306 lines
13 KiB
Python
306 lines
13 KiB
Python
# python
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import asyncio
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from datetime import datetime, timezone
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import json
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from pathlib import Path
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from typing import List
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from fastapi import FastAPI, WebSocket, WebSocketDisconnect
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from fastapi.responses import HTMLResponse
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app = FastAPI()
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# 简单内存管理：保存浏览器客户端
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browser_clients: List[WebSocket] = []
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# 可选：保存最近一条状态
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last_status = None
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LOG_DIR = Path(__file__).resolve().parent / "logs"
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PACKET_LOG_PATH = LOG_DIR / "robot_packets.jsonl"
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INDEX_HTML = """
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<!doctype html>
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<html>
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<head>
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<meta charset="utf-8"/>
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<title>Robot Status Monitor</title>
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<style>
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body { font-family: Arial, sans-serif; padding: 20px; background: #f5f5f5; }
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h2 { margin-bottom: 5px; }
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.ts { color: #666; font-size: 0.9em; margin-bottom: 10px; }
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table { border-collapse: collapse; width: 100%; max-width: 1000px; margin-top: 10px; }
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th { background: #4a90d9; color: white; padding: 10px 8px; text-align: center; }
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td { border: 1px solid #ccc; padding: 8px; text-align: center; font-family: monospace; }
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tr.even { background: #fff; }
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tr.odd { background: #f0f0f0; }
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tr.error { background: #ffe0e0 !important; }
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.group-header { background: #ddd; font-weight: bold; text-align: left; padding-left: 12px; }
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.group-header.arm { background: #d0e8ff; }
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.group-header.waist { background: #d6f5d6; }
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.ok { color: green; }
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.bad { color: red; font-weight: bold; }
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.temp-yellow { color: #e6a800; font-weight: bold; }
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.temp-red { color: red; font-weight: bold; }
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#status-dot { display: inline-block; width: 10px; height: 10px; border-radius: 50%; margin-right: 6px; }
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#status-dot.ok { background: #4caf50; }
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#status-dot.bad { background: #f44336; }
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.power-panel { display: flex; gap: 24px; margin: 12px 0 18px 0; flex-wrap: wrap; }
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.power-card { background: #fff; border: 1px solid #ccc; border-radius: 8px; padding: 14px 24px; min-width: 160px; text-align: center; box-shadow: 0 1px 3px rgba(0,0,0,.1); }
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.power-card .label { font-size: 0.85em; color: #666; margin-bottom: 4px; }
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.power-card .value { font-size: 1.6em; font-weight: bold; font-family: monospace; color: #333; }
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.power-card.warn .value { color: #e67e00; }
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.power-card.alert .value { color: #e00; }
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</style>
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</head>
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<body>
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<h2>🤖 Robot Status Monitor</h2>
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<p><span id="status-dot" class="bad"></span>WebSocket: <span id="status">连接中...</span></p>
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<p class="ts">最近更新: <span id="ts">-</span></p>
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<div class="power-panel">
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<div class="power-card" id="pwr-voltage">
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<div class="label">⚡ 主电池电压</div>
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<div class="value" id="pwr-voltage-val">- V</div>
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</div>
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<div class="power-card" id="pwr-current">
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<div class="label">🔋 主电池电流</div>
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<div class="value" id="pwr-current-val">- A</div>
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</div>
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<div class="power-card" id="pwr-power">
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<div class="label">📊 主电池电量</div>
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<div class="value" id="pwr-power-val">- %</div>
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</div>
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</div>
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<div class="power-panel">
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<div class="power-card" id="pwr-little-voltage">
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<div class="label">⚡ 副电池电压</div>
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<div class="value" id="pwr-little-voltage-val">- V</div>
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</div>
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<div class="power-card" id="pwr-little-current">
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<div class="label">🔋 副电池电流</div>
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<div class="value" id="pwr-little-current-val">- A</div>
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</div>
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<div class="power-card" id="pwr-little-power">
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<div class="label">📊 副电池电量</div>
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<div class="value" id="pwr-little-power-val">- %</div>
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</div>
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</div>
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<table>
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<thead>
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<tr>
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<th>ID</th><th>Pos (rad)</th><th>Speed</th><th>Current (A)</th><th>Temp (°C)</th><th>Motor Temp</th><th>MOS Temp</th><th>Error</th>
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</tr>
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</thead>
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<tbody id="tbody">
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<!-- 左臂 11-14 -->
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<tr><td colspan="8" class="group-header arm">左臂 (11-14)</td></tr>
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<tr id="r11"><td>11</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r12"><td>12</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r13"><td>13</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r14"><td>14</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<!-- 右臂 21-24 -->
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<tr><td colspan="8" class="group-header arm">右臂 (21-24)</td></tr>
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<tr id="r21"><td>21</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r22"><td>22</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r23"><td>23</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r24"><td>24</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<!-- 腰部 31-33 -->
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<tr><td colspan="8" class="group-header waist">腰部 (31-33)</td></tr>
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<tr id="r31"><td>31</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r32"><td>32</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r33"><td>33</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<!-- 左腿 51-56 -->
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<tr><td colspan="8" class="group-header">左腿 (51-56)</td></tr>
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<tr id="r51"><td>51</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r52"><td>52</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r53"><td>53</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r54"><td>54</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r55"><td>55</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r56"><td>56</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<!-- 右腿 61-66 -->
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<tr><td colspan="8" class="group-header">右腿 (61-66)</td></tr>
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<tr id="r61"><td>61</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r62"><td>62</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r63"><td>63</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r64"><td>64</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r65"><td>65</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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<tr id="r66"><td>66</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td><td>-</td></tr>
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</tbody>
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</table>
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<script>
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const statusSpan = document.getElementById('status');
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const statusDot = document.getElementById('status-dot');
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const tsSpan = document.getElementById('ts');
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const WS_HOST = location.hostname;
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const WS_PORT = location.port || '8000';
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let ws;
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function connectWS() {
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ws = new WebSocket('ws://' + WS_HOST + ':' + WS_PORT + '/ws');
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ws.onopen = () => { statusSpan.textContent = '已连接'; statusDot.className = 'ok'; console.log('[WS] connected'); };
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ws.onclose = () => { statusSpan.textContent = '已断开，3秒后重连...'; statusDot.className = 'bad'; setTimeout(connectWS, 3000); };
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ws.onerror = (e) => { statusSpan.textContent = '错误'; statusDot.className = 'bad'; console.error('[WS] error', e); };
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ws.onmessage = (ev) => {
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try {
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const msg = JSON.parse(ev.data);
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if (msg.timestamp) tsSpan.textContent = msg.timestamp;
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if (msg.statuses && Array.isArray(msg.statuses)) {
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msg.statuses.forEach(s => updateRow(s));
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}
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if (msg.power) updatePower(msg.power);
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} catch (e) {
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console.error('parse error', e, ev.data);
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}
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};
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}
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function fmt(v, digits) {
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if (v === undefined || v === null) return '-';
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return Number(v).toFixed(digits !== undefined ? digits : 4);
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}
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function tempClass(v) {
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if (v === undefined || v === null) return '';
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if (v > 120) return 'temp-red';
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if (v > 100) return 'temp-yellow';
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return '';
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}
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function updateRow(s) {
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const tr = document.getElementById('r' + s.name);
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if (!tr) return;
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const hasError = s.error && s.error !== 0;
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tr.className = hasError ? 'error' : '';
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tr.cells[1].textContent = fmt(s.pos, 4);
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tr.cells[2].textContent = fmt(s.speed, 4);
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tr.cells[3].textContent = fmt(s.current, 4);
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tr.cells[4].textContent = fmt(s.temperature, 1);
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tr.cells[4].className = tempClass(s.temperature);
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if (s.motor_temp !== undefined) {
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tr.cells[5].textContent = fmt(s.motor_temp, 1);
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tr.cells[5].className = tempClass(s.motor_temp);
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}
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if (s.mos_temp !== undefined) {
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tr.cells[6].textContent = fmt(s.mos_temp, 1);
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tr.cells[6].className = tempClass(s.mos_temp);
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}
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tr.cells[7].textContent = hasError ? s.error : '✓';
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tr.cells[7].className = hasError ? 'bad' : 'ok';
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}
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function updatePower(p) {
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const vCard = document.getElementById('pwr-voltage');
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const pCard = document.getElementById('pwr-power');
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const lvCard = document.getElementById('pwr-little-voltage');
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const lpCard = document.getElementById('pwr-little-power');
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document.getElementById('pwr-voltage-val').textContent = fmt(p.voltage, 2) + ' V';
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document.getElementById('pwr-current-val').textContent = fmt(p.current, 2) + ' A';
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document.getElementById('pwr-power-val').textContent = fmt(p.power, 1) + ' %';
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document.getElementById('pwr-little-voltage-val').textContent = fmt(p.little_voltage, 2) + ' V';
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document.getElementById('pwr-little-current-val').textContent = fmt(p.little_current, 2) + ' A';
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document.getElementById('pwr-little-power-val').textContent = fmt(p.little_power, 1) + ' %';
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// colour-code master voltage: warn < 48V, alert < 44V
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vCard.className = 'power-card' + (p.voltage < 44 ? ' alert' : p.voltage < 48 ? ' warn' : '');
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// colour-code master SOC: warn < 30%, alert < 15%
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pCard.className = 'power-card' + (p.power < 15 ? ' alert' : p.power < 30 ? ' warn' : '');
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// colour-code little voltage: warn < 48V, alert < 44V
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lvCard.className = 'power-card' + (p.little_voltage < 44 ? ' alert' : p.little_voltage < 48 ? ' warn' : '');
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// colour-code little SOC: warn < 30%, alert < 15%
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lpCard.className = 'power-card' + (p.little_power < 15 ? ' alert' : p.little_power < 30 ? ' warn' : '');
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}
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connectWS();
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</script>
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</body>
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</html>
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"""
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@app.get("/", response_class=HTMLResponse)
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async def index():
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return INDEX_HTML
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def append_robot_packet_log(packet: dict):
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"""将服务器收到的机器人数据按 JSON Lines 追加写入日志文件。"""
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LOG_DIR.mkdir(parents=True, exist_ok=True)
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log_record = {
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"received_at": datetime.now(timezone.utc).isoformat(),
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"packet_timestamp": packet.get("timestamp"),
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"packet": packet,
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}
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with PACKET_LOG_PATH.open("a", encoding="utf-8") as log_file:
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log_file.write(json.dumps(log_record, ensure_ascii=False) + "\n")
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# 浏览器客户端 WebSocket（接收广播）
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@app.websocket("/ws")
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async def websocket_browser_endpoint(ws: WebSocket):
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await ws.accept()
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browser_clients.append(ws)
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global last_status
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try:
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# 可在连接时推送最近一条状态
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if last_status is not None:
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await ws.send_text(json.dumps(last_status))
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while True:
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# 浏览器无需发送消息，但保持连接活跃
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msg = await ws.receive_text()
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# 可以处理浏览器发来的控制命令（未实现），这里忽略
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except WebSocketDisconnect:
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pass
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finally:
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if ws in browser_clients:
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browser_clients.remove(ws)
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# 机器人/ROS2 发送端 WebSocket（推送 JSON）
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@app.websocket("/ws/robot")
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async def websocket_robot_endpoint(ws: WebSocket):
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await ws.accept()
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print("[WS] 机器人发送端已连接")
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try:
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while True:
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text = await ws.receive_text()
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try:
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data = json.loads(text)
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except Exception:
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print(f"[WS] JSON 解析失败: {text[:200]}")
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continue
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print(f"[WS] 收到机器人数据: {len(data.get('statuses', []))} 个电机")
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append_robot_packet_log(data)
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payload = {
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"statuses": data.get("statuses", []),
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"timestamp": data.get("timestamp"),
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"power": data.get("power"),
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}
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global last_status
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last_status = payload
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await broadcast_to_browsers(payload)
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except WebSocketDisconnect:
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print("[WS] 机器人发送端已断开")
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async def broadcast_to_browsers(payload):
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text = json.dumps(payload)
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to_remove = []
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for client in list(browser_clients):
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try:
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await client.send_text(text)
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except Exception:
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to_remove.append(client)
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for c in to_remove:
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if c in browser_clients:
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browser_clients.remove(c)
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# 可直接运行： uvicorn main_monitor:app --reload --port 8000
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if __name__ == "__main__":
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import uvicorn
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uvicorn.run("main_monitor:app", host="0.0.0.0", port=8000, reload=True)
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