admin verbessert
This commit is contained in:
Eskimue
+176
-17
@@ -816,6 +816,9 @@
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var roverCommandTopic = null;
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var motorCommandsTopic = null;
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var gpsFixTopic = null;
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var imuDataTopic = null;
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var imuMagTopic = null;
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var imuStatusTopic = null;
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var gpsStatusTopic = null;
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var gpsDiagnosticsTopic = null;
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var pageConnection = {
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@@ -930,6 +933,20 @@
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selectedSatellitePrn: null,
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plottedSatellites: []
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};
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var imuRosState = {
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state: 'unknown',
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status: '-',
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address: '0x4A',
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acceleration: '--',
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gyro: '--',
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magnetic: '--',
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quaternion: '--',
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rollPitchYaw: '--',
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error: '--',
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lastDataAt: 0,
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lastMagAt: 0,
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lastStatusAt: 0
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};
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function submitPassword() {
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var input = document.getElementById('auth_input');
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@@ -982,14 +999,6 @@
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setServiceState('camera_service_state', '-');
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setServiceState('service_admin_api', '-');
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setServiceState('service_exomy', '-');
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setStateText('imu_state', 'unknown', '-');
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setText('imu_address', '--');
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setText('imu_acceleration', '--');
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setText('imu_gyro', '--');
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setText('imu_magnetic', '--');
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setText('imu_quaternion', '--');
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setText('imu_roll_pitch_yaw', '--');
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setText('imu_error', '--');
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var bar = document.getElementById('bar-temp-adm');
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if (bar) bar.style.width = '0%';
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}
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@@ -1032,6 +1041,19 @@
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gpsDiagnosticsState.utcTime = null;
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gpsDiagnosticsState.lastFixAgeS = null;
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gpsDiagnosticsState.satellites = [];
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imuRosState.state = 'unknown';
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imuRosState.status = 'ROS getrennt';
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imuRosState.address = '0x4A';
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imuRosState.acceleration = '--';
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imuRosState.gyro = '--';
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imuRosState.magnetic = '--';
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imuRosState.quaternion = '--';
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imuRosState.rollPitchYaw = '--';
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imuRosState.error = 'Keine ROS-Verbindung';
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imuRosState.lastDataAt = 0;
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imuRosState.lastMagAt = 0;
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imuRosState.lastStatusAt = 0;
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renderImuRosState();
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updateGpsDiagnosticsPanel();
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}
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@@ -1213,6 +1235,81 @@
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node.classList.add('state_unknown');
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}
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function formatImuVector(values, unit, decimals) {
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if (!Array.isArray(values) || values.length < 3) return '--';
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var digits = typeof decimals === 'number' ? decimals : 2;
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return 'X ' + Number(values[0]).toFixed(digits) +
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' | Y ' + Number(values[1]).toFixed(digits) +
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' | Z ' + Number(values[2]).toFixed(digits) + ' ' + unit;
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}
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function formatImuQuaternion(values) {
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if (!Array.isArray(values) || values.length < 4) return '--';
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return 'I ' + Number(values[0]).toFixed(3) +
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' | J ' + Number(values[1]).toFixed(3) +
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' | K ' + Number(values[2]).toFixed(3) +
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' | R ' + Number(values[3]).toFixed(3);
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}
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function quaternionToEulerDeg(values) {
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if (!Array.isArray(values) || values.length < 4) return null;
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var x = Number(values[0]);
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var y = Number(values[1]);
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var z = Number(values[2]);
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var w = Number(values[3]);
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var sinrCosp = 2 * (w * x + y * z);
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var cosrCosp = 1 - 2 * (x * x + y * y);
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var roll = Math.atan2(sinrCosp, cosrCosp);
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var sinp = 2 * (w * y - z * x);
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var pitch = Math.abs(sinp) >= 1 ? Math.sign(sinp) * (Math.PI / 2) : Math.asin(sinp);
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var sinyCosp = 2 * (w * z + x * y);
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var cosyCosp = 1 - 2 * (y * y + z * z);
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var yaw = Math.atan2(sinyCosp, cosyCosp);
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return [
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roll * 180 / Math.PI,
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pitch * 180 / Math.PI,
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yaw * 180 / Math.PI
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];
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}
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function formatRollPitchYaw(values) {
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if (!Array.isArray(values) || values.length < 3) return '--';
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return 'Roll ' + Number(values[0]).toFixed(1) + '° | ' +
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'Pitch ' + Number(values[1]).toFixed(1) + '° | ' +
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'Yaw ' + Number(values[2]).toFixed(1) + '°';
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}
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function renderImuRosState() {
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var now = Date.now();
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var dataFresh = imuRosState.lastDataAt && (now - imuRosState.lastDataAt) < 3000;
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var magFresh = imuRosState.lastMagAt && (now - imuRosState.lastMagAt) < 3000;
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var statusFresh = imuRosState.lastStatusAt && (now - imuRosState.lastStatusAt) < 5000;
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var state = imuRosState.state;
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var status = imuRosState.status;
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var error = imuRosState.error;
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if (!pageConnection.rosOk) {
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state = 'unknown';
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status = 'ROS getrennt';
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error = 'Keine ROS-Verbindung';
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} else if (!dataFresh) {
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state = 'unknown';
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status = 'Warte auf IMU-Daten';
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if (!error || error === '--') error = 'Noch keine frischen IMU-Daten';
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} else if (!statusFresh && (!status || status === '-')) {
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status = 'Verbunden';
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}
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setStateText('imu_state', state, status || '-');
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setText('imu_address', imuRosState.address);
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setText('imu_acceleration', dataFresh ? imuRosState.acceleration : '--');
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setText('imu_gyro', dataFresh ? imuRosState.gyro : '--');
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setText('imu_magnetic', magFresh ? imuRosState.magnetic : '--');
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setText('imu_quaternion', dataFresh ? imuRosState.quaternion : '--');
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setText('imu_roll_pitch_yaw', dataFresh ? imuRosState.rollPitchYaw : '--');
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setText('imu_error', error || '-');
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}
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function formatNumber(value, digits) {
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return Number(value || 0).toLocaleString('de-DE', {
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minimumFractionDigits: digits,
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@@ -2432,6 +2529,12 @@
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ros = null;
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roverCommandTopic = null;
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motorCommandsTopic = null;
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gpsFixTopic = null;
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gpsStatusTopic = null;
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gpsDiagnosticsTopic = null;
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imuDataTopic = null;
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imuMagTopic = null;
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imuStatusTopic = null;
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window.setTimeout(connectDriveEstimatorRos, 3000);
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});
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ros.on('error', function() {
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@@ -2482,6 +2585,69 @@
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messageType: 'std_msgs/String'
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});
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gpsDiagnosticsTopic.subscribe(handleGpsDiagnostics);
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imuDataTopic = new ROSLIB.Topic({
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ros: ros,
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name: '/imu/data',
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messageType: 'sensor_msgs/Imu'
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});
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imuDataTopic.subscribe(function(message) {
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var linearAcceleration = message.linear_acceleration || {};
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var angularVelocity = message.angular_velocity || {};
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var orientation = message.orientation || {};
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var quaternion = [
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Number(orientation.x || 0),
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Number(orientation.y || 0),
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Number(orientation.z || 0),
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Number(orientation.w || 1)
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];
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imuRosState.state = 'active';
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imuRosState.address = '0x4A';
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imuRosState.acceleration = formatImuVector([
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Number(linearAcceleration.x || 0),
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Number(linearAcceleration.y || 0),
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Number(linearAcceleration.z || 0)
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], 'm/s^2', 2);
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imuRosState.gyro = formatImuVector([
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Number(angularVelocity.x || 0),
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Number(angularVelocity.y || 0),
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Number(angularVelocity.z || 0)
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], 'rad/s', 3);
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imuRosState.quaternion = formatImuQuaternion(quaternion);
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imuRosState.rollPitchYaw = formatRollPitchYaw(quaternionToEulerDeg(quaternion));
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imuRosState.lastDataAt = Date.now();
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if (!imuRosState.error || imuRosState.error === 'Keine ROS-Verbindung' || imuRosState.error === 'Noch keine frischen IMU-Daten') {
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imuRosState.error = '';
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}
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});
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imuMagTopic = new ROSLIB.Topic({
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ros: ros,
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name: '/imu/mag',
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messageType: 'sensor_msgs/MagneticField'
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});
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imuMagTopic.subscribe(function(message) {
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var magneticField = message.magnetic_field || {};
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imuRosState.magnetic = formatImuVector([
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Number(magneticField.x || 0) * 1000000,
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Number(magneticField.y || 0) * 1000000,
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Number(magneticField.z || 0) * 1000000
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], 'uT', 2);
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imuRosState.lastMagAt = Date.now();
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});
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imuStatusTopic = new ROSLIB.Topic({
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ros: ros,
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name: '/imu/status',
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messageType: 'std_msgs/String'
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});
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imuStatusTopic.subscribe(function(message) {
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var text = String((message && message.data) || '').trim();
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imuRosState.status = text || 'Verbunden';
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imuRosState.state = text.indexOf('Fehler') === 0 ? 'unknown' : 'active';
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imuRosState.error = text.indexOf('Fehler') === 0 ? text : '';
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imuRosState.lastStatusAt = Date.now();
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});
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}
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function temperatureToWidth(value) {
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@@ -2494,7 +2660,6 @@
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function renderStatus(data) {
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var system = data.system || {};
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var services = data.services || {};
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var imu = data.imu || {};
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setAdminStatus(data.status || 'Bereit');
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setText('info_ips', system.ips);
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setText('info_wifi', system.wifi);
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@@ -2530,14 +2695,6 @@
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setServiceState('camera_service_state', services.camera);
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setServiceState('service_admin_api', services.admin_api);
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setServiceState('service_exomy', services.exomy);
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setStateText('imu_state', imu.state || 'unknown', imu.status || '-');
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setText('imu_address', imu.address);
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setText('imu_acceleration', imu.acceleration);
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setText('imu_gyro', imu.gyro);
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setText('imu_magnetic', imu.magnetic);
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setText('imu_quaternion', imu.quaternion);
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setText('imu_roll_pitch_yaw', imu.roll_pitch_yaw);
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setText('imu_error', imu.error || '-');
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}
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async function fetchStatus() {
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@@ -3109,6 +3266,7 @@
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renderWaypointList();
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applyWaypointPlanningState();
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renderDriveEstimator();
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renderImuRosState();
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updateGpsDiagnosticsPanel();
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refreshCameraPreview();
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window.setInterval(fetchStatus, 10000);
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@@ -3116,6 +3274,7 @@
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window.setInterval(fetchDelay, 5000);
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window.setInterval(fetchSpeedLimit, 5000);
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window.setInterval(fetchMotorTestStatus, 4000);
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window.setInterval(renderImuRosState, 750);
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window.setInterval(renderDriveEstimator, 250);
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window.setInterval(updatePageConnectionState, 1000);
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});
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