IMU eingebaut

README.md

@@ -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` |
+| **LAN-IP (`eskimue.de`)** | `192.168.1.83` |
-| **WLAN-IP** | `192.168.1.9` |
+| **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

@@ -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

@@ -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,
     }