82 lines
2.2 KiB
Python
82 lines
2.2 KiB
Python
"""REST endpoints backing the 3D motor-temperature dashboard (N1).
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Serves the motor name/mesh mapping + thresholds, and a one-shot temperature
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snapshot (the front-end's initial fetch fallback). The live stream is over
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/ws/motor-temps (dashboard/websockets/motor_temps.py). The 3D view itself is
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the static page at /static/temp3d/index.html.
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"""
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from __future__ import annotations
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import time
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from fastapi import APIRouter
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from Project.Sanad.dashboard.temp_motor_map import (
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MOTOR_NAMES,
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MOTOR_TO_MESH,
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TEMP_HOT_THRESHOLD,
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TEMP_MAX,
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TEMP_MIN,
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TEMP_WARM_THRESHOLD,
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build_payload,
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)
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router = APIRouter()
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def _get_arm():
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"""Lazy import — avoids a circular import on dashboard load."""
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try:
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from Project.Sanad.main import arm # type: ignore
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return arm
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except Exception:
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return None
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@router.get("/mapping")
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async def motor_mapping():
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"""Motor id → name / mesh map + the temperature gradient thresholds."""
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return {
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"motor_names": MOTOR_NAMES,
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"motor_to_mesh": MOTOR_TO_MESH,
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"thresholds": {
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"min": TEMP_MIN,
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"max": TEMP_MAX,
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"warm": TEMP_WARM_THRESHOLD,
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"hot": TEMP_HOT_THRESHOLD,
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},
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}
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@router.get("/motors")
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async def motors_snapshot():
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"""One-shot motor temperature + position snapshot (Marcus payload shape)."""
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arm = _get_arm()
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temps: list = []
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positions: list = []
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if arm is not None:
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try:
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temps = arm.get_motor_temps()
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except Exception:
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temps = []
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try:
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positions = arm.get_current_q()
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except Exception:
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positions = []
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return build_payload(temps, positions, time.time())
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@router.get("/battery")
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async def battery_status():
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"""Live G1 battery (BMS) snapshot: state-of-charge %, voltage, current,
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charge/discharge status, pack temperature, cycles. `available=False` until
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the BMS topic (rt/lf/bmsstate) delivers its first message."""
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arm = _get_arm()
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if arm is None or not hasattr(arm, "get_battery"):
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return {"available": False}
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try:
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return arm.get_battery()
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except Exception:
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return {"available": False}
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