GPS neustart eingebaut

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);