fix bug
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-114
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+93
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@@ -86,6 +86,99 @@ class RadarState:
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last_update: float = 0.0
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esp32_connected: bool = False
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def to_json(self) -> dict:
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"""Serialize to something the browser can render."""
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now = time.time()
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return {
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"node_id": self.node_id,
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"sequence": self.sequence,
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"timestamp_ms": self.timestamp_ms,
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"target_count": self.target_count,
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"targets": [
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{
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"slot": t.slot,
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"valid": t.valid,
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"x_mm": t.x_mm,
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"y_mm": t.y_mm,
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"speed_cm_s": t.speed_cm_s,
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"distance_mm": round(t.distance_mm, 1),
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"angle_deg": round(t.angle_deg, 2),
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"last_seen": (
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round(now - t.last_seen, 2)
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if t.valid or (t.last_seen and t.last_seen > 0)
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else None
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),
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}
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for t in self.targets
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],
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"zones": [
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{
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"id": z.id,
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"x1": z.x1,
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"y1": z.y1,
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"x2": z.x2,
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"y2": z.y2,
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"occupied": z.occupied,
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}
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for z in self.zones
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],
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"frames_received": self.frames_received,
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"last_update": (
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round(now - self.last_update, 2)
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if self.last_update and self.last_update > 0
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else None
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),
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"esp32_connected": self.esp32_connected,
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"server_time": round(now, 2),
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}
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async def update_from_frame(self, frame: dict):
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self.node_id = frame.get("node_id", self.node_id)
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self.sequence = frame.get("sequence", 0)
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self.timestamp_ms = frame.get("timestamp", 0)
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self.target_count = frame.get("target_count", 0)
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now = time.time()
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PHYS_Y_MIN = 1
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PHYS_Y_MAX = 6500
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PHYS_X_ABS = 6500
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valid_targets_this_frame = 0
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targets_data = frame.get("targets", [])
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for t_data in targets_data:
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slot = t_data.get("id", 0)
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if 1 <= slot <= 3:
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t = self.targets[slot - 1]
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t.slot = slot
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t.valid = bool(t_data.get("valid", False))
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t.x_mm = int(t_data.get("x", 0))
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t.y_mm = int(t_data.get("y", 0))
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t.speed_cm_s = int(t_data.get("speed", 0))
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t.distance_mm = float(t_data.get("distance", 0.0))
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t.angle_deg = float(t_data.get("angle", 0.0))
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y_ok = PHYS_Y_MIN <= t.y_mm <= PHYS_Y_MAX
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x_ok = -PHYS_X_ABS <= t.x_mm <= PHYS_X_ABS
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if not (y_ok and x_ok):
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t.valid = False
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if t.valid and (t.distance_mm == 0 or t.angle_deg == 0):
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t.distance_mm = math.hypot(t.x_mm, t.y_mm)
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if t.distance_mm > 0:
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t.angle_deg = math.degrees(math.atan2(t.x_mm, t.y_mm))
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if t.valid:
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t.last_seen = now
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valid_targets_this_frame += 1
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self.target_count = valid_targets_this_frame
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self.frames_received += 1
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self.last_update = now
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store = globals().get("STORE")
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if store is not None:
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try:
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await store.maybe_record(self.targets, now)
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except Exception:
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pass
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# ============================================================
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# SQLite-backed detection history store
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@@ -283,120 +376,6 @@ class TargetStore:
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}
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def to_json(self) -> dict:
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"""Serialize to something the browser can render."""
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now = time.time()
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return {
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"node_id": self.node_id,
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"sequence": self.sequence,
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"timestamp_ms": self.timestamp_ms,
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"target_count": self.target_count,
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"targets": [
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{
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"slot": t.slot,
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"valid": t.valid,
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"x_mm": t.x_mm,
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"y_mm": t.y_mm,
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"speed_cm_s": t.speed_cm_s,
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"distance_mm": round(t.distance_mm, 1),
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"angle_deg": round(t.angle_deg, 2),
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# seconds since this target was last valid; None if never seen
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"last_seen": (
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round(now - t.last_seen, 2)
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if t.valid or (t.last_seen and t.last_seen > 0)
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else None
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),
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}
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for t in self.targets
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],
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"zones": [
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{
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"id": z.id,
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"x1": z.x1,
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"y1": z.y1,
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"x2": z.x2,
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"y2": z.y2,
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"occupied": z.occupied,
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}
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for z in self.zones
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],
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"frames_received": self.frames_received,
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"last_update": (
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round(now - self.last_update, 2)
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if self.last_update and self.last_update > 0
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else None
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),
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"esp32_connected": self.esp32_connected,
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"server_time": round(now, 2),
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}
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async def update_from_frame(self, frame: dict):
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self.node_id = frame.get("node_id", self.node_id)
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self.sequence = frame.get("sequence", 0)
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self.timestamp_ms = frame.get("timestamp", 0)
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self.target_count = frame.get("target_count", 0)
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now = time.time()
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# Belt-and-suspenders physical-limits filter, kept in sync with
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# the LD2453 ESP32 parser (sign-magnitude 15-bit magnitude +
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# nominal range extended to 6.5 m ceiling to avoid false drops
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# on real near-max-range targets, see LD2453Parser.cpp §0 and §2).
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PHYS_Y_MIN = 1
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PHYS_Y_MAX = 6500
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PHYS_X_ABS = 6500
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valid_targets_this_frame = 0
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targets_data = frame.get("targets", [])
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for t_data in targets_data:
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slot = t_data.get("id", 0)
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if 1 <= slot <= 3:
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t = self.targets[slot - 1]
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t.slot = slot
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t.valid = bool(t_data.get("valid", False))
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t.x_mm = int(t_data.get("x", 0))
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t.y_mm = int(t_data.get("y", 0))
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t.speed_cm_s = int(t_data.get("speed", 0))
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# If ESP32 parser already gives distance/angle, use them
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t.distance_mm = float(t_data.get("distance", 0.0))
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t.angle_deg = float(t_data.get("angle", 0.0))
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# Sanity overrides: strip validity if coordinates lie
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# outside the radar's measurable physical envelope.
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y_ok = PHYS_Y_MIN <= t.y_mm <= PHYS_Y_MAX
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x_ok = -PHYS_X_ABS <= t.x_mm <= PHYS_X_ABS
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if not (y_ok and x_ok):
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t.valid = False
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# Derive distance / angle if missing, for convenience
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if t.valid and (t.distance_mm == 0 or t.angle_deg == 0):
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t.distance_mm = math.hypot(t.x_mm, t.y_mm)
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if t.distance_mm > 0:
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t.angle_deg = math.degrees(math.atan2(t.x_mm, t.y_mm))
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if t.valid:
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t.last_seen = now
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valid_targets_this_frame += 1
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# Keep the browser-side counters honest even if the ESP32 told
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# us a target_count that included the now-filtered ACK ghost.
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self.target_count = valid_targets_this_frame
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self.frames_received += 1
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self.last_update = now
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# Persist valid targets into the SQLite history (dedup per slot).
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# We reference the singleton STORE from the FastAPI lifecycle; this
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# indirection keeps RadarState pure (no knowledge of DB engine).
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store = globals().get("STORE")
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if store is not None:
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try:
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await store.maybe_record(self.targets, now)
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except Exception:
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# Never let a DB write failure break the realtime radar loop.
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pass
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# ============================================================
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# Global app state
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# ============================================================
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