code-test-drone/ground_station/app.py

"""ground_station/app.py —— 地面站页面（Flask，临时测试用）。

预定流程 C 阶段：地面坐标输入 + 状态可视化配套页面。

功能：
  * GET  /            地面站页面（坐标输入 + 状态面板 + 模拟视野）
  * POST /api/inject  接收 {lat, lon, alt}，UDP 发到吊舱桥接的 ground_inject 端口
                      （默认 14555，GroundLink.run() 接收）
  * GET  /api/state   返回最新任务状态（读任务日志：事件最后状态 + 遥测最后一行）

与无人机 runner 解耦：本页面只做「发坐标（UDP）+ 读日志（只读）」，不侵入 runner。
用法：
  python ground_station/app.py --udp-port 14555 --log-dir logs
"""

import argparse
import csv
import json
import os
import socket
from pathlib import Path

from flask import Flask, jsonify, render_template, request

_GROUND_UDP_PORT = 14555
_LOG_DIR = "logs"


def _read_last_line(path: Path):
    """读文件最后一行（tail，避免读全文）。"""
    try:
        with open(path, "rb") as f:
            f.seek(0, 2)
            size = f.tell()
            if size == 0:
                return None
            f.seek(max(0, size - 8192))
            lines = f.read().decode("utf-8", errors="replace").splitlines()
            return lines[-1] if lines else None
    except OSError:
        return None


def _latest_state(log_dir: str) -> dict:
    """从任务日志读出当前状态 + 最新遥测（只读，供 /api/state）。"""
    log_path = Path(log_dir)
    state = "unknown"
    events = []

    # 事件日志：找最后一个 state 事件（当前任务状态）
    events_path = log_path / "task_events.jsonl"
    if events_path.exists():
        try:
            with open(events_path, encoding="utf-8") as f:
                for line in f:
                    line = line.strip()
                    if not line:
                        continue
                    try:
                        ev = json.loads(line)
                    except json.JSONDecodeError:
                        continue
                    events.append(ev)
                    if ev.get("type") == "state":
                        state = ev.get("to_state", state)
        except OSError:
            pass

    # 遥测最后一行
    telemetry = None
    tel_path = log_path / "task_telemetry.csv"
    last = _read_last_line(tel_path)
    if last:
        try:
            with open(tel_path, encoding="utf-8") as f:
                header = f.readline().strip().split(",")
            values = last.split(",")
            telemetry = dict(zip(header, values))
        except OSError:
            pass

    return {"state": state, "telemetry": telemetry,
            "events": events[-20:], "log_dir": str(log_path)}


def create_app(udp_port: int, log_dir: str) -> Flask:
    app = Flask(__name__)

    @app.route("/")
    def index():
        return render_template("index.html", udp_port=udp_port)

    @app.route("/api/inject", methods=["POST"])
    def inject():
        data = request.get_json(silent=True) or {}
        lat = data.get("lat")
        lon = data.get("lon")
        if lat is None or lon is None:
            return jsonify({"ok": False, "error": "需要 lat 和 lon"}), 400
        try:
            lat = float(lat)
            lon = float(lon)
        except (TypeError, ValueError):
            return jsonify({"ok": False, "error": "lat/lon 必须是数值"}), 400
        alt = float(data.get("alt", 0.0) or 0.0)

        payload = json.dumps({"lat": lat, "lon": lon, "alt": alt})
        try:
            with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
                s.sendto(payload.encode("utf-8"), ("127.0.0.1", udp_port))
        except OSError as exc:
            return jsonify({"ok": False, "error": f"UDP 发送失败: {exc}"}), 500
        return jsonify({"ok": True, "sent": {"lat": lat, "lon": lon, "alt": alt}})

    @app.route("/api/state")
    def state():
        return jsonify(_latest_state(log_dir))

    return app


def main() -> int:
    ap = argparse.ArgumentParser(description="地面站页面（Flask）")
    ap.add_argument("--host", default="127.0.0.1")
    ap.add_argument("--port", type=int, default=5000, help="Flask 监听端口")
    ap.add_argument("--udp-port", type=int, default=_GROUND_UDP_PORT,
                    help="坐标注入 UDP 端口（GroundLink 监听）")
    ap.add_argument("--log-dir", default=_LOG_DIR, help="任务日志目录")
    args = ap.parse_args()

    app = create_app(args.udp_port, args.log_dir)
    print(f"[地面站] http://{args.host}:{args.port} | UDP 注入 → 127.0.0.1:{args.udp_port}"
          f" | 日志 → {args.log_dir}")
    app.run(host=args.host, port=args.port, debug=False)
    return 0


if __name__ == "__main__":
    main()