From 4b040391da2e92849b55fa3986bbe4bd98ff24d7 Mon Sep 17 00:00:00 2001
From: Helva <helva@mcf.at>
Date: Sun, 8 Feb 2026 14:04:31 +0100
Subject: [PATCH] fixed web-control path and watchdog stoping

---
 drive/opt/drive-ctl/server.py  |  7 +++++--
 drive/var/www/drive/index.html | 17 ++++++++++++++++-
 2 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/drive/opt/drive-ctl/server.py b/drive/opt/drive-ctl/server.py
index b6b2149..9f15229 100644
--- a/drive/opt/drive-ctl/server.py
+++ b/drive/opt/drive-ctl/server.py
@@ -9,7 +9,7 @@ SERIAL_PORT = "/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"   # ggf. /de
 BAUD = 115200
 
 # Safety: if websocket stops sending, we also stop.
-STOP_AFTER_SEC = 0.35
+STOP_AFTER_SEC = 0.5
 
 app = FastAPI()
 
@@ -30,11 +30,14 @@ def send_lr(l: int, r: int):
 def health():
   return {"ok": True, "serial": SERIAL_PORT}
 
-@app.websocket("/drive-ws")
+@app.websocket("/ws")
 async def ws(websocket: WebSocket):
   global last_msg_ts
   await websocket.accept()
 
+  last_msg_ts = time.time()
+  send_lr(0, 0)
+
   async def watchdog():
     while True:
       await asyncio.sleep(0.05)
diff --git a/drive/var/www/drive/index.html b/drive/var/www/drive/index.html
index d305c59..62607f0 100644
--- a/drive/var/www/drive/index.html
+++ b/drive/var/www/drive/index.html
@@ -265,7 +265,22 @@
     lastL = L; lastR = R;
     readoutEl.textContent = `T ${throttle.toFixed(2)} | Turn ${turn.toFixed(2)}  →  L ${L} | R ${R}`;
 
-    sendLR(L, R, force);
+    // sendLR(L, R, force);
+
+    // ---- Heartbeat: keep sending current values while driving ----
+    setInterval(() => {
+      // wenn nicht verbunden -> nix
+      if (!connected) return;
+
+      // Wenn du NUR beim aktiven Fahren senden willst:
+      const driving = (Math.abs(throttle) > 0.02) || (Math.abs(turn) > 0.02);
+
+      if (driving) {
+        // erzwinge Senden auch wenn sich nichts geändert hat
+        sendLR(lastL, lastR, true);
+      }
+}, 400); // 40 Hz
+
   }
 
   function hardStop() {