Add DearPyGUI observer/server UI and demo launcher
This commit is contained in:
administrator
@@ -1,5 +1,6 @@
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import argparse
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import base64
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import ctypes
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import json
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import socket
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import time
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@@ -9,6 +10,44 @@ import numpy as np
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import flywms_navigation as nav
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try:
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import dearpygui.dearpygui as dpg
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except ModuleNotFoundError:
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dpg = None
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NAV_TEXTURE = "obs_nav_texture"
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SNAPSHOT_TEXTURE = "obs_snapshot_texture"
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LABEL_TEXTURE = "obs_label_texture"
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NAV_IMAGE = "obs_nav_image"
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SNAPSHOT_IMAGE = "obs_snapshot_image"
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LABEL_IMAGE = "obs_label_image"
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TEXT_STATUS = "obs_status"
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TEXT_COMMANDS = "obs_commands"
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TEXT_TIMELINE = "obs_timeline"
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BADGE_CONNECTION = "obs_badge_connection"
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BADGE_YOLO = "obs_badge_yolo"
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BADGE_PHASE = "obs_badge_phase"
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BADGE_WMS = "obs_badge_wms"
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METRIC_LOOP_FPS = "obs_metric_loop_fps"
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METRIC_YOLO_FPS = "obs_metric_yolo_fps"
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METRIC_YOLO_MS = "obs_metric_yolo_ms"
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METRIC_SNAPSHOTS = "obs_metric_snapshots"
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METRIC_FRAME_ID = "obs_metric_frame_id"
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METRIC_TRACKS = "obs_metric_tracks"
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METRIC_LABELS = "obs_metric_labels"
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METRIC_PROGRESS = "obs_metric_progress"
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NAV_W = 960
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NAV_H = 540
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SNAPSHOT_W = 520
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SNAPSHOT_H = 300
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LABEL_W = 520
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LABEL_H = 220
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THEME_BADGE_OK = "obs_theme_badge_ok"
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THEME_BADGE_WARN = "obs_theme_badge_warn"
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THEME_BADGE_ALERT = "obs_theme_badge_alert"
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THEME_BADGE_IDLE = "obs_theme_badge_idle"
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def parse_args():
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pre = argparse.ArgumentParser(add_help=False)
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@@ -20,6 +59,8 @@ def parse_args():
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ap.add_argument("--host", default=defaults["observer_host"], help="Host publisher observer")
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ap.add_argument("--port", type=int, default=defaults["observer_port"], help="Porta publisher observer")
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ap.add_argument("--reconnect-sec", type=float, default=1.0, help="Attesa tra tentativi di reconnessione")
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ap.add_argument("--ui-backend", choices=["auto", "opencv", "dearpygui"], default="dearpygui",
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help="Backend UI observer")
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return ap.parse_args()
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@@ -35,8 +76,360 @@ def decode_preview(message: dict[str, object]) -> np.ndarray | None:
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return None
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def main() -> int:
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args = parse_args()
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def choose_backend(requested: str) -> str:
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if requested == "opencv":
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return "opencv"
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if requested == "dearpygui":
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if dpg is None:
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raise RuntimeError("DearPyGUI non disponibile")
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return "dearpygui"
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if dpg is not None:
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return "dearpygui"
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return "opencv"
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def extract_progress_text(telemetry: dict[str, object]) -> str:
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pose = telemetry.get("capture_pose") if isinstance(telemetry.get("capture_pose"), dict) else {}
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route_progress = pose.get("route_progress_ratio")
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if isinstance(route_progress, (int, float)):
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return f"{float(route_progress) * 100.0:.1f}%"
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return "n/d"
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def format_commands(telemetry: dict[str, object]) -> str:
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command_lines = telemetry.get("command_lines") or ["Observer in attesa dati"]
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if not isinstance(command_lines, list):
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command_lines = [str(command_lines)]
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return "\n".join(str(item) for item in command_lines)
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def empty_placeholder(width: int, height: int, text: str) -> np.ndarray:
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canvas = np.full((height, width, 3), 235, dtype=np.uint8)
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cv2.putText(
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canvas,
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text,
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(24, height // 2),
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cv2.FONT_HERSHEY_SIMPLEX,
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0.8,
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(30, 30, 30),
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2,
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cv2.LINE_AA,
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)
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return canvas
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def frame_to_texture_data(frame: np.ndarray, target_w: int, target_h: int) -> list[float]:
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src_h, src_w = frame.shape[:2]
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if src_h <= 0 or src_w <= 0:
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canvas = np.zeros((target_h, target_w, 3), dtype=np.uint8)
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else:
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scale = min(target_w / float(src_w), target_h / float(src_h))
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draw_w = max(1, int(round(src_w * scale)))
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draw_h = max(1, int(round(src_h * scale)))
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resized = cv2.resize(frame, (draw_w, draw_h), interpolation=cv2.INTER_AREA if scale < 1.0 else cv2.INTER_LINEAR)
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canvas = np.full((target_h, target_w, 3), 18, dtype=np.uint8)
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x0 = (target_w - draw_w) // 2
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y0 = (target_h - draw_h) // 2
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canvas[y0:y0 + draw_h, x0:x0 + draw_w] = resized
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rgba = cv2.cvtColor(canvas, cv2.COLOR_BGR2RGBA)
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return (rgba.astype(np.float32).ravel() / 255.0).tolist()
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def restore_window_by_title(title: str) -> None:
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if not hasattr(ctypes, "windll"):
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return
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user32 = ctypes.windll.user32
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hwnd = user32.FindWindowW(None, title)
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if hwnd:
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user32.ShowWindow(hwnd, 9) # SW_RESTORE
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user32.SetForegroundWindow(hwnd)
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def classify_phase(telemetry: dict[str, object]) -> str:
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command_lines = telemetry.get("command_lines")
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if not isinstance(command_lines, list):
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command_lines = []
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joined = " | ".join(str(line) for line in command_lines)
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if "ATTENDI_WMS" in joined or "ATTENDI_ACK" in joined:
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return "WAIT WMS"
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if "SCATTA_FOTO_ETICHETTA" in joined or "INVIA_ROI_REMOTA" in joined:
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return "CAPTURE"
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if "CENTRA_ETICHETTA" in joined or "RITORNA_CENTRO_GAYLORD" in joined:
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return "CENTERING"
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if "STOP" in joined:
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return "PAUSED"
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return "SCANNING"
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def classify_wms_status(telemetry: dict[str, object]) -> str:
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command_lines = telemetry.get("command_lines")
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if not isinstance(command_lines, list):
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command_lines = []
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joined = " | ".join(str(line) for line in command_lines)
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if "WMS_ACK" in joined or "ACK_RICEVUTO" in joined:
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return "ACK"
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if "WMS_NACK" in joined or "NACK_RICEVUTO" in joined:
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return "NACK"
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if "WMS_TIMEOUT" in joined or "TIMEOUT" in joined:
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return "TIMEOUT"
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if "ATTENDI_WMS" in joined or "ATTENDI_ACK" in joined:
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return "WAIT"
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return "IDLE"
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class DearPyGuiObserver:
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def __init__(self, args):
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if dpg is None:
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raise RuntimeError("DearPyGUI non disponibile")
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self.args = args
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self.latest_navigate: np.ndarray | None = None
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self.latest_snapshot: np.ndarray | None = None
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self.latest_label: np.ndarray | None = None
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self.telemetry: dict[str, object] = {
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"command_lines": ["Observer in attesa dati"],
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"motion_text": "MOTO: n/d",
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}
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self.sock: socket.socket | None = None
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self.recv_buffer = ""
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self.last_connect_attempt = 0.0
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self.connected = False
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self.event_history: list[str] = []
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self.last_command_signature = ""
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self.last_phase = ""
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self.last_wms_status = ""
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def run(self) -> int:
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self._build_ui()
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try:
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while dpg.is_dearpygui_running():
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self._poll_socket()
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self._refresh_ui()
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dpg.render_dearpygui_frame()
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finally:
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self._close_socket()
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dpg.destroy_context()
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return 0
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def _build_ui(self) -> None:
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dpg.create_context()
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self._build_themes()
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with dpg.texture_registry(show=False):
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self._create_texture(NAV_TEXTURE, frame_to_texture_data(empty_placeholder(NAV_W, NAV_H, "In attesa preview"), NAV_W, NAV_H), NAV_W, NAV_H)
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self._create_texture(SNAPSHOT_TEXTURE, frame_to_texture_data(empty_placeholder(SNAPSHOT_W, SNAPSHOT_H, "In attesa snapshot"), SNAPSHOT_W, SNAPSHOT_H), SNAPSHOT_W, SNAPSHOT_H)
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self._create_texture(LABEL_TEXTURE, frame_to_texture_data(empty_placeholder(LABEL_W, LABEL_H, "In attesa etichetta"), LABEL_W, LABEL_H), LABEL_W, LABEL_H)
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with dpg.window(label="FlyWMS Observer", tag="main_window", width=1600, height=980):
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with dpg.group(horizontal=True):
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with dpg.child_window(width=980, height=920, border=True):
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dpg.add_text("Preview navigazione")
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dpg.add_image(NAV_TEXTURE, tag=NAV_IMAGE)
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with dpg.child_window(width=580, height=920, border=True):
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with dpg.group(horizontal=True):
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dpg.add_button(label="CONN", tag=BADGE_CONNECTION, width=86, height=28, enabled=False)
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dpg.add_button(label="YOLO", tag=BADGE_YOLO, width=86, height=28, enabled=False)
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dpg.add_button(label="PHASE", tag=BADGE_PHASE, width=130, height=28, enabled=False)
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dpg.add_button(label="WMS", tag=BADGE_WMS, width=86, height=28, enabled=False)
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dpg.add_spacer(height=10)
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dpg.add_text("Snapshot OCR payload")
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dpg.add_image(SNAPSHOT_TEXTURE, tag=SNAPSHOT_IMAGE)
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dpg.add_spacer(height=12)
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dpg.add_text("Crop etichetta")
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dpg.add_image(LABEL_TEXTURE, tag=LABEL_IMAGE)
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dpg.add_spacer(height=12)
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dpg.add_separator()
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dpg.add_text("Stato observer")
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dpg.add_text("Observer in attesa connessione", tag=TEXT_STATUS, wrap=540)
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dpg.add_separator()
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dpg.add_text("Metriche")
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with dpg.table(header_row=False, borders_innerH=True, borders_outerH=True, borders_innerV=True, borders_outerV=True, resizable=False, policy=dpg.mvTable_SizingStretchProp):
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dpg.add_table_column()
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dpg.add_table_column()
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for label, tag in (
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("Loop FPS", METRIC_LOOP_FPS),
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("YOLO FPS", METRIC_YOLO_FPS),
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("YOLO ms", METRIC_YOLO_MS),
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("Snapshot", METRIC_SNAPSHOTS),
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("Frame", METRIC_FRAME_ID),
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("Track attive", METRIC_TRACKS),
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("Etichette", METRIC_LABELS),
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("Progresso", METRIC_PROGRESS),
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):
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with dpg.table_row():
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dpg.add_text(label)
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dpg.add_text("n/d", tag=tag)
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dpg.add_separator()
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dpg.add_text("Comandi")
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dpg.add_input_text(tag=TEXT_COMMANDS, multiline=True, readonly=True, width=540, height=260, default_value="Observer in attesa dati")
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dpg.add_separator()
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dpg.add_text("Timeline eventi")
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dpg.add_input_text(tag=TEXT_TIMELINE, multiline=True, readonly=True, width=540, height=180, default_value="In attesa eventi")
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dpg.create_viewport(title="FlyWMS Observer", width=1600, height=980)
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dpg.setup_dearpygui()
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dpg.show_viewport()
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time.sleep(0.05)
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restore_window_by_title("FlyWMS Observer")
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self._set_badge(BADGE_CONNECTION, "DISCONNECTED", THEME_BADGE_ALERT)
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self._set_badge(BADGE_YOLO, "YOLO OFF", THEME_BADGE_IDLE)
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self._set_badge(BADGE_PHASE, "IDLE", THEME_BADGE_IDLE)
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self._set_badge(BADGE_WMS, "WMS IDLE", THEME_BADGE_IDLE)
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def _build_themes(self) -> None:
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def make_badge_theme(tag: str, button_color: tuple[int, int, int], text_color: tuple[int, int, int] = (255, 255, 255)) -> None:
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with dpg.theme(tag=tag):
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with dpg.theme_component(dpg.mvButton):
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dpg.add_theme_color(dpg.mvThemeCol_Button, button_color)
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dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, button_color)
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dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, button_color)
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dpg.add_theme_color(dpg.mvThemeCol_Text, text_color)
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dpg.add_theme_style(dpg.mvStyleVar_FrameRounding, 6)
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dpg.add_theme_style(dpg.mvStyleVar_FramePadding, 8, 6)
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make_badge_theme(THEME_BADGE_OK, (40, 140, 70))
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make_badge_theme(THEME_BADGE_WARN, (196, 132, 21))
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make_badge_theme(THEME_BADGE_ALERT, (176, 52, 52))
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make_badge_theme(THEME_BADGE_IDLE, (80, 88, 102))
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def _create_texture(self, tag: str, data: list[float], width: int, height: int) -> None:
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dpg.add_dynamic_texture(width=width, height=height, default_value=data, tag=tag)
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def _set_texture(self, texture_tag: str, frame: np.ndarray, target_w: int, target_h: int) -> None:
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dpg.set_value(texture_tag, frame_to_texture_data(frame, target_w, target_h))
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def _set_badge(self, tag: str, label: str, theme_tag: str) -> None:
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dpg.configure_item(tag, label=label)
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dpg.bind_item_theme(tag, theme_tag)
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def _append_event(self, text: str) -> None:
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stamp = time.strftime("%H:%M:%S")
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self.event_history.insert(0, f"{stamp} {text}")
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self.event_history = self.event_history[:12]
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def _poll_socket(self) -> None:
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now = time.perf_counter()
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if self.sock is None:
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if now - self.last_connect_attempt < max(0.2, self.args.reconnect_sec):
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return
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self.last_connect_attempt = now
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try:
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.sock.connect((self.args.host, self.args.port))
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self.sock.setblocking(False)
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self.recv_buffer = ""
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self.connected = True
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nav.log("[OBS] connesso al core")
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self._append_event("Observer connesso al core")
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except OSError as exc:
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self._close_socket()
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self.connected = False
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dpg.set_value(TEXT_STATUS, f"Observer non connesso: {exc}")
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return
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try:
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while True:
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try:
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chunk = self.sock.recv(65536)
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if not chunk:
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raise ConnectionError("publisher disconnesso")
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self.recv_buffer += chunk.decode("utf-8", errors="replace")
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except BlockingIOError:
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break
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except OSError as exc:
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if getattr(exc, "winerror", None) in (10035,):
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break
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raise
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while True:
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newline_pos = self.recv_buffer.find("\n")
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if newline_pos < 0:
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break
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line = self.recv_buffer[:newline_pos].strip()
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self.recv_buffer = self.recv_buffer[newline_pos + 1:]
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if not line:
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continue
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try:
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message = json.loads(line)
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except json.JSONDecodeError:
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continue
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msg_type = message.get("type")
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if msg_type == "telemetry":
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self.telemetry = message
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elif msg_type == "preview":
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frame = decode_preview(message)
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stream = message.get("stream")
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if frame is None:
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continue
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if stream == "navigate":
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self.latest_navigate = frame
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elif stream == "snapshot":
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self.latest_snapshot = frame
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elif stream == "label":
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self.latest_label = frame
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except (ConnectionError, OSError) as exc:
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nav.log(f"[OBS] connessione persa o non disponibile: {exc}")
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self._close_socket()
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self.connected = False
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dpg.set_value(TEXT_STATUS, f"Connessione persa: {exc}")
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self._append_event(f"Connessione persa: {exc}")
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def _refresh_ui(self) -> None:
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if self.latest_navigate is not None:
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self._set_texture(NAV_TEXTURE, self.latest_navigate, NAV_W, NAV_H)
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if self.latest_snapshot is not None:
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self._set_texture(SNAPSHOT_TEXTURE, self.latest_snapshot, SNAPSHOT_W, SNAPSHOT_H)
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if self.latest_label is not None:
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self._set_texture(LABEL_TEXTURE, self.latest_label, LABEL_W, LABEL_H)
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state = "connesso" if self.connected else "in attesa connessione"
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dpg.set_value(TEXT_STATUS, f"Observer {state} su {self.args.host}:{self.args.port}")
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dpg.set_value(TEXT_COMMANDS, format_commands(self.telemetry))
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dpg.set_value(METRIC_LOOP_FPS, f"{float(self.telemetry.get('loop_fps', 0.0)):.2f}")
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dpg.set_value(METRIC_YOLO_FPS, f"{float(self.telemetry.get('yolo_fps', 0.0)):.2f}")
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dpg.set_value(METRIC_YOLO_MS, f"{float(self.telemetry.get('last_yolo_ms', 0.0)):.1f}")
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dpg.set_value(METRIC_SNAPSHOTS, str(self.telemetry.get("snapshot_counter", 0)))
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dpg.set_value(METRIC_FRAME_ID, str(self.telemetry.get("frame_id", "n/d")))
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dpg.set_value(METRIC_TRACKS, f"{self.telemetry.get('active_track_count', 0)} / {self.telemetry.get('track_count', 0)}")
|
||||
dpg.set_value(METRIC_LABELS, str(self.telemetry.get("label_count", 0)))
|
||||
dpg.set_value(METRIC_PROGRESS, extract_progress_text(self.telemetry))
|
||||
|
||||
self._set_badge(BADGE_CONNECTION, "CONNECTED" if self.connected else "DISCONNECTED", THEME_BADGE_OK if self.connected else THEME_BADGE_ALERT)
|
||||
run_yolo = bool(self.telemetry.get("run_yolo", False))
|
||||
yolo_mode = str(self.telemetry.get("yolo_mode", "idle")).upper()
|
||||
self._set_badge(BADGE_YOLO, f"YOLO {yolo_mode}" if run_yolo else "YOLO IDLE", THEME_BADGE_OK if run_yolo else THEME_BADGE_IDLE)
|
||||
phase = classify_phase(self.telemetry)
|
||||
phase_theme = THEME_BADGE_WARN if phase in ("CAPTURE", "CENTERING", "WAIT WMS", "PAUSED") else THEME_BADGE_OK
|
||||
self._set_badge(BADGE_PHASE, phase, phase_theme)
|
||||
wms_status = classify_wms_status(self.telemetry)
|
||||
wms_theme = THEME_BADGE_IDLE
|
||||
if wms_status == "ACK":
|
||||
wms_theme = THEME_BADGE_OK
|
||||
elif wms_status in ("WAIT",):
|
||||
wms_theme = THEME_BADGE_WARN
|
||||
elif wms_status in ("NACK", "TIMEOUT"):
|
||||
wms_theme = THEME_BADGE_ALERT
|
||||
self._set_badge(BADGE_WMS, f"WMS {wms_status}", wms_theme)
|
||||
|
||||
command_signature = str(self.telemetry.get("command_text") or "")
|
||||
if command_signature and command_signature != self.last_command_signature:
|
||||
self._append_event(command_signature)
|
||||
self.last_command_signature = command_signature
|
||||
if phase != self.last_phase:
|
||||
self._append_event(f"Fase -> {phase}")
|
||||
self.last_phase = phase
|
||||
if wms_status != self.last_wms_status:
|
||||
self._append_event(f"Stato WMS -> {wms_status}")
|
||||
self.last_wms_status = wms_status
|
||||
dpg.set_value(TEXT_TIMELINE, "\n".join(self.event_history) if self.event_history else "In attesa eventi")
|
||||
|
||||
def _close_socket(self) -> None:
|
||||
try:
|
||||
if self.sock is not None:
|
||||
self.sock.close()
|
||||
except OSError:
|
||||
pass
|
||||
self.sock = None
|
||||
self.recv_buffer = ""
|
||||
|
||||
|
||||
def run_opencv_observer(args) -> int:
|
||||
nav.log(f"[OBS] avvio observer {args.host}:{args.port}")
|
||||
|
||||
latest_navigate: np.ndarray | None = None
|
||||
@@ -84,11 +477,10 @@ def main() -> int:
|
||||
cv2.imshow("flywms observer snapshot", latest_snapshot)
|
||||
if latest_label is not None:
|
||||
cv2.imshow("flywms observer etichetta", latest_label)
|
||||
command_lines = telemetry.get("command_lines") or ["Observer attivo"]
|
||||
if not isinstance(command_lines, list):
|
||||
command_lines = [str(command_lines)]
|
||||
motion_text = str(telemetry.get("motion_text") or "MOTO: n/d")
|
||||
panel = nav.draw_commands_window([str(item) for item in command_lines], motion_text)
|
||||
panel = nav.draw_commands_window(
|
||||
[str(item) for item in (telemetry.get("command_lines") or ["Observer attivo"])],
|
||||
str(telemetry.get("motion_text") or "MOTO: n/d"),
|
||||
)
|
||||
cv2.imshow("flywms observer comandi", panel)
|
||||
key = cv2.waitKey(1) & 0xFF
|
||||
if key in (27, ord("q")):
|
||||
@@ -110,5 +502,14 @@ def main() -> int:
|
||||
pass
|
||||
|
||||
|
||||
def main() -> int:
|
||||
args = parse_args()
|
||||
backend = choose_backend(args.ui_backend)
|
||||
nav.log(f"[OBS] backend UI: {backend}")
|
||||
if backend == "dearpygui":
|
||||
return DearPyGuiObserver(args).run()
|
||||
return run_opencv_observer(args)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
raise SystemExit(main())
|
||||
|
||||
Reference in New Issue
Block a user