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Speed Max einstellbar

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Eskimue
2026-05-21 21:16:55 +02:00
parent be1e0de125
commit 8176f001a7
4 changed files with 124 additions and 2 deletions
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ExoMy_Software-master/docker/entrypoint.sh
+2
View File
@@ -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
+56
View File
@@ -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
+49
View File
@@ -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
+17 -2
View File
@@ -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: