working camera movement

halloween/web.py

@@ -19,6 +19,7 @@ from .follow import FollowService
 
 
 PAGE = (Path(__file__).parent / "index.html").read_text(encoding="utf-8")
+CAMERA_PAGE = (Path(__file__).parent / "camera.html").read_text(encoding="utf-8")
 PROFILE_CLEANUP_INTERVAL_SECONDS = 3600
 LOGGER = logging.getLogger(__name__)
 
@@ -101,10 +102,15 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
         response.headers["Referrer-Policy"] = "no-referrer"
         return response
 
+    @app.get("/grab", response_class=HTMLResponse)
     @app.get("/", response_class=HTMLResponse)
     async def index():
         return PAGE
 
+    @app.get("/kamera", response_class=HTMLResponse)
+    async def camera_page():
+        return CAMERA_PAGE
+
     @app.get("/api/status")
     async def status():
         return {"controller": controller.status(), "camera": camera.status(),
@@ -120,7 +126,7 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
 
     @app.post("/api/detection/config", dependencies=[Depends(require_ui)])
     async def configure_detection(payload: dict):
-        if follow.active and payload.get("enabled"):
+        if follow.driver is not None and payload.get("enabled"):
             raise HTTPException(status_code=409, detail="Zuerst Kameranachführung stoppen")
         try:
             return detection.configure(payload)
@@ -131,7 +137,7 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
 
     @app.get("/api/follow")
     async def follow_status():
-        return follow.status()
+        return {**follow.status(), "camera": camera.status()}
 
     @app.post("/api/follow/{action}", dependencies=[Depends(require_ui)])
     async def follow_action(action: str, payload: dict):
@@ -144,17 +150,18 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
                 if action == "select":
                     return follow.select(payload.get("token"), payload.get("x"), payload.get("y"))
                 if action == "start":
-                    if detection.get_config()["enabled"]:
-                        raise ValueError("Zuerst automatische Auslösung ausschalten und speichern")
                     if type(payload.get("hardware", False)) is not bool:
                         raise ValueError("Ungültige Servofreigabe")
-                    controller.stop()
+                    if payload.get("hardware", False) and detection.get_config()["enabled"]:
+                        raise HTTPException(status_code=409, detail="Für echte Kamerabewegung zuerst auf der Grab-Seite die automatische Auslösung ausschalten und speichern")
                     session = follow.begin(payload.get("hardware", False),
                                            payload.get("acknowledged") is True,
                                            payload.get("operation", "follow"))
                     return {"session": session}
                 if action == "jog":
                     return follow.jog(payload.get("session"), payload.get("direction"), payload.get("sequence"))
+                if action == "center":
+                    return follow.center(payload.get("session"), payload.get("sequence"))
                 if action == "remember":
                     return follow.remember(payload.get("session"), payload.get("direction"))
                 if action == "heartbeat":
@@ -261,6 +268,17 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
                 ) from exc
         return {"accepted": accepted, "reason": reason, "controller": controller.status()}
 
+    @app.post("/api/grave/stop", dependencies=[Depends(require_ui)])
+    async def grave_stop():
+        controller.stop()
+        return controller.status()
+
+    @app.post("/api/grave/reset", dependencies=[Depends(require_ui)])
+    async def grave_reset():
+        controller.reset()
+        detection.reset()
+        return controller.status()
+
     @app.post("/api/stop", dependencies=[Depends(require_ui)])
     async def stop():
         follow.halt()
@@ -297,7 +315,7 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
                 if camera.error:
                     return
                 if frame is None or number == last_number:
-                    await asyncio.sleep(0.1)
+                    await asyncio.sleep(0.02)
                     continue
                 last_number = number
                 yield (
@@ -305,7 +323,7 @@ def create_app(demo: bool = False, state_dir: Path | None = None) -> FastAPI:
                     + str(len(frame)).encode("ascii")
                     + b"\r\n\r\n" + frame + b"\r\n"
                 )
-                await asyncio.sleep(0.1)
+                await asyncio.sleep(0.02)
 
         return StreamingResponse(
             frames(), media_type="multipart/x-mixed-replace; boundary=frame"