Initial commit: scan_web integrated recording UI
FastAPI backend + vanilla JS frontend for LiDAR/camera startup, camera settings, and rosbag recording, unifying the previous scan_gui/scan_gui_dual/ scan_gui_triple desktop tools into one web app.
This commit is contained in:
gardentech
@@ -0,0 +1,212 @@
|
||||
from __future__ import annotations
|
||||
|
||||
import asyncio
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
from fastapi import APIRouter, HTTPException, Request
|
||||
from pydantic import BaseModel
|
||||
|
||||
import bag_metadata
|
||||
import camera_params
|
||||
import config
|
||||
from ros_bridge import ROSBridge
|
||||
|
||||
router = APIRouter()
|
||||
|
||||
|
||||
class SessionConfig(BaseModel):
|
||||
camera_count: int
|
||||
|
||||
|
||||
@router.post("/session")
|
||||
async def set_session(cfg: SessionConfig, request: Request):
|
||||
if cfg.camera_count not in config.CAMERA_PROFILES:
|
||||
raise HTTPException(400, f"unsupported camera_count, expected one of {sorted(config.CAMERA_PROFILES)}")
|
||||
session = request.app.state.session
|
||||
pm = request.app.state.pm
|
||||
if pm.is_running("lidar") or pm.is_running("camera"):
|
||||
raise HTTPException(409, "stop lidar/camera before changing camera_count")
|
||||
|
||||
session.camera_count = cfg.camera_count
|
||||
# ROSBridge subscriptions are fixed at construction (see ros_bridge.py) —
|
||||
# changing camera_count means tearing down and recreating the bridge.
|
||||
old_ros: ROSBridge = request.app.state.ros
|
||||
old_ros.stop()
|
||||
new_ros = ROSBridge(camera_count=cfg.camera_count)
|
||||
new_ros.start()
|
||||
request.app.state.ros = new_ros
|
||||
return {"ok": True, "camera_count": session.camera_count}
|
||||
|
||||
|
||||
def _camera_launch_cmd(app) -> str:
|
||||
session = app.state.session
|
||||
specs = config.camera_specs(session.camera_count)
|
||||
launch_file = config.camera_launch_file(session.camera_count)
|
||||
args = []
|
||||
for cam in specs:
|
||||
values = session.camera_values.get(cam.id) or camera_params.load_defaults(cam)
|
||||
session.camera_values[cam.id] = values
|
||||
path = camera_params.write_launch_params_yaml(cam, values)
|
||||
args.append(f" {cam.launch_arg}:={path}")
|
||||
return (
|
||||
f"{config.CAMERA_LAUNCH_SOURCE} && "
|
||||
f"stdbuf -oL -eL ros2 launch hik_camera_ros2_driver {launch_file}" + "".join(args)
|
||||
)
|
||||
|
||||
|
||||
async def _auto_start_camera_after_delay(app):
|
||||
await asyncio.sleep(config.CAMERA_DELAY_SEC)
|
||||
pm = app.state.pm
|
||||
if pm.is_running("lidar") and not pm.is_running("camera"):
|
||||
pm.start("camera", _camera_launch_cmd(app), log_path=config.CAMERA_LOG_PATH)
|
||||
|
||||
|
||||
@router.post("/lidar/start")
|
||||
async def lidar_start(request: Request):
|
||||
pm = request.app.state.pm
|
||||
pm.start("lidar", config.LIDAR_LAUNCH_CMD, log_path=config.LIDAR_LOG_PATH)
|
||||
asyncio.create_task(_auto_start_camera_after_delay(request.app))
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/lidar/stop")
|
||||
async def lidar_stop(request: Request):
|
||||
pm = request.app.state.pm
|
||||
session = request.app.state.session
|
||||
pm.stop("lidar")
|
||||
pm.stop("camera")
|
||||
# fastlio has no sensor data source once lidar stops — tear it down here
|
||||
# too, whether it's running because a recording is active or because the
|
||||
# operator started it standalone via the settings test panel.
|
||||
pm.stop("fastlio")
|
||||
if session.recording:
|
||||
pm.stop("recording")
|
||||
session.recording = False
|
||||
session.recording_path = None
|
||||
session.recording_started_at = None
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/camera/start")
|
||||
async def camera_start(request: Request):
|
||||
pm = request.app.state.pm
|
||||
if not pm.is_running("lidar"):
|
||||
raise HTTPException(409, "start lidar first")
|
||||
pm.start("camera", _camera_launch_cmd(request.app), log_path=config.CAMERA_LOG_PATH)
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/camera/stop")
|
||||
async def camera_stop(request: Request):
|
||||
request.app.state.pm.stop("camera")
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/fastlio/start")
|
||||
async def fastlio_start(request: Request):
|
||||
"""Manual FAST-LIO start, independent of recording — lets the operator
|
||||
preview lidar point-cloud quality (rig leveling, coverage) in Settings
|
||||
before committing to an actual recording."""
|
||||
pm = request.app.state.pm
|
||||
if not pm.is_running("lidar"):
|
||||
raise HTTPException(409, "start lidar first")
|
||||
request.app.state.ros.pointcloud.reset()
|
||||
pm.start("fastlio", config.FASTLIO_LAUNCH_CMD, log_path=config.FASTLIO_LOG_PATH, env=config.fastlio_env())
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/fastlio/stop")
|
||||
async def fastlio_stop(request: Request):
|
||||
if request.app.state.session.recording:
|
||||
raise HTTPException(409, "recording is using fastlio — stop the recording instead")
|
||||
request.app.state.pm.stop("fastlio")
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
@router.post("/system/estop")
|
||||
async def estop(request: Request):
|
||||
request.app.state.pm.stop_all()
|
||||
request.app.state.session.recording = False
|
||||
return {"ok": True}
|
||||
|
||||
|
||||
def build_status(app) -> dict:
|
||||
from health import TopicThreshold
|
||||
|
||||
pm = app.state.pm
|
||||
ros: ROSBridge = app.state.ros
|
||||
session = app.state.session
|
||||
specs = config.camera_specs(session.camera_count)
|
||||
|
||||
lidar_running = pm.is_running("lidar")
|
||||
camera_running = pm.is_running("camera")
|
||||
fastlio_running = pm.is_running("fastlio")
|
||||
|
||||
lidar_thr = config.HEALTH_THRESHOLDS["/livox/lidar"]
|
||||
cam_thr = config.HEALTH_THRESHOLDS["camera_image"]
|
||||
map_thr = config.HEALTH_THRESHOLDS["/Odometry"]
|
||||
|
||||
cameras = []
|
||||
for cam in specs:
|
||||
health = ros.health.classify(
|
||||
cam.image_topic, camera_running, TopicThreshold(*cam_thr)
|
||||
)
|
||||
cameras.append({
|
||||
"id": cam.id, "topic": cam.image_topic, "health": health,
|
||||
"hz": ros.health.rate_hz(cam.image_topic),
|
||||
})
|
||||
|
||||
recording_elapsed_s = None
|
||||
recording_size_bytes = None
|
||||
disk_check_dir = config.DEFAULT_SAVE_DIR
|
||||
if session.recording and session.recording_path:
|
||||
if session.recording_started_at is not None:
|
||||
recording_elapsed_s = round(time.monotonic() - session.recording_started_at, 1)
|
||||
recording_size_bytes = bag_metadata.dir_size_bytes(Path(session.recording_path))
|
||||
disk_check_dir = str(Path(session.recording_path).parent)
|
||||
|
||||
lidar_health = ros.health.classify("/livox/lidar", lidar_running, TopicThreshold(*lidar_thr))
|
||||
|
||||
return {
|
||||
"camera_count": session.camera_count,
|
||||
"default_save_dir": config.DEFAULT_SAVE_DIR,
|
||||
"lidar": {
|
||||
"running": lidar_running,
|
||||
"health": lidar_health,
|
||||
# /livox/imu isn't subscribed at all anymore (see ros_bridge.py's
|
||||
# module docstring — its ~200Hz starved the camera topics badly
|
||||
# enough that the operator asked to drop it, 2026-08-06). It
|
||||
# comes off the same livox_ros_driver2 process as the lidar
|
||||
# topic, so lidar's own health is a reasonable stand-in; there's
|
||||
# no real Hz number to report, so imu_hz stays 0 (the HUD badge
|
||||
# just shows the health word with no Hz suffix in that case).
|
||||
"imu_health": lidar_health,
|
||||
"hz": ros.health.rate_hz("/livox/lidar"),
|
||||
"imu_hz": 0.0,
|
||||
},
|
||||
"cameras": cameras,
|
||||
"map": {
|
||||
"health": ros.health.classify(config.ODOMETRY_TOPIC, fastlio_running, TopicThreshold(*map_thr)),
|
||||
"hz": ros.health.rate_hz(config.ODOMETRY_TOPIC),
|
||||
"points": ros.pointcloud.point_count(),
|
||||
},
|
||||
"recording": {
|
||||
"active": session.recording,
|
||||
"path": session.recording_path,
|
||||
"elapsed_s": recording_elapsed_s,
|
||||
"size_bytes": recording_size_bytes,
|
||||
},
|
||||
"disk": {
|
||||
"path": disk_check_dir,
|
||||
"free_gb": round(config.disk_free_gb(disk_check_dir), 2),
|
||||
"low_warning_gb": config.DISK_LOW_WARNING_GB,
|
||||
"low_danger_gb": config.DISK_LOW_DANGER_GB,
|
||||
},
|
||||
"process_status": pm.status(),
|
||||
}
|
||||
|
||||
|
||||
@router.get("/status")
|
||||
async def status(request: Request):
|
||||
return build_status(request.app)
|
||||
Reference in New Issue
Block a user