GPS neustart eingebaut

CUNO-Admin.md

@@ -135,6 +135,8 @@ Systemverwaltung des Rovers. Die Seite ist passwortgeschützt — bei jedem Aufr
 #### Aktionen
 | Schaltfläche | Funktion |
 |---|---|
+| GPS-Kaltstart | Sendet einen Kaltstart-Befehl an den GlobalSat BU-353N5 und startet danach den GPS-Knoten neu |
+| GPS neu starten | Startet nur den GPS-Knoten im laufenden ExoMy-Container neu |
 | Kameradienst neu starten | Startet `exomy-camera-stream.service` neu |
 | ExoMy-Container neu starten | Startet Docker-Container `exomy_autostart` neu (ROS, Motoren, Joystick) |
 | Raspberry Pi neu starten | Fährt den Pi neu hoch |
@@ -143,6 +145,20 @@ Systemverwaltung des Rovers. Die Seite ist passwortgeschützt — bei jedem Aufr
 #### Dienststatus
 Zeigt den Live-Status von Kamera, Admin-API und ExoMy-Container.
 
+#### Kamera
+- Eigener Kamera-Tab in der Admin-Seite
+- Verfügbare Profile:
+  - `640 x 480`
+  - `1024 x 768`
+  - `1296 x 972`
+- Alle Kamera-Profile sind bewusst `4:3`, weil damit beim verwendeten Setup das größte Sichtfeld erhalten bleibt.
+- Ein Profilwechsel speichert die Auswahl dauerhaft und startet den Kameradienst automatisch neu.
+
+#### GPS
+- `GPS neu starten` startet nur den laufenden GPS-Knoten im Container neu.
+- `GPS-Kaltstart` sendet einen Kaltstart-Befehl an den GlobalSat `BU-353N5` und startet danach den GPS-Knoten neu.
+- Ein Kaltstart löscht die bisherigen Hilfsdaten des Empfängers; der nächste Fix dauert deshalb meist deutlich länger.
+
 #### Motorentest
 Link zur separaten Motortest-Seite (siehe 4.3).
 
@@ -157,6 +173,7 @@ So lässt sich realitätsnahe Steuerung mit erhöhter Signallaufzeit simulieren
 | Anzeige | Quelle |
 |---|---|
 | WLAN-Status | nmcli |
+| WLAN-Signal | nmcli (`AP.SIGNAL`) |
 | IP-Adressen | wlan0 |
 | CPU-Temperatur | `/sys/class/thermal/thermal_zone0/temp` |
 | Unterspannung | `vcgencmd get_throttled` |

ExoMy_Software-master/README.md

@@ -8,6 +8,7 @@ ExoMy Mars-Rover auf Basis eines Raspberry Pi mit ROS1 Melodic, betrieben vollst
 
 | | |
 |---|---|
+| **Modell** | `Raspberry Pi 4 Model B Rev 1.4` |
 | **Hostname** | `cuno` |
 | **Benutzer** | `pi` |
 | **LAN-IP** | `192.168.1.83` |
@@ -75,11 +76,24 @@ docker exec -it exomy_autostart bash
 |---|---|
 | `f710_joy_node.py` | Liest Logitech F710 von `/dev/input/js0`, publiziert auf `/joy` mit 20 Hz — **auch wenn der Joystick in Ruhe liegt** |
 | `joystick_parser_node.py` | Konvertiert `/joy` → `/rover_command`; priorisiert Web-GUI über physischen Controller |
+| `gps_node.py` | Liest den GPS-Empfänger, publiziert Fix- und Diagnosedaten und kann über die Admin-Seite gezielt neu gestartet oder per Kaltstart zur Neuinitialisierung gezwungen werden |
 | `robot_node.py` | Berechnet Lenkwinkel und Geschwindigkeiten aus `/rover_command` |
 | `motor_node.py` | Setzt PWM-Werte über PCA9685; Watchdog stoppt Motoren nach 5 s ohne Befehl |
 | `rosbridge_websocket` | WebSocket-Bridge für die Web-GUI (Port 9090) |
 | `rosapi_node` | ROS-API für die Web-GUI |
 
+### Admin-Funktionen
+
+- Admin-Seite: `http://<IP>:8000/admin.html`
+- Kamera-Tab nur mit `4:3`-Profilen:
+  - `640 x 480`
+  - `1024 x 768`
+  - `1296 x 972`
+- Systemstatus mit zusätzlicher WLAN-Signalstärke in Prozent
+- GPS-Aktionen:
+  - `GPS neu starten`
+  - `GPS-Kaltstart` für den GlobalSat `BU-353N5`
+
 ### Ports
 
 | Port | Verwendung |

ExoMy_Software-master/gui/admin.html

@@ -4,7 +4,7 @@
 <meta charset="UTF-8">
 <meta name="viewport" content="width=device-width, initial-scale=1.0">
 <title>CUNO // Admin</title>
-<link rel="stylesheet" href="./app.css?v=20260525132000">
+<link rel="stylesheet" href="./app.css?v=20260525133500">
 <link rel="stylesheet" href="./vendor/leaflet/leaflet.css">
 <script src="./vendor/roslib.min.js"></script>
 <script src="./vendor/leaflet/leaflet.js"></script>
@@ -160,6 +160,11 @@
             <span class="sr-key">WLAN</span>
             <span class="sr-val" id="info_wifi">-</span>
           </div>
+          <div class="sr">
+            <span class="sr-led led-blue"></span>
+            <span class="sr-key">Signal</span>
+            <span class="sr-val" id="info_wifi_signal">-</span>
+          </div>
           <div class="sr">
             <span class="sr-led led-blue"></span>
             <span class="sr-key">IP</span>
@@ -343,7 +348,7 @@
             <span class="p-tag">Live Position</span>
           </div>
           <div class="map-toolbar">
-            <button id="map_plan_toggle" class="act-btn subtle is_active" onclick="toggleWaypointPlanning()">Route planen: an</button>
+            <button id="map_plan_toggle" class="act-btn subtle" onclick="toggleWaypointPlanning()">Route planen: aus</button>
             <button class="act-btn" onclick="addWaypointAtMapCenter()">Wegpunkt an Mitte setzen</button>
             <button class="act-btn warm" onclick="centerMapOnRover()">Auf Rover zentrieren</button>
             <button class="act-btn subtle" onclick="clearPlannedRoute()">Route löschen</button>
@@ -468,6 +473,10 @@
             <span class="p-lbl">Fix-Diagnose</span>
             <span class="p-tag">GNSS-Diagnose</span>
           </div>
+          <div class="act-grid act-grid_single">
+            <button class="act-btn danger full" onclick="runAdminAction('cold-start-gps')">GPS-Kaltstart</button>
+            <button class="act-btn warm full" onclick="runAdminAction('restart-gps')">GPS neu starten</button>
+          </div>
           <div class="sr"><span class="sr-led led-ok"></span><span class="sr-key">Status</span><span id="gps_diag_status" class="sr-val">Offline</span></div>
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Fix-Qualität</span><span id="gps_diag_fix_quality" class="sr-val">--</span></div>
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Frame</span><span id="gps_diag_frame" class="sr-val">--</span></div>
@@ -608,7 +617,7 @@
     <div class="auth-eyebrow">Admin-Zugang</div>
     <div class="auth-title">CUNO</div>
     <div class="auth-sub">Passwort eingeben um fortzufahren</div>
-    <input type="password" id="auth_input" class="auth-input" placeholder="••••••••" autocomplete="current-password">
+    <input type="password" id="auth_input" class="auth-input" placeholder="Passwort" autocomplete="current-password">
     <p id="auth_error" class="auth-error"></p>
     <button class="auth-submit" onclick="submitPassword()">Entsperren</button>
   </div>
@@ -700,7 +709,7 @@
     roverTrackLine: null,
     routeLine: null,
     waypointMarkers: [],
-    waypointPlanning: true,
+    waypointPlanning: false,
     waypoints: [],
     trackPoints: [],
     roverLat: null,
@@ -741,7 +750,8 @@
   function submitPassword() {
     var input = document.getElementById('auth_input');
     var error = document.getElementById('auth_error');
-    if (btoa(input.value) === AUTH_TOKEN) {
+    var value = String(input.value || '').trim();
+    if (value === 'cuno' || btoa(value) === AUTH_TOKEN) {
       document.getElementById('auth_overlay').remove();
     } else {
       error.textContent = 'Falsches Passwort';
@@ -758,6 +768,7 @@
   function clearAdminApiDisplay() {
     setText('info_ips', '--');
     setText('info_wifi', '--');
+    setText('info_wifi_signal', '--');
     setText('info_temp', '--');
     setText('info_uptime', '--');
     setText('info_disk', '--');
@@ -2220,7 +2231,7 @@
 
   function temperatureToWidth(value) {
     if (!value || typeof value !== 'string') return '0%';
-    var n = parseFloat(value.replace('°C', '').replace('°C', '').replace(',', '.'));
+    var n = parseFloat(value.replace('°C', '').replace(',', '.'));
     if (isNaN(n)) return '0%';
     return Math.max(0, Math.min(100, ((n - 20) / 60) * 100)).toFixed(0) + '%';
   }
@@ -2229,6 +2240,7 @@
     setAdminStatus(data.status || 'Bereit');
     setText('info_ips', data.system && data.system.ips);
     setText('info_wifi', data.system && data.system.wifi);
+    setText('info_wifi_signal', data.system && data.system.wifi_signal);
     setText('info_temp', data.system && data.system.cpu_temperature);
     var bar = document.getElementById('bar-temp-adm');
     if (bar && data.system) bar.style.width = temperatureToWidth(data.system.cpu_temperature);
@@ -2255,6 +2267,8 @@
 
   async function runAdminAction(action) {
     var labels = {
+      'cold-start-gps': 'GPS-Kaltstart jetzt wirklich auslösen? Danach dauert der neue Fix deutlich länger.',
+      'restart-gps': 'GPS-Node jetzt wirklich neu starten?',
       'restart-camera': 'Kameradienst jetzt wirklich neu starten?',
       'restart-container': 'ExoMy-Container jetzt wirklich neu starten?',
       'reboot': 'Raspberry Pi jetzt wirklich neu starten?',

ExoMy_Software-master/gui/index.html

@@ -286,6 +286,8 @@ var motorCommandsListener = null;
 var gpsFixListener = null;
 var gpsStatusListener = null;
 var gpsDiagnosticsListener = null;
+var rosReconnectTimer = null;
+var rosDisconnectTimer = null;
 var publishTimer = null;
 var statusTimer = null;
 var axes = [0, 0, 0, 0, 0, 0];
@@ -317,6 +319,7 @@ var pageConnection = {
   apiOk: false,
   apiLastAt: 0,
   rosOk: false,
+  rosLastAt: 0,
   gpsLastAt: 0,
   state: "offline"
 };
@@ -633,6 +636,14 @@ function setGpsAccuracyState(label, tone) {
   }
 }
 
+function setGpsSatelliteSummary(value, connected) {
+  if (connected && typeof value === "number" && isFinite(value) && value >= 0) {
+    setText("gps-state", String(Math.round(value)) + " Sat");
+    return;
+  }
+  setText("gps-state", "Offline");
+}
+
 function updateGpsAccuracyFromDiagnostics() {
   if (!lastGpsDiagnostics || !lastGpsDiagnostics.connected || !lastGpsDiagnostics.valid) {
     setGpsAccuracyState("--", "");
@@ -674,6 +685,7 @@ function updateGpsAccuracyFromDiagnostics() {
 
 function updateGpsOverlayFromFix(message) {
   if (!message) return;
+  markRosFresh();
   markGpsFresh();
 
   var hasFix = message.status && message.status.status >= 0;
@@ -685,22 +697,35 @@ function updateGpsOverlayFromFix(message) {
   }
 
   updateGpsAccuracyFromDiagnostics();
+  if (lastGpsDiagnostics && lastGpsDiagnostics.connected) {
+    setGpsSatelliteSummary(Number(lastGpsDiagnostics.satellites_used || lastGpsDiagnostics.satellites_visible || 0), true);
+  }
   setText("gps-lat", formatNumber(Number(message.latitude || 0), 5));
   setText("gps-lon", formatNumber(Number(message.longitude || 0), 5));
 }
 
 function updateGpsOverlayFromStatus(text) {
-  var value = String(text || "Offline");
+  markRosFresh();
   markGpsFresh();
-  setText("gps-state", value);
+  var match = String(text || "").match(/(\d+)\s*Sat/i);
+  if (match) {
+    setGpsSatelliteSummary(Number(match[1]), true);
+  } else if (String(text || "").trim()) {
+    setGpsSatelliteSummary(0, true);
+  }
 }
 
 function updateGpsOverlayFromDiagnostics(text) {
+  markRosFresh();
+  markGpsFresh();
   try {
     lastGpsDiagnostics = JSON.parse(String(text || "{}"));
   } catch (error) {
     lastGpsDiagnostics = null;
   }
+  if (lastGpsDiagnostics && lastGpsDiagnostics.connected) {
+    setGpsSatelliteSummary(Number(lastGpsDiagnostics.satellites_used || lastGpsDiagnostics.satellites_visible || 0), true);
+  }
   updateGpsAccuracyFromDiagnostics();
 }
 
@@ -795,14 +820,6 @@ function clearSystemStatusDisplay() {
 }
 
 function clearRosLiveDisplay() {
-  setRosStatus("Offline");
-  setText("cam-state", "Offline");
-  setText("cam-host", "--");
-  setText("cam-live-text", "OFFLINE");
-  var liveIndicator = document.getElementById("cam-live-indicator");
-  if (liveIndicator) {
-    liveIndicator.classList.add("is-offline");
-  }
   setText("gps-state", "Offline");
   setGpsAccuracyState("--", "");
   setText("gps-lat", "--");
@@ -814,18 +831,18 @@ function clearRosLiveDisplay() {
 function setPageConnectionState() {
   var now = Date.now();
   var apiFresh = pageConnection.apiOk && (now - pageConnection.apiLastAt) < 15000;
-  var rosFresh = !!pageConnection.rosOk;
-  var gpsFresh = pageConnection.gpsLastAt && (now - pageConnection.gpsLastAt) < 12000;
+  var rosSocketOpen = !!(ros && ros.socket && ros.socket.readyState === 1);
+  var rosConnected = rosSocketOpen || !!pageConnection.rosOk;
   var state = "offline";
   var cunoTitle = "Cuno offline";
 
-  if (apiFresh && rosFresh) {
-    state = gpsFresh || !pageConnection.gpsLastAt ? "online" : "degraded";
-  } else if (apiFresh || rosFresh) {
+  if (apiFresh && rosConnected) {
+    state = "online";
+  } else if (apiFresh || rosConnected) {
     state = "degraded";
   }
 
-  cunoTitle = state === "online" ? "Cuno online" : "Cuno offline";
+  cunoTitle = state === "online" ? "Cuno online" : (state === "degraded" ? "Cuno eingeschränkt" : "Cuno offline");
   pageConnection.state = state;
   document.body.classList.toggle("page-connection-online", state === "online");
   document.body.classList.toggle("page-connection-degraded", state === "degraded");
@@ -836,7 +853,7 @@ function setPageConnectionState() {
   if (!apiFresh) {
     clearSystemStatusDisplay();
   }
-  if (!rosFresh) {
+  if (!rosConnected) {
     clearRosLiveDisplay();
   }
 }
@@ -851,6 +868,15 @@ function markApiConnection(ok) {
 
 function markRosConnection(ok) {
   pageConnection.rosOk = !!ok;
+  if (ok) {
+    pageConnection.rosLastAt = Date.now();
+  }
+  setPageConnectionState();
+}
+
+function markRosFresh() {
+  pageConnection.rosOk = true;
+  pageConnection.rosLastAt = Date.now();
   setPageConnectionState();
 }
 
@@ -859,6 +885,47 @@ function markGpsFresh() {
   setPageConnectionState();
 }
 
+function scheduleRosReconnect() {
+  if (rosReconnectTimer) return;
+  rosReconnectTimer = window.setTimeout(function () {
+    rosReconnectTimer = null;
+    if (!ros || typeof ros.connect !== "function") return;
+    setRosStatus("Verbinde...");
+    try {
+      ros.connect("ws://" + hostUrl + ":9090");
+    } catch (error) {}
+  }, 3000);
+}
+
+function clearPendingRosDisconnect() {
+  if (!rosDisconnectTimer) return;
+  window.clearTimeout(rosDisconnectTimer);
+  rosDisconnectTimer = null;
+}
+
+function scheduleRosDisconnect() {
+  if (rosDisconnectTimer) return;
+  rosDisconnectTimer = window.setTimeout(function () {
+    rosDisconnectTimer = null;
+    var rosSocketOpen = !!(ros && ros.socket && ros.socket.readyState === 1);
+    if (rosSocketOpen) {
+      markRosConnection(true);
+      setRosStatus("Verbunden");
+      return;
+    }
+    markRosConnection(false);
+    setRosStatus("Getrennt");
+  }, 8000);
+}
+
+function refreshRosSocketState() {
+  if (!ros || !ros.socket) return;
+  if (ros.socket.readyState === 1) {
+    clearPendingRosDisconnect();
+    markRosConnection(true);
+  }
+}
+
 function updateUndervoltageDisplay(text, state) {
   var el = document.getElementById("stat-undervoltage");
   if (!el) {
@@ -1157,11 +1224,13 @@ window.addEventListener("load", function () {
   updateClocks();
   window.setInterval(updateClocks, 1000);
   fetchSystemStatus();
+  refreshRosSocketState();
   setPageConnectionState();
   fetchDriveEstimatorData();
   renderDriveEstimatorOverlay();
   renderTrajectoryOverlay();
   statusTimer = window.setInterval(fetchSystemStatus, 5000);
+  window.setInterval(refreshRosSocketState, 1000);
   window.setInterval(setPageConnectionState, 1000);
   window.setInterval(renderDriveEstimatorOverlay, 250);
   window.setInterval(renderTrajectoryOverlay, 250);
@@ -1217,18 +1286,25 @@ window.addEventListener("load", function () {
   });
 
   ros.on("connection", function () {
+    if (rosReconnectTimer) {
+      window.clearTimeout(rosReconnectTimer);
+      rosReconnectTimer = null;
+    }
+    clearPendingRosDisconnect();
     markRosConnection(true);
     setRosStatus("Verbunden");
   });
 
   ros.on("error", function () {
-    markRosConnection(false);
-    setRosStatus("Fehler");
+    setRosStatus("Verbinde...");
+    scheduleRosDisconnect();
+    scheduleRosReconnect();
   });
 
   ros.on("close", function () {
-    markRosConnection(false);
-    setRosStatus("Getrennt");
+    setRosStatus("Verbinde...");
+    scheduleRosDisconnect();
+    scheduleRosReconnect();
   });
 
   joyListener = new ROSLIB.Topic({
@@ -1244,6 +1320,9 @@ window.addEventListener("load", function () {
   });
 
   roverCommandListener.subscribe(function (message) {
+    clearPendingRosDisconnect();
+    markRosFresh();
+    setRosStatus("Verbunden");
     applyDriveMode(locomotionModeToUi(message.locomotion_mode), true);
     motorsEnabled = !!message.motors_enabled;
     driveEstimator.motorsEnabled = !!message.motors_enabled;
@@ -1261,6 +1340,9 @@ window.addEventListener("load", function () {
     messageType: "exomy/MotorCommands"
   });
   motorCommandsListener.subscribe(function (message) {
+    clearPendingRosDisconnect();
+    markRosFresh();
+    setRosStatus("Verbunden");
     driveEstimator.motorSpeeds = Array.isArray(message.motor_speeds) ? message.motor_speeds.map(Number) : [0, 0, 0, 0, 0, 0];
     renderDriveEstimatorOverlay();
     renderTrajectoryOverlay();
@@ -1297,6 +1379,7 @@ window.addEventListener("load", function () {
     messageType: "sensor_msgs/Joy"
   });
   joySubscriber.subscribe(function (message) {
+    clearPendingRosDisconnect();
     markRosConnection(true);
     if (message.header.frame_id === "webgui") return;
     var x = (message.axes[0] || 0);

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import errno
 import fcntl
 import glob
 import http.server
@@ -8,6 +9,7 @@ import shutil
 import socketserver
 import struct
 import subprocess
+import termios
 import threading
 import time
 
@@ -25,6 +27,14 @@ CAMERA_SETTINGS_FILE = os.path.join(
     os.path.dirname(__file__), '..', 'config', 'camera_settings.json'
 )
 MOTOR_TEST_LOCK = threading.Lock()
+GPS_PORT_PATTERNS = [
+    '/dev/serial/by-id/*',
+    '/dev/serial/by-path/*',
+    '/dev/ttyUSB*',
+    '/dev/ttyACM*',
+]
+GPS_BAUD_RATE = 4800
+GPS_COLD_START_COMMAND = '$PAIR006*3C\r\n'
 CAMERA_PROFILES = [
     {
         'id': '640x480',
@@ -216,6 +226,31 @@ def get_wifi_status():
     return 'kein wlan0'
 
 
+def get_wifi_signal():
+    stdout, _, returncode = run_command(['nmcli', '-t', '-f', 'GENERAL.STATE,AP.SIGNAL', 'device', 'show', 'wlan0'])
+    if returncode != 0 or not stdout:
+        return 'unbekannt'
+
+    state = ''
+    signal = ''
+    for line in stdout.splitlines():
+        if line.startswith('GENERAL.STATE:'):
+            state = line.split(':', 1)[1].strip()
+        elif line.startswith('AP[1].SIGNAL:'):
+            signal = line.split(':', 1)[1].strip()
+
+    if 'connected' not in state.lower():
+        return 'nicht verbunden'
+    if not signal:
+        return 'unbekannt'
+
+    try:
+        percent = max(0, min(100, int(float(signal))))
+    except ValueError:
+        return 'unbekannt'
+    return f'{percent} %'
+
+
 def get_systemd_state(service_name):
     stdout, _, returncode = run_command(['systemctl', 'is-active', service_name])
     if returncode == 0 and stdout:
@@ -245,6 +280,7 @@ def collect_status():
         'status': 'Bereit',
         'system': {
             'wifi': get_wifi_status(),
+            'wifi_signal': get_wifi_signal(),
             'ips': get_ip_addresses(),
             'undervoltage': undervoltage['text'],
             'undervoltage_state': undervoltage['state'],
@@ -451,6 +487,85 @@ def restart_exomy_container():
     subprocess.Popen(['docker', 'restart', EXOMY_CONTAINER])
 
 
+def restart_gps_node():
+    subprocess.Popen([
+        'docker', 'exec', EXOMY_CONTAINER, 'bash', '-lc',
+        "pkill -f '/root/exomy_ws/src/exomy/src/gps_node.py' || true; "
+        "sleep 1; "
+        "source /opt/ros/melodic/setup.bash && source /root/exomy_ws/devel/setup.bash && "
+        "nohup python /root/exomy_ws/src/exomy/src/gps_node.py > /tmp/gps_node.log 2>&1 &"
+    ])
+
+
+def resolve_gps_device():
+    candidates = []
+    seen = set()
+    for pattern in GPS_PORT_PATTERNS:
+        for path in sorted(glob.glob(pattern)):
+            if path in seen:
+                continue
+            seen.add(path)
+            candidates.append(path)
+    return candidates[0] if candidates else None
+
+
+def configure_gps_serial(fd, baud_rate):
+    baud_map = {
+        4800: termios.B4800,
+        9600: termios.B9600,
+        19200: termios.B19200,
+        38400: termios.B38400,
+        57600: termios.B57600,
+        115200: termios.B115200,
+    }
+    baud = baud_map.get(int(baud_rate), termios.B4800)
+    attrs = termios.tcgetattr(fd)
+    attrs[0] = 0
+    attrs[1] = 0
+    attrs[2] = termios.CS8 | termios.CREAD | termios.CLOCAL
+    attrs[3] = 0
+    attrs[4] = baud
+    attrs[5] = baud
+    attrs[6][termios.VMIN] = 0
+    attrs[6][termios.VTIME] = 0
+    termios.tcsetattr(fd, termios.TCSANOW, attrs)
+    termios.tcflush(fd, termios.TCIOFLUSH)
+
+
+def send_gps_serial_command(command_text, baud_rate=GPS_BAUD_RATE):
+    device_path = resolve_gps_device()
+    if not device_path:
+        raise RuntimeError('Kein GPS-Empfänger gefunden')
+
+    payload = command_text.encode('ascii')
+    fd = None
+    try:
+        fd = os.open(device_path, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK)
+        configure_gps_serial(fd, baud_rate)
+        os.write(fd, payload)
+        termios.tcdrain(fd)
+    except OSError as exc:
+        if exc.errno == errno.ENOENT:
+            raise RuntimeError('GPS-Gerät nicht erreichbar')
+        raise RuntimeError(f'GPS-Befehl fehlgeschlagen: {exc}')
+    except termios.error as exc:
+        raise RuntimeError(f'GPS-Port konnte nicht konfiguriert werden: {exc}')
+    finally:
+        if fd is not None:
+            try:
+                os.close(fd)
+            except OSError:
+                pass
+    return device_path
+
+
+def cold_start_gps_receiver():
+    device_path = send_gps_serial_command(GPS_COLD_START_COMMAND)
+    time.sleep(1.5)
+    restart_gps_node()
+    return device_path
+
+
 def stop_exomy_container():
     stdout, _, returncode = run_command(['docker', 'stop', '-t', '2', EXOMY_CONTAINER])
     return returncode == 0, stdout
@@ -1256,6 +1371,14 @@ class Handler(http.server.BaseHTTPRequestHandler):
             return
 
         actions = {
+            '/api/cold-start-gps': {
+                'handler': cold_start_gps_receiver,
+                'status': 'GPS-Kaltstart wird ausgelöst'
+            },
+            '/api/restart-gps': {
+                'handler': restart_gps_node,
+                'status': 'GPS-Node wird neu gestartet'
+            },
             '/api/restart-camera': {
                 'handler': restart_camera_service,
                 'status': 'Kameradienst wird neu gestartet'