RealSense-D435i-G1/src/backend/main.py

import logging
from contextlib import asynccontextmanager
from pathlib import Path

from fastapi import FastAPI
from fastapi.middleware.cors import CORSMiddleware
from fastapi.staticfiles import StaticFiles
from fastapi.responses import FileResponse

from src.backend.config import settings
from src.backend.api.routes import (
    router,
    set_camera as set_routes_camera,
    set_image_saver as set_routes_saver,
)
from src.backend.api.websocket import (
    ws_router,
    set_camera as set_ws_camera,
    set_image_saver as set_ws_saver,
    set_detector as set_ws_detector,
)
from src.backend.nats_client.connection import nats_manager
from src.backend.nats_client.handlers import set_camera as set_nats_camera
from src.backend.services.camera import RealSenseD435
from src.backend.services.image_saver import ImageSaver

try:
    from src.backend.services.detector import Detector
except Exception:
    Detector = None  # YOLO/onnxruntime optional

logging.basicConfig(level=logging.INFO, format="%(asctime)s %(name)s %(levelname)s %(message)s")
logger = logging.getLogger(__name__)


@asynccontextmanager
async def lifespan(app: FastAPI):
    # Startup
    camera = RealSenseD435(
        width=settings.camera_width,
        height=settings.camera_height,
        fps=settings.camera_fps,
    )
    sdk_ok = camera.init()
    if sdk_ok:
        logger.info("SDK initialized")
    else:
        logger.error(
            "SDK init failed — API will stay up so /api/health can be queried, "
            "but camera endpoints will return SDK_NOT_INITIALIZED"
        )

    if sdk_ok and settings.camera_auto_open:
        try:
            devices = camera.discover()
            if devices:
                if camera.open(0):
                    logger.info(
                        f"Auto-opened camera 0 (serial={devices[0].serial})"
                    )
                else:
                    logger.warning("Auto-open requested but open(0) failed")
            else:
                logger.warning("Auto-open requested but no RealSense devices found")
        except Exception as exc:
            logger.warning(f"Auto-open failed: {exc}")

    # Inject camera into all layers
    set_routes_camera(camera)
    set_ws_camera(camera)
    set_nats_camera(camera)

    # Image saver (snapshot + continuous recording to images_dir)
    saver = ImageSaver(Path(settings.images_dir))
    set_routes_saver(saver)
    set_ws_saver(saver)
    logger.info(f"Image saver ready: {settings.images_dir}")

    # YOLO detector (optional — disabled if onnxruntime or model file is missing)
    if Detector is not None:
        try:
            detector = Detector(
                settings.yolo_onnx_path,
                settings.yolo_class_list,
                settings.yolo_conf_default,
            )
            set_ws_detector(detector)
        except FileNotFoundError as exc:
            logger.warning(f"YOLO detector disabled (model not found): {exc}")
        except Exception as exc:
            logger.warning(f"YOLO detector disabled: {exc}")
    else:
        logger.info("YOLO detector disabled (onnxruntime not installed)")

    # Connect NATS (non-blocking, graceful if unavailable)
    await nats_manager.connect()

    yield

    # Shutdown
    await nats_manager.disconnect()
    camera.close()
    camera.deinit()
    logger.info("SDK deinitialized")


app = FastAPI(
    title=settings.service_name,
    description="REST API + WebSocket for Intel RealSense D4xx depth camera (pyrealsense2)",
    version="1.0.0",
    docs_url="/apidocs",
    redoc_url="/redoc",
    openapi_url="/openapi.json",
    lifespan=lifespan,
)

app.add_middleware(
    CORSMiddleware,
    allow_origins=settings.cors_origins_list,
    allow_methods=["*"],
    allow_headers=["*"],
)

app.include_router(router, prefix="/api")
app.include_router(ws_router)

# Serve React frontend at /gui (built files in src/frontend/react/dist)
_GUI_DIR = Path(__file__).parent.parent / "frontend" / "react" / "dist"
if _GUI_DIR.is_dir():
    app.mount("/gui", StaticFiles(directory=str(_GUI_DIR), html=True), name="gui")
    logger.info(f"React GUI mounted at /gui from {_GUI_DIR}")


# Public health endpoint (no API key required) for Docker healthchecks
@app.get("/api/health", summary="Health check", tags=["system"])
async def health():
    """Service health check — no API key required."""
    from src.backend.models.api import ok
    from src.backend.nats_client.connection import nats_manager
    from src.backend.api.routes import _camera

    return ok({
        "status": "ok",
        "sdk_initialized": _camera.is_initialized() if _camera else False,
        "camera_open": _camera.is_open() if _camera else False,
        "nats_connected": nats_manager.is_connected,
    })