auto: update RTK rover/base + config (2026-05-01 17:00:43)

rtk_rover_recorder.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
-import sys, time, struct, argparse, threading, os, sqlite3, uuid, select, termios, tty
+import sys, time, struct, argparse, threading, os, sqlite3, uuid, select, termios, tty, json
 from typing import Optional, Tuple, Dict
 import serial
 from serial.serialutil import SerialException
@@ -570,6 +570,8 @@ def main():
                     help="Start SQLite recording automatically on service start")
     ap.add_argument("--record-note", default="auto",
                     help="Note stored in sessions table when --auto-record is used")
+    ap.add_argument("--cmd-file", default="/home/naue/rtk/rtk_rover_cmd.json",
+                    help="Command file for web UI start/stop recording")
 
     ap.add_argument("--site-log", action="store_true",
                     help="Enable construction-site FIX-only CSV/GeoJSON/status logging")
@@ -667,6 +669,28 @@ def main():
                             recorder.start(note="manual")
                             print(f"⏺️  Recording START (session={recorder.session_id})")
 
+            # Web/API command file: {"cmd":"start"} or {"cmd":"stop"}
+            try:
+                if args.cmd_file and os.path.exists(args.cmd_file):
+                    with open(args.cmd_file, "r", encoding="utf-8") as f:
+                        cmd = json.load(f)
+                    try:
+                        os.remove(args.cmd_file)
+                    except Exception:
+                        pass
+
+                    action = str(cmd.get("cmd", "")).lower()
+                    note = str(cmd.get("note", "web"))
+
+                    if action == "start" and not recorder.is_recording():
+                        recorder.start(note=note)
+                        print(f"⏺️  Web Recording START (session={recorder.session_id})", flush=True)
+                    elif action == "stop" and recorder.is_recording():
+                        recorder.stop()
+                        print("⏹️  Web Recording STOP", flush=True)
+            except Exception as e:
+                print(f"WEB CMD ERROR: {e}", flush=True)
+
             f = read_ubx_frame(zed, timeout=0.05)
             pvt = None
             hpp = None

web/app.py

@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+import sqlite3, json, time, os
+from flask import Flask, render_template, request, Response, redirect, url_for
+
+DB_PATH = "/home/naue/rtk/rtk_rover.db"
+CMD_FILE = "/home/naue/rtk/rtk_rover_cmd.json"
+
+app = Flask(__name__)
+
+def db():
+    con = sqlite3.connect(DB_PATH)
+    con.row_factory = sqlite3.Row
+    return con
+
+def write_cmd(cmd):
+    tmp = CMD_FILE + ".tmp"
+    with open(tmp, "w", encoding="utf-8") as f:
+        json.dump({"cmd": cmd, "note": "web", "ts": time.time()}, f)
+    os.replace(tmp, CMD_FILE)
+
+@app.route("/", methods=["GET"])
+def index():
+    con = db()
+    sessions = con.execute("""
+        SELECT session_id,
+               datetime(start_ts,'unixepoch','localtime') AS start_time,
+               CASE WHEN end_ts IS NULL THEN '' ELSE datetime(end_ts,'unixepoch','localtime') END AS end_time,
+               note,
+               end_ts
+        FROM sessions
+        ORDER BY start_ts DESC
+        LIMIT 50
+    """).fetchall()
+
+    active_session = con.execute("""
+        SELECT session_id, datetime(start_ts,'unixepoch','localtime') AS start_time, note
+        FROM sessions
+        WHERE end_ts IS NULL
+        ORDER BY start_ts DESC
+        LIMIT 1
+    """).fetchone()
+
+    session_id = request.args.get("session_id") or (sessions[0]["session_id"] if sessions else "")
+    only_fix = request.args.get("only_fix", "0") == "1"
+
+    params = []
+    where = ""
+    if session_id:
+        where += " WHERE session_id=?"
+        params.append(session_id)
+    if only_fix:
+        where += " AND carr_soln=2" if where else " WHERE carr_soln=2"
+
+    points = con.execute(f"""
+        SELECT datetime(unix_ts,'unixepoch','localtime') AS t,
+               lat, lon, hmsl_corr_m, hacc_m, vacc_m, carr_soln, num_sats, source
+        FROM gnss_pvt
+        {where}
+        ORDER BY unix_ts DESC
+        LIMIT 200
+    """, params).fetchall()
+
+    count = con.execute(f"SELECT COUNT(*) AS n FROM gnss_pvt {where}", params).fetchone()["n"]
+
+    return render_template("index.html",
+                           sessions=sessions,
+                           session_id=session_id,
+                           only_fix=only_fix,
+                           points=points,
+                           count=count,
+                           active_session=active_session)
+
+@app.route("/record/start", methods=["POST"])
+def record_start():
+    write_cmd("start")
+    return redirect(url_for("index"))
+
+@app.route("/record/stop", methods=["POST"])
+def record_stop():
+    write_cmd("stop")
+    return redirect(url_for("index"))
+
+@app.route("/export.csv")
+def export_csv():
+    session_id = request.args.get("session_id")
+    only_fix = request.args.get("only_fix", "0") == "1"
+
+    params = []
+    where = ""
+    if session_id:
+        where += " WHERE session_id=?"
+        params.append(session_id)
+    if only_fix:
+        where += " AND carr_soln=2" if where else " WHERE carr_soln=2"
+
+    con = db()
+    rows = con.execute(f"""
+        SELECT datetime(unix_ts,'unixepoch','localtime') AS t,
+               lat, lon, hmsl_m, hmsl_corr_m, hacc_m, vacc_m,
+               fix_type, carr_soln, diff_soln, gnss_ok, num_sats, source
+        FROM gnss_pvt
+        {where}
+        ORDER BY unix_ts ASC
+    """, params).fetchall()
+
+    def generate():
+        yield "time,lat,lon,hmsl_m,hmsl_corr_m,hacc_m,vacc_m,fix_type,carr_soln,diff_soln,gnss_ok,num_sats,source\n"
+        for r in rows:
+            yield ",".join(str(r[k]) if r[k] is not None else "" for k in r.keys()) + "\n"
+
+    return Response(generate(), mimetype="text/csv",
+                    headers={"Content-Disposition": "attachment; filename=rtk_export.csv"})
+
+if __name__ == "__main__":
+    app.run(host="0.0.0.0", port=8080)

web/templates/index.html

@@ -0,0 +1,76 @@
+<!doctype html>
+<html lang="de">
+<head>
+  <meta charset="utf-8">
+  <title>RTK Rover DB</title>
+  <style>
+    body { font-family: sans-serif; margin: 2rem; background: #f6f6f6; }
+    h1 { margin-top: 0; }
+    .card { background: white; padding: 1rem; border-radius: 10px; margin-bottom: 1rem; box-shadow: 0 1px 5px #ccc; }
+    table { width: 100%; border-collapse: collapse; background: white; }
+    th, td { padding: .45rem; border-bottom: 1px solid #ddd; font-size: .9rem; }
+    th { text-align: left; background: #eee; }
+    .fix { color: green; font-weight: bold; }
+    .float { color: orange; font-weight: bold; }
+    select, button, input { padding: .4rem; }
+  </style>
+</head>
+<body>
+  <h1>RTK Rover Datenbank</h1>
+
+  <div class="card">
+    <form method="get">
+      <label>Session:</label>
+      <select name="session_id">
+        {% for s in sessions %}
+          <option value="{{s.session_id}}" {% if s.session_id == session_id %}selected{% endif %}>
+            {{s.start_time}} | {{s.note}} | {{s.session_id[:8]}}
+          </option>
+        {% endfor %}
+      </select>
+
+      <label>
+        <input type="checkbox" name="only_fix" value="1" {% if only_fix %}checked{% endif %}>
+        nur RTK FIX
+      </label>
+
+      <button type="submit">Anzeigen</button>
+      <a href="/export.csv?session_id={{session_id}}{% if only_fix %}&only_fix=1{% endif %}">CSV exportieren</a>
+    </form>
+  </div>
+
+  <div class="card">
+    <b>Punkte:</b> {{count}} |
+    <b>Anzeige:</b> letzte {{points|length}}
+  </div>
+
+  <table>
+    <tr>
+      <th>Zeit</th>
+      <th>Lat</th>
+      <th>Lon</th>
+      <th>hMSL corr</th>
+      <th>hAcc</th>
+      <th>vAcc</th>
+      <th>RTK</th>
+      <th>Sats</th>
+      <th>Quelle</th>
+    </tr>
+    {% for p in points %}
+    <tr>
+      <td>{{p.t}}</td>
+      <td>{{"%.8f"|format(p.lat)}}</td>
+      <td>{{"%.8f"|format(p.lon)}}</td>
+      <td>{{"%.3f"|format(p.hmsl_corr_m)}}</td>
+      <td>{{"%.3f"|format(p.hacc_m)}}</td>
+      <td>{{"%.3f"|format(p.vacc_m)}}</td>
+      <td class="{% if p.carr_soln == 2 %}fix{% elif p.carr_soln == 1 %}float{% endif %}">
+        {% if p.carr_soln == 2 %}FIX{% elif p.carr_soln == 1 %}FLOAT{% else %}—{% endif %}
+      </td>
+      <td>{{p.num_sats}}</td>
+      <td>{{p.source}}</td>
+    </tr>
+    {% endfor %}
+  </table>
+</body>
+</html>