ignore those packets and keep known
# sensor reports flowing.
if len(exc.args) == 1 and isinstance(exc.args[0], int):
return
raise
module.BNO08X._handle_packet = safe_handle_packet
IMU_WORKAROUND_APPLIED = True
def _create_imu_sensor():
global IMU_LAST_ERROR
try:
with warnings.catch_warnings():
warnings.filterwarnings(
'ignore',
message='I2C frequency is not settable in python, ignoring!',
category=RuntimeWarning,
)
import adafruit_bno08x
import board
import busio
from adafruit_bno08x import (
BNO_REPORT_ACCELEROMETER,
BNO_REPORT_GYROSCOPE,
BNO_REPORT_MAGNETOMETER,
BNO_REPORT_ROTATION_VECTOR,
)
from adafruit_bno08x.i2c import BNO08X_I2C
_apply_bno08x_workaround(adafruit_bno08x)
i2c = busio.I2C(board.SCL, board.SDA, frequency=400000)
sensor = BNO08X_I2C(i2c)
for feature in (
BNO_REPORT_ACCELEROMETER,
BNO_REPORT_GYROSCOPE,
BNO_REPORT_MAGNETOMETER,
BNO_REPORT_ROTATION_VECTOR,
):
sensor.enable_feature(feature)
time.sleep(0.2)
IMU_LAST_ERROR = None
return sensor
except Exception as exc:
IMU_LAST_ERROR = str(exc)
return None
def read_imu_status():
global IMU_SENSOR, IMU_LAST_ERROR
with IMU_LOCK:
if IMU_SENSOR is None:
IMU_SENSOR = _create_imu_sensor()
if IMU_SENSOR is None:
return {
'state': 'unknown',
'status': 'Nicht bereit',
'address': IMU_I2C_ADDRESS,
'acceleration': 'unbekannt',
'gyro': 'unbekannt',
'magnetic': 'unbekannt',
'quaternion': 'unbekannt',
'error': IMU_LAST_ERROR or 'BNO085 nicht verfugbar',
}
try:
return {
'state': 'active',
'status': 'Verbunden',
'address': IMU_I2C_ADDRESS,
'acceleration': _format_vector(IMU_SENSOR.acceleration, 'm/s^2'),
'gyro': _format_vector(IMU_SENSOR.gyro, 'rad/s', 3),
'magnetic': _format_vector(IMU_SENSOR.magnetic, 'uT'),
'quaternion': _format_quaternion(IMU_SENSOR.quaternion),
'error': '',
}
except Exception as exc:
IMU_SENSOR = None
IMU_LAST_ERROR = str(exc)
return {
'state': 'unknown',
'status': 'Lesefehler',
'address': IMU_I2C_ADDRESS,
'acceleration': 'unbekannt',
'gyro': 'unbekannt',
'magnetic': 'unbekannt',
'quaternion': 'unbekannt',
'error': IMU_LAST_ERROR,
}
def read_cpu_temperature():
try:
with open('/sys/class/thermal/thermal_zone0/temp', 'r', encoding='utf-8') as handle:
@@ -523,6 +653,7 @@ def collect_status():
wifi_details = get_wifi_details()
time_details = get_system_time_details()
container_details = get_container_details(EXOMY_CONTAINER)
imu_details = read_imu_status()
return {
'status': 'Bereit',
'system': {
@@ -563,7 +694,8 @@ def collect_status():
'exomy': get_container_state(EXOMY_CONTAINER),
'exomy_uptime': container_details['uptime'],
'exomy_restarts': container_details['restarts'],
}
},
'imu': imu_details,
}