Brainrot_Muxa/tools/flyguard_ros2_node.py

"""
ROS 2 узел для биоинспирированного пайплайна FlyGuard (ЛЦТ-2026 Кейс 05).
Связывает входные данные 3D-лидара с ядром FlyGuard и публикует детекции/маркеры.
"""

import sys
from pathlib import Path
import numpy as np

# Автоматически добавляем корень репозитория в sys.path
ROOT_DIR = Path(__file__).resolve().parent.parent
if str(ROOT_DIR) not in sys.path:
    sys.path.insert(0, str(ROOT_DIR))

import rclpy
from rclpy.node import Node

# Импорт сообщений ROS 2
from sensor_msgs.msg import PointCloud2
from std_msgs.msg import String
from vision_msgs.msg import Detection3DArray, Detection3D, BoundingBox3D
from visualization_msgs.msg import MarkerArray, Marker
from geometry_msgs.msg import Vector3

import sensor_msgs_py.point_cloud2 as pc2

# Импорт ядра FlyGuard
try:
    from flyguard.pipeline import FlyGuard, Params
    from flyguard.mushroom_body import MushroomBody
except ImportError as e:
    FlyGuard = None
    Params = None
    MushroomBody = None


class FlyGuardNode(Node):
    def __init__(self):
        super().__init__('flyguard_node')

        # --- Объявление параметров ---
        self.declare_parameter('lidar_topic', '/pandar_points')
        self.declare_parameter('frame_id', 'pandar')
        self.declare_parameter('memory_path', '')
        self.declare_parameter('fov_deg', 30.0)

        self.lidar_topic = self.get_parameter('lidar_topic').get_parameter_value().string_value
        self.frame_id = self.get_parameter('frame_id').get_parameter_value().string_value
        memory_path = self.get_parameter('memory_path').get_parameter_value().string_value
        fov_deg = self.get_parameter('fov_deg').get_parameter_value().double_value

        # --- Инициализация ядра FlyGuard ---
        if FlyGuard is not None:
            self.get_logger().info("Инициализация ядра FlyGuard...")
            memory = MushroomBody.load(memory_path) if memory_path else None
            params = Params(fov_deg=fov_deg)
            self.fg = FlyGuard(params, memory=memory)
        else:
            self.get_logger().error("Модуль flyguard.pipeline не найден!")
            self.fg = None

        # --- Подписчики и Публикаторы ---
        self.sub_cloud = self.create_subscription(
            PointCloud2,
            self.lidar_topic,
            self.pointcloud_callback,
            10
        )

        self.pub_threat = self.create_publisher(String, 'flyguard/threat_level', 10)
        self.pub_boxes = self.create_publisher(Detection3DArray, 'flyguard/bounding_boxes', 10)
        self.pub_markers = self.create_publisher(MarkerArray, 'flyguard/markers', 10)

        self.get_logger().info(f"FlyGuard ROS 2 Node запущен! Топик: {self.lidar_topic}")

    def pointcloud_callback(self, msg: PointCloud2):
        """Обработка каждого кадра лидара (10 Гц)"""
        start_time = self.get_clock().now()

        # 1. Читаем точки из PointCloud2 в structured numpy array
        # (сохраняет стандартную структуру PointCloud)
        pc_data = pc2.read_points(msg, skip_nans=True)
        if pc_data.size == 0:
            return

        # 2. Вызываем ядро FlyGuard
        if self.fg is None:
            return

        res = self.fg.process(pc_data)
        if res is None:
            return

        d = res.decision
        tracks = getattr(self.fg.cx, 'tracks', [])

        # 3. Определяем уровень угрозы
        if d.detected:
            threat_level = "EMERGENCY" if getattr(d, 'emergency', False) else "WARNING"
        else:
            threat_level = "CLEAR"

        # 4. Публикация статуса
        threat_msg = String()
        threat_msg.data = threat_level
        self.pub_threat.publish(threat_msg)

        # 5. Публикация маркеров и рамок
        stamp = msg.header.stamp
        self.publish_detections(tracks, stamp)
        self.publish_rviz_markers(tracks, threat_level, d, stamp)

        elapsed_ms = (self.get_clock().now() - start_time).nanoseconds / 1e6
        self.get_logger().debug(f"Кадр за {elapsed_ms:.1f} мс | Статус: {threat_level} | Треков: {len(tracks)}")

    def publish_detections(self, tracks, stamp):
        """Формирование vision_msgs/Detection3DArray"""
        det_array = Detection3DArray()
        det_array.header.stamp = stamp
        det_array.header.frame_id = self.frame_id

        for trk in tracks:
            det = Detection3D()
            det.header = det_array.header

            bbox = BoundingBox3D()
            bbox.center.position.x = float(getattr(trk, 'x', 0.0))
            bbox.center.position.y = float(getattr(trk, 'y', 0.0))
            bbox.center.position.z = float(getattr(trk, 'z', 0.0))

            bbox.size.x = float(getattr(trk, 'dx', 0.5))
            bbox.size.y = float(getattr(trk, 'dy', 0.5))
            bbox.size.z = float(getattr(trk, 'dz', 1.5))

            det.bbox = bbox
            det_array.detections.append(det)

        self.pub_boxes.publish(det_array)

    def publish_rviz_markers(self, tracks, threat_level: str, decision, stamp):
        """Генерация маркеров для RViz2"""
        marker_array = MarkerArray()

        delete_all = Marker()
        delete_all.action = Marker.DELETEALL
        marker_array.markers.append(delete_all)

        for i, trk in enumerate(tracks):
            # Куб вокруг объекта
            box_marker = Marker()
            box_marker.header.stamp = stamp
            box_marker.header.frame_id = self.frame_id
            box_marker.ns = "flyguard_boxes"
            box_marker.id = i
            box_marker.type = Marker.CUBE
            box_marker.action = Marker.ADD

            x = float(getattr(trk, 'x', 0.0))
            y = float(getattr(trk, 'y', 0.0))
            z = float(getattr(trk, 'z', 0.0))

            box_marker.pose.position.x = x
            box_marker.pose.position.y = y
            box_marker.pose.position.z = z

            dx = float(getattr(trk, 'dx', 0.5))
            dy = float(getattr(trk, 'dy', 0.5))
            dz = float(getattr(trk, 'dz', 1.5))
            box_marker.scale = Vector3(x=dx, y=dy, z=dz)

            if threat_level == "EMERGENCY":
                box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.0, 0.0, 0.6
            elif threat_level == "WARNING":
                box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 1.0, 0.9, 0.0, 0.5
            else:
                box_marker.color.r, box_marker.color.g, box_marker.color.b, box_marker.color.a = 0.0, 1.0, 0.0, 0.4

            marker_array.markers.append(box_marker)

            # Текст с дистанцией над объектом
            text_marker = Marker()
            text_marker.header.stamp = stamp
            text_marker.header.frame_id = self.frame_id
            text_marker.ns = "flyguard_labels"
            text_marker.id = 1000 + i
            text_marker.type = Marker.TEXT_VIEW_FACING
            text_marker.action = Marker.ADD

            text_marker.pose.position.x = x
            text_marker.pose.position.y = y
            text_marker.pose.position.z = z + dz / 2.0 + 0.3
            text_marker.scale.z = 0.4

            dist = getattr(trk, 'distance', np.hypot(x, y))
            text_marker.text = f"D: {dist:.1f}m"

            text_marker.color.r, text_marker.color.g, text_marker.color.b, text_marker.color.a = 1.0, 1.0, 1.0, 1.0
            marker_array.markers.append(text_marker)

        self.pub_markers.publish(marker_array)


def main(args=None):
    rclpy.init(args=args)
    node = FlyGuardNode()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass
    finally:
        node.destroy_node()
        rclpy.shutdown()


if __name__ == '__main__':
    main()