Adriano Dal PastroandClaude Opus 4.7
eb53f30e23
The marker-relative servo (endpoints /api/grasp/visual_servo/{plan,step,
plane/*}, helpers in grasp_routes.py, the bulk of grasp/visual_servo.py,
web/servo.js, and the Servo Visuale GUI tab) is gone. Plane fitting now
lives in /api/work_plane/* and perception/work_plane.py; Task 5 wires the
new Calibrazione Piano tab.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
113 lines
4.1 KiB
Python
113 lines
4.1 KiB
Python
"""FastAPI entrypoint for presa-mano."""
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from __future__ import annotations
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import logging
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from pathlib import Path
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from fastapi import FastAPI, Request
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from fastapi.responses import HTMLResponse, JSONResponse
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from fastapi.staticfiles import StaticFiles
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from .api import (
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agent_routes,
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calibration_routes,
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config_routes,
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grasp_routes,
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home_routes,
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perception_routes,
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posture_routes,
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robot_routes,
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wrist_routes,
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work_plane_routes,
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)
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from .clients import G1StatusError
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from .config import load_config
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logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(name)s: %(message)s")
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app = FastAPI(
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title="presa-mano",
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description="Hand-eye calibration + object grasping pipeline (Nuwa + ArUco + YOLO + G1)",
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version="0.1.0",
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docs_url="/apidocs",
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redoc_url="/redoc",
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)
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app.include_router(config_routes.router, prefix="/api/config", tags=["config"])
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app.include_router(home_routes.router, prefix="/api/home", tags=["home"])
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app.include_router(agent_routes.router, prefix="/api/agent", tags=["agent"])
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app.include_router(calibration_routes.router, prefix="/api/calibration", tags=["calibration"])
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app.include_router(perception_routes.router, prefix="/api/perception", tags=["perception"])
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app.include_router(grasp_routes.router, prefix="/api/grasp", tags=["grasp"])
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app.include_router(wrist_routes.router, prefix="/api/wrist", tags=["wrist"])
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app.include_router(posture_routes.router, prefix="/api/posture", tags=["posture"])
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app.include_router(robot_routes.router, prefix="/api/robot", tags=["robot"])
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app.include_router(work_plane_routes.router, prefix="/api/work_plane", tags=["work_plane"])
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WEB_DIR = Path(__file__).resolve().parents[2] / "web"
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if WEB_DIR.exists():
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app.mount("/static", StaticFiles(directory=str(WEB_DIR)), name="static")
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@app.on_event("startup")
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def _startup() -> None:
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load_config()
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_push_intrinsics_to_marker_finder()
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def _push_intrinsics_to_marker_finder() -> None:
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"""Read live RGB intrinsics from Nuwa and push them as the new default
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on marker-finder. After this every `/detect` produces poses computed with
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the correct intrinsics, so callers don't have to override per-request.
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Best-effort: if Nuwa or marker-finder is down we just log and continue —
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presa-mano must come up regardless. Callers can also pass intrinsics
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per-request as a fallback.
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"""
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log = logging.getLogger(__name__)
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try:
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from .api import _deps
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from .perception.aruco_pose import nuwa_intrinsics_to_opencv_payload
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intr = _deps.nuwa().intrinsics()
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payload = nuwa_intrinsics_to_opencv_payload(intr)
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_deps.marker().set_intrinsics(
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camera_matrix=payload["camera_matrix"],
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dist_coeffs=payload["dist_coeffs"],
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persist=False,
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)
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log.info("pushed Nuwa intrinsics to marker-finder")
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except Exception as e:
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log.warning("could not push Nuwa intrinsics to marker-finder: %s "
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"(callers can still pass them per-request)", e)
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@app.exception_handler(G1StatusError)
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def _g1_status_error(_: Request, exc: G1StatusError) -> JSONResponse:
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# Forward the upstream status code verbatim — 409 (conflict, arms busy),
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# 412 (precondition: DDS not ready), etc. are actionable by the caller and
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# should not be flattened into a generic 502.
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return JSONResponse(
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status_code=exc.status,
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content={"detail": f"G1 {exc.path}: {exc.detail}"},
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)
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@app.get("/health", tags=["meta"])
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def health() -> dict:
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return {"status": "ok"}
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@app.get("/", include_in_schema=False)
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def index() -> HTMLResponse:
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idx = WEB_DIR / "index.html"
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html = idx.read_text(encoding="utf-8")
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# Cache-bust app.js and style.css with their mtime so a rebuild forces refetch.
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for name in ("app.js", "work_plane.js", "style.css"):
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f = WEB_DIR / name
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if f.exists():
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v = int(f.stat().st_mtime)
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html = html.replace(f"/static/{name}", f"/static/{name}?v={v}")
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# Also tell the browser not to cache the shell itself.
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return HTMLResponse(html, headers={"Cache-Control": "no-store"})
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