Add DearPyGUI observer/server UI and demo launcher
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61
aggiornamento-2026-06-03-21-10.md
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61
aggiornamento-2026-06-03-21-10.md
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## Aggiornamento 2026-06-03 21:10
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### Obiettivo
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Introdurre una UI DearPyGUI solo per i componenti esterni:
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- observer di `flywms_navigation`
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- server `flywms_wms_server`
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Lasciare invariata la parte intelligente del core:
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- acquisizione
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- inferenza
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- tracking
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- logica di navigazione e snapshot
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### Baseline salvata
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- Commit locale: `e86c05a`
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- Tag locale: `gui-observer-in-opencv`
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Nota: il push su Gitea non e' riuscito per problema di risoluzione DNS dell'host remoto.
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### Documentazione aggiunta
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- `dearpygui_observer_server_spec.md`
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### Modifiche implementate
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#### `flywms_navigation_observer.py`
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- aggiunto supporto backend UI:
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- `dearpygui`
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- `opencv`
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- `auto`
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- mantenuto il protocollo socket esistente con il core
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- aggiunta UI DearPyGUI con:
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- preview principale navigazione
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- preview snapshot
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- preview crop etichetta
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- pannello stato
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- pannello metriche
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- pannello comandi
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- mantenuto fallback OpenCV
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#### `flywms_wms_server.py`
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- aggiunto supporto backend UI:
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- `dearpygui`
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- `opencv`
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- `auto`
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- lasciata invariata la logica FastAPI/OCR/ACK
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- aggiunta UI DearPyGUI con:
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- immagine ricevuta
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- stato server
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- payload OCR / WMS
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- mantenuto fallback OpenCV
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### Verifiche eseguite
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- `python -m py_compile flywms_navigation_observer.py flywms_wms_server.py`
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- import e selezione backend:
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- `flywms_navigation_observer.choose_backend('auto') -> dearpygui`
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- `flywms_wms_server.choose_ui_backend('auto') -> dearpygui`
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### Stato attuale
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- core intelligente invariato
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- observer e server pronti per prova con DearPyGUI
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- fallback OpenCV ancora disponibile per debug
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103
dearpygui_observer_server_spec.md
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103
dearpygui_observer_server_spec.md
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# DearPyGUI UI Spec - Observer e WMS Server
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## Scopo
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Rendere la demo piu' ordinata e leggibile spostando la presentazione visuale da OpenCV a DearPyGUI nei soli componenti esterni:
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- `flywms_navigation_observer.py`
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- `flywms_wms_server.py`
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La parte intelligente resta invariata:
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- `flywms_navigation.py`
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- tracking
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- snapshot logic
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- WMS client
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- logica OCR / FastAPI lato server
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## Principio architetturale
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La UI non entra nel percorso critico.
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### Observer
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- riceve gia' telemetria e preview dal core;
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- DearPyGUI sostituisce solo le finestre OpenCV;
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- il protocollo socket e il payload restano invariati.
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### WMS Server
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- continua a ricevere upload e a fare OCR come oggi;
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- DearPyGUI sostituisce solo le finestre OpenCV di monitoraggio;
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- nessuna modifica al contratto HTTP.
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## Layout Observer
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### Colonna sinistra
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- preview principale `navigate`
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### Colonna destra superiore
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- snapshot OCR payload
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- crop etichetta
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### Colonna destra inferiore
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- stato / metriche
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- comando corrente
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- lista comandi
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### Metriche minime
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- `frame_id`
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- `processed_frames` se presente
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- `loop_fps`
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- `yolo_fps`
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- `last_yolo_ms`
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- `det_count`
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- `track_count`
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- `snapshot_counter`
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- `yolo_mode` se disponibile
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- `motion_text`
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## Layout WMS Server
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### Colonna sinistra
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- ultima immagine ricevuta dal server
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### Colonna destra
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- payload request corrente
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- esito OCR
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- esito ACK/NACK
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- contatore richieste
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## Requisiti UI
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- finestre ridimensionabili
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- nessun blocco sul core/server
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- refresh periodico leggero
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- fallback a OpenCV se DearPyGUI non e' disponibile
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## Strategia di implementazione
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### Fase 1
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- introdurre backend DearPyGUI opzionale per observer
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- introdurre backend DearPyGUI opzionale per WMS server
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- mantenere OpenCV come fallback
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### Fase 2
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- rifinire il layout
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- eventuali colori/stati piu' chiari
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- eventuali controlli aggiuntivi
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## Criterio di successo
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1. la demo risulta piu' ordinata;
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2. il core intelligente non cambia comportamento;
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3. observer e server possono essere lanciati senza finestre OpenCV;
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4. il fallback OpenCV resta disponibile in caso di problema.
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@@ -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)
|
||||
self._set_badge(BADGE_PHASE, "IDLE", THEME_BADGE_IDLE)
|
||||
self._set_badge(BADGE_WMS, "WMS IDLE", THEME_BADGE_IDLE)
|
||||
|
||||
def _build_themes(self) -> None:
|
||||
def make_badge_theme(tag: str, button_color: tuple[int, int, int], text_color: tuple[int, int, int] = (255, 255, 255)) -> None:
|
||||
with dpg.theme(tag=tag):
|
||||
with dpg.theme_component(dpg.mvButton):
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Button, button_color)
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, button_color)
|
||||
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, button_color)
|
||||
dpg.add_theme_color(dpg.mvThemeCol_Text, text_color)
|
||||
dpg.add_theme_style(dpg.mvStyleVar_FrameRounding, 6)
|
||||
dpg.add_theme_style(dpg.mvStyleVar_FramePadding, 8, 6)
|
||||
|
||||
make_badge_theme(THEME_BADGE_OK, (40, 140, 70))
|
||||
make_badge_theme(THEME_BADGE_WARN, (196, 132, 21))
|
||||
make_badge_theme(THEME_BADGE_ALERT, (176, 52, 52))
|
||||
make_badge_theme(THEME_BADGE_IDLE, (80, 88, 102))
|
||||
|
||||
def _create_texture(self, tag: str, data: list[float], width: int, height: int) -> None:
|
||||
dpg.add_dynamic_texture(width=width, height=height, default_value=data, tag=tag)
|
||||
|
||||
def _set_texture(self, texture_tag: str, frame: np.ndarray, target_w: int, target_h: int) -> None:
|
||||
dpg.set_value(texture_tag, frame_to_texture_data(frame, target_w, target_h))
|
||||
|
||||
def _set_badge(self, tag: str, label: str, theme_tag: str) -> None:
|
||||
dpg.configure_item(tag, label=label)
|
||||
dpg.bind_item_theme(tag, theme_tag)
|
||||
|
||||
def _append_event(self, text: str) -> None:
|
||||
stamp = time.strftime("%H:%M:%S")
|
||||
self.event_history.insert(0, f"{stamp} {text}")
|
||||
self.event_history = self.event_history[:12]
|
||||
|
||||
def _poll_socket(self) -> None:
|
||||
now = time.perf_counter()
|
||||
if self.sock is None:
|
||||
if now - self.last_connect_attempt < max(0.2, self.args.reconnect_sec):
|
||||
return
|
||||
self.last_connect_attempt = now
|
||||
try:
|
||||
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.sock.connect((self.args.host, self.args.port))
|
||||
self.sock.setblocking(False)
|
||||
self.recv_buffer = ""
|
||||
self.connected = True
|
||||
nav.log("[OBS] connesso al core")
|
||||
self._append_event("Observer connesso al core")
|
||||
except OSError as exc:
|
||||
self._close_socket()
|
||||
self.connected = False
|
||||
dpg.set_value(TEXT_STATUS, f"Observer non connesso: {exc}")
|
||||
return
|
||||
|
||||
try:
|
||||
while True:
|
||||
try:
|
||||
chunk = self.sock.recv(65536)
|
||||
if not chunk:
|
||||
raise ConnectionError("publisher disconnesso")
|
||||
self.recv_buffer += chunk.decode("utf-8", errors="replace")
|
||||
except BlockingIOError:
|
||||
break
|
||||
except OSError as exc:
|
||||
if getattr(exc, "winerror", None) in (10035,):
|
||||
break
|
||||
raise
|
||||
while True:
|
||||
newline_pos = self.recv_buffer.find("\n")
|
||||
if newline_pos < 0:
|
||||
break
|
||||
line = self.recv_buffer[:newline_pos].strip()
|
||||
self.recv_buffer = self.recv_buffer[newline_pos + 1:]
|
||||
if not line:
|
||||
continue
|
||||
try:
|
||||
message = json.loads(line)
|
||||
except json.JSONDecodeError:
|
||||
continue
|
||||
msg_type = message.get("type")
|
||||
if msg_type == "telemetry":
|
||||
self.telemetry = message
|
||||
elif msg_type == "preview":
|
||||
frame = decode_preview(message)
|
||||
stream = message.get("stream")
|
||||
if frame is None:
|
||||
continue
|
||||
if stream == "navigate":
|
||||
self.latest_navigate = frame
|
||||
elif stream == "snapshot":
|
||||
self.latest_snapshot = frame
|
||||
elif stream == "label":
|
||||
self.latest_label = frame
|
||||
except (ConnectionError, OSError) as exc:
|
||||
nav.log(f"[OBS] connessione persa o non disponibile: {exc}")
|
||||
self._close_socket()
|
||||
self.connected = False
|
||||
dpg.set_value(TEXT_STATUS, f"Connessione persa: {exc}")
|
||||
self._append_event(f"Connessione persa: {exc}")
|
||||
|
||||
def _refresh_ui(self) -> None:
|
||||
if self.latest_navigate is not None:
|
||||
self._set_texture(NAV_TEXTURE, self.latest_navigate, NAV_W, NAV_H)
|
||||
if self.latest_snapshot is not None:
|
||||
self._set_texture(SNAPSHOT_TEXTURE, self.latest_snapshot, SNAPSHOT_W, SNAPSHOT_H)
|
||||
if self.latest_label is not None:
|
||||
self._set_texture(LABEL_TEXTURE, self.latest_label, LABEL_W, LABEL_H)
|
||||
state = "connesso" if self.connected else "in attesa connessione"
|
||||
dpg.set_value(TEXT_STATUS, f"Observer {state} su {self.args.host}:{self.args.port}")
|
||||
dpg.set_value(TEXT_COMMANDS, format_commands(self.telemetry))
|
||||
dpg.set_value(METRIC_LOOP_FPS, f"{float(self.telemetry.get('loop_fps', 0.0)):.2f}")
|
||||
dpg.set_value(METRIC_YOLO_FPS, f"{float(self.telemetry.get('yolo_fps', 0.0)):.2f}")
|
||||
dpg.set_value(METRIC_YOLO_MS, f"{float(self.telemetry.get('last_yolo_ms', 0.0)):.1f}")
|
||||
dpg.set_value(METRIC_SNAPSHOTS, str(self.telemetry.get("snapshot_counter", 0)))
|
||||
dpg.set_value(METRIC_FRAME_ID, str(self.telemetry.get("frame_id", "n/d")))
|
||||
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())
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
import argparse
|
||||
import asyncio
|
||||
import configparser
|
||||
import ctypes
|
||||
import json
|
||||
import random
|
||||
import re
|
||||
@@ -17,6 +18,11 @@ import numpy as np
|
||||
import uvicorn
|
||||
from fastapi import FastAPI, File, Form, UploadFile
|
||||
|
||||
try:
|
||||
import dearpygui.dearpygui as dpg
|
||||
except ModuleNotFoundError:
|
||||
dpg = None
|
||||
|
||||
|
||||
DEFAULT_CONFIG_PATH = "flywms_navigation.ini"
|
||||
CUDA_MIN_PIXELS = 640 * 360
|
||||
@@ -258,6 +264,8 @@ def parse_args():
|
||||
ap.add_argument("--host", default=defaults["wms_server_host"], help="Host bind server")
|
||||
ap.add_argument("--port", type=int, default=defaults["wms_server_port"], help="Porta server")
|
||||
ap.add_argument("--received-dir", default=defaults["wms_received_dir"], help="Directory upload ricevuti")
|
||||
ap.add_argument("--ui-backend", choices=["auto", "opencv", "dearpygui"], default="dearpygui",
|
||||
help="Backend UI server WMS")
|
||||
ap.add_argument(
|
||||
"--fake-ack-mode",
|
||||
choices=["always-ack", "always-nack", "alternate", "random"],
|
||||
@@ -670,6 +678,60 @@ def safe_name(value: str) -> str:
|
||||
return "".join(ch if ch in allowed else "_" for ch in value)[:160]
|
||||
|
||||
|
||||
def choose_ui_backend(requested: str) -> str:
|
||||
if requested == "opencv":
|
||||
return "opencv"
|
||||
if requested == "dearpygui":
|
||||
if dpg is None:
|
||||
raise RuntimeError("DearPyGUI non disponibile")
|
||||
return "dearpygui"
|
||||
if dpg is not None:
|
||||
return "dearpygui"
|
||||
return "opencv"
|
||||
|
||||
|
||||
def placeholder_frame(width: int, height: int, text: str) -> np.ndarray:
|
||||
canvas = np.full((height, width, 3), 235, dtype=np.uint8)
|
||||
cv2.putText(
|
||||
canvas,
|
||||
text,
|
||||
(24, height // 2),
|
||||
cv2.FONT_HERSHEY_SIMPLEX,
|
||||
0.8,
|
||||
(30, 30, 30),
|
||||
2,
|
||||
cv2.LINE_AA,
|
||||
)
|
||||
return canvas
|
||||
|
||||
|
||||
def frame_to_texture_data(frame: np.ndarray, target_w: int, target_h: int) -> list[float]:
|
||||
src_h, src_w = frame.shape[:2]
|
||||
if src_h <= 0 or src_w <= 0:
|
||||
canvas = np.zeros((target_h, target_w, 3), dtype=np.uint8)
|
||||
else:
|
||||
scale = min(target_w / float(src_w), target_h / float(src_h))
|
||||
draw_w = max(1, int(round(src_w * scale)))
|
||||
draw_h = max(1, int(round(src_h * scale)))
|
||||
resized = cv2.resize(frame, (draw_w, draw_h), interpolation=cv2.INTER_AREA if scale < 1.0 else cv2.INTER_LINEAR)
|
||||
canvas = np.full((target_h, target_w, 3), 18, dtype=np.uint8)
|
||||
x0 = (target_w - draw_w) // 2
|
||||
y0 = (target_h - draw_h) // 2
|
||||
canvas[y0:y0 + draw_h, x0:x0 + draw_w] = resized
|
||||
rgba = cv2.cvtColor(canvas, cv2.COLOR_BGR2RGBA)
|
||||
return (rgba.astype(np.float32).ravel() / 255.0).tolist()
|
||||
|
||||
|
||||
def restore_window_by_title(title: str) -> None:
|
||||
if not hasattr(ctypes, "windll"):
|
||||
return
|
||||
user32 = ctypes.windll.user32
|
||||
hwnd = user32.FindWindowW(None, title)
|
||||
if hwnd:
|
||||
user32.ShowWindow(hwnd, 9) # SW_RESTORE
|
||||
user32.SetForegroundWindow(hwnd)
|
||||
|
||||
|
||||
def server_ui_loop() -> None:
|
||||
try:
|
||||
cv2.namedWindow("wms immagine ricevuta", cv2.WINDOW_NORMAL)
|
||||
@@ -714,6 +776,70 @@ def server_ui_loop() -> None:
|
||||
cv2.destroyWindow("wms payload")
|
||||
|
||||
|
||||
def server_dpg_ui_loop() -> None:
|
||||
if dpg is None:
|
||||
log("UI DearPyGUI non disponibile, impossibile avviare il monitor WMS")
|
||||
with ui_lock:
|
||||
ui_state["stop"] = True
|
||||
return
|
||||
|
||||
image_texture = "wms_image_texture"
|
||||
payload_text = "wms_payload_text"
|
||||
status_text = "wms_status_text"
|
||||
image_w = 720
|
||||
image_h = 420
|
||||
|
||||
def create_texture(tag: str, data: list[float], width: int, height: int) -> None:
|
||||
dpg.add_dynamic_texture(width=width, height=height, default_value=data, tag=tag)
|
||||
|
||||
def set_texture(frame: np.ndarray) -> None:
|
||||
dpg.set_value(image_texture, frame_to_texture_data(frame, image_w, image_h))
|
||||
|
||||
dpg.create_context()
|
||||
with dpg.texture_registry(show=False):
|
||||
create_texture(
|
||||
image_texture,
|
||||
frame_to_texture_data(placeholder_frame(image_w, image_h, "In attesa immagine etichetta"), image_w, image_h),
|
||||
image_w,
|
||||
image_h,
|
||||
)
|
||||
|
||||
with dpg.window(label="FlyWMS WMS Server", width=1450, height=900):
|
||||
with dpg.group(horizontal=True):
|
||||
with dpg.child_window(width=760, height=840, border=True):
|
||||
dpg.add_text("Ultima immagine ricevuta")
|
||||
dpg.add_image(image_texture)
|
||||
with dpg.child_window(width=640, height=840, border=True):
|
||||
dpg.add_text("Stato")
|
||||
dpg.add_text("Server WMS in attesa payload", tag=status_text, wrap=600)
|
||||
dpg.add_separator()
|
||||
dpg.add_text("Payload")
|
||||
dpg.add_input_text(tag=payload_text, multiline=True, readonly=True, width=600, height=720, default_value="In attesa di payload WMS")
|
||||
|
||||
dpg.create_viewport(title="FlyWMS WMS Server", width=1450, height=900)
|
||||
dpg.setup_dearpygui()
|
||||
dpg.show_viewport()
|
||||
time.sleep(0.05)
|
||||
restore_window_by_title("FlyWMS WMS Server")
|
||||
|
||||
try:
|
||||
while dpg.is_dearpygui_running():
|
||||
with ui_lock:
|
||||
stop = bool(ui_state["stop"])
|
||||
image = None if ui_state["image"] is None else ui_state["image"].copy()
|
||||
lines = list(ui_state["payload_lines"])
|
||||
if stop:
|
||||
break
|
||||
if image is not None:
|
||||
set_texture(image)
|
||||
dpg.set_value(status_text, f"Richieste ricevute: {server_state['counter']}")
|
||||
dpg.set_value(payload_text, "\n".join(lines))
|
||||
dpg.render_dearpygui_frame()
|
||||
time.sleep(0.03)
|
||||
finally:
|
||||
dpg.destroy_context()
|
||||
|
||||
|
||||
def resize_preview(frame: np.ndarray, max_width: int) -> np.ndarray:
|
||||
h, w = frame.shape[:2]
|
||||
if max_width <= 0 or w <= max_width:
|
||||
@@ -745,6 +871,7 @@ def draw_payload_window(lines: list[str]) -> np.ndarray:
|
||||
|
||||
def main() -> int:
|
||||
args = parse_args()
|
||||
ui_backend = choose_ui_backend(args.ui_backend) if args.ui_enabled else "disabled"
|
||||
server_state["received_dir"] = args.received_dir
|
||||
server_state["fake_ack_mode"] = args.fake_ack_mode
|
||||
server_state["fake_processing_sec"] = args.fake_processing_sec
|
||||
@@ -770,9 +897,11 @@ def main() -> int:
|
||||
f"mode={args.fake_ack_mode} received_dir={args.received_dir}"
|
||||
)
|
||||
log(f"OpenCV CUDA: {'attivo' if OPENCV_CUDA_AVAILABLE else 'non disponibile'}")
|
||||
log(f"UI backend: {ui_backend}")
|
||||
ui_thread = None
|
||||
if args.ui_enabled:
|
||||
ui_thread = threading.Thread(target=server_ui_loop, name="wms-server-ui", daemon=True)
|
||||
ui_target = server_dpg_ui_loop if ui_backend == "dearpygui" else server_ui_loop
|
||||
ui_thread = threading.Thread(target=ui_target, name="wms-server-ui", daemon=True)
|
||||
ui_thread.start()
|
||||
try:
|
||||
uvicorn.run(app, host=args.host, port=args.port, log_level="info")
|
||||
|
||||
5
run_navigator.bat
Normal file
5
run_navigator.bat
Normal file
@@ -0,0 +1,5 @@
|
||||
@echo off
|
||||
title FlyWMS - Navigator
|
||||
cd /d "%~dp0"
|
||||
python flywms_navigation.py --video "testhd2_edit.mp4" --observer-enabled --wms-enabled
|
||||
|
||||
5
run_observer.bat
Normal file
5
run_observer.bat
Normal file
@@ -0,0 +1,5 @@
|
||||
@echo off
|
||||
title FlyWMS - Observer
|
||||
cd /d "%~dp0"
|
||||
python flywms_navigation_observer.py --ui-backend dearpygui
|
||||
|
||||
5
run_wms_server.bat
Normal file
5
run_wms_server.bat
Normal file
@@ -0,0 +1,5 @@
|
||||
@echo off
|
||||
title FlyWMS - WMS Server
|
||||
cd /d "%~dp0"
|
||||
python flywms_wms_server.py --ui-backend dearpygui
|
||||
|
||||
14
startdemo.bat
Normal file
14
startdemo.bat
Normal file
@@ -0,0 +1,14 @@
|
||||
@echo off
|
||||
setlocal
|
||||
|
||||
set "ROOT=%~dp0"
|
||||
set "PY_SCRIPT=%ROOT%startdemo.py"
|
||||
|
||||
if not exist "%PY_SCRIPT%" (
|
||||
echo Script non trovato: "%PY_SCRIPT%"
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
python "%PY_SCRIPT%"
|
||||
set "EXIT_CODE=%ERRORLEVEL%"
|
||||
exit /b %EXIT_CODE%
|
||||
138
startdemo.py
Normal file
138
startdemo.py
Normal file
@@ -0,0 +1,138 @@
|
||||
import os
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
ROOT = Path(__file__).resolve().parent
|
||||
VIDEO = "testhd2_edit.mp4"
|
||||
|
||||
CHILDREN: list[subprocess.Popen] = []
|
||||
STOPPING = False
|
||||
|
||||
|
||||
def kill_tree(pid: int) -> None:
|
||||
try:
|
||||
subprocess.run(
|
||||
["taskkill", "/PID", str(pid), "/T", "/F"],
|
||||
stdout=subprocess.DEVNULL,
|
||||
stderr=subprocess.DEVNULL,
|
||||
check=False,
|
||||
)
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
|
||||
def pids_listening_on_port(port: int) -> list[int]:
|
||||
try:
|
||||
result = subprocess.run(
|
||||
["netstat", "-ano", "-p", "tcp"],
|
||||
capture_output=True,
|
||||
text=True,
|
||||
encoding="utf-8",
|
||||
errors="replace",
|
||||
check=False,
|
||||
)
|
||||
except Exception:
|
||||
return []
|
||||
pids: set[int] = set()
|
||||
suffix = f":{port}"
|
||||
for raw_line in result.stdout.splitlines():
|
||||
line = raw_line.strip()
|
||||
if not line:
|
||||
continue
|
||||
parts = line.split()
|
||||
if len(parts) < 5:
|
||||
continue
|
||||
proto, local_addr, _, state, pid_text = parts[:5]
|
||||
if proto.upper() != "TCP":
|
||||
continue
|
||||
if state.upper() != "LISTENING":
|
||||
continue
|
||||
if not local_addr.endswith(suffix):
|
||||
continue
|
||||
try:
|
||||
pids.add(int(pid_text))
|
||||
except ValueError:
|
||||
continue
|
||||
return sorted(pids)
|
||||
|
||||
|
||||
def preflight_cleanup() -> None:
|
||||
stale_pids = pids_listening_on_port(8088)
|
||||
for pid in stale_pids:
|
||||
print(f"Pulizia preventiva: termino processo in ascolto su 8088 (PID {pid})", flush=True)
|
||||
kill_tree(pid)
|
||||
if stale_pids:
|
||||
time.sleep(0.4)
|
||||
|
||||
|
||||
def stop_all() -> None:
|
||||
global STOPPING
|
||||
if STOPPING:
|
||||
return
|
||||
STOPPING = True
|
||||
print("\nArresto finestre demo...", flush=True)
|
||||
for proc in CHILDREN:
|
||||
if proc.poll() is None:
|
||||
kill_tree(proc.pid)
|
||||
|
||||
|
||||
def on_signal(signum, frame) -> None:
|
||||
stop_all()
|
||||
raise KeyboardInterrupt
|
||||
|
||||
|
||||
def start_window(title: str, launcher_bat: str) -> subprocess.Popen:
|
||||
startupinfo = subprocess.STARTUPINFO()
|
||||
startupinfo.dwFlags |= subprocess.STARTF_USESHOWWINDOW
|
||||
startupinfo.wShowWindow = 6 # SW_MINIMIZE
|
||||
return subprocess.Popen(
|
||||
["cmd.exe", "/k", launcher_bat],
|
||||
cwd=str(ROOT),
|
||||
creationflags=subprocess.CREATE_NEW_CONSOLE,
|
||||
startupinfo=startupinfo,
|
||||
)
|
||||
|
||||
|
||||
def main() -> int:
|
||||
signal.signal(signal.SIGINT, on_signal)
|
||||
if hasattr(signal, "SIGTERM"):
|
||||
signal.signal(signal.SIGTERM, on_signal)
|
||||
|
||||
preflight_cleanup()
|
||||
|
||||
try:
|
||||
print("Avvio WMS server...", flush=True)
|
||||
CHILDREN.append(start_window("FlyWMS - WMS Server", "run_wms_server.bat"))
|
||||
time.sleep(0.25)
|
||||
|
||||
print("Avvio observer...", flush=True)
|
||||
CHILDREN.append(start_window("FlyWMS - Observer", "run_observer.bat"))
|
||||
time.sleep(0.25)
|
||||
|
||||
print("Avvio navigator...", flush=True)
|
||||
CHILDREN.append(start_window("FlyWMS - Navigator", "run_navigator.bat"))
|
||||
|
||||
print("\nDemo avviata.", flush=True)
|
||||
for proc in CHILDREN:
|
||||
print(f"- PID {proc.pid}", flush=True)
|
||||
print("\nPremi Ctrl+C in questa finestra per chiudere tutto.\n", flush=True)
|
||||
|
||||
while True:
|
||||
alive = [proc for proc in CHILDREN if proc.poll() is None]
|
||||
if not alive:
|
||||
print("Tutte le finestre demo sono terminate.", flush=True)
|
||||
return 0
|
||||
time.sleep(1.0)
|
||||
except KeyboardInterrupt:
|
||||
print("Interruzione rilevata.", flush=True)
|
||||
return 130
|
||||
finally:
|
||||
stop_all()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
raise SystemExit(main())
|
||||
Reference in New Issue
Block a user