Init: 导入NaviGlassServer源码

bridge_io.py

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+# bridge_io.py
+# 极简桥：接原始JPEG → 提供BGR帧给外部算法；外部算法产出BGR → 广播给前端
+import threading
+from collections import deque
+import time
+import cv2
+import numpy as np
+
+# 原始JPEG帧缓冲（只保留最新 N 帧）
+_MAX_BUF = 4
+_frames = deque(maxlen=_MAX_BUF)
+_cond = threading.Condition()
+
+# 向前端发送JPEG的回调，由 app_main.py 在启动时注册
+_sender_lock = threading.Lock()
+_sender_cb = None
+
+# 向前端发送UI文本的回调（由 app_main.py 在启动时注册）
+_ui_sender_lock = threading.Lock()
+_ui_sender_cb = None
+
+def set_sender(cb):
+    """由 app_main.py 调用，注册一个函数：cb(jpeg_bytes)->None"""
+    global _sender_cb
+    with _sender_lock:
+        _sender_cb = cb
+
+def set_ui_sender(cb):
+    """由 app_main.py 调用，注册一个函数：cb(text:str)->None"""
+    global _ui_sender_cb
+    with _ui_sender_lock:
+        _ui_sender_cb = cb
+
+def push_raw_jpeg(jpeg_bytes: bytes):
+    """由 app_main.py 在收到 /ws/camera 帧时调用"""
+    if not jpeg_bytes:
+        return
+    with _cond:
+        _frames.append((time.time(), jpeg_bytes))
+        _cond.notify_all()
+
+def wait_raw_bgr(timeout_sec: float = 0.5):
+    """被 YOLO/MediaPipe 脚本调用：等待并拿到最新一帧BGR；超时返回 None"""
+    t_end = time.time() + timeout_sec
+    last = None
+    while time.time() < t_end:
+        with _cond:
+            if _frames:
+                last = _frames[-1]
+        if last is None:
+            time.sleep(0.01)
+            continue
+        # 解码JPEG为BGR
+        ts, jpeg = last
+        arr = np.frombuffer(jpeg, dtype=np.uint8)
+        bgr = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+        if bgr is not None:
+            # 在最源头进行镜像处理
+            #bgr = cv2.flip(bgr, 1)
+            return bgr
+        # 解码失败，稍等重试
+        time.sleep(0.01)
+    return None
+
+def send_vis_bgr(bgr, quality: int = 80):
+    """被 YOLO/MediaPipe 脚本调用：把处理后画面推给前端 viewer"""
+    if bgr is None:
+        return
+    
+    # 直接编码，不做任何增强处理
+    ok, enc = cv2.imencode(".jpg", bgr, [int(cv2.IMWRITE_JPEG_QUALITY), int(quality)])
+    if not ok:
+        return
+    with _sender_lock:
+        cb = _sender_cb
+    if cb:
+        try:
+            cb(enc.tobytes())
+        except Exception:
+            pass
+
+def send_ui_final(text: str):
+    """把一条UI文案作为 final answer 推给前端（线程安全回调）"""
+    if not text:
+        return
+    with _ui_sender_lock:
+        cb = _ui_sender_cb
+    if cb:
+        try:
+            cb(str(text))
+        except Exception:
+            pass