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.
236 lines
9.5 KiB
Python
236 lines
9.5 KiB
Python
"""Workspace paths, per-camera-count topic/launch config, and tunable thresholds.
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Values here are ported 1:1 from the source of truth in ~/fast_ws/scan_gui.py,
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scan_gui_dual.py and scan_gui_triple.py — see docstrings in each CameraSpec
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list for which file a given camera-count profile was copied from.
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"""
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from __future__ import annotations
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import os
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from dataclasses import dataclass
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from pathlib import Path
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HOME = Path.home()
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ROS_SETUP = "/opt/ros/humble/setup.bash"
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# fast_ws is deprecated (2026-08-05, user decision) — it never had its own
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# livox_ros_driver2 build, it only chained to lidar2_ws/install as an
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# underlay (confirmed: COLCON_CURRENT_PREFIX in fast_ws/install/setup.bash
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# points at lidar2_ws/install). Source lidar2_ws directly instead.
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LIDAR2_WS_SETUP = str(HOME / "lidar2_ws/install/setup.bash")
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CAMERA2_WS_SETUP = str(HOME / "camera2_ws/install/setup.bash")
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FAST_DUAL_WS_SETUP = str(HOME / "fast_dual_ws/install/setup.bash")
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RTK_WS_SETUP = str(HOME / "rtk_ws/install/setup.bash")
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# hku-mars/FAST_LIO ROS2 port, LiDAR+IMU-only mapping (no camera) — confirmed
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# working 2026-08-06. Its install/setup.bash was built with only
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# /opt/ros/humble as an underlay (not chained to lidar2_ws), but it subscribes
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# livox_ros_driver2::msg::CustomMsg on /livox/lidar, so lidar2_ws must still
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# be sourced first at launch time for that message package to resolve.
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FAST_LIO_WS_SETUP = str(HOME / "fast_lio/install/setup.bash")
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LIDAR_LAUNCH_CMD = (
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f"source {ROS_SETUP} && source {LIDAR2_WS_SETUP} && "
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"stdbuf -oL -eL ros2 launch livox_ros_driver2 mid360s_fastlivo_launch.py"
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)
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CAMERA_LAUNCH_SOURCE = f"source {ROS_SETUP} && source {CAMERA2_WS_SETUP}"
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# rviz:=false — this is launched headlessly as a recording-lifecycle
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# subprocess, not an interactive session; mapping.launch.py defaults rviz to
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# true which would otherwise pop an unwanted GUI window.
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FASTLIO_LAUNCH_CMD = (
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f"source {ROS_SETUP} && source {LIDAR2_WS_SETUP} && source {FAST_LIO_WS_SETUP} && "
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"stdbuf -oL -eL ros2 launch fast_lio mapping.launch.py rviz:=false"
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)
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def fastlio_env() -> dict:
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"""LD_LIBRARY_PATH override for the fastlio subprocess.
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run_scan_web.sh sources camera2_ws (for the Hikvision camera driver)
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before exec'ing uvicorn, which puts the Hikvision SDK's lib dirs on
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LD_LIBRARY_PATH for the whole backend process — and therefore, by
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default, every ManagedProcess it spawns too (env = os.environ.copy()).
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fastlio_mapping doesn't use the camera SDK at all, but its bundled
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libusb-1.0.so.0 is old enough to be missing libusb_set_option, a symbol
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PCL's libpcl_io needs — with that copy resolved first, fastlio_mapping
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fails to even start (symbol lookup error, confirmed 2026-08-06).
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Two separate paths carry this old libusb, not just one — /opt/MVS/lib/*
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(the vendor SDK's own install) AND
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camera2_ws/install/hik_camera_ros2_driver/lib (which symlinks straight
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into the same vendored hikSDK/lib/amd64 copy) — both get filtered here.
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"""
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bad = ("mvs", "hik_camera", "hiksdk")
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parts = os.environ.get("LD_LIBRARY_PATH", "").split(":")
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cleaned = ":".join(p for p in parts if p and not any(b in p.lower() for b in bad))
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return {"LD_LIBRARY_PATH": cleaned}
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CAMERA_DELAY_SEC = 5 # let LiDAR init before starting cameras — ported from scan_gui*.py
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LOG_DIR = HOME / "scan_web_logs"
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LIDAR_LOG_PATH = LOG_DIR / "lidar.log"
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CAMERA_LOG_PATH = LOG_DIR / "camera.log"
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RECORDING_LOG_PATH = LOG_DIR / "recording.log"
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FASTLIO_LOG_PATH = LOG_DIR / "fastlio.log"
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GNSS_LOG_PATH = LOG_DIR / "gnss.log"
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DEFAULT_SAVE_DIR = str(HOME / "bags") # confirmed default from scan_gui.py:460
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@dataclass(frozen=True)
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class CameraSpec:
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id: str
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image_topic: str
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info_topic: str
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node_name: str # ROS node name, no leading slash
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base_params_path: str
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launch_arg: str # launch-file argument name this camera's params file is passed as
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HIK_CFG_DIR = HOME / "camera2_ws/src/hik_camera_ros2_driver/config"
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# camera_count -> (launch_file, [CameraSpec, ...])
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CAMERA_PROFILES: dict[int, tuple[str, list[CameraSpec]]] = {
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1: (
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"hik_camera_launch.py",
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[
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CameraSpec(
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id="cam1",
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image_topic="/camera/image",
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info_topic="/camera/camera_info",
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node_name="hik_camera_ros2_driver",
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base_params_path=str(HIK_CFG_DIR / "camera_params.yaml"),
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launch_arg="params_file",
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),
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],
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),
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2: (
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"hik_camera_dual_launch.py",
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[
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CameraSpec(
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id="cam1",
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image_topic="/cam1/image",
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info_topic="/cam1/camera_info",
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node_name="hik_camera_cam1",
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base_params_path=str(HIK_CFG_DIR / "camera_params_cam1.yaml"),
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launch_arg="cam1_params_file",
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),
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CameraSpec(
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id="cam2",
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image_topic="/cam2/image",
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info_topic="/cam2/camera_info",
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node_name="hik_camera_cam2",
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base_params_path=str(HIK_CFG_DIR / "camera_params_cam2.yaml"),
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launch_arg="cam2_params_file",
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),
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],
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),
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3: (
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"hik_camera_triple_launch.py",
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[
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CameraSpec(
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id="cam1",
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image_topic="/cam1/image",
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info_topic="/cam1/camera_info",
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node_name="hik_camera_cam1",
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base_params_path=str(HIK_CFG_DIR / "camera_params_cam1.yaml"),
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launch_arg="cam1_params_file",
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),
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CameraSpec(
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id="cam2",
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image_topic="/cam2/image",
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info_topic="/cam2/camera_info",
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node_name="hik_camera_cam2",
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base_params_path=str(HIK_CFG_DIR / "camera_params_cam2.yaml"),
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launch_arg="cam2_params_file",
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),
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CameraSpec(
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id="cam3",
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image_topic="/cam3/image",
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info_topic="/cam3/camera_info",
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node_name="hik_camera_cam3",
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base_params_path=str(HIK_CFG_DIR / "camera_params_cam3.yaml"),
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launch_arg="cam3_params_file",
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),
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],
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),
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}
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DEFAULT_CAMERA_COUNT = 3 # matches the physical rig described by the user (3 cams + MID360s)
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def camera_specs(camera_count: int) -> list[CameraSpec]:
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if camera_count not in CAMERA_PROFILES:
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raise ValueError(f"unsupported camera_count={camera_count}, expected one of {sorted(CAMERA_PROFILES)}")
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return CAMERA_PROFILES[camera_count][1]
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def camera_launch_file(camera_count: int) -> str:
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return CAMERA_PROFILES[camera_count][0]
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def base_record_topics(camera_count: int) -> str:
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parts = ["/livox/lidar", "/livox/imu"]
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for cam in camera_specs(camera_count):
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parts += [cam.image_topic, cam.info_topic]
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return " ".join(parts)
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ROSBAG_SOURCE = f"source {ROS_SETUP} && source {LIDAR2_WS_SETUP} && source {CAMERA2_WS_SETUP}"
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# GPS is out of scope for M1 (see plan milestone M2) — topic names kept here only
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# as forward-reference documentation, not wired to any process/health logic yet.
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GPS_TOPICS_LEGACY = "/gps/fix /gps/nmea"
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GPS_TOPICS_RTK = "/ublox_driver/receiver_pvt"
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DISK_LOW_WARNING_GB = 10.0 # badge turns warning below this
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DISK_LOW_DANGER_GB = 2.0 # badge turns danger below this — a long scan can lose a bag here
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def disk_free_gb(path: str) -> float:
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"""Free space (GiB) on the filesystem backing `path` (walks up to an
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existing ancestor dir first — the save dir itself may not exist yet)."""
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import shutil as _shutil
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p = Path(path)
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while not p.exists() and p != p.parent:
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p = p.parent
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usage = _shutil.disk_usage(p)
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return usage.free / (1024 ** 3)
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# ── Health staleness thresholds (seconds) — proposed defaults, tune against
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# real observed rates once M1-M3 are running (see plan §Health synthesis). ──
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HEALTH_THRESHOLDS = {
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"/livox/lidar": (1.0, 3.0),
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# No "/livox/imu" entry — not subscribed at all anymore, see
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# ros_bridge.py's module docstring. imu_health in /api/status mirrors
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# lidar's own classification instead.
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"camera_image": (1.5, 4.0), # applied per-camera image topic
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# /Odometry, not /aft_mapped_to_init — that was FAST-LIVO2/LOAM-family
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# naming, anticipated before the actual M3 backend (hku-mars FAST_LIO
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# ROS2 port, confirmed 2026-08-06) was built. Confirmed via
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# laserMapping.cpp: pubOdomAftMapped_ publishes nav_msgs/Odometry on
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# "/Odometry".
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"/Odometry": (1.0, 4.0),
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}
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# ── M3 live point-cloud view ────────────────────────────────────────────
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# FAST-LIO's /cloud_registered is the per-scan (not cumulative) downsampled
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# world-frame cloud — scan_web accumulates it server-side (see
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# pointcloud_codec.py) so the operator sees full scan coverage, not a
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# blinking per-scan cloud.
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POINTCLOUD_TOPIC = "/cloud_registered"
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ODOMETRY_TOPIC = "/Odometry"
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POINTCLOUD_VOXEL_SIZE_M = 0.05 # accumulation dedup grid
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POINTCLOUD_MAX_ACCUM_POINTS = 200_000 # hard ceiling; oldest points evicted past this
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# Two output profiles selected at WS-connect time (?profile=desktop|phone) —
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# phone gets fewer points at a lower rate, reasoned from three.js draw cost
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# and WS bandwidth on field WiFi. Both sample from the same accumulated
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# buffer, just decimated differently per frame.
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POINTCLOUD_PROFILES = {
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"desktop": {"max_points": 20_000, "hz": 5.0},
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"phone": {"max_points": 7_000, "hz": 3.5},
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}
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