118 lines
4.2 KiB
Python
118 lines
4.2 KiB
Python
import asyncio
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import os
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from fastapi import FastAPI, WebSocket, WebSocketDisconnect
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from fastapi.staticfiles import StaticFiles
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import logging
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# import threading # ROS2相关，已注释
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# import rclpy # ROS2相关，已注释
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from .models import GeneratePlanRequest, ExecuteMissionRequest, DebugStageRequest
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from .websocket_manager import websocket_manager
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from .py_tree_generator import py_tree_generator
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# from .ros2_client import MissionActionClient # ROS2相关，已注释
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# --- Application Setup ---
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app = FastAPI(
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title="Drone Backend Service",
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description="Handles mission planning, generation, and execution for the drone.",
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version="1.0.0",
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)
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# --- Mount Static Files for Visualizations ---
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static_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '..', 'generated_visualizations'))
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app.mount("/static", StaticFiles(directory=static_dir), name="static")
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# --- ROS2 Node and Client Initialization ---
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# ROS2相关代码已注释，项目已与ROS2解耦
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# rclpy.init()
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# ros2_client = MissionActionClient()
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# def run_ros2_node():
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# """Spins the ROS2 node in a dedicated thread."""
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# logging.info("Starting to spin ROS2 node...")
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# rclpy.spin(ros2_client)
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# logging.info("ROS2 node has stopped spinning.")
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# --- API Endpoints ---
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@app.post("/generate_plan", response_model=dict)
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async def generate_plan_endpoint(request: GeneratePlanRequest):
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"""
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Receives a user prompt and returns a generated `py_tree.json` with a visualization URL.
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"""
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try:
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pytree_dict = await py_tree_generator.generate(request.user_prompt, drone_state=request.drone_state)
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return pytree_dict
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except RuntimeError as e:
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return {"error": str(e)}
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@app.post("/debug_stage", response_model=dict)
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async def debug_stage_endpoint(request: DebugStageRequest):
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"""
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Stage 分阶段调试：运行到指定 stage 并返回该 stage 的输出。
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target_stage: 1=TaskUnderstanding, 2=ContextBinding, 3=BTDraft, 4=MiddlewareResolution, 5=MicroFilling, 6=ValidateAndPostprocess
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"""
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try:
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result = py_tree_generator.run_debug_stage(
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user_prompt=request.user_prompt,
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drone_state=request.drone_state,
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target_stage=request.target_stage,
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)
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return result
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except Exception as e:
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logging.exception("debug_stage 执行异常")
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return {"error": str(e)}
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@app.post("/execute_mission", response_model=dict)
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async def execute_mission_endpoint(request: ExecuteMissionRequest):
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"""
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Receives a `py_tree.json` and sends it to the drone for execution.
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ROS2相关功能已注释，项目已与ROS2解耦。
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"""
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# ROS2相关代码已注释
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# ros2_client.send_goal(request.py_tree)
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logging.warning("execute_mission endpoint called but ROS2 is disabled. Mission execution is not available.")
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return {"status": "execution_disabled", "message": "ROS2 integration is disabled. Mission execution is not available."}
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@app.websocket("/ws/status")
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async def websocket_endpoint(websocket: WebSocket):
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"""
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Handles the WebSocket connection for real-time status updates.
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"""
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await websocket_manager.connect(websocket)
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try:
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while True:
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await websocket.receive_text()
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except WebSocketDisconnect:
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websocket_manager.disconnect(websocket)
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logging.info("Client disconnected from WebSocket.")
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# --- Server Lifecycle ---
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@app.on_event("startup")
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async def startup_event():
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"""
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On startup, get the current asyncio event loop and pass it to the websocket manager.
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ROS2相关功能已注释，项目已与ROS2解耦。
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"""
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# Configure WebSocket Manager
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loop = asyncio.get_running_loop()
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websocket_manager.set_loop(loop)
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logging.info("WebSocket event loop configured.")
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# ROS2相关代码已注释
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# Start ROS2 node in a background thread
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# ros2_thread = threading.Thread(target=run_ros2_node, daemon=True)
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# ros2_thread.start()
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# logging.info("ROS2 node thread started.")
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@app.on_event("shutdown")
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async def shutdown_event():
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logging.info("Backend service shutting down.")
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# ROS2相关代码已注释
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# ros2_client.destroy_node()
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# rclpy.shutdown()
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# logging.info("ROS2 node shut down successfully.")
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