External observer with OpenCV UI baseline

flywms_navigation_observer.py

@@ -0,0 +1,114 @@
+import argparse
+import base64
+import json
+import socket
+import time
+
+import cv2
+import numpy as np
+
+import flywms_navigation as nav
+
+
+def parse_args():
+    pre = argparse.ArgumentParser(add_help=False)
+    pre.add_argument("--config", default=nav.DEFAULT_CONFIG_PATH, help="File configurazione INI")
+    pre_args, _ = pre.parse_known_args()
+    defaults = nav.load_navigation_config(pre_args.config)
+
+    ap = argparse.ArgumentParser(parents=[pre])
+    ap.add_argument("--host", default=defaults["observer_host"], help="Host publisher observer")
+    ap.add_argument("--port", type=int, default=defaults["observer_port"], help="Porta publisher observer")
+    ap.add_argument("--reconnect-sec", type=float, default=1.0, help="Attesa tra tentativi di reconnessione")
+    return ap.parse_args()
+
+
+def decode_preview(message: dict[str, object]) -> np.ndarray | None:
+    image_b64 = message.get("image_b64")
+    if not isinstance(image_b64, str):
+        return None
+    try:
+        raw = base64.b64decode(image_b64.encode("ascii"))
+        array = np.frombuffer(raw, dtype=np.uint8)
+        return cv2.imdecode(array, cv2.IMREAD_COLOR)
+    except (ValueError, cv2.error):
+        return None
+
+
+def main() -> int:
+    args = parse_args()
+    nav.log(f"[OBS] avvio observer {args.host}:{args.port}")
+
+    latest_navigate: np.ndarray | None = None
+    latest_snapshot: np.ndarray | None = None
+    latest_label: np.ndarray | None = None
+    telemetry: dict[str, object] = {
+        "command_lines": ["Observer in attesa dati"],
+        "motion_text": "MOTO: n/d",
+    }
+
+    cv2.namedWindow("flywms observer", cv2.WINDOW_NORMAL)
+    cv2.namedWindow("flywms observer comandi", cv2.WINDOW_NORMAL)
+    cv2.namedWindow("flywms observer snapshot", cv2.WINDOW_NORMAL)
+    cv2.namedWindow("flywms observer etichetta", cv2.WINDOW_NORMAL)
+
+    while True:
+        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        try:
+            sock.connect((args.host, args.port))
+            nav.log("[OBS] connesso al core")
+            fileobj = sock.makefile("r", encoding="utf-8", newline="\n")
+            while True:
+                line = fileobj.readline()
+                if not line:
+                    raise ConnectionError("publisher disconnesso")
+                message = json.loads(line)
+                msg_type = message.get("type")
+                if msg_type == "telemetry":
+                    telemetry = message
+                elif msg_type == "preview":
+                    frame = decode_preview(message)
+                    stream = message.get("stream")
+                    if frame is None:
+                        continue
+                    if stream == "navigate":
+                        latest_navigate = frame
+                    elif stream == "snapshot":
+                        latest_snapshot = frame
+                    elif stream == "label":
+                        latest_label = frame
+
+                if latest_navigate is not None:
+                    cv2.imshow("flywms observer", latest_navigate)
+                if latest_snapshot is not None:
+                    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)
+                cv2.imshow("flywms observer comandi", panel)
+                key = cv2.waitKey(1) & 0xFF
+                if key in (27, ord("q")):
+                    nav.log("[OBS] terminato da tastiera")
+                    return 0
+        except (ConnectionError, OSError, json.JSONDecodeError) as exc:
+            nav.log(f"[OBS] connessione persa o non disponibile: {exc}")
+            wait_deadline = time.perf_counter() + max(0.2, args.reconnect_sec)
+            while time.perf_counter() < wait_deadline:
+                key = cv2.waitKey(50) & 0xFF
+                if key in (27, ord("q")):
+                    nav.log("[OBS] terminato da tastiera")
+                    return 0
+            continue
+        finally:
+            try:
+                sock.close()
+            except OSError:
+                pass
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())