feat: add PID config persistence with file storage and HTTP API

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

workspace/src/application_pkg/application_pkg/web_node.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import json
-import asyncio
+import os
 import threading
 import socket
 
@@ -21,6 +21,13 @@ class WebNode(Node):
         self._mode_publisher = self.create_publisher(
             String, '/gimbal/mode', 10
         )
+        self._pid_config_publisher = self.create_publisher(
+            String, '/web/pid_config', 10
+        )
+
+        self.declare_parameter('pid_config_file', 'pid_config.json')
+        self._pid_config_file = self.get_parameter('pid_config_file').value
+        self._pid_config = self._load_pid_config()
 
         self._app = Microdot()
         self._setup_routes()
@@ -72,13 +79,80 @@ class WebNode(Node):
             self._mode_publisher.publish(msg)
             return {'code': 0, 'message': 'ok'}
 
+        @app.route('/api/pid/config', methods=['GET', 'POST'])
+        async def pid_config(request):
+            if request.method == 'GET':
+                return self._pid_config
+
+            if request.method == 'POST':
+                try:
+                    data = request.json
+                except Exception:
+                    return {'code': -1, 'message': 'invalid json'}, 400
+
+                if not self._validate_pid_config(data):
+                    return {'code': -1, 'message': 'invalid pid config schema'}, 400
+
+                self._pid_config = data
+                msg = String()
+                msg.data = json.dumps(data)
+                self._pid_config_publisher.publish(msg)
+                self.get_logger().info('PID config updated and published')
+                return {'code': 0, 'message': 'ok'}
+
     def _run_server(self):
         try:
             self._app.run(host='0.0.0.0', port=self._port, debug=False)
         except RuntimeError:
             pass
 
+    @staticmethod
+    def _pid_default():
+        return {
+            'visual_yaw': {'kp': 0.0, 'ki': 0.0, 'kd': 0.0},
+            'visual_pitch': {'kp': 0.0, 'ki': 0.0, 'kd': 0.0},
+            'angle_yaw': {'kp': 0.0, 'ki': 0.0, 'kd': 0.0},
+            'angle_pitch': {'kp': 0.0, 'ki': 0.0, 'kd': 0.0},
+        }
+
+    def _load_pid_config(self):
+        if os.path.exists(self._pid_config_file):
+            try:
+                with open(self._pid_config_file, 'r') as f:
+                    data = json.load(f)
+                if self._validate_pid_config(data):
+                    self.get_logger().info(
+                        f'Loaded PID config from {self._pid_config_file}')
+                    return data
+            except (json.JSONDecodeError, OSError) as e:
+                self.get_logger().warn(
+                    f'Failed to load PID config: {e}, using defaults')
+        return self._pid_default()
+
+    def _save_pid_config(self):
+        try:
+            with open(self._pid_config_file, 'w') as f:
+                json.dump(self._pid_config, f, indent=2)
+            self.get_logger().info(
+                f'PID config saved to {self._pid_config_file}')
+        except OSError as e:
+            self.get_logger().error(f'Failed to save PID config: {e}')
+
+    @staticmethod
+    def _validate_pid_config(data):
+        required = ('visual_yaw', 'visual_pitch', 'angle_yaw', 'angle_pitch')
+        pid_keys = ('kp', 'ki', 'kd')
+        for group in required:
+            entry = data.get(group)
+            if not isinstance(entry, dict):
+                return False
+            for k in pid_keys:
+                if not isinstance(entry.get(k), (int, float)):
+                    return False
+        return True
+
     def destroy_node(self):
+        self._save_pid_config()
         try:
             self._app.shutdown()
         except Exception:

workspace/src/gimbal_control_pkg/gimbal_control_pkg/gimbal_node.py

@@ -45,7 +45,7 @@ class GimbalNode(Node):
             Float32MultiArray, '/vision/target', self._target_callback, 10
         )
         self._pid_config_sub = self.create_subscription(
-            String, '/pid_config', self._pid_config_callback, 10
+            String, '/web/pid_config', self._pid_config_callback, 10
         )
         self._mode_sub = self.create_subscription(
             String, '/gimbal/mode', self._mode_callback, 10
@@ -55,7 +55,7 @@ class GimbalNode(Node):
 
         self.get_logger().info(
             'GimbalNode ready - subs: /cmd_gimbal, /vision/target, '
-            '/pid_config, /gimbal/mode'
+            '/web/pid_config, /gimbal/mode'
         )
 
     def _write_frame(self, data: bytearray):