Added expanded camera view with scan grid coordinates
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e721ac74c2
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D4A6C394DF13F1D7
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@ -75,9 +75,10 @@ private:
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int control_code_ = 0;
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std::string target_heading_ = "0";
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bool moving_ = false; // a MOVE has been issued, awaiting settle
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long yaw_target_ = 0; // current target, encoder counts
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long pitch_target_ = 0;
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bool moving_ = false; // a MOVE has been issued, awaiting settle
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bool pitch_present_ = false; // a P: segment was seen in telemetry (2-axis rig)
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long yaw_target_ = 0; // current target, encoder counts
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long pitch_target_ = 0;
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};
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} // namespace fgc
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@ -31,6 +31,7 @@ public:
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bool empty() const { return points_.empty(); }
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std::size_t size() const { return points_.size(); }
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std::size_t index() const { return index_; } // live cursor position
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const ScanPoint& current() const { return points_[index_]; }
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const std::vector<ScanPoint>& points() const { return points_; }
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@ -76,12 +76,24 @@ struct SensorsView {
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SensorGroup dht; // DHT11: ambient temperature + humidity
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};
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// One auto-sweep scan-grid waypoint, for the expanded camera view.
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struct ScanWaypointView {
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double yaw_deg = 0.0;
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double pitch_deg = 0.0;
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bool current = false; // the scheduler's live cursor position
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};
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struct CaptureView {
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bool present = false;
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bool active = false;
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double image_rate = 0.0; // img/s
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int camera_count = 0;
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std::vector<std::string> labels;
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// Defined scan grid (ControlCode 0 auto-sweep waypoints) with the live cursor
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// flagged, surfaced in the expanded camera view.
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std::vector<ScanWaypointView> scan_grid;
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bool scan_from_file = false; // grid_file CSV vs generated
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bool scan_pitch = false; // 2-axis rig (show pitch column)
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// Last published capture (from ImagePipeline::lastEvent()).
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bool has_last = false;
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std::string last_label;
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@ -351,6 +351,15 @@ struct Application::Impl {
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s.capture.image_rate = scheduler ? scheduler->imageRate() : 0.0;
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s.capture.camera_count = camera ? camera->cameraCount() : 0;
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s.capture.labels = cfg.camera.labels;
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// Defined scan grid + live cursor (read on the control thread, same as the
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// scheduler that mutates it, so no locking is needed).
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s.capture.scan_from_file = !cfg.scan.grid_file.empty();
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s.capture.scan_pitch = t.pitch_present;
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s.capture.scan_grid.clear();
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const auto& pts = grid.points();
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s.capture.scan_grid.reserve(pts.size());
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for (std::size_t i = 0; i < pts.size(); ++i)
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s.capture.scan_grid.push_back({pts[i].yaw_deg, pts[i].pitch_deg, i == grid.index()});
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if (pipeline) {
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if (auto ev = pipeline->lastEvent()) {
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s.capture.has_last = true;
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@ -485,6 +494,16 @@ struct Application::Impl {
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}
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void startCapture() {
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// The scheduler arms regardless, but a scan can't progress until the axes
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// are homed: before READY the firmware leaves coils disabled and clamps
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// MOVE targets to a coarse bench guard, so no waypoint is ever reached and
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// the move/settle cycle stalls silently. Refuse with a clear message
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// instead. (Single-axis builds report no P: segment, so skip pitch.)
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MotorTelemetry t = motor->telemetry();
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if (!t.yaw.ready() || (t.pitch_present && !t.pitch.ready())) {
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LOG_WARN << "Capture not started: gimbal not homed (run init/home first)";
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return;
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}
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camera->start();
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scheduler->setCaptureActive(true);
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LOG_INFO << "Capture started";
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@ -3,7 +3,6 @@
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#include "fgc/Logger.h"
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#include <chrono>
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#include <cmath>
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#include <cstdlib>
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namespace fgc {
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@ -46,12 +45,21 @@ long long CaptureScheduler::elapsedMs() const { return now_ms_() - timer_start_;
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void CaptureScheduler::resetTimer() { timer_start_ = now_ms_(); }
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void CaptureScheduler::sendMove() {
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motor_.sendCommand("MOVE " + std::to_string(yaw_target_) + "," + std::to_string(pitch_target_));
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// On a 1-axis (yaw-only) rig the firmware rejects the two-axis `MOVE y,p`
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// form ("ERR axis not present") and moves nothing, so address yaw alone.
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if (pitch_present_) {
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motor_.sendCommand("MOVE " + std::to_string(yaw_target_) + "," +
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std::to_string(pitch_target_));
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} else {
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motor_.sendCommand("MOVE Y " + std::to_string(yaw_target_));
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}
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}
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bool CaptureScheduler::settledAt(const MotorTelemetry& t) const {
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return t.yaw.standstill && t.pitch.standstill &&
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std::labs(t.yaw.xenc - yaw_target_) <= kSettleTolCounts &&
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bool yaw_ok = t.yaw.standstill && std::labs(t.yaw.xenc - yaw_target_) <= kSettleTolCounts;
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// A 1-axis rig never reports pitch standstill, so don't gate the capture on it.
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if (!t.pitch_present) return yaw_ok;
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return yaw_ok && t.pitch.standstill &&
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std::labs(t.pitch.xenc - pitch_target_) <= kSettleTolCounts;
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}
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@ -70,6 +78,7 @@ void CaptureScheduler::tick() {
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// 2. Telemetry.
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MotorTelemetry t = motor_.telemetry();
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pitch_present_ = t.pitch_present;
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// 3. Capture cycle. Only ControlCode 0 (sweep) and 1 (directed) act.
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if (control_code_ != 0 && control_code_ != 1) return;
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@ -130,6 +130,58 @@ Element cameraPanel(const CaptureView& c) {
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return panel("CAMERA", Color::Blue, vbox(std::move(rows)));
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}
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// Expanded camera view ('c'): the defined auto-sweep scan grid with the live
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// cursor highlighted. Long grids wrap into side-by-side columns so the whole
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// list stays visible.
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Element cameraDetailPanel(const CaptureView& c) {
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Element active = c.active ? (text(" CAPTURING ") | color(Color::Green) | bold)
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: (text(" idle ") | dim);
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std::vector<Element> rows = {
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hbox({text("capture ") | dim, active, filler(),
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text(std::to_string(c.image_rate) + " img/s") | dim}),
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hbox({text("source ") | dim,
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text(c.scan_from_file ? "scan grid file (CSV)" : "generated grid")}),
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hbox({text("waypoints ") | dim, text(std::to_string(c.scan_grid.size()))}),
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separator(),
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};
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if (c.scan_grid.empty()) {
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rows.push_back(text("(no scan grid defined — auto-sweep disabled)") | dim);
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return window(text(" SCAN GRID (c/Esc:close) ") | bold | color(Color::Cyan),
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vbox(std::move(rows)));
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}
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// " # | yaw / pitch", current row inverted. Pitch column dropped on 1-axis.
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constexpr size_t kRows = 18; // rows per column before wrapping
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std::vector<Element> cols;
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std::vector<Element> col;
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auto flushColumn = [&] {
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if (col.empty()) return;
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if (!cols.empty()) cols.push_back(text(" "));
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cols.push_back(vbox(std::move(col)));
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col.clear();
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};
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for (size_t i = 0; i < c.scan_grid.size(); ++i) {
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const ScanWaypointView& w = c.scan_grid[i];
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std::string idx = std::to_string(i + 1);
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if (idx.size() < 3) idx = std::string(3 - idx.size(), ' ') + idx;
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std::string coords = c.scan_pitch
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? formatDegrees(w.yaw_deg) + " / " + formatDegrees(w.pitch_deg)
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: formatDegrees(w.yaw_deg);
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Element line = hbox({text(idx + " ") | dim, text(coords)});
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if (w.current) line = line | inverted;
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col.push_back(line);
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if (col.size() == kRows) flushColumn();
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}
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flushColumn();
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rows.push_back(hbox({text(" # ") | dim,
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text(c.scan_pitch ? "yaw / pitch" : "yaw") | dim}));
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rows.push_back(hbox(std::move(cols)));
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return window(text(" SCAN GRID (c/Esc:close) ") | bold | color(Color::Cyan),
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vbox(std::move(rows)));
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}
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Element connPanel(const ConnView& v) {
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Element mqtt = !v.mqtt_enabled ? (text(" disabled ") | dim)
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: v.mqtt_connected ? (text(" connected ") | color(Color::Green) | bold)
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@ -528,7 +580,7 @@ void TuiUi::refreshLoop() {
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void TuiUi::uiLoop() {
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std::string cmd_buffer;
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bool command_mode = false;
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enum class Overlay { None, Help, Gimbal, Sensors };
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enum class Overlay { None, Help, Gimbal, Sensors, Cameras };
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Overlay overlay = Overlay::None; // which takeover panel owns the main area
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int help_sel = 0;
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bool gimbal_dump_requested = false; // auto-pull a dump the first time
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@ -563,7 +615,8 @@ void TuiUi::uiLoop() {
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} else {
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bottom = hbox({
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keyHint("s", "Start"), keyHint("x", "Stop"), keyHint("h", "Home"),
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keyHint("g", "Gimbal"), keyHint("i", "IMU"), keyHint("r", "Refresh"),
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keyHint("g", "Gimbal"), keyHint("i", "IMU"), keyHint("c", "Scan"),
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keyHint("r", "Refresh"),
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keyHint("\xE2\x86\x90\xE2\x86\x92\xE2\x86\x91\xE2\x86\x93", "Nudge"),
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keyHint(":", "Cmd"), keyHint("?", "Help"), filler(), keyHint("q", "Quit"),
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});
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@ -580,6 +633,8 @@ void TuiUi::uiLoop() {
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gimbalDetailPanel(s.gimbal, s.dump, s.calib) | flex, bottom});
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case Overlay::Sensors:
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return vbox({header, separator(), imuDetailPanel(s.imu) | flex, bottom});
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case Overlay::Cameras:
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return vbox({header, separator(), cameraDetailPanel(s.capture) | flex, bottom});
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default: {
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// Activity strip sits between the log and the key bar; shown only
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// once a special op has run or is running, else it costs no space.
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@ -653,6 +708,10 @@ void TuiUi::uiLoop() {
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overlay = (overlay == Overlay::Sensors) ? Overlay::None : Overlay::Sensors;
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return true;
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}
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if (c == "c") {
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overlay = (overlay == Overlay::Cameras) ? Overlay::None : Overlay::Cameras;
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return true;
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}
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if (overlay == Overlay::Help) { // vim-style section nav while help is open
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if (c == "j") { help_sel = (help_sel + 1) % n; return true; }
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if (c == "k") { help_sel = (help_sel - 1 + n) % n; return true; }
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@ -12,6 +12,8 @@ namespace {
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struct FakeMotor : IMotorController {
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MotorTelemetry tel;
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std::vector<std::string> cmds;
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FakeMotor() { tel.pitch_present = true; } // 2-axis rig by default; 1-axis tests clear this
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void start() override {}
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void stop() override {}
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void sendCommand(const std::string& c) override { cmds.push_back(c); }
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@ -107,6 +109,38 @@ TEST_CASE("CaptureScheduler sweeps the scan grid with MOVE + settle + trigger")
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CHECK(motor.cmds.back() == "MOVE 900,0");
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}
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TEST_CASE("CaptureScheduler scans a 1-axis (yaw-only) rig with yaw-only MOVE/settle") {
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long long clock = 0;
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FakeMotor motor;
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motor.tel.pitch_present = false; // yaw-only gimbal: no P: segment in telemetry
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FakeCamera cam;
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FakeChannel chan;
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ScanGrid grid({{0.0, 0.0}, {90.0, 0.0}});
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CaptureScheduler sch(motor, cam, chan, 1.0, testGeometry(), grid, [&] { return clock; });
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sch.setCaptureActive(true);
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chan.next.control_code_available = true;
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chan.next.control_code = 0;
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// The MOVE must address yaw alone, not the two-axis form a 1-axis firmware rejects.
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clock = 1600;
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sch.tick();
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REQUIRE(motor.cmds.size() == 1);
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CHECK(motor.cmds[0] == "MOVE Y 0");
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// Settle on yaw only (pitch never reports standstill on this rig) -> capture fires.
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motor.tel.yaw.xenc = 0;
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motor.tel.yaw.standstill = true;
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motor.tel.yaw.state = AxisState::Ready;
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clock = 1700;
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sch.tick();
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CHECK(cam.triggers == 1);
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clock = 2800;
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sch.tick();
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CHECK(motor.cmds.back() == "MOVE Y 900");
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}
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TEST_CASE("CaptureScheduler ControlCode 1 drives yaw to the target heading") {
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long long clock = 0;
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FakeMotor motor;
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