372 lines
15 KiB
Python
372 lines
15 KiB
Python
"""Main application window."""
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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 PySide6.QtCore import QTimer
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from PySide6.QtWidgets import QLabel, QMainWindow, QMessageBox, QSizePolicy, QStatusBar
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from app.camera.camera_enumerator import CameraEnumerator, CameraFormat, CameraInfo
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from app.camera.camera_service import CameraService
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from app.camera.uvc import make_uvc_controller
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from app.camera.uvc.base import UvcControllerBase
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from app.camera.uvc.stub import NullUvcController
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from app.config import APP_NAME, APP_VERSION
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from app.inference.bbox_overlay import BboxOverlay
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from app.inference.worker_manager import InferenceManager
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from app.overlay.telemetry_overlay import TelemetryOverlay
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from app.pipeline.frame_dispatcher import FrameDispatcher
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from app.telemetry.csv_logger import CsvTelemetryLogger
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from app.telemetry.telemetry_collector import TelemetryCollector
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from app.ui.camera_settings_dialog import CameraSettingsDialog
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from app.ui.camera_view import CameraView
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from app.ui.menu_bar import AppMenuBar
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from app.video.video_player import VideoPlayer
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logger = logging.getLogger(__name__)
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class MainWindow(QMainWindow):
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"""
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Top-level application window.
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Frame source (exclusive):
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• CameraService — live camera (default)
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• VideoPlayer — local video file
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Inference pipeline (optional):
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InferenceManager runs YOLO in a separate process.
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Frames submitted via FrameDispatcher subscriber (drop_if_busy).
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Results displayed by BboxOverlay.
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Signal flow:
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[CameraService | VideoPlayer].frame_ready(QVideoFrame)
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→ FrameDispatcher.dispatch
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→ CameraView.on_frame (render)
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→ TelemetryCollector.on_frame (metrics)
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→ TelemetryOverlay (HUD)
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→ CsvTelemetryLogger (CSV)
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→ InferenceManager.submit_frame (drop_if_busy, optional)
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→ [worker process] YOLO
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→ BboxOverlay.on_detections (draw boxes)
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"""
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def __init__(self, log_path: Path | None = None) -> None:
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super().__init__()
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self.setWindowTitle(f"{APP_NAME} v{APP_VERSION}")
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self.setMinimumSize(640, 480)
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self.resize(1280, 720)
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# --- Core pipeline ---
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self._camera_service = CameraService(self)
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self._video_player = VideoPlayer(self)
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self._dispatcher = FrameDispatcher(self)
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self._telemetry = TelemetryCollector(parent=self)
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self._inference = InferenceManager(self)
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# Track which source is active
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self._video_source_active: bool = False
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self._current_camera: CameraInfo | None = None
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# --- UVC ---
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self._uvc: UvcControllerBase = NullUvcController()
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# --- CSV logger ---
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self._csv_logger: CsvTelemetryLogger | None = None
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if log_path is not None:
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csv_path = log_path.with_suffix(".csv")
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self._csv_logger = CsvTelemetryLogger(csv_path)
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logger.info("Telemetry CSV: %s", csv_path.resolve())
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# --- Camera view ---
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self._camera_view = CameraView(self)
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self._camera_view.setSizePolicy(
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QSizePolicy.Policy.Expanding, QSizePolicy.Policy.Expanding
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)
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self.setCentralWidget(self._camera_view)
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# --- Overlay layers ---
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self._telemetry_overlay = TelemetryOverlay()
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self._bbox_overlay = BboxOverlay()
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self._camera_view.add_overlay_layer(self._telemetry_overlay)
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self._camera_view.add_overlay_layer(self._bbox_overlay)
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self._bbox_overlay.visible = False # hidden until inference enabled
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# --- Menu bar ---
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self._menu = AppMenuBar(self)
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self.setMenuBar(self._menu)
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if log_path is not None:
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self._menu.set_log_file_path(str(log_path.resolve()))
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# --- Status bar ---
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self._status_bar = QStatusBar(self)
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self.setStatusBar(self._status_bar)
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self._status_label = QLabel("Initialising\u2026")
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self._status_bar.addWidget(self._status_label, stretch=1)
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# Detection counter — right-aligned permanent widget
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self._detection_label = QLabel("")
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self._detection_label.setVisible(False)
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self._status_bar.addPermanentWidget(self._detection_label)
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# --- Wire signals ---
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self._wire_signals()
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QTimer.singleShot(0, self._initialise_cameras)
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# ------------------------------------------------------------------
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# Initialisation
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# ------------------------------------------------------------------
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def _initialise_cameras(self) -> None:
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cameras = CameraEnumerator.list_cameras()
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if not cameras:
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self._status_label.setText("No cameras found")
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logger.warning("No cameras detected")
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return
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self._menu.populate_cameras(cameras)
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default = CameraEnumerator.default_camera()
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start_cam = default if default is not None else cameras[0]
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self._menu.populate_formats(start_cam)
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self._start_camera(start_cam)
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def _start_camera(self, cam: CameraInfo) -> None:
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self._current_camera = cam
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self._telemetry.reset_counters()
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self._camera_service.start(cam)
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self._menu.set_active_camera(cam)
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self._status_label.setText(f"Opening: {cam.name}")
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self._open_uvc(cam)
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def _open_uvc(self, cam: CameraInfo) -> None:
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if self._uvc.is_open():
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self._uvc.close()
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ctrl = make_uvc_controller(cam.name)
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if not ctrl.is_open():
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ctrl.open(cam.name)
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self._uvc = ctrl
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# ------------------------------------------------------------------
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# Signal wiring
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# ------------------------------------------------------------------
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def _wire_signals(self) -> None:
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# ---- Active source → dispatcher ----
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# (connected dynamically in _switch_to_camera / _switch_to_video)
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self._camera_service.frame_ready.connect(self._dispatcher.dispatch)
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# ---- Dispatcher fans out to all consumers ----
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self._dispatcher.subscribe(self._camera_view.on_frame, drop_if_busy=True)
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self._dispatcher.subscribe(self._telemetry.on_frame, drop_if_busy=False)
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# InferenceManager subscriber added/removed dynamically on toggle
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# ---- Telemetry ----
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self._telemetry.metrics_updated.connect(
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self._telemetry_overlay.on_metrics_updated
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)
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if self._csv_logger is not None:
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self._telemetry.metrics_updated.connect(self._csv_logger.on_metrics_updated)
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self._camera_service.format_changed.connect(self._telemetry.set_target_fps)
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# ---- Camera service status ----
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self._camera_service.camera_started.connect(self._on_camera_started)
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self._camera_service.camera_stopped.connect(self._on_camera_stopped)
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self._camera_service.camera_error.connect(self._on_camera_error)
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# ---- Video player status ----
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self._video_player.playback_started.connect(self._on_playback_started)
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self._video_player.playback_stopped.connect(self._on_playback_stopped)
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self._video_player.playback_error.connect(self._on_playback_error)
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# ---- InferenceManager ----
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self._inference.detections_ready.connect(self._bbox_overlay.on_detections)
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self._inference.detection_count_updated.connect(self._on_detection_count_updated)
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self._inference.inference_started.connect(self._on_inference_started)
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self._inference.inference_stopped.connect(self._on_inference_stopped)
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self._inference.inference_error.connect(self._on_inference_error)
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# ---- Menu ----
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self._menu.camera_selected.connect(self._on_camera_selected)
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self._menu.format_selected.connect(self._on_format_selected)
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self._menu.reconnect_requested.connect(self._camera_service.reconnect)
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self._menu.overlay_toggled.connect(self._camera_view.set_all_overlays_visible)
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self._menu.camera_settings_requested.connect(self._on_settings_requested)
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self._menu.video_file_selected.connect(self._on_video_selected)
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self._menu.video_closed.connect(self._on_video_closed)
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self._menu.model_file_selected.connect(self._on_model_selected)
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self._menu.inference_toggled.connect(self._on_inference_toggled)
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# ------------------------------------------------------------------
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# Source switching
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# ------------------------------------------------------------------
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def _switch_to_camera(self) -> None:
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"""Disconnect VideoPlayer, connect CameraService to dispatcher."""
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try:
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self._video_player.frame_ready.disconnect(self._dispatcher.dispatch)
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except RuntimeError:
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pass
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self._camera_service.frame_ready.connect(self._dispatcher.dispatch)
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self._video_source_active = False
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self._menu.set_video_source_active(False)
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def _switch_to_video(self) -> None:
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"""Disconnect CameraService, connect VideoPlayer to dispatcher."""
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try:
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self._camera_service.frame_ready.disconnect(self._dispatcher.dispatch)
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except RuntimeError:
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pass
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self._video_player.frame_ready.connect(self._dispatcher.dispatch)
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self._video_source_active = True
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self._menu.set_video_source_active(True)
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# ------------------------------------------------------------------
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# Camera status slots
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# ------------------------------------------------------------------
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def _on_camera_started(self) -> None:
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cam = self._camera_service.current_camera
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name = cam.name if cam else "Unknown"
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self._status_label.setText(f"Streaming: {name}")
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logger.info("Camera streaming: %s", name)
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def _on_camera_stopped(self) -> None:
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self._status_label.setText("Camera stopped")
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def _on_camera_error(self, message: str) -> None:
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self._status_label.setText(f"Error: {message}")
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logger.error("Camera error: %s", message)
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# ------------------------------------------------------------------
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# Video player slots
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# ------------------------------------------------------------------
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def _on_playback_started(self) -> None:
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path = self._video_player.current_path or ""
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name = Path(path).name if path else "video"
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self._status_label.setText(f"Playing: {name}")
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def _on_playback_stopped(self) -> None:
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self._status_label.setText("Playback finished")
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def _on_playback_error(self, message: str) -> None:
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self._status_label.setText(f"Video error: {message}")
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logger.error(message)
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# ------------------------------------------------------------------
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# Inference slots
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# ------------------------------------------------------------------
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def _on_inference_started(self) -> None:
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self._status_label.setText("Inference running")
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self._menu.set_inference_checked(True)
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def _on_detection_count_updated(self, count: int) -> None:
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self._detection_label.setText(f"Detections: {count} frames")
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def _on_inference_stopped(self) -> None:
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self._bbox_overlay.clear()
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def _on_inference_error(self, message: str) -> None:
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logger.error("Inference: %s", message)
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self._menu.set_inference_available(False)
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self._menu.set_inference_checked(False)
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self._bbox_overlay.visible = False
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self._detection_label.setVisible(False)
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QMessageBox.critical(self, "Inference Error", message)
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# ------------------------------------------------------------------
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# Menu action slots
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# ------------------------------------------------------------------
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def _on_camera_selected(self, cam: CameraInfo) -> None:
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if self._video_source_active:
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self._video_player.stop()
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self._switch_to_camera()
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self._start_camera(cam)
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def _on_format_selected(self, fmt: CameraFormat) -> None:
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logger.info(
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"Format selected via menu: %dx%d @ %.4g fps (%s)",
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fmt.width, fmt.height, fmt.max_fps, fmt.pixel_format,
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)
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self._camera_service.set_format(fmt)
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def _on_settings_requested(self) -> None:
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qt_cam = self._camera_service.qt_camera
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if qt_cam is None:
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logger.warning("Settings requested but no camera is active")
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return
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dlg = CameraSettingsDialog(qt_cam, self._uvc, parent=self)
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dlg.exec()
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def _on_video_selected(self, path: str) -> None:
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"""Switch source to video file."""
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self._camera_service.stop()
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self._switch_to_video()
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self._video_player.play(path)
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logger.info("Video source: %s", path)
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def _on_video_closed(self) -> None:
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"""Return to camera source."""
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self._video_player.stop()
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self._switch_to_camera()
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if self._current_camera is not None:
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self._start_camera(self._current_camera)
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logger.info("Returned to camera source")
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def _on_model_selected(self, path: str) -> None:
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"""Load YOLO model into inference manager."""
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name = Path(path).name
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logger.info("Loading model: %s", path)
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self._status_label.setText(f"Loading model: {name}\u2026")
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self._inference.start(path)
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self._menu.set_model_label(name)
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self._menu.set_inference_available(True)
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self._menu.set_inference_checked(False) # user must explicitly enable
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def _on_inference_toggled(self, enabled: bool) -> None:
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if enabled:
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if not self._inference.is_running:
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# shouldn't happen but be safe
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logger.warning("Inference toggle on but manager not running")
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self._menu.set_inference_checked(False)
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return
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self._inference.resume()
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self._dispatcher.subscribe(
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self._inference.submit_frame, drop_if_busy=True
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)
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self._bbox_overlay.visible = True
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self._detection_label.setText("Detections: 0 frames")
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self._detection_label.setVisible(True)
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self._status_label.setText("Inference enabled")
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logger.info("Inference enabled")
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else:
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self._inference.pause()
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self._dispatcher.unsubscribe(self._inference.submit_frame)
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self._bbox_overlay.clear()
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self._bbox_overlay.visible = False
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self._detection_label.setVisible(False)
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self._status_label.setText("Inference disabled")
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logger.info("Inference disabled")
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# ------------------------------------------------------------------
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# Qt overrides
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# ------------------------------------------------------------------
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def closeEvent(self, event) -> None: # noqa: N802
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self._inference.stop()
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self._camera_service.stop()
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self._video_player.stop()
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if self._uvc.is_open():
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self._uvc.close()
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if self._csv_logger is not None:
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logger.info(
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"CSV telemetry: %d rows written", self._csv_logger.rows_written
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)
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self._csv_logger.close()
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super().closeEvent(event)
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