gardentech
f34817d5b6
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.
83 lines
2.8 KiB
Python
83 lines
2.8 KiB
Python
from __future__ import annotations
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from fastapi import APIRouter, HTTPException, Request
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from fastapi.responses import StreamingResponse
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from pydantic import BaseModel
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from starlette.concurrency import run_in_threadpool
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import camera_params
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import config
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router = APIRouter(prefix="/api/camera", tags=["camera"])
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class ParamValuesIn(BaseModel):
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exposure_auto: bool
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exposure_auto_target_brightness: int
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exposure_auto_min: float
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exposure_auto_max: float
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exposure_time: int
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gain: float
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def _get_spec(request: Request, cam_id: str) -> config.CameraSpec:
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session = request.app.state.session
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specs = {c.id: c for c in config.camera_specs(session.camera_count)}
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spec = specs.get(cam_id)
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if spec is None:
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raise HTTPException(404, f"unknown camera id '{cam_id}' for camera_count={session.camera_count}")
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return spec
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@router.get("/{cam_id}/params")
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async def get_params(cam_id: str, request: Request):
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spec = _get_spec(request, cam_id)
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session = request.app.state.session
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values = session.camera_values.get(cam_id) or camera_params.load_defaults(spec)
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session.camera_values[cam_id] = values
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return values.as_dict()
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@router.post("/{cam_id}/params")
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async def set_params(cam_id: str, body: ParamValuesIn, request: Request):
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spec = _get_spec(request, cam_id)
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session = request.app.state.session
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values = camera_params.CameraParamValues(**body.model_dump())
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session.camera_values[cam_id] = values
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return {"ok": True}
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@router.post("/{cam_id}/params/apply")
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async def apply_params(cam_id: str, request: Request):
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spec = _get_spec(request, cam_id)
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session = request.app.state.session
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pm = request.app.state.pm
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if not pm.is_running("camera"):
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raise HTTPException(409, "camera is not running")
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values = session.camera_values.get(cam_id) or camera_params.load_defaults(spec)
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results = await run_in_threadpool(camera_params.apply_params, spec, values)
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ok = all(r["ok"] for r in results)
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return {"ok": ok, "results": results}
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@router.post("/{cam_id}/params/save")
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async def save_params(cam_id: str, request: Request):
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spec = _get_spec(request, cam_id)
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session = request.app.state.session
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values = session.camera_values.get(cam_id) or camera_params.load_defaults(spec)
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try:
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await run_in_threadpool(camera_params.save_params, spec, values)
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except Exception as e:
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raise HTTPException(500, f"save failed: {e}")
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return {"ok": True, "path": spec.base_params_path}
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@router.get("/{cam_id}/stream.mjpg")
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async def stream(cam_id: str, request: Request):
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_get_spec(request, cam_id) # validate
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ros = request.app.state.ros
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return StreamingResponse(
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ros.mjpeg_generator(cam_id),
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media_type="multipart/x-mixed-replace; boundary=frame",
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)
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