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HUD-Farbe konfigurierbar, Neigungskalibrierung, Auto-Rotate verbessert

Browse Source 
- HUD-Farbe per Farbwähler im Admin einstellbar (localStorage)
- Schwarze Kontur auf HUD-Elementen via CSS drop-shadow und canvas shadowBlur
- Himmelsrichtungen auf Deutsch (O statt E, etc.)
- Roll/Pitch-Neigung kann im Admin genullt werden (imu_tilt_calibration.json)
- Neigungsoffset wird im Kamera-Overlay berücksichtigt
- Auto-Rotate läuft jetzt nativ als rospy-Script im Docker-Container
- Auto-Rotate erkennt aktuellen Locomotion-Mode und stellt ihn danach wieder her
- Auto-Rotate pausiert Web-GUI-Joystick via localStorage-Flag
- Feste 20%-Geschwindigkeit für Auto-Rotate (vel=4, Expo-äquivalent)
- Vignette entfernt

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Eskimue
2026-05-29 10:26:11 +02:00
co-authored by Claude Sonnet 4.6
parent 4c24558516
commit 93772ec3b7
5 changed files with 221 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files
gui/admin.html
+3
View File
@@ -2938,6 +2938,7 @@
if (!running && rotatePoller) {
clearInterval(rotatePoller);
rotatePoller = null;
try { localStorage.removeItem('autoRotateActive'); } catch(e) {}
}
}
@@ -2954,6 +2955,7 @@
});
var data = await response.json();
if (!response.ok) throw new Error(data.status || ('status ' + response.status));
try { localStorage.setItem('autoRotateActive', '1'); } catch(e) {}
updateRotateUi(data.rotate);
setAdminStatus(data.status || 'Drehung gestartet');
if (rotatePoller) clearInterval(rotatePoller);
@@ -2969,6 +2971,7 @@
try {
var response = await fetch(adminApiBase + '/api/imu/rotate-stop', { method: 'POST' });
var data = await response.json();
try { localStorage.removeItem('autoRotateActive'); } catch(e) {}
updateRotateUi(data.rotate);
setAdminStatus(data.status || 'Drehung gestoppt');
} catch (e) {
gui/index.html
+7 -1
View File
@@ -827,8 +827,10 @@ function setRosStatus(text) {
setText("ros-state", text);
}
var autoRotateActive = false;
function controlsAreBlocked() {
return pageConnection.state === "offline";
return pageConnection.state === "offline" || autoRotateActive;
}
function updateControlAvailability() {
@@ -1572,6 +1574,10 @@ function toggleStatPanel() {
window.addEventListener("storage", function (e) {
if (e.key === "hudHexColor" && e.newValue) applyHudColor(e.newValue);
if (e.key === "autoRotateActive") {
autoRotateActive = e.newValue === "1";
if (!autoRotateActive) { setAxes(0, 0); }
}
});
window.addEventListener("load", function () {
scripts/auto_rotate_ros.py
+117
View File
@@ -0,0 +1,117 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
Laeuft INNERHALB des Docker-Containers mit nativem rospy.
Dreht den Rover auf der Stelle zu einem Ziel-Heading und beendet sich.
Aufruf:
python3 auto_rotate_ros.py <target_deg> <restore_mode> <heading_offset_deg>
Exit-Codes:
0 = Ziel erreicht
1 = Fehler
"""
import math
import signal
import sys
import time
import rospy
from exomy.msg import RoverCommand
from sensor_msgs.msg import Imu
_POINT_TURN = 2
_DONE_DEG = float(sys.argv[4]) if len(sys.argv) > 4 else 1.0
_VEL = int(sys.argv[5]) if len(sys.argv) > 5 else 20
target_deg = float(sys.argv[1]) % 360
restore_mode = int(sys.argv[2])
heading_offset = float(sys.argv[3])
_running = True
_publisher = None
_heading = None
def _normalize(deg):
return (float(deg) % 360 + 360) % 360
def _shortest_error(current, target):
return (target - current + 540) % 360 - 180
def _on_imu(msg):
global _heading
o = msg.orientation
x, y, z, w = o.x, o.y, o.z, o.w
siny = 2.0 * (w * z + x * y)
cosy = 1.0 - 2.0 * (y * y + z * z)
yaw_deg = math.degrees(math.atan2(siny, cosy))
_heading = _normalize(yaw_deg + heading_offset)
def _publish(locomotion_mode, vel, steering=0):
if _publisher is None:
return
cmd = RoverCommand()
cmd.connected = True
cmd.motors_enabled = True
cmd.locomotion_mode = locomotion_mode
cmd.vel = vel
cmd.steering = steering
_publisher.publish(cmd)
def _shutdown(signum, frame):
global _running
_running = False
def main():
global _publisher, _running
signal.signal(signal.SIGTERM, _shutdown)
signal.signal(signal.SIGINT, _shutdown)
rospy.init_node('auto_rotate', anonymous=True, disable_signals=True)
_publisher = rospy.Publisher('/rover_command', RoverCommand, queue_size=1)
rospy.Subscriber('/imu/data', Imu, _on_imu, queue_size=1)
# Kurz warten bis IMU-Daten ankommen
deadline = time.time() + 5.0
while _heading is None and time.time() < deadline and _running:
time.sleep(0.05)
if _heading is None:
rospy.logerr('auto_rotate: keine IMU-Daten')
_publish(restore_mode, vel=0)
sys.exit(1)
rate = rospy.Rate(50) # 50 Hz, passend zum PWM-Chip
while _running and not rospy.is_shutdown():
error = _shortest_error(_heading, target_deg)
if abs(error) <= _DONE_DEG:
_publish(restore_mode, vel=0)
sys.exit(0)
# Richtung wie Joystick: immer positiver vel, steering ±180 für Richtung
# steering=0 → Linksdrehung (deg < 85)
# steering=180 → Rechtsdrehung (deg >= 85)
if error > 0:
_publish(_POINT_TURN, vel=_VEL, steering=0)
else:
_publish(_POINT_TURN, vel=_VEL, steering=180)
rate.sleep()
# Abbruch per Signal
_publish(restore_mode, vel=0)
sys.exit(0)
if __name__ == '__main__':
main()
scripts/exomy_admin_api.py
+23 -21
View File
@@ -85,6 +85,7 @@ IMU_ROS_LOCK = threading.Lock()
IMU_ROS_THREAD = None
IMU_ROS_CLIENT = None
IMU_ROS_TOPICS = []
LAST_LOCOMOTION_MODE = 1 # ACKERMANN als Fallback
IMU_ROS_CACHE = {
'state': 'unknown',
'status': 'Warte auf ROS',
@@ -241,27 +242,23 @@ def _connect_imu_ros():
mag_topic = roslibpy.Topic(client, '/imu/mag', 'sensor_msgs/MagneticField')
status_topic = roslibpy.Topic(client, '/imu/status', 'std_msgs/String')
rover_cmd_topic = roslibpy.Topic(client, '/rover_command', 'exomy/RoverCommand')
def _on_rover_cmd_message(message):
global LAST_LOCOMOTION_MODE
import imu_rotate
if not imu_rotate.get_rotate_status()['running']:
mode = message.get('locomotion_mode')
if mode is not None:
LAST_LOCOMOTION_MODE = int(mode)
imu_topic.subscribe(_on_imu_data_message)
mag_topic.subscribe(_on_imu_mag_message)
status_topic.subscribe(_on_imu_status_message)
rover_cmd_topic.subscribe(_on_rover_cmd_message)
rover_cmd_topic.advertise()
IMU_ROS_CLIENT = client
IMU_ROS_TOPICS = [imu_topic, mag_topic, status_topic, rover_cmd_topic]
_imu_ros_cache_update(status='ROS verbunden', error='')
def _publish_rover_cmd(locomotion_mode, vel, steering):
try:
rover_cmd_topic.publish(roslibpy.Message({
'connected': True,
'motors_enabled': True,
'locomotion_mode': int(locomotion_mode),
'vel': int(vel),
'steering': int(steering),
}))
except Exception:
pass
imu_rotate.set_publish_fn(_publish_rover_cmd)
def _imu_ros_worker():
@@ -1976,7 +1973,17 @@ class Handler(http.server.BaseHTTPRequestHandler):
def do_GET(self):
if self.path == '/api/imu/rotate-status':
import imu_rotate
self.write_json(200, {'rotate': imu_rotate.get_rotate_status()})
status = imu_rotate.get_rotate_status()
if status.get('running') and status.get('target_deg') is not None:
calibration = read_imu_heading_calibration()
with IMU_ROS_LOCK:
raw = IMU_ROS_CACHE.get('heading_deg')
corrected = get_corrected_heading_deg(raw, calibration['offset_deg']) if raw is not None else None
status['current_deg'] = round(corrected, 1) if corrected is not None else None
if corrected is not None:
err = (status['target_deg'] - corrected + 540) % 360 - 180
status['error_deg'] = round(err, 1)
self.write_json(200, {'rotate': status})
return
if self.path == '/api/delay':
self.write_json(200, {'delay_seconds': get_delay()})
@@ -2326,15 +2333,10 @@ class Handler(http.server.BaseHTTPRequestHandler):
return
import imu_rotate
heading_offset = read_imu_heading_calibration()['offset_deg']
def _get_corrected_heading():
with IMU_ROS_LOCK:
raw = IMU_ROS_CACHE.get('heading_deg')
return get_corrected_heading_deg(raw, heading_offset) if raw is not None else None
status = imu_rotate.start_rotate(
target_deg=target_deg,
get_heading_fn=_get_corrected_heading,
heading_offset=heading_offset,
restore_mode=LAST_LOCOMOTION_MODE,
)
self.write_json(200, {'status': 'Drehung gestartet', 'rotate': status})
return
scripts/imu_rotate.py
+71 -92
View File
@@ -1,131 +1,110 @@
"""
Dreht den Rover auf der Stelle zu einem Ziel-Heading.
Startet auto_rotate_ros.py via docker exec im ExoMy-Container.
Das Script läuft dort nativ mit rospy — kein WebSocket-Overhead.
Öffentliche API:
set_publish_fn(fn) wird von exomy_admin_api nach ROS-Connect gesetzt
start_rotate(target_deg, get_heading_fn) -> dict
start_rotate(target_deg, heading_offset, restore_mode) -> dict
stop_rotate()
get_rotate_status() -> dict
"""
import subprocess
import threading
import time
_POINT_TURN = 2 # LocomotionMode.POINT_TURN
_ACKERMANN = 1 # LocomotionMode.ACKERMANN (Standard-Rückkehrmodus)
_DONE_DEG = 3.0 # Toleranz in Grad
_VEL = 20 # konstante Drehgeschwindigkeit (0–100), direkte Motoransteuerung
_INTERVAL = 0.02 # Sekunden zwischen Regelschritten (50 Hz)
_CONTAINER = 'exomy_autostart'
_SCRIPT_PATH = '/root/exomy_ws/src/exomy/scripts/auto_rotate_ros.py'
_ROS_SETUP = 'source /opt/ros/melodic/setup.bash && source /root/exomy_ws/devel/setup.bash'
_lock = threading.Lock()
_thread = None
_stop_event = threading.Event()
_publish_fn = None
_lock = threading.Lock()
_proc = None # subprocess.Popen (docker exec)
_monitor_thread = None
_status = {
'running': False,
'target_deg': None,
'current_deg': None,
'error_deg': None,
'result': 'idle',
'message': '',
}
def set_publish_fn(fn):
global _publish_fn
_publish_fn = fn
def _publish(locomotion_mode, vel, steering):
fn = _publish_fn
if fn is not None:
fn(locomotion_mode=locomotion_mode, vel=vel, steering=steering)
def _shortest_error(current, target):
"""Vorzeichen: positiv = rechtsdrehung nötig, negativ = linksdrehung."""
return (target - current + 540) % 360 - 180
def _restore(restore_mode):
_publish(restore_mode, vel=0, steering=0)
def _control_loop(target_deg, get_heading_fn, restore_mode):
global _status
try:
while not _stop_event.is_set():
heading = get_heading_fn()
if heading is None:
time.sleep(0.05)
continue
error = _shortest_error(heading, target_deg)
with _lock:
_status['current_deg'] = round(heading, 1)
_status['error_deg'] = round(error, 1)
if abs(error) <= _DONE_DEG:
_restore(restore_mode)
with _lock:
_status['running'] = False
_status['result'] = 'done'
_status['message'] = 'Ziel erreicht'
return
vel = _VEL if error > 0 else -_VEL
_publish(_POINT_TURN, vel=vel, steering=0)
time.sleep(_INTERVAL)
_restore(restore_mode)
with _lock:
def _monitor(proc, target_deg, restore_mode):
"""Wartet auf Prozessende und aktualisiert Status."""
global _proc
returncode = proc.wait()
with _lock:
if _proc is proc: # nicht überschrieben durch neuen Start
_proc = None
_status['running'] = False
_status['result'] = 'aborted'
_status['message'] = 'Abgebrochen'
except Exception as exc:
_restore(restore_mode)
with _lock:
_status['running'] = False
_status['result'] = 'error'
_status['message'] = str(exc)
if returncode == 0:
_status['result'] = 'done'
_status['message'] = 'Ziel erreicht'
elif returncode == -15 or returncode == 143:
_status['result'] = 'aborted'
_status['message'] = 'Abgebrochen'
else:
_status['result'] = 'error'
_status['message'] = 'Fehler (exit {})'.format(returncode)
def start_rotate(target_deg, get_heading_fn):
global _thread, _status
def start_rotate(target_deg, heading_offset, restore_mode=1, done_deg=1.0, vel=None):
global _proc, _monitor_thread, _status
target_deg = float(target_deg) % 360
stop_rotate()
_stop_event.clear()
target_deg = float(target_deg) % 360
if vel is None:
# Fest 20% Geschwindigkeit, unabhängig vom Admin-Speed-Limit
# Entspricht dem Joystick-Expo: 100 * (20/100)^2 = 4
vel = 4
cmd = [
'docker', 'exec', _CONTAINER, 'bash', '-c',
'{setup} && python {script} {target} {mode} {offset} {done} {vel}'.format(
setup=_ROS_SETUP,
script=_SCRIPT_PATH,
target=target_deg,
mode=int(restore_mode),
offset=float(heading_offset),
done=float(done_deg),
vel=int(vel),
)
]
proc = subprocess.Popen(cmd, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
with _lock:
_proc = proc
_status = {
'running': True,
'target_deg': round(target_deg, 1),
'current_deg': None,
'error_deg': None,
'result': 'running',
'message': 'Drehe zu {0:.0f}°'.format(target_deg),
'running': True,
'target_deg': round(target_deg, 1),
'result': 'running',
'message': 'Drehe zu {:.0f}°'.format(target_deg),
}
_thread = threading.Thread(
target=_control_loop,
args=(target_deg, get_heading_fn),
_monitor_thread = threading.Thread(
target=_monitor,
args=(proc, target_deg, restore_mode),
daemon=True,
)
_thread.start()
_monitor_thread.start()
return get_rotate_status()
def stop_rotate():
global _thread
if _thread is not None and _thread.is_alive():
_stop_event.set()
_thread.join(timeout=2.0)
_thread = None
global _proc
with _lock:
proc = _proc
_proc = None
if proc is not None and proc.poll() is None:
# SIGTERM an den docker-exec-Prozess → Container-Prozess beendet sich sauber
proc.terminate()
try:
proc.wait(timeout=3.0)
except subprocess.TimeoutExpired:
proc.kill()
def get_rotate_status():