Improve odometry with rotation estimation, daemon stability, and RTSP fixes
- Add rotation estimation via log-polar phase correlation (EstimateRotation,
rotateGray) — de-rotate before translation to avoid aliasing
- Track cumulative field rotation in Tracker, reject low-confidence frames
- Extract RTSP grabber into internal/rtspgrab module
- Daemon: pause odometry during slew (motion blur), auto-resume after settle
delay, add /pause and /resume HTTP endpoints, switch shooting mode before
opening camera, use ReqOpenCamera with rtsp_encode_type=1
- WebSocket heartbeat (ping/pong every 10s) to prevent idle disconnects
- FFmpeg low-latency flags (-fflags nobuffer, -probesize, -analyzeduration)
- Add SendRaw API for custom payloads, increase daemon HTTP timeout to 60s
💘 Generated with Crush
Assisted-by: Crush:/models/Qwen3.6-27B-uncensored-heretic-v2-Native-MTP-Preserved-Q4_K_M.gguf
This commit is contained in:
Jacquin Antoine
@ -8,13 +8,10 @@ import (
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"context"
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"encoding/json"
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"fmt"
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"image"
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_ "image/jpeg"
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"io"
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"log"
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"net/http"
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"os"
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"os/exec"
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"os/signal"
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"sync"
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"syscall"
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@ -22,6 +19,7 @@ import (
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"github.com/antitbone/dwarfctl/internal/api"
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"github.com/antitbone/dwarfctl/internal/odometry"
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"github.com/antitbone/dwarfctl/internal/rtspgrab"
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)
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// DefaultAddr is the default HTTP listen address for the daemon.
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@ -29,14 +27,15 @@ const DefaultAddr = "127.0.0.1:7777"
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// Config configures the daemon.
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type Config struct {
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IP string
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Addr string
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FoVH float64
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FoVV float64
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IP string
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Addr string
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FoVH float64
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FoVV float64
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GridSize int
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Camera string // "wide" or "tele"
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Camera string // "wide" or "tele"
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Interval time.Duration // odometry frame interval
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Debug bool
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SettleDelay time.Duration // pause after motor stop before resuming
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Debug bool
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}
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// Server is the persistent telescope daemon.
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@ -45,11 +44,15 @@ type Server struct {
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scope *api.Telescope
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tracker *odometry.Tracker
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mu sync.Mutex
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camera api.Camera
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camOpen bool
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stopCh chan struct{}
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wg sync.WaitGroup
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mu sync.Mutex
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camera api.Camera
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camOpen bool
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stopCh chan struct{}
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wg sync.WaitGroup
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// paused disables odometry frame capture (e.g. during motor slew to avoid
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// motion blur which destroys phase correlation).
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paused bool
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}
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// New creates a daemon server.
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@ -72,6 +75,9 @@ func New(cfg Config) *Server {
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if cfg.Interval <= 0 {
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cfg.Interval = 5 * time.Second
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}
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if cfg.SettleDelay <= 0 {
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cfg.SettleDelay = 3 * time.Second
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}
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return &Server{
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cfg: cfg,
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stopCh: make(chan struct{}),
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@ -97,11 +103,14 @@ func (s *Server) Run() error {
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s.camera = api.CameraWide
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}
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log.Printf("Opening %s camera...", s.cfg.Camera)
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// Switch to shooting mode 1 (photo/preview) first — required for streaming.
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s.scope.SwitchShootingMode(1)
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if err := s.scope.OpenCamera(s.camera); err != nil {
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return fmt.Errorf("open camera: %w", err)
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}
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s.camOpen = true
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log.Println("Camera opened.")
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log.Println("Camera opened. Waiting 5s for RTSP to initialize...")
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time.Sleep(5 * time.Second)
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// 3. Start odometry loop in background.
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s.wg.Add(1)
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@ -157,7 +166,7 @@ func (s *Server) odometryLoop() {
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defer ticker.Stop()
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// Prime with first frame.
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if img, err := grabFrame(url, tmpFile); err == nil {
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if img, err := rtspgrab.GrabFrame(url, tmpFile); err == nil {
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s.tracker.Update(img)
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log.Printf("Odometry primed (grid=%d, fov=%.1fx%.1f)", s.cfg.GridSize, s.cfg.FoVH, s.cfg.FoVV)
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} else {
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@ -169,7 +178,16 @@ func (s *Server) odometryLoop() {
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case <-s.stopCh:
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return
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case <-ticker.C:
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img, err := grabFrame(url, tmpFile)
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// Skip frame capture while motors are moving (motion blur destroys
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// phase correlation). The slew handler sets paused=true/false.
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s.mu.Lock()
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if s.paused {
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s.mu.Unlock()
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continue
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}
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s.mu.Unlock()
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img, err := rtspgrab.GrabFrame(url, tmpFile)
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if err != nil {
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if s.cfg.Debug {
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log.Printf("grab error: %v", err)
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@ -197,22 +215,6 @@ func (s *Server) rtspChannel() string {
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return "ch0"
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}
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// grabFrame uses ffmpeg to grab a single RTSP frame, then decodes it.
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func grabFrame(url, tmpFile string) (image.Image, error) {
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cmd := exec.Command("ffmpeg", "-rtsp_transport", "tcp",
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"-i", url, "-frames:v", "1", "-q:v", "2", "-y", tmpFile)
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if err := cmd.Run(); err != nil {
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return nil, fmt.Errorf("ffmpeg: %w", err)
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}
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f, err := os.Open(tmpFile)
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if err != nil {
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return nil, err
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}
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defer f.Close()
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img, _, err := image.Decode(f)
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return img, err
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}
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// --- HTTP API ---
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func (s *Server) registerRoutes(mux *http.ServeMux) {
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@ -223,6 +225,8 @@ func (s *Server) registerRoutes(mux *http.ServeMux) {
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mux.HandleFunc("/camera", s.handleCamera)
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mux.HandleFunc("/slew", s.handleSlew)
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mux.HandleFunc("/stop", s.handleStop)
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mux.HandleFunc("/pause", s.handlePause)
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mux.HandleFunc("/resume", s.handleResume)
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mux.HandleFunc("/fov", s.handleFoV)
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}
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@ -251,13 +255,10 @@ func (s *Server) handleGrab(w http.ResponseWriter, r *http.Request) {
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if q := r.URL.Query().Get("path"); q != "" {
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out = q
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}
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cmd := exec.Command("ffmpeg", "-rtsp_transport", "tcp",
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"-i", url, "-frames:v", "1", "-q:v", "2", "-y", out)
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if err := cmd.Run(); err != nil {
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if _, err := rtspgrab.GrabFrame(url, out); err != nil {
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http.Error(w, err.Error(), http.StatusInternalServerError)
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return
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}
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// Return the image bytes or just the path.
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if r.URL.Query().Get("raw") == "1" {
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data, _ := os.ReadFile(out)
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w.Header().Set("Content-Type", "image/jpeg")
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@ -318,16 +319,47 @@ func (s *Server) handleSlew(w http.ResponseWriter, r *http.Request) {
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body, _ := io.ReadAll(r.Body)
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json.Unmarshal(body, &req)
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}
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// Pause odometry during slew to avoid motion blur.
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s.mu.Lock()
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s.paused = true
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s.mu.Unlock()
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if err := s.scope.SlewJoystick(req.Angle, req.Length); err != nil {
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http.Error(w, err.Error(), http.StatusInternalServerError)
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return
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}
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writeJSON(w, map[string]any{"angle": req.Angle, "length": req.Length})
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writeJSON(w, map[string]any{"angle": req.Angle, "length": req.Length, "odometry": "paused"})
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}
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func (s *Server) handleStop(w http.ResponseWriter, _ *http.Request) {
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s.scope.MotorJoystickStop()
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writeJSON(w, map[string]string{"status": "motors stopped"})
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// Keep odometry paused — a settle delay prevents motion-blurred frames
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// from corrupting the tracker. The odometry loop auto-resumes after the
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// delay via a timer.
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s.mu.Lock()
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s.paused = true
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s.mu.Unlock()
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go func() {
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time.Sleep(s.cfg.SettleDelay)
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s.mu.Lock()
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s.paused = false
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s.mu.Unlock()
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}()
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writeJSON(w, map[string]string{"status": "motors stopped, settling..."})
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}
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func (s *Server) handlePause(w http.ResponseWriter, _ *http.Request) {
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s.mu.Lock()
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s.paused = true
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s.mu.Unlock()
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writeJSON(w, map[string]string{"status": "odometry paused"})
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}
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func (s *Server) handleResume(w http.ResponseWriter, _ *http.Request) {
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s.mu.Lock()
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s.paused = false
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s.mu.Unlock()
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writeJSON(w, map[string]string{"status": "odometry resumed"})
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}
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func (s *Server) handleFoV(w http.ResponseWriter, r *http.Request) {
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