fixed web-control path and watchdog stoping

.gitignore

@@ -0,0 +1 @@
+drive/opt/drive-ctl/__pycache__/

README.md

@@ -193,11 +193,25 @@ For Web-UI-Controller you need to have access to the raspberry-pi i.e. via a hot
     sudo apt install -y python3-venv
     python3 -m venv /opt/drive-ctl-venv
     
+    sudo chown -R $USER:$USER /opt/drive-ctl-venv
     /opt/drive-ctl-venv/bin/pip install fastapi uvicorn pyserial
 
     source /opt/drive-ctl-venv/bin/activate
     pip install fastapi uvicorn pyserial
 
+Configure Arduino-USB-ID
+
+    ls -l /dev/serial/by-id/ 2>/dev/null
+
+Example Output
+
+    usb-1a86_USB2.0-Serial-if00-port0 -> ../../ttyUSB0
+
+Watch USB devices while replugging
+
+    dmesg -T | tail -n 80
+
+Configure the USB-Device-ID in /opt/helva-robot/drive/opt/drive-ctl/server.py
 
 ### Activate Web Control Interface
 
@@ -223,4 +237,14 @@ Check Serial device is stable, otherwise create a udev rule
 
     http://pi-ip/drive/
 
+### Debug drive-ctl WebUI
+
+check local webservice
+
+    curl -s http://127.0.0.1:8002/health
+
+should be -> {"ok": true, ... } -> otherwise look at the logs:
+
+    journalctl -u drive-ctl -n 80 --no-pager
+
 

drive/etc/nginx/snippets/drive.conf

@@ -1,15 +1,16 @@
 
-  location /drive/ {
+  location ^~ /drive/ {
     alias /opt/helva-robot/drive/var/www/drive/;
     try_files $uri $uri/ /drive/index.html;
   }
 
-  location /drive-ws {
+  location = /drive-ws {
     proxy_pass http://127.0.0.1:8002/ws;
     proxy_http_version 1.1;
     proxy_set_header Upgrade $http_upgrade;
     proxy_set_header Connection "Upgrade";
     proxy_set_header Host $host;
+    proxy_read_timeout 3600;
   }
 
   location /drive-health {

drive/opt/drive-ctl/server.py

@@ -5,11 +5,11 @@ import serial
 from fastapi import FastAPI, WebSocket, WebSocketDisconnect
 from fastapi.responses import HTMLResponse
 
-SERIAL_PORT = "/dev/ttyACM0"   # ggf. /dev/ttyUSB0
+SERIAL_PORT = "/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"   # ggf. /dev/ttyUSB0
 BAUD = 115200
 
 # Safety: if websocket stops sending, we also stop.
-STOP_AFTER_SEC = 0.35
+STOP_AFTER_SEC = 0.5
 
 app = FastAPI()
 
@@ -35,6 +35,9 @@ 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)

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() {

face/etc/nginx/sites-available/face

@@ -2,6 +2,8 @@ server {
     listen 80;
     server_name _;
 
+    include /opt/helva-robot/drive/etc/nginx/snippets/drive.conf;
+
     root /opt/helva-robot/face/var/www/html;
     index index.html;
 
@@ -31,6 +33,5 @@ server {
         add_header Cache-Control no-cache;
     }
 
-    include /opt/helva-robot/drive/etc/nginx/snippets/drive.conf;
 }