HUD-Farbe konfigurierbar, Neigungskalibrierung, Auto-Rotate verbessert
- 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:
Claude Sonnet 4.6
+71
-92
@@ -1,131 +1,110 @@
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"""
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Dreht den Rover auf der Stelle zu einem Ziel-Heading.
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Startet auto_rotate_ros.py via docker exec im ExoMy-Container.
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Das Script läuft dort nativ mit rospy — kein WebSocket-Overhead.
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Öffentliche API:
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set_publish_fn(fn) wird von exomy_admin_api nach ROS-Connect gesetzt
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start_rotate(target_deg, get_heading_fn) -> dict
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start_rotate(target_deg, heading_offset, restore_mode) -> dict
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stop_rotate()
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get_rotate_status() -> dict
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"""
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import subprocess
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import threading
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import time
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_POINT_TURN = 2 # LocomotionMode.POINT_TURN
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_ACKERMANN = 1 # LocomotionMode.ACKERMANN (Standard-Rückkehrmodus)
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_DONE_DEG = 3.0 # Toleranz in Grad
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_VEL = 20 # konstante Drehgeschwindigkeit (0–100), direkte Motoransteuerung
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_INTERVAL = 0.02 # Sekunden zwischen Regelschritten (50 Hz)
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_CONTAINER = 'exomy_autostart'
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_SCRIPT_PATH = '/root/exomy_ws/src/exomy/scripts/auto_rotate_ros.py'
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_ROS_SETUP = 'source /opt/ros/melodic/setup.bash && source /root/exomy_ws/devel/setup.bash'
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_lock = threading.Lock()
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_thread = None
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_stop_event = threading.Event()
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_publish_fn = None
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_lock = threading.Lock()
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_proc = None # subprocess.Popen (docker exec)
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_monitor_thread = None
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_status = {
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'running': False,
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'target_deg': None,
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'current_deg': None,
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'error_deg': None,
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'result': 'idle',
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'message': '',
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}
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def set_publish_fn(fn):
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global _publish_fn
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_publish_fn = fn
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def _publish(locomotion_mode, vel, steering):
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fn = _publish_fn
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if fn is not None:
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fn(locomotion_mode=locomotion_mode, vel=vel, steering=steering)
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def _shortest_error(current, target):
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"""Vorzeichen: positiv = rechtsdrehung nötig, negativ = linksdrehung."""
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return (target - current + 540) % 360 - 180
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def _restore(restore_mode):
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_publish(restore_mode, vel=0, steering=0)
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def _control_loop(target_deg, get_heading_fn, restore_mode):
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global _status
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try:
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while not _stop_event.is_set():
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heading = get_heading_fn()
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if heading is None:
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time.sleep(0.05)
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continue
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error = _shortest_error(heading, target_deg)
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with _lock:
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_status['current_deg'] = round(heading, 1)
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_status['error_deg'] = round(error, 1)
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if abs(error) <= _DONE_DEG:
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_restore(restore_mode)
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with _lock:
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_status['running'] = False
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_status['result'] = 'done'
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_status['message'] = 'Ziel erreicht'
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return
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vel = _VEL if error > 0 else -_VEL
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_publish(_POINT_TURN, vel=vel, steering=0)
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time.sleep(_INTERVAL)
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_restore(restore_mode)
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with _lock:
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def _monitor(proc, target_deg, restore_mode):
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"""Wartet auf Prozessende und aktualisiert Status."""
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global _proc
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returncode = proc.wait()
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with _lock:
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if _proc is proc: # nicht überschrieben durch neuen Start
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_proc = None
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_status['running'] = False
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_status['result'] = 'aborted'
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_status['message'] = 'Abgebrochen'
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except Exception as exc:
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_restore(restore_mode)
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with _lock:
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_status['running'] = False
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_status['result'] = 'error'
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_status['message'] = str(exc)
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if returncode == 0:
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_status['result'] = 'done'
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_status['message'] = 'Ziel erreicht'
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elif returncode == -15 or returncode == 143:
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_status['result'] = 'aborted'
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_status['message'] = 'Abgebrochen'
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else:
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_status['result'] = 'error'
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_status['message'] = 'Fehler (exit {})'.format(returncode)
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def start_rotate(target_deg, get_heading_fn):
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global _thread, _status
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def start_rotate(target_deg, heading_offset, restore_mode=1, done_deg=1.0, vel=None):
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global _proc, _monitor_thread, _status
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target_deg = float(target_deg) % 360
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stop_rotate()
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_stop_event.clear()
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target_deg = float(target_deg) % 360
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if vel is None:
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# Fest 20% Geschwindigkeit, unabhängig vom Admin-Speed-Limit
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# Entspricht dem Joystick-Expo: 100 * (20/100)^2 = 4
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vel = 4
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cmd = [
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'docker', 'exec', _CONTAINER, 'bash', '-c',
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'{setup} && python {script} {target} {mode} {offset} {done} {vel}'.format(
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setup=_ROS_SETUP,
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script=_SCRIPT_PATH,
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target=target_deg,
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mode=int(restore_mode),
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offset=float(heading_offset),
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done=float(done_deg),
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vel=int(vel),
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)
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]
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proc = subprocess.Popen(cmd, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
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with _lock:
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_proc = proc
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_status = {
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'running': True,
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'target_deg': round(target_deg, 1),
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'current_deg': None,
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'error_deg': None,
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'result': 'running',
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'message': 'Drehe zu {0:.0f}°'.format(target_deg),
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'running': True,
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'target_deg': round(target_deg, 1),
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'result': 'running',
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'message': 'Drehe zu {:.0f}°'.format(target_deg),
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}
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_thread = threading.Thread(
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target=_control_loop,
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args=(target_deg, get_heading_fn),
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_monitor_thread = threading.Thread(
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target=_monitor,
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args=(proc, target_deg, restore_mode),
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daemon=True,
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)
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_thread.start()
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_monitor_thread.start()
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return get_rotate_status()
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def stop_rotate():
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global _thread
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if _thread is not None and _thread.is_alive():
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_stop_event.set()
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_thread.join(timeout=2.0)
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_thread = None
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global _proc
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with _lock:
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proc = _proc
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_proc = None
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if proc is not None and proc.poll() is None:
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# SIGTERM an den docker-exec-Prozess → Container-Prozess beendet sich sauber
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proc.terminate()
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try:
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proc.wait(timeout=3.0)
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except subprocess.TimeoutExpired:
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proc.kill()
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def get_rotate_status():
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