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.
75 lines
2.5 KiB
Python
75 lines
2.5 KiB
Python
from __future__ import annotations
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import asyncio
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from fastapi import APIRouter, WebSocket, WebSocketDisconnect
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import config
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from log_tail import LogTailer
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from routers.system import build_status
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router = APIRouter()
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STATUS_PUSH_HZ = 1.0 # slowed from 2.0 — paired with health.py's wider RATE_WINDOW,
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# the operator asked for a calmer/more trustworthy number over a
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# snappier one (2026-08-06).
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LOG_POLL_HZ = 4.0
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@router.websocket("/ws/status")
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async def ws_status(ws: WebSocket):
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await ws.accept()
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period = 1.0 / STATUS_PUSH_HZ
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try:
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while True:
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await ws.send_json(build_status(ws.app))
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await asyncio.sleep(period)
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except WebSocketDisconnect:
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pass
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@router.websocket("/ws/pointcloud")
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async def ws_pointcloud(ws: WebSocket, profile: str = "desktop"):
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"""M3 live scan view — binary-framed decimated point cloud, see
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pointcloud_codec.py for the wire format. `profile` picks desktop vs.
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phone point/Hz budgets rather than trusting client-supplied numbers
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directly (a client could otherwise ask for an unbounded frame size)."""
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await ws.accept()
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prof = config.POINTCLOUD_PROFILES.get(profile, config.POINTCLOUD_PROFILES["desktop"])
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period = 1.0 / prof["hz"]
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ros = ws.app.state.ros
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try:
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while True:
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await ws.send_bytes(ros.pointcloud.encode_frame(max_points=prof["max_points"]))
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await asyncio.sleep(period)
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except WebSocketDisconnect:
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pass
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@router.websocket("/ws/logs")
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async def ws_logs(ws: WebSocket):
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"""Unified log tail — mirrors the old PyQt GUIs' single scrollback pane.
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Sends recent backlog once on connect, then only newly-appended lines."""
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await ws.accept()
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tailer = LogTailer({
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"lidar": config.LIDAR_LOG_PATH,
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"camera": config.CAMERA_LOG_PATH,
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"recording": config.RECORDING_LOG_PATH,
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"fastlio": config.FASTLIO_LOG_PATH,
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})
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backlog = []
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for tag in ("lidar", "camera", "recording", "fastlio"):
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backlog += [{"tag": tag, "line": ln} for ln in tailer.read_tail(tag, max_lines=80)]
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if backlog:
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await ws.send_json({"backlog": backlog})
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period = 1.0 / LOG_POLL_HZ
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try:
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while True:
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new_lines = [{"tag": tag, "line": line} for tag, line in tailer.read_new()]
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if new_lines:
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await ws.send_json({"lines": new_lines})
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await asyncio.sleep(period)
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except WebSocketDisconnect:
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pass
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