Speed Max einstellbar

ExoMy_Software-master/docker/entrypoint.sh

@@ -36,6 +36,8 @@ then
 	rosparam set /controller logitech-F710
 	rosparam set /delay_seconds 0.0
 	echo 0.0 > /tmp/exomy_delay.txt
+	rosparam set /speed_limit_percent 100
+	echo 100 > /tmp/exomy_speed_limit.txt
 
 	/opt/ros/melodic/lib/rosbridge_server/rosbridge_websocket > /tmp/rosbridge.log 2>&1 &
 	ROSBRIDGE_PID=$!

ExoMy_Software-master/gui/admin.html

@@ -101,6 +101,33 @@
             </div>
           </div>
 
+          <div class="admin_section">
+            <div class="admin_section_header">
+              <p class="eyebrow">Geschwindigkeit</p>
+            </div>
+            <div class="admin_quick_link_card">
+              <div>
+                <strong>Maximale Geschwindigkeit</strong>
+                <p>Begrenzt die Höchstgeschwindigkeit des Rovers für Controller und Web-GUI.</p>
+              </div>
+              <div class="delay_control">
+                <select id="speed_limit_select" class="delay_select" onchange="setSpeedLimit(parseInt(this.value))">
+                  <option value="10">10 %</option>
+                  <option value="20">20 %</option>
+                  <option value="30">30 %</option>
+                  <option value="40">40 %</option>
+                  <option value="50">50 %</option>
+                  <option value="60">60 %</option>
+                  <option value="70">70 %</option>
+                  <option value="80">80 %</option>
+                  <option value="90">90 %</option>
+                  <option value="100" selected>100 % – keine Begrenzung</option>
+                </select>
+                <span id="speed_limit_status" class="delay_status_text"></span>
+              </div>
+            </div>
+          </div>
+
           <div class="admin_section">
             <div class="admin_section_header">
               <p class="eyebrow">Systemstatus</p>
@@ -304,6 +331,33 @@
       if (sel) sel.value = String(seconds);
     }
 
+    async function fetchSpeedLimit() {
+      try {
+        var response = await fetch(adminApiBase + '/api/speed-limit');
+        if (!response.ok) return;
+        var data = await response.json();
+        var sel = document.getElementById('speed_limit_select');
+        if (sel) sel.value = String(data.speed_limit_percent);
+      } catch (e) {}
+    }
+
+    async function setSpeedLimit(percent) {
+      var statusEl = document.getElementById('speed_limit_status');
+      if (statusEl) statusEl.textContent = 'Setze…';
+      try {
+        var response = await fetch(adminApiBase + '/api/speed-limit', {
+          method: 'POST',
+          headers: {'Content-Type': 'application/json'},
+          body: JSON.stringify({speed_limit_percent: percent})
+        });
+        var data = await response.json();
+        if (statusEl) statusEl.textContent = data.status || 'Gesetzt';
+        window.setTimeout(function() { if (statusEl) statusEl.textContent = ''; }, 2000);
+      } catch (e) {
+        if (statusEl) statusEl.textContent = 'Fehler';
+      }
+    }
+
     async function fetchDelay() {
       try {
         var response = await fetch(adminApiBase + '/api/delay');
@@ -351,8 +405,10 @@
 
       fetchStatus();
       fetchDelay();
+      fetchSpeedLimit();
       window.setInterval(fetchStatus, 10000);
       window.setInterval(fetchDelay, 5000);
+      window.setInterval(fetchSpeedLimit, 5000);
     });
   </script>
 </body>

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -14,6 +14,7 @@ import time
 PORT = 8082
 EXOMY_CONTAINER = 'exomy_autostart'
 DELAY_FILE = '/tmp/exomy_delay.txt'
+SPEED_LIMIT_FILE = '/tmp/exomy_speed_limit.txt'
 MOTOR_TEST_LOCK = threading.Lock()
 
 
@@ -251,6 +252,33 @@ def set_delay(seconds):
     return seconds
 
 
+def get_speed_limit():
+    try:
+        with open(SPEED_LIMIT_FILE) as f:
+            return max(10, min(100, int(f.read().strip())))
+    except Exception:
+        return 100
+
+
+def set_speed_limit(percent):
+    percent = max(10, min(100, int(percent)))
+    data = str(percent).encode()
+    try:
+        fd = os.open(SPEED_LIMIT_FILE, os.O_WRONLY | os.O_TRUNC)
+    except FileNotFoundError:
+        fd = os.open(SPEED_LIMIT_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
+    try:
+        os.write(fd, data)
+    finally:
+        os.close(fd)
+    subprocess.run(
+        ['docker', 'exec', EXOMY_CONTAINER, 'bash', '-c',
+         f'source /opt/ros/melodic/setup.bash && rosparam set /speed_limit_percent {percent}'],
+        capture_output=True, check=False
+    )
+    return percent
+
+
 def rumble_controller(duration_ms=400):
     # Linux FF constants
     EV_FF = 0x15
@@ -539,6 +567,9 @@ class Handler(http.server.BaseHTTPRequestHandler):
         if self.path == '/api/delay':
             self.write_json(200, {'delay_seconds': get_delay()})
             return
+        if self.path == '/api/speed-limit':
+            self.write_json(200, {'speed_limit_percent': get_speed_limit()})
+            return
         if self.path == '/api/status':
             self.write_json(200, collect_status())
             return
@@ -577,6 +608,24 @@ class Handler(http.server.BaseHTTPRequestHandler):
                 self.write_json(500, {'status': str(exc)})
             return
 
+        if self.path == '/api/speed-limit':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+            try:
+                percent = set_speed_limit(payload.get('speed_limit_percent', 100))
+                self.write_json(200, {'status': 'Geschwindigkeitslimit gesetzt', 'speed_limit_percent': percent})
+            except Exception as exc:
+                self.write_json(500, {'status': str(exc)})
+            return
+
         if self.path == '/api/motor-test/drive-neutral/preview':
             try:
                 content_length = int(self.headers.get('Content-Length', '0'))

ExoMy_Software-master/src/joystick_parser_node.py

@@ -6,6 +6,7 @@ import math
 import os
 import struct
 import threading
+import time
 
 import rospy
 from sensor_msgs.msg import Joy
@@ -21,6 +22,8 @@ global last_locomotion_mode
 locomotion_mode = LocomotionMode.ACKERMANN.value
 last_locomotion_mode = locomotion_mode
 motors_enabled = True
+_speed_limit = 100
+_speed_limit_last_read = 0.0
 AXIS_DEADZONE = 0.1
 last_start_button_pressed = False
 last_webgui_time = None
@@ -72,6 +75,18 @@ CONTROLLER_FUNCTION_MAPS = {
 }
 
 
+def get_speed_limit():
+    global _speed_limit, _speed_limit_last_read
+    now = time.time()
+    if now - _speed_limit_last_read > 2.0:
+        try:
+            _speed_limit = int(rospy.get_param('/speed_limit_percent', 100))
+        except Exception:
+            pass
+        _speed_limit_last_read = now
+    return _speed_limit
+
+
 def _rumble_thread(duration_ms):
     EV_FF = 0x15
     FF_RUMBLE = 0x50
@@ -229,9 +244,9 @@ def callback(data):
 
     rover_cmd.motors_enabled = motors_enabled
 
-    # The velocity is decoded as value between 0...100
+    # The velocity is decoded as value between 0...100, capped by speed limit
     stick_length = min(math.sqrt(x*x + y*y), 1.0)
-    rover_cmd.vel = int(100 * math.pow(stick_length, VELOCITY_EXPO))
+    rover_cmd.vel = int(get_speed_limit() * math.pow(stick_length, VELOCITY_EXPO))
 
     # The steering is described as an angle between -180...180
     # Which describe the joystick position as follows: