GPS eingebaut

ExoMy_Software-master/gui/index.html

@@ -64,8 +64,10 @@
           CTRL: <span id="input-state">Joystick</span>
         </div>
         <div class="c-bl">
-          X: <span id="cam-x">+0.00</span><br>
-          Y: <span id="cam-y">+0.00</span>
+          GPS: <span id="gps-state">Offline</span><br>
+          SAT: <span id="gps-sats">--</span><br>
+          LAT: <span id="gps-lat">--</span><br>
+          LON: <span id="gps-lon">--</span>
         </div>
         <div class="c-br">
           HOST: <span id="cam-host">--</span><br>
@@ -280,6 +282,8 @@ var ros = null;
 var joyListener = null;
 var roverCommandListener = null;
 var motorCommandsListener = null;
+var gpsFixListener = null;
+var gpsStatusListener = null;
 var publishTimer = null;
 var statusTimer = null;
 var axes = [0, 0, 0, 0, 0, 0];
@@ -584,8 +588,28 @@ function updateAxesDisplay(x, y) {
   setText("jy", formatAxis(y));
   setText("dpx", formatAxis(x));
   setText("dpy", formatAxis(y));
-  setText("cam-x", formatAxis(x));
-  setText("cam-y", formatAxis(y));
+}
+
+function updateGpsOverlayFromFix(message) {
+  if (!message) return;
+
+  var hasFix = message.status && message.status.status >= 0;
+  if (!hasFix) {
+    setText("gps-lat", "--");
+    setText("gps-lon", "--");
+    return;
+  }
+
+  setText("gps-lat", formatNumber(Number(message.latitude || 0), 5));
+  setText("gps-lon", formatNumber(Number(message.longitude || 0), 5));
+}
+
+function updateGpsOverlayFromStatus(text) {
+  var value = String(text || "Offline");
+  setText("gps-state", value);
+
+  var satMatch = value.match(/(\d+)\s*Sat/i);
+  setText("gps-sats", satMatch ? satMatch[1] : "--");
 }
 
 function updateModeDisplay() {
@@ -1028,6 +1052,22 @@ window.addEventListener("load", function () {
     renderTrajectoryOverlay();
   });
 
+  gpsFixListener = new ROSLIB.Topic({
+    ros: ros,
+    name: "/fix",
+    messageType: "sensor_msgs/NavSatFix"
+  });
+  gpsFixListener.subscribe(updateGpsOverlayFromFix);
+
+  gpsStatusListener = new ROSLIB.Topic({
+    ros: ros,
+    name: "/gps/status_text",
+    messageType: "std_msgs/String"
+  });
+  gpsStatusListener.subscribe(function (message) {
+    updateGpsOverlayFromStatus(message.data);
+  });
+
   var joySubscriber = new ROSLIB.Topic({
     ros: ros,
     name: "/joy",