Kaera umschaltbar

ExoMy_Software-master/config/camera_settings.json

@@ -0,0 +1,6 @@
+{
+  "fps": 10,
+  "height": 972,
+  "profile": "1296x972",
+  "width": 1296
+}

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=20260522104500">
+<link rel="stylesheet" href="./app.css?v=20260525132000">
 <link rel="stylesheet" href="./vendor/leaflet/leaflet.css">
 <script src="./vendor/roslib.min.js"></script>
 <script src="./vendor/leaflet/leaflet.js"></script>
@@ -56,6 +56,7 @@
 <div class="admin-shell">
   <div class="admin-section-tabs" role="tablist" aria-label="Admin-Bereiche">
     <button id="admin_tab_system" class="admin-section-tab is_active" role="tab" aria-selected="true" onclick="switchAdminSection('system')">Admin</button>
+    <button id="admin_tab_camera" class="admin-section-tab" role="tab" aria-selected="false" onclick="switchAdminSection('camera')">Kamera</button>
     <button id="admin_tab_drive" class="admin-section-tab" role="tab" aria-selected="false" onclick="switchAdminSection('drive')">Geschwindigkeit / Weg</button>
     <button id="admin_tab_map" class="admin-section-tab" role="tab" aria-selected="false" onclick="switchAdminSection('map')">Karte</button>
     <button id="admin_tab_gps" class="admin-section-tab" role="tab" aria-selected="false" onclick="switchAdminSection('gps')">GPS</button>
@@ -190,6 +191,74 @@
     </div>
   </section>
 
+  <section id="admin_panel_camera" class="admin-section-panel" role="tabpanel">
+    <div class="admin-section-grid">
+      <div class="admin-col">
+        <div class="panel camera-panel">
+          <div class="p-hdr">
+            <div class="p-dot"></div>
+            <span class="p-lbl">Kamera-Vorschau</span>
+            <span class="p-tag">Live Stream</span>
+          </div>
+          <div class="copy-text camera-copy">
+            Die Vorschau kommt direkt vom Kameradienst auf Port <code>8081</code>. Nach einem Profilwechsel startet der Dienst kurz neu, das Bild setzt dann automatisch wieder ein.
+          </div>
+          <div class="camera-preview-stage">
+            <img id="camera_preview_image" class="camera-preview-image" alt="Kamera-Vorschau" src="" loading="eager">
+          </div>
+          <div class="camera-preview-meta">
+            <div class="sr">
+              <span class="sr-led led-ok"></span>
+              <span class="sr-key">Profil</span>
+              <span id="camera_profile_label" class="sr-val">--</span>
+            </div>
+            <div class="sr">
+              <span class="sr-led led-blue"></span>
+              <span class="sr-key">Auflösung</span>
+              <span id="camera_resolution_label" class="sr-val">--</span>
+            </div>
+            <div class="sr">
+              <span class="sr-led led-blue"></span>
+              <span class="sr-key">Bildrate</span>
+              <span id="camera_fps_label" class="sr-val">--</span>
+            </div>
+          </div>
+        </div>
+      </div>
+
+      <div class="admin-col">
+        <div class="panel">
+          <div class="p-hdr">
+            <div class="p-dot"></div>
+            <span class="p-lbl">Stream-Aufl&ouml;sung</span>
+            <span class="p-tag">Konfiguration</span>
+          </div>
+          <div class="dropdown-row">
+            <label>Profil</label>
+            <select id="camera_profile_select" class="ctrl-select" onchange="setCameraProfile(this.value)">
+              <option value="640x480">640 x 480 &middot; 4:3 &middot; gr&ouml;&szlig;tes Sichtfeld</option>
+              <option value="1024x768">1024 x 768 &middot; 4:3 &middot; mehr Details</option>
+              <option value="1296x972">1296 x 972 &middot; 4:3 &middot; noch mehr Details</option>
+            </select>
+            <span id="camera_profile_status" class="ctrl-status"></span>
+          </div>
+          <div class="copy-text camera-copy">
+            Die neue Aufl&ouml;sung wird gespeichert und der Kameradienst automatisch neu gestartet. Der Videostream ist dabei f&uuml;r einen kurzen Moment unterbrochen.
+          </div>
+          <div class="act-grid act-grid_single">
+            <button class="act-btn subtle full" onclick="refreshCameraPreview()">Vorschau neu laden</button>
+          </div>
+          <div class="ss-hdr"><div class="ss-hdr-line"></div><span class="ss-hdr-txt">Dienst</span><div class="ss-hdr-line"></div></div>
+          <div class="sr">
+            <span class="sr-led led-ok"></span>
+            <span class="sr-key">Kamera</span>
+            <strong id="camera_service_state" class="sr-val service_state state_unknown">-</strong>
+          </div>
+        </div>
+      </div>
+    </div>
+  </section>
+
   <section id="admin_panel_drive" class="admin-section-panel" role="tabpanel">
     <div class="admin-section-grid">
       <div class="admin-col">
@@ -423,25 +492,11 @@
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Vertikale Genauigkeit</span><span id="gps_diag_vdop" class="sr-val">--</span></div>
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Für Fix genutzt</span><span id="gps_diag_sat_used" class="sr-val">--</span></div>
           <div class="sr"><span class="sr-led led-blue"></span><span class="sr-key">Im Himmelsplot</span><span id="gps_diag_sat_visible" class="sr-val">--</span></div>
-          <div class="copy-text gps-copy gps-copy_compact">
+          <div class="copy-text gps-copy">
             Für eine gute Fix-Qualität sind niedrige DOP-Werte und hohe, gleichmäßig verteilte Satelliten sinnvoll. Der Himmelsplot zeigt nur Satelliten, die der Empfänger per GSV mit Richtung und Höhe meldet.
           </div>
         </div>
 
-        <div class="panel">
-          <div class="p-hdr">
-            <div class="p-dot"></div>
-            <span class="p-lbl">GPS-Rohdaten</span>
-            <span class="p-tag">NMEA</span>
-          </div>
-          <div class="copy-text gps-copy gps-copy_compact">
-            Letzte direkt empfangene NMEA-Sätze des Empfängers. Die Ansicht scrollt intern und ist für Diagnose bei Abschattung, Drift und fehlerhaften Fixen gedacht.
-          </div>
-          <div class="neutral-toolbar">
-            <button class="button buttonA" onclick="copyGpsRawData()">Rohdaten kopieren</button>
-          </div>
-          <textarea id="gps_raw_output" class="gps-raw-output" readonly spellcheck="false">--</textarea>
-        </div>
       </div>
     </div>
   </section>
@@ -561,6 +616,7 @@
 
 <script type="text/javascript">
   var adminApiBase = window.location.protocol + '//' + window.location.hostname + ':8082';
+  var cameraPreviewBase = window.location.protocol + '//' + window.location.hostname + ':8081/stream.mjpg';
   var AUTH_TOKEN = 'Y3Vubw==';
   var activeAdminSection = 'system';
   var ros = null;
@@ -678,7 +734,6 @@
     utcTime: null,
     lastFixAgeS: null,
     satellites: [],
-    rawSentences: [],
     selectedSatellitePrn: null,
     plottedSatellites: []
   };
@@ -708,6 +763,7 @@
     setText('info_disk', '--');
     setUndervoltageState('info_undervoltage', '--', 'unknown');
     setServiceState('service_camera', '-');
+    setServiceState('camera_service_state', '-');
     setServiceState('service_admin_api', '-');
     setServiceState('service_exomy', '-');
     var bar = document.getElementById('bar-temp-adm');
@@ -750,7 +806,6 @@
     gpsDiagnosticsState.utcTime = null;
     gpsDiagnosticsState.lastFixAgeS = null;
     gpsDiagnosticsState.satellites = [];
-    gpsDiagnosticsState.rawSentences = [];
     updateGpsDiagnosticsPanel();
   }
 
@@ -831,31 +886,37 @@
   function switchAdminSection(sectionName) {
     activeAdminSection = sectionName;
     var systemTab = document.getElementById('admin_tab_system');
+    var cameraTab = document.getElementById('admin_tab_camera');
     var driveTab = document.getElementById('admin_tab_drive');
     var mapTab = document.getElementById('admin_tab_map');
     var gpsTab = document.getElementById('admin_tab_gps');
     var motorTab = document.getElementById('admin_tab_motor');
     var systemPanel = document.getElementById('admin_panel_system');
+    var cameraPanel = document.getElementById('admin_panel_camera');
     var drivePanel = document.getElementById('admin_panel_drive');
     var mapPanel = document.getElementById('admin_panel_map');
     var gpsPanel = document.getElementById('admin_panel_gps');
     var motorPanel = document.getElementById('admin_panel_motor');
     var isSystem = sectionName === 'system';
+    var isCamera = sectionName === 'camera';
     var isDrive = sectionName === 'drive';
     var isMap = sectionName === 'map';
     var isGps = sectionName === 'gps';
     var isMotor = sectionName === 'motor';
     systemTab.classList.toggle('is_active', isSystem);
+    cameraTab.classList.toggle('is_active', isCamera);
     driveTab.classList.toggle('is_active', isDrive);
     mapTab.classList.toggle('is_active', isMap);
     gpsTab.classList.toggle('is_active', isGps);
     motorTab.classList.toggle('is_active', isMotor);
     systemTab.setAttribute('aria-selected', isSystem ? 'true' : 'false');
+    cameraTab.setAttribute('aria-selected', isCamera ? 'true' : 'false');
     driveTab.setAttribute('aria-selected', isDrive ? 'true' : 'false');
     mapTab.setAttribute('aria-selected', isMap ? 'true' : 'false');
     gpsTab.setAttribute('aria-selected', isGps ? 'true' : 'false');
     motorTab.setAttribute('aria-selected', isMotor ? 'true' : 'false');
     systemPanel.classList.toggle('is_active', isSystem);
+    cameraPanel.classList.toggle('is_active', isCamera);
     drivePanel.classList.toggle('is_active', isDrive);
     mapPanel.classList.toggle('is_active', isMap);
     gpsPanel.classList.toggle('is_active', isGps);
@@ -867,6 +928,9 @@
         if (roverMapState.map) roverMapState.map.invalidateSize();
       }, 80);
     }
+    if (isCamera) {
+      refreshCameraPreview();
+    }
     if (isGps) {
       window.setTimeout(drawGpsSkyPlot, 80);
     }
@@ -1020,47 +1084,9 @@
     setGpsQualityState('gps_diag_vdop', gpsDiagnosticsState.vdop);
     setText('gps_diag_sat_used', gpsDiagnosticsState.satellitesUsed);
     setText('gps_diag_sat_visible', gpsDiagnosticsState.satellitesVisible);
-    setGpsRawOutput(gpsDiagnosticsState.rawSentences);
     drawGpsSkyPlot();
   }
 
-  function setGpsRawOutput(sentences) {
-    var node = document.getElementById('gps_raw_output');
-    if (!node) return;
-    if (!Array.isArray(sentences) || !sentences.length) {
-      node.value = '--';
-      return;
-    }
-    var wasNearBottom = (node.scrollTop + node.clientHeight + 24) >= node.scrollHeight;
-    node.value = sentences.join('\n');
-    if (wasNearBottom) node.scrollTop = node.scrollHeight;
-  }
-
-  async function copyGpsRawData() {
-    var node = document.getElementById('gps_raw_output');
-    if (!node) return;
-    var text = String(node.value || '').trim();
-    if (!text || text === '--') {
-      setAdminStatus('Keine GPS-Rohdaten zum Kopieren');
-      return;
-    }
-
-    try {
-      if (navigator.clipboard && navigator.clipboard.writeText) {
-        await navigator.clipboard.writeText(text);
-      } else {
-        node.focus();
-        node.select();
-        document.execCommand('copy');
-        node.setSelectionRange(node.value.length, node.value.length);
-      }
-      setAdminStatus('GPS-Rohdaten kopiert');
-      window.setTimeout(function() { setAdminStatus('Bereit'); }, 1800);
-    } catch (error) {
-      setAdminStatus('Kopieren fehlgeschlagen');
-    }
-  }
-
   function getSelectedSatellite() {
     if (!gpsDiagnosticsState.satellites.length) return null;
     var selected = gpsDiagnosticsState.satellites.find(function(item) {
@@ -1227,7 +1253,6 @@
       gpsDiagnosticsState.utcTime = data.utc_time || null;
       gpsDiagnosticsState.lastFixAgeS = typeof data.last_fix_age_s === 'number' ? data.last_fix_age_s : null;
       gpsDiagnosticsState.satellites = Array.isArray(data.satellites) ? data.satellites : [];
-      gpsDiagnosticsState.rawSentences = Array.isArray(data.raw_sentences) ? data.raw_sentences : [];
       if (gpsDiagnosticsState.selectedSatellitePrn) {
         var stillExists = gpsDiagnosticsState.satellites.some(function(item) {
           return item.prn === gpsDiagnosticsState.selectedSatellitePrn;
@@ -2211,6 +2236,7 @@
     setText('info_uptime', data.system && data.system.uptime);
     setText('info_disk', data.system && data.system.disk_free);
     setServiceState('service_camera', data.services && data.services.camera);
+    setServiceState('camera_service_state', data.services && data.services.camera);
     setServiceState('service_admin_api', data.services && data.services.admin_api);
     setServiceState('service_exomy', data.services && data.services.exomy);
   }
@@ -2304,6 +2330,52 @@
     }
   }
 
+  function refreshCameraPreview() {
+    var image = document.getElementById('camera_preview_image');
+    if (!image) return;
+    image.src = cameraPreviewBase + '?t=' + Date.now();
+  }
+
+  function renderCameraConfig(data) {
+    var camera = data && data.camera ? data.camera : {};
+    var selectedProfile = camera.selected_profile || '';
+    var select = document.getElementById('camera_profile_select');
+    if (select && selectedProfile) select.value = selectedProfile;
+    setText('camera_profile_label', selectedProfile || '--');
+    setText('camera_resolution_label', (camera.width && camera.height) ? (camera.width + ' x ' + camera.height) : '--');
+    setText('camera_fps_label', camera.fps ? (camera.fps + ' fps') : '--');
+  }
+
+  async function fetchCameraConfig() {
+    try {
+      var response = await fetch(adminApiBase + '/api/camera-config');
+      if (!response.ok) return;
+      renderCameraConfig(await response.json());
+    } catch (e) {}
+  }
+
+  async function setCameraProfile(profileId) {
+    var statusEl = document.getElementById('camera_profile_status');
+    if (statusEl) statusEl.textContent = 'Speichere…';
+    try {
+      var response = await fetch(adminApiBase + '/api/camera-config', {
+        method: 'POST',
+        headers: {'Content-Type': 'application/json'},
+        body: JSON.stringify({profile: profileId})
+      });
+      var data = await response.json();
+      if (!response.ok) throw new Error(data.status || 'Fehler');
+      renderCameraConfig(data);
+      if (statusEl) statusEl.textContent = data.status || 'Gespeichert';
+      window.setTimeout(fetchStatus, 1500);
+      window.setTimeout(refreshCameraPreview, 2200);
+      window.setTimeout(fetchCameraConfig, 2500);
+      window.setTimeout(function() { if (statusEl) statusEl.textContent = ''; }, 3500);
+    } catch (e) {
+      if (statusEl) statusEl.textContent = 'Fehler';
+    }
+  }
+
   async function runRumble() {
     try {
       var response = await fetch(adminApiBase + '/api/rumble', { method: 'POST' });
@@ -2696,6 +2768,8 @@
     if (gpsCanvas) gpsCanvas.addEventListener('click', onGpsSkyCanvasClick);
     if (window.location.hash === '#motor') {
       switchAdminSection('motor');
+    } else if (window.location.hash === '#camera') {
+      switchAdminSection('camera');
     } else if (window.location.hash === '#drive') {
       switchAdminSection('drive');
     } else if (window.location.hash === '#gps') {
@@ -2707,6 +2781,7 @@
     updatePageConnectionState();
     window.setInterval(updateClock, 1000);
     fetchStatus();
+    fetchCameraConfig();
     fetchDelay();
     fetchSpeedLimit();
     fetchMotorTestStatus();
@@ -2718,7 +2793,9 @@
     applyWaypointPlanningState();
     renderDriveEstimator();
     updateGpsDiagnosticsPanel();
+    refreshCameraPreview();
     window.setInterval(fetchStatus, 10000);
+    window.setInterval(fetchCameraConfig, 10000);
     window.setInterval(fetchDelay, 5000);
     window.setInterval(fetchSpeedLimit, 5000);
     window.setInterval(fetchMotorTestStatus, 4000);

ExoMy_Software-master/gui/app.css

@@ -995,30 +995,65 @@ body.page-admin .admin-shell{
   padding:12px; width:100%;
 }
 body.page-admin .admin-section-tabs{
-  display:flex; gap:6px; flex-shrink:0;
+  display:flex; gap:0; flex-shrink:0;
+  padding:8px 8px 0;
+  border-bottom:1px solid rgba(120,255,205,.18);
+  background:linear-gradient(180deg, rgba(9,18,24,.94), rgba(7,13,18,.88));
+  border-radius:14px 14px 0 0;
+  box-shadow:inset 0 -1px 0 rgba(255,255,255,.02);
 }
 body.page-admin .admin-section-tab{
   font-family:var(--disp); font-size:11px; font-weight:700; letter-spacing:1px; text-transform:uppercase;
-  padding:10px 16px; border:1px solid rgba(120,255,205,.24);
-  background:rgba(0,255,145,.04); color:rgba(215,255,238,.88);
-  cursor:pointer; transition:all .15s;
+  padding:10px 16px;
+  margin:0 4px -1px 0;
+  border:1px solid rgba(120,255,205,.18);
+  border-bottom-color:rgba(120,255,205,.18);
+  border-radius:10px 10px 0 0;
+  background:linear-gradient(180deg, rgba(10,22,28,.92), rgba(7,14,20,.96));
+  color:rgba(215,255,238,.76);
+  cursor:pointer;
+  transition:all .15s;
+  position:relative;
+}
+body.page-admin .admin-section-tab::after{
+  content:'';
+  position:absolute;
+  left:12px;
+  right:12px;
+  bottom:0;
+  height:2px;
+  background:transparent;
+  transition:background .15s ease;
 }
 body.page-admin .admin-section-tab:hover{
-  border-color:rgba(180,255,225,.48);
-  background:rgba(0,255,145,.08);
+  border-color:rgba(180,255,225,.36);
+  background:linear-gradient(180deg, rgba(16,34,42,.95), rgba(8,18,24,.98));
   color:#fff;
 }
 body.page-admin .admin-section-tab.is_active{
-  border-color:rgba(180,255,225,.72);
-  background:linear-gradient(180deg, rgba(20,120,82,.3), rgba(6,40,28,.95));
+  border-color:rgba(180,255,225,.62);
+  border-bottom-color:#0b1218;
+  background:linear-gradient(180deg, rgba(20,120,82,.24), rgba(11,18,24,1) 68%);
   color:#fff;
-  box-shadow:0 0 14px rgba(120,255,205,.16), inset 0 0 14px rgba(180,255,225,.08);
+  box-shadow:
+    0 -1px 0 rgba(255,255,255,.03) inset,
+    0 0 0 1px rgba(0,255,145,.04),
+    0 10px 22px rgba(0,0,0,.16);
+  z-index:2;
+}
+body.page-admin .admin-section-tab.is_active::after{
+  background:linear-gradient(90deg, rgba(120,255,205,0), rgba(120,255,205,.92), rgba(120,255,205,0));
 }
 body.page-admin .admin-section-panel{
   flex:1; min-height:0; overflow-y:auto; display:none;
 }
 body.page-admin .admin-section-panel.is_active{
   display:block;
+  border:1px solid rgba(120,255,205,.16);
+  border-top:none;
+  border-radius:0 0 16px 16px;
+  background:linear-gradient(180deg, rgba(9,16,22,.98), rgba(7,13,18,.98));
+  box-shadow:0 18px 38px rgba(0,0,0,.16);
 }
 body.page-admin .admin-section-grid{
   min-height:100%;
@@ -1092,7 +1127,13 @@ body.page-admin .motor-admin-tab .steering_neutral_adjust{ padding:4px 10px !imp
 }
 @media (max-width:479px){
   body.page-admin .hdr-badge, body.page-admin .hdr-clk{ display:none; }
-  body.page-admin .admin-section-tab{ flex:1; text-align:center; padding:10px 8px; }
+  body.page-admin .admin-section-tabs{ flex-wrap:wrap; gap:0; }
+  body.page-admin .admin-section-tab{
+    flex:1 1 calc(50% - 4px);
+    text-align:center;
+    padding:10px 8px;
+    margin:0 4px -1px 0;
+  }
   body.page-admin .motor-admin-tab .tab-row{ grid-template-columns:1fr; }
   body.page-admin .motor-admin-tab .tab-box + .tab-box{ border-left:none; border-top:1px solid rgba(0,255,145,.06); }
   body.page-admin .drive-estimator-toolbar{ flex-direction:column; align-items:stretch; }
@@ -1115,6 +1156,7 @@ body.page-admin .act-btn.warm:hover{ background:rgba(255,140,0,.12); color:#FF8C
 body.page-admin .act-btn.danger{ border-color:rgba(255,51,51,.35); color:rgba(255,51,51,.7); background:rgba(255,51,51,.04); }
 body.page-admin .act-btn.danger:hover{ background:rgba(255,51,51,.12); color:#FF3333; border-color:rgba(255,51,51,.7); }
 body.page-admin .act-btn.full{ grid-column:span 2; }
+body.page-admin .act-grid_single{ grid-template-columns:1fr; }
 body.page-admin .act-btn.subtle{ border-color:rgba(0,255,145,.1); color:rgba(0,255,145,.3); }
 body.page-admin .act-btn.subtle:hover{ color:rgba(0,255,145,.6); border-color:rgba(0,255,145,.35); }
 body.page-admin .act-btn.is_active{
@@ -1147,6 +1189,31 @@ body.page-admin .ctrl-select{
 }
 body.page-admin .ctrl-select:focus{ border-color:rgba(0,255,145,.5); }
 body.page-admin .ctrl-status{ font-size:9px; letter-spacing:1.2px; color:rgba(225,255,242,.92); white-space:nowrap; min-width:64px; text-align:right; }
+body.page-admin .camera-copy{
+  font-size:10px; color:rgba(205,255,235,.86); letter-spacing:.4px; line-height:1.6;
+  padding:8px 12px; border-bottom:1px solid rgba(0,255,145,.05);
+}
+body.page-admin .camera-preview-stage{
+  padding:14px 12px 12px;
+  background:
+    radial-gradient(circle at top, rgba(30,90,140,.24), transparent 55%),
+    linear-gradient(180deg, rgba(7,17,28,.96), rgba(4,10,18,.98));
+  border-bottom:1px solid rgba(0,255,145,.05);
+}
+body.page-admin .camera-preview-image{
+  display:block;
+  width:100%;
+  aspect-ratio:16/9;
+  object-fit:contain;
+  background:#03070c;
+  border:1px solid rgba(120,255,205,.16);
+  border-radius:14px;
+  box-shadow:0 14px 28px rgba(0,0,0,.28), inset 0 0 0 1px rgba(255,255,255,.03);
+}
+body.page-admin .camera-preview-meta{
+  display:grid;
+  gap:0;
+}
 body.page-admin .drive-estimator-copy{
   font-size:10px; color:rgba(205,255,235,.86); letter-spacing:.4px; line-height:1.6;
   padding:8px 12px; border-bottom:1px solid rgba(0,255,145,.05);
@@ -1292,28 +1359,6 @@ body.page-admin .gps-copy{
   padding:10px 12px;
   border-bottom:1px solid rgba(0,255,145,.05);
 }
-body.page-admin .gps-copy_compact{
-  border-bottom:none;
-}
-body.page-admin .gps-raw-output{
-  width:100%;
-  min-height:220px;
-  max-height:320px;
-  resize:vertical;
-  overflow:auto;
-  margin-top:14px;
-  padding:12px 14px;
-  border:1px solid rgba(0,255,145,.18);
-  border-radius:12px;
-  background:#07111c;
-  color:#b8ffe1;
-  font:12px/1.45 Consolas, "Courier New", monospace;
-  box-shadow:inset 0 0 0 1px rgba(255,255,255,.02);
-}
-body.page-admin .gps-raw-output:focus{
-  outline:none;
-  border-color:rgba(0,255,145,.28);
-}
 body.page-admin .gps-sky-stage{
   padding:18px;
   position:relative;

ExoMy_Software-master/launch/exomy.launch

@@ -3,7 +3,7 @@
     <node name="motors" pkg="exomy" type="motor_node.py" respawn="true" output="screen" />
     <node name="joystick" pkg="exomy" type="joystick_parser_node.py" respawn="true" output="screen" />
     <node name="gps" pkg="exomy" type="gps_node.py" respawn="true" output="screen">
-        <param name="port" value="/dev/ttyUSB0"/>
+        <param name="port" value="auto"/>
         <param name="baud" value="4800"/>
         <param name="frame_id" value="gps"/>
     </node>

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -21,7 +21,38 @@ DRIVE_ESTIMATOR_CALIBRATION_FILE = os.path.join(
 ROUTE_LIBRARY_FILE = os.path.join(
     os.path.dirname(__file__), '..', 'config', 'route_library.json'
 )
+CAMERA_SETTINGS_FILE = os.path.join(
+    os.path.dirname(__file__), '..', 'config', 'camera_settings.json'
+)
 MOTOR_TEST_LOCK = threading.Lock()
+CAMERA_PROFILES = [
+    {
+        'id': '640x480',
+        'label': '640 x 480',
+        'description': '4:3, klein und sparsam',
+        'width': 640,
+        'height': 480,
+        'fps': 10,
+    },
+    {
+        'id': '1024x768',
+        'label': '1024 x 768',
+        'description': '4:3, großes Sichtfeld mit mehr Details',
+        'width': 1024,
+        'height': 768,
+        'fps': 10,
+    },
+    {
+        'id': '1296x972',
+        'label': '1296 x 972',
+        'description': '4:3, großes Sichtfeld mit noch mehr Details',
+        'width': 1296,
+        'height': 972,
+        'fps': 10,
+    },
+]
+CAMERA_PROFILE_MAP = {profile['id']: profile for profile in CAMERA_PROFILES}
+DEFAULT_CAMERA_PROFILE_ID = '1296x972'
 
 
 class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
@@ -285,6 +316,77 @@ def set_speed_limit(percent):
     return percent
 
 
+def get_default_camera_profile():
+    return dict(CAMERA_PROFILE_MAP[DEFAULT_CAMERA_PROFILE_ID])
+
+
+def normalize_camera_profile(profile_id):
+    profile = CAMERA_PROFILE_MAP.get(str(profile_id or '').strip())
+    if profile is None:
+        raise ValueError('Unbekanntes Kamera-Profil')
+    return dict(profile)
+
+
+def read_camera_settings():
+    default_profile = get_default_camera_profile()
+    try:
+        with open(CAMERA_SETTINGS_FILE, 'r', encoding='utf-8') as handle:
+            payload = json.load(handle)
+    except (FileNotFoundError, json.JSONDecodeError, OSError, ValueError, TypeError):
+        return default_profile
+
+    selected_profile_id = str(payload.get('profile', '')).strip()
+    if selected_profile_id in CAMERA_PROFILE_MAP:
+        return dict(CAMERA_PROFILE_MAP[selected_profile_id])
+
+    try:
+        width = int(payload.get('width', default_profile['width']))
+        height = int(payload.get('height', default_profile['height']))
+        fps = int(payload.get('fps', default_profile['fps']))
+    except (TypeError, ValueError):
+        return default_profile
+
+    for profile in CAMERA_PROFILES:
+        if profile['width'] == width and profile['height'] == height and profile['fps'] == fps:
+            return dict(profile)
+    return default_profile
+
+
+def write_camera_settings(profile):
+    profile = dict(profile)
+    os.makedirs(os.path.dirname(CAMERA_SETTINGS_FILE), exist_ok=True)
+    payload = {
+        'profile': profile['id'],
+        'width': profile['width'],
+        'height': profile['height'],
+        'fps': profile['fps'],
+    }
+    with open(CAMERA_SETTINGS_FILE, 'w', encoding='utf-8') as handle:
+        json.dump(payload, handle, indent=2, sort_keys=True)
+        handle.write('\n')
+
+
+def get_camera_config():
+    profile = read_camera_settings()
+    return {
+        'status': 'Bereit',
+        'camera': {
+            'selected_profile': profile['id'],
+            'width': profile['width'],
+            'height': profile['height'],
+            'fps': profile['fps'],
+            'profiles': [dict(item) for item in CAMERA_PROFILES],
+        }
+    }
+
+
+def set_camera_profile(profile_id):
+    profile = normalize_camera_profile(profile_id)
+    write_camera_settings(profile)
+    restart_camera_service()
+    return profile
+
+
 def rumble_controller(duration_ms=400):
     # Linux FF constants
     EV_FF = 0x15
@@ -856,6 +958,9 @@ class Handler(http.server.BaseHTTPRequestHandler):
         if self.path == '/api/speed-limit':
             self.write_json(200, {'speed_limit_percent': get_speed_limit()})
             return
+        if self.path == '/api/camera-config':
+            self.write_json(200, get_camera_config())
+            return
         if self.path == '/api/status':
             self.write_json(200, collect_status())
             return
@@ -932,6 +1037,35 @@ class Handler(http.server.BaseHTTPRequestHandler):
                 self.write_json(500, {'status': str(exc)})
             return
 
+        if self.path == '/api/camera-config':
+            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:
+                profile = set_camera_profile(payload.get('profile'))
+                self.write_json(200, {
+                    'status': 'Kameraauflösung gespeichert, Kameradienst startet neu',
+                    'camera': {
+                        'selected_profile': profile['id'],
+                        'width': profile['width'],
+                        'height': profile['height'],
+                        'fps': profile['fps'],
+                        'profiles': [dict(item) for item in CAMERA_PROFILES],
+                    }
+                })
+            except ValueError as exc:
+                self.write_json(400, {'status': str(exc)})
+            except Exception as exc:
+                self.write_json(500, {'status': str(exc)})
+            return
+
         if self.path == '/api/drive-estimator/calibration':
             try:
                 content_length = int(self.headers.get('Content-Length', '0'))

ExoMy_Software-master/scripts/libcamera_mjpeg_server.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
 import http.server
+import json
+import os
+import urllib.parse
 import socketserver
 import subprocess
 import threading
@@ -9,10 +12,40 @@ BOUNDARY = b'--frame'
 LATEST_JPEG = None
 LATEST_LOCK = threading.Lock()
 
-WIDTH = 1280
-HEIGHT = 720
-FPS = 10
 PORT = 8081
+CONFIG_FILE = os.path.join(os.path.dirname(__file__), '..', 'config', 'camera_settings.json')
+DEFAULT_CAMERA_SETTINGS = {
+    'width': 1280,
+    'height': 720,
+    'fps': 10,
+}
+
+
+def load_camera_settings():
+    settings = dict(DEFAULT_CAMERA_SETTINGS)
+    try:
+        with open(CONFIG_FILE, 'r', encoding='utf-8') as handle:
+            raw_settings = json.load(handle)
+    except (FileNotFoundError, json.JSONDecodeError, OSError, ValueError, TypeError):
+        return settings
+
+    try:
+        width = int(raw_settings.get('width', settings['width']))
+        height = int(raw_settings.get('height', settings['height']))
+        fps = int(raw_settings.get('fps', settings['fps']))
+    except (TypeError, ValueError):
+        return settings
+
+    settings['width'] = max(320, min(2592, width))
+    settings['height'] = max(240, min(1944, height))
+    settings['fps'] = max(1, min(30, fps))
+    return settings
+
+
+CAMERA_SETTINGS = load_camera_settings()
+WIDTH = CAMERA_SETTINGS['width']
+HEIGHT = CAMERA_SETTINGS['height']
+FPS = CAMERA_SETTINGS['fps']
 
 
 def camera_reader():
@@ -65,14 +98,18 @@ class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
 
 
 class Handler(http.server.BaseHTTPRequestHandler):
+    def normalized_path(self):
+        return urllib.parse.urlsplit(self.path).path
+
     def do_HEAD(self):
-        if self.path in ('/', '/index.html'):
+        path = self.normalized_path()
+        if path in ('/', '/index.html'):
             self.send_response(200)
             self.send_header('Content-Type', 'text/html; charset=utf-8')
             self.end_headers()
             return
 
-        if self.path == '/stream.mjpg':
+        if path == '/stream.mjpg':
             self.send_response(200)
             self.send_header('Age', '0')
             self.send_header('Cache-Control', 'no-cache, private')
@@ -84,7 +121,8 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.send_error(404)
 
     def do_GET(self):
-        if self.path in ('/', '/index.html'):
+        path = self.normalized_path()
+        if path in ('/', '/index.html'):
             body = b'<html><body><img src="/stream.mjpg" /></body></html>'
             self.send_response(200)
             self.send_header('Content-Type', 'text/html; charset=utf-8')
@@ -93,7 +131,7 @@ class Handler(http.server.BaseHTTPRequestHandler):
             self.wfile.write(body)
             return
 
-        if self.path != '/stream.mjpg':
+        if path != '/stream.mjpg':
             self.send_error(404)
             return
 

ExoMy_Software-master/src/gps_node.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python
 import errno
+import glob
 import json
 import os
 import select
@@ -12,7 +13,7 @@ from sensor_msgs.msg import NavSatFix, NavSatStatus
 from std_msgs.msg import String
 
 
-PORT = '/dev/ttyUSB0'
+PORT = 'auto'
 BAUD = 4800
 FRAME_ID = 'gps'
 READ_SIZE = 512
@@ -114,8 +115,47 @@ def configure_serial(fd, baud):
     termios.tcflush(fd, termios.TCIFLUSH)
 
 
-def open_device(port, baud):
+def resolve_port_candidates(port_config):
+    if port_config is None:
+        port_config = PORT
+
+    config_text = str(port_config).strip()
+    if not config_text or config_text.lower() == 'auto':
+        raw_candidates = [
+            '/dev/serial/by-id/*',
+            '/dev/serial/by-path/*',
+            '/dev/ttyUSB*',
+            '/dev/ttyACM*',
+        ]
+    else:
+        raw_candidates = [item.strip() for item in config_text.split(',') if item.strip()]
+
+    candidates = []
+    seen = set()
+    for candidate in raw_candidates:
+        matches = sorted(glob.glob(candidate)) if any(char in candidate for char in '*?[') else [candidate]
+        for match in matches:
+            if match in seen:
+                continue
+            seen.add(match)
+            candidates.append(match)
+    return candidates
+
+
+def open_device(port_config, baud, baud_rate):
+    last_signature = None
     while not rospy.is_shutdown():
+        candidates = resolve_port_candidates(port_config)
+        signature = tuple(candidates)
+        if not candidates:
+            if signature != last_signature:
+                rospy.loginfo('GPS wartet auf Geraet. Suchmuster: %s', port_config)
+                last_signature = signature
+            rospy.sleep(1.0)
+            continue
+
+        try:
+            for port in candidates:
                 try:
                     fd = os.open(port, os.O_RDONLY | os.O_NOCTTY | os.O_NONBLOCK)
                     configure_serial(fd, baud)
@@ -123,10 +163,11 @@ def open_device(port, baud):
                     return fd
                 except OSError as exc:
                     if exc.errno != errno.ENOENT:
-                rospy.logwarn('GPS kann nicht geoeffnet werden: %s', exc)
-            rospy.sleep(1.0)
+                        rospy.logwarn('GPS kann nicht geoeffnet werden (%s): %s', port, exc)
                 except termios.error as exc:
-            rospy.logwarn('GPS-Port kann nicht konfiguriert werden: %s', exc)
+                    rospy.logwarn('GPS-Port kann nicht konfiguriert werden (%s): %s', port, exc)
+        finally:
+            last_signature = signature
         rospy.sleep(1.0)
     return None
 
@@ -440,7 +481,7 @@ if __name__ == '__main__':
 
     while not rospy.is_shutdown():
         if serial_fd is None:
-            serial_fd = open_device(port, baud)
+            serial_fd = open_device(port, baud, baud_rate)
             buffer = bytearray()
             state.connected = serial_fd is not None
             publish_fix(fix_publisher, overlay_publisher, diagnostics_publisher, state, frame_id)