Eskimue/ExoMy_Cuno
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rückmeldung vibration

Browse Source
This commit is contained in:
Eskimue
2026-05-21 21:09:08 +02:00
parent ea5521c815
commit be1e0de125
4 changed files with 155 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ExoMy_Software-master/gui/admin.html
+12
View File
@@ -40,6 +40,7 @@
<button class="button buttonDanger" onclick="runAdminAction('restart-container')">ExoMy-Container neu starten</button>
<button class="button buttonWarm" onclick="runAdminAction('reboot')">Raspberry Pi neu starten</button>
<button class="button buttonDanger" onclick="runAdminAction('shutdown')">Raspberry Pi herunterfahren</button>
<button class="button rumble_btn" onclick="runRumble()">Controller vibrieren</button>
</div>
<div class="service_compact">
@@ -330,6 +331,17 @@
}
}
async function runRumble() {
try {
var response = await fetch(adminApiBase + '/api/rumble', { method: 'POST' });
var data = await response.json();
setAdminStatus(data.status || 'Vibration ausgelöst');
window.setTimeout(function() { setAdminStatus('Bereit'); }, 2000);
} catch (e) {
setAdminStatus('Fehler');
}
}
window.addEventListener('load', function () {
var input = document.getElementById('auth_input');
input.focus();
ExoMy_Software-master/gui/style.css
+16
View File
@@ -632,6 +632,22 @@ h2 {
0 8px 18px rgba(109, 126, 132, 0.08);
}
.rumble_btn {
grid-column: span 2;
min-height: auto !important;
padding: 0.45rem 0.9rem;
font-size: 0.8rem;
opacity: 0.75;
color: #fff;
background: rgba(255,255,255,0.12);
border: 1px solid rgba(255,255,255,0.2);
}
.rumble_btn:hover {
opacity: 1;
background: rgba(255,255,255,0.2);
}
.delay_control {
display: flex;
flex-direction: column;
ExoMy_Software-master/scripts/exomy_admin_api.py
+67
View File
@@ -1,9 +1,12 @@
#!/usr/bin/env python3
import fcntl
import glob
import http.server
import json
import os
import shutil
import socketserver
import struct
import subprocess
import threading
import time
@@ -248,6 +251,62 @@ def set_delay(seconds):
return seconds
def rumble_controller(duration_ms=400):
# Linux FF constants
EV_FF = 0x15
FF_RUMBLE = 0x50
# EVIOCSFF = _IOW('E', 0x80, struct ff_effect) — ff_effect is 48 bytes on ARM64
EVIOCSFF = (0x40000000 | (48 << 16) | (ord('E') << 8) | 0x80)
device_path = None
for path in sorted(glob.glob('/dev/input/event*')):
try:
sys_name = f'/sys/class/input/{os.path.basename(path)}/device/name'
with open(sys_name, encoding='utf-8') as f:
name = f.read().strip()
if any(k in name for k in ('Gamepad', 'F710', 'GAMEPAD')):
device_path = path
break
except OSError:
pass
if not device_path:
raise RuntimeError('Kein Gamepad gefunden')
fd = os.open(device_path, os.O_RDWR)
try:
# struct ff_effect layout on ARM64 (48 bytes):
# offset 0: type (u16)
# offset 2: id (s16) — set to -1, kernel assigns
# offset 4: direction (u16)
# offset 6: trigger.button (u16)
# offset 8: trigger.interval (u16)
# offset 10: replay.length (u16, ms)
# offset 12: replay.delay (u16)
# offset 14: padding (2 bytes)
# offset 16: union.rumble.strong_magnitude (u16)
# offset 18: union.rumble.weak_magnitude (u16)
# offset 20–47: zeros
buf = bytearray(48)
struct.pack_into('<H', buf, 0, FF_RUMBLE)
struct.pack_into('<h', buf, 2, -1)
struct.pack_into('<H', buf, 10, duration_ms)
struct.pack_into('<H', buf, 16, 0xFFFF)
struct.pack_into('<H', buf, 18, 0x8000)
fcntl.ioctl(fd, EVIOCSFF, buf)
effect_id = struct.unpack_from('<h', buf, 2)[0]
# input_event on ARM64: sec(u64) + usec(u64) + type(u16) + code(u16) + value(s32) = 24 bytes
os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 1))
time.sleep(duration_ms / 1000.0 + 0.1)
os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 0))
except OSError as exc:
raise RuntimeError(f'FF ioctl fehlgeschlagen: {exc}') from exc
finally:
os.close(fd)
def restart_camera_service():
subprocess.Popen(['systemctl', 'restart', 'exomy-camera-stream.service'])
@@ -659,6 +718,14 @@ class Handler(http.server.BaseHTTPRequestHandler):
self.write_json(status_code, response)
return
if self.path == '/api/rumble':
try:
rumble_controller(400)
self.write_json(200, {'status': 'Vibration ausgelöst'})
except RuntimeError as exc:
self.write_json(500, {'status': str(exc)})
return
actions = {
'/api/restart-camera': {
'handler': restart_camera_service,
ExoMy_Software-master/src/joystick_parser_node.py
+60 -1
View File
@@ -1,16 +1,25 @@
#!/usr/bin/env python
import ctypes
import fcntl
import glob
import math
import os
import struct
import threading
import rospy
from sensor_msgs.msg import Joy
from exomy.msg import RoverCommand
from locomotion_modes import LocomotionMode
import math
# Define locomotion modes
global locomotion_mode
global motors_enabled
global last_start_button_pressed
global last_locomotion_mode
locomotion_mode = LocomotionMode.ACKERMANN.value
last_locomotion_mode = locomotion_mode
motors_enabled = True
AXIS_DEADZONE = 0.1
last_start_button_pressed = False
@@ -63,6 +72,51 @@ CONTROLLER_FUNCTION_MAPS = {
}
def _rumble_thread(duration_ms):
EV_FF = 0x15
FF_RUMBLE = 0x50
EVIOCSFF = (0x40000000 | (48 << 16) | (ord('E') << 8) | 0x80)
device_path = None
for path in sorted(glob.glob('/dev/input/event*')):
try:
sys_name = '/sys/class/input/{0}/device/name'.format(os.path.basename(path))
with open(sys_name) as f:
name = f.read().strip()
if any(k in name for k in ('Gamepad', 'F710', 'GAMEPAD')):
device_path = path
break
except OSError:
pass
if not device_path:
return
try:
fd = os.open(device_path, os.O_RDWR)
try:
buf = ctypes.create_string_buffer(48)
struct.pack_into('<H', buf, 0, FF_RUMBLE)
struct.pack_into('<h', buf, 2, -1)
struct.pack_into('<H', buf, 10, duration_ms)
struct.pack_into('<H', buf, 16, 0xFFFF)
struct.pack_into('<H', buf, 18, 0x8000)
fcntl.ioctl(fd, EVIOCSFF, buf)
effect_id = struct.unpack_from('<h', buf, 2)[0]
import time as _t
os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 1))
_t.sleep(duration_ms / 1000.0 + 0.05)
os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 0))
finally:
os.close(fd)
except Exception as exc:
rospy.logwarn('rumble fehler: %s', exc)
def trigger_rumble(duration_ms=150):
threading.Thread(target=_rumble_thread, args=(duration_ms,)).start()
def apply_deadzone(value, deadzone):
if abs(value) <= deadzone:
return 0.0
@@ -100,6 +154,7 @@ def callback(data):
global motors_enabled
global last_start_button_pressed
global last_webgui_time
global last_locomotion_mode
is_webgui = data.header.frame_id == "webgui"
now = rospy.Time.now()
@@ -149,6 +204,10 @@ def callback(data):
if is_button_pressed(data.buttons, controller_function_map["Y_button"]):
locomotion_mode = LocomotionMode.CRABBING.value
if not is_webgui and locomotion_mode != last_locomotion_mode:
trigger_rumble(150)
last_locomotion_mode = locomotion_mode
rover_cmd.locomotion_mode = locomotion_mode
# Enable and disable motors