app.py

# -*- coding: utf-8 -*-
"""Flask 应用主入口 - 模块化结构"""
from flask import Flask, send_from_directory
from flask_socketio import SocketIO, emit, join_room
from flask_cors import CORS
import threading
import queue
import time
import logging
import os

# 获取项目根目录
BASE_DIR = os.path.dirname(os.path.abspath(__file__))

# 数据库配置
DATABASE = os.path.join(BASE_DIR, 'database', 'ink.db')

# Configure logging
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)

# Flask 应用初始化
app = Flask(__name__, 
            static_folder=os.path.join(BASE_DIR, 'art-design-pro', 'dist', 'assets'),
            static_url_path='/assets',
            template_folder=os.path.join(BASE_DIR, 'art-design-pro', 'dist'))
app.config['SECRET_KEY'] = 'ink-secret-key-pingan'
CORS(app)

# SocketIO 初始化
socketio = SocketIO(app, cors_allowed_origins="*", async_mode='threading')

# 消息队列 - 用于 ROS2 与 Flask 之间通信
ros_to_flask_queue = queue.Queue()
flask_to_ros_queue = queue.Queue()

# 全局状态
robot_state = {
    "connected": False,
    "battery": 0,
    "position": {"x": 0, "y": 0, "z": 0},
    "status": "disconnected"
}


# ============== WebSocket 事件处理 ==============

@socketio.on('connect')
def handle_connect():
    """客户端连接事件"""
    logger.info(f"Client connected: {request.sid}")
    emit('connection_status', {'status': 'connected', 'sid': request.sid})
    # 发送当前机器人状态
    emit('robot_state', robot_state)


@socketio.on('disconnect')
def handle_disconnect():
    """客户端断开连接事件"""
    logger.info(f"Client disconnected: {request.sid}")


@socketio.on('join_room')
def handle_join_room(data):
    """加入房间 - 用于分组管理"""
    room = data.get('room', 'default')
    join_room(room)
    logger.info(f"Client {request.sid} joined room: {room}")
    emit('room_joined', {'room': room})


@socketio.on('control_command')
def handle_control_command(data):
    """接收前端控制命令，转发给 ROS2"""
    logger.info(f"Received control command: {data}")
    
    # 将命令放入队列，由 ROS2 桥接线程处理
    flask_to_ros_queue.put({
        'type': 'control',
        'data': data,
        'timestamp': time.time()
    })
    
    # 确认命令已接收
    emit('command_ack', {'status': 'received', 'command': data.get('command')})


@socketio.on('get_robot_state')
def handle_get_state():
    """前端请求机器人状态"""
    emit('robot_state', robot_state)


@socketio.on('message')
def handle_message(data):
    """接收客户端消息并响应"""
    text = data.get('text', '')
    logger.info(f"Received message: {text}")
    
    # 回显消息给客户端
    emit('message_response', {
        'text': f'收到: {text}',
        'timestamp': time.time()
    })


# ============== ROS2 消息推送 ==============

def ros_message_publisher():
    """后台线程：从队列读取 ROS2 消息并推送给前端"""
    while True:
        try:
            # 非阻塞获取消息
            msg = ros_to_flask_queue.get(timeout=1)
            
            if msg['type'] == 'state_update':
                # 更新全局状态
                global robot_state
                robot_state.update(msg['data'])
                # 广播给所有客户端
                socketio.emit('robot_state', robot_state)
                logger.info(f"Published robot state: {robot_state}")
                
            elif msg['type'] == 'sensor_data':
                # 传感器数据推送
                socketio.emit('sensor_data', msg['data'])
                
            elif msg['type'] == 'log':
                # 日志消息
                socketio.emit('log_message', msg['data'])
                
        except queue.Empty:
            continue
        except Exception as e:
            logger.error(f"Error in ROS publisher: {e}")


# ============== 主页路由 ==============

@app.route('/')
def index():
    """Serve the homepage"""
    dist_folder = os.path.join(BASE_DIR, 'art-design-pro', 'dist')
    return send_from_directory(dist_folder, 'index.html')


# ============== 主程序入口 ==============

if __name__ == '__main__':
    # 确保数据库目录存在
    os.makedirs(os.path.dirname(DATABASE), exist_ok=True)
    
    # 初始化数据库
    from database import init_db
    init_db()
    
    # 注册路由
    from routes.register import register_routes
    register_routes(app)
    
    # 启动 ROS 消息发布线程
    ros_thread = threading.Thread(target=ros_message_publisher, daemon=True)
    ros_thread.start()
    
    logger.info("🚀 Flask-SocketIO Server Starting on http://localhost:5000")
    
    # 启动服务器
    socketio.run(app, host='0.0.0.0', port=5000, debug=False, allow_unsafe_werkzeug=True)