Verzögerung eingebaut

ExoMy_Software-master/scripts/exomy_admin_api.py

@@ -10,6 +10,7 @@ import time
 
 PORT = 8082
 EXOMY_CONTAINER = 'exomy_autostart'
+DELAY_FILE = '/tmp/exomy_delay.txt'
 MOTOR_TEST_LOCK = threading.Lock()
 
 
@@ -220,6 +221,33 @@ def collect_status():
     }
 
 
+def get_delay():
+    try:
+        with open(DELAY_FILE) as f:
+            return max(0.0, min(10.0, float(f.read().strip())))
+    except Exception:
+        return 0.0
+
+
+def set_delay(seconds):
+    seconds = max(0.0, min(10.0, float(seconds)))
+    data = str(seconds).encode()
+    try:
+        fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_TRUNC)
+    except FileNotFoundError:
+        fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
+    try:
+        os.write(fd, data)
+    finally:
+        os.close(fd)
+    subprocess.run(
+        ['docker', 'exec', EXOMY_CONTAINER, 'bash', '-c',
+         f'source /opt/ros/melodic/setup.bash && rosparam set /delay_seconds {seconds}'],
+        capture_output=True, check=False
+    )
+    return seconds
+
+
 def restart_camera_service():
     subprocess.Popen(['systemctl', 'restart', 'exomy-camera-stream.service'])
 
@@ -449,6 +477,9 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.end_headers()
 
     def do_GET(self):
+        if self.path == '/api/delay':
+            self.write_json(200, {'delay_seconds': get_delay()})
+            return
         if self.path == '/api/status':
             self.write_json(200, collect_status())
             return
@@ -469,6 +500,24 @@ class Handler(http.server.BaseHTTPRequestHandler):
         self.write_json(404, {'status': 'Unbekannt'})
 
     def do_POST(self):
+        if self.path == '/api/delay':
+            try:
+                content_length = int(self.headers.get('Content-Length', '0'))
+            except ValueError:
+                content_length = 0
+            raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
+            try:
+                payload = json.loads(raw_body.decode('utf-8'))
+            except (UnicodeDecodeError, json.JSONDecodeError):
+                self.write_json(400, {'status': 'Ungültige Anfrage'})
+                return
+            try:
+                seconds = set_delay(payload.get('delay_seconds', 0))
+                self.write_json(200, {'status': 'Delay gesetzt', 'delay_seconds': seconds})
+            except Exception as exc:
+                self.write_json(500, {'status': str(exc)})
+            return
+
         if self.path == '/api/motor-test/drive-neutral/preview':
             try:
                 content_length = int(self.headers.get('Content-Length', '0'))