GPS neustart eingebaut

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'