refactor: remove HTTP image preview from web_node, keep API only

README.md

@@ -26,8 +26,8 @@
 │  │          application_pkg            │                     │
 │  │  ┌───────────────────────────────┐  │                     │
 │  │  │ web_node (:8080)              │  │                     │
-│  │  │  - MJPEG 预览页               │  │                     │
 │  │  │  - POST /api/mode/switch      │──┼──▶ /gimbal/mode     │
+│  │  │  - POST /api/laser            │  │                     │
 │  │  └───────────────────────────────┘  │                     │
 │  └─────────────────────────────────────┘                     │
 │                                                              │
@@ -50,8 +50,6 @@
 | 阶段 | 话题 | 方向 | 消息类型 | 说明 |
 |------|------|------|----------|------|
 | 图像采集 | `/camera/image_raw` | camera_node → vision_node | `sensor_msgs/Image` | 原始相机图像 |
-| 视觉结果 | `/vision/result_image` | vision_node → web_node | `sensor_msgs/Image` | 带轮廓标注的结果图 |
-| 二值调试 | `/vision/binary_image` | vision_node → web_node | `sensor_msgs/Image` | 二值化调试图像 |
 | 目标追踪 | `/vision/target` | vision_node → gimbal_node | `geometry_msgs/Point` | 归一化目标偏移 (x,y) |
 | 模式切换 | `/gimbal/mode` | web_node → gimbal_node | `std_msgs/String` | auto/manual/debug |
 | 手动控制 | `/cmd_gimbal` | 前端 → gimbal_node | `geometry_msgs/Twist` | yaw/pitch 角度 |
@@ -88,9 +86,6 @@ source install/setup.bash
 
 # 启动全流程
 ros2 launch bringup_pkg vision_pipeline.launch.py
-
-# 浏览器预览
-# http://<设备IP>:8080
 ```
 
 详细使用方法见 [使用指南](docs/使用指南.md)。

docs/使用指南.md

@@ -160,13 +160,7 @@ ros2 topic pub /pid_config std_msgs/String \
 
 参数立即生效，调试完毕后切回 auto 或 manual 模式。
 
-## 9. 查看视觉结果
-
-浏览器打开 `http://<设备IP>:8080`，可看到：
-- 原始图像 + 轮廓标注（result）
-- Otsu 二值化 + 闭运算结果（binary）
-
-## 10. 查看话题
+## 9. 查看话题
 
 ```bash
 # 列出所有活跃话题
@@ -180,7 +174,7 @@ ros2 topic hz /vision/target
 ros2 topic echo /vision/target
 ```
 
-## 11. 测试
+## 10. 测试
 
 ```bash
 cd workspace
@@ -195,7 +189,7 @@ colcon test --packages-select gimbal_control_pkg
 colcon test-result --all
 ```
 
-## 12. 故障排查
+## 11. 故障排查
 
 | 现象 | 检查项 |
 |------|--------|

workspace/src/application_pkg/application_pkg/web_node.py

@@ -3,86 +3,18 @@ import json
 import socket
 import select
 import socketserver
-import cv2
 
 import rclpy
 from rclpy.node import Node
-from sensor_msgs.msg import Image
 from std_msgs.msg import String
-from cv_bridge import CvBridge
 
 from http.server import HTTPServer, BaseHTTPRequestHandler
 
-_latest_jpeg = None
-
-_HTML_PAGE = """<!DOCTYPE html>
-<html lang="zh">
-<head>
-<meta charset="UTF-8">
-<meta name="viewport" content="width=device-width, initial-scale=1.0">
-<title>Vision Pipeline</title>
-<style>
-  body { font-family: 'Segoe UI', sans-serif; margin: 0; padding: 20px;
-         background: #0d1117; color: #c9d1d9; }
-  h1 { text-align: center; color: #58a6ff; font-size: 1.5em; margin-bottom: 20px; }
-  .container { display: flex; flex-wrap: wrap; gap: 20px; justify-content: center; }
-  .panel { background: #161b22; border: 1px solid #30363d; border-radius: 8px;
-           padding: 12px; text-align: center; }
-  .panel h2 { margin: 0 0 10px 0; font-size: 1em; color: #8b949e; }
-  .panel img { max-width: 45vw; max-height: 50vh; border-radius: 4px; display: block; }
-  #status { text-align: center; color: #3fb950; font-size: 0.9em; margin-top: 12px; }
-</style>
-</head>
-<body>
-  <h1>Vision Pipeline Results</h1>
-  <div class="container">
-    <div class="panel">
-      <h2>Result Image (contours)</h2>
-      <img id="result" src="/result" alt="Result">
-    </div>
-    <div class="panel">
-      <h2>Binary (Otsu + Close)</h2>
-      <img id="binary" src="/binary" alt="Binary">
-    </div>
-  </div>
-  <div id="status">Live</div>
-  <script>
-    const ts = () => '?t=' + Date.now();
-    setInterval(() => { document.getElementById('result').src = '/result' + ts(); }, 150);
-    setInterval(() => { document.getElementById('binary').src = '/binary' + ts(); }, 150);
-    let lastChange = Date.now();
-    const observer = new MutationObserver(() => { lastChange = Date.now(); });
-    observer.observe(document.getElementById('result'), { attributes: true });
-    setInterval(() => {
-      const elapsed = (Date.now() - lastChange) / 1000;
-      const el = document.getElementById('status');
-      if (elapsed > 3) {
-        el.textContent = 'No new frames (' + elapsed.toFixed(0) + 's)';
-        el.style.color = '#f85149';
-      } else {
-        el.textContent = 'Live';
-        el.style.color = '#3fb950';
-      }
-    }, 1000);
-  </script>
-</body>
-</html>"""
-
-
 _mode_publisher = None
 
 
-class _ImageHandler(BaseHTTPRequestHandler):
+class _APIHandler(BaseHTTPRequestHandler):
     def do_GET(self):
-        path = self.path.split('?')[0]
-        if path == '/' or path == '/index.html':
-            self.send_response(200)
-            self.send_header('Content-type', 'text/html; charset=utf-8')
-            self.end_headers()
-            self.wfile.write(_HTML_PAGE.encode())
-        elif path in ('/result', '/binary'):
-            self._serve_image(path.lstrip('/'))
-        else:
         self.send_response(404)
         self.end_headers()
 
@@ -160,22 +92,6 @@ class _ImageHandler(BaseHTTPRequestHandler):
         self.end_headers()
         self.wfile.write(f'{{"status":"ok","laser":"{action}"}}'.encode())
 
-    def _serve_image(self, key):
-        global _latest_jpeg
-        jpeg = _latest_jpeg.get(key) if _latest_jpeg else None
-        if jpeg is None:
-            self.send_response(204)
-            self.end_headers()
-            return
-        self.send_response(200)
-        self.send_header('Content-type', 'image/jpeg')
-        self.send_header('Cache-Control', 'no-cache, no-store, must-revalidate')
-        self.end_headers()
-        try:
-            self.wfile.write(jpeg)
-        except (BrokenPipeError, ConnectionResetError):
-            pass
-
     def handle_error(self, request, client_address):
         pass
 
@@ -191,56 +107,32 @@ class WebNode(Node):
     def __init__(self, port=8080):
         super().__init__('web_node')
         global _mode_publisher
-        self._bridge = CvBridge()
-
-        self._result_sub = self.create_subscription(
-            Image, '/vision/result_image', self._make_jpeg_callback('result'), 10
-        )
-        self._binary_sub = self.create_subscription(
-            Image, '/vision/binary_image', self._make_jpeg_callback('binary'), 10
-        )
 
         self._mode_publisher = self.create_publisher(
             String, '/gimbal/mode', 10
         )
         _mode_publisher = self._mode_publisher
 
-        self._server = _ThreadingHTTPServer(('', port), _ImageHandler)
+        self._server = _ThreadingHTTPServer(('', port), _APIHandler)
         self._server.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
         self._server.socket.setblocking(False)
         self._server.timeout = 0
 
-        # 定时器在主线程中轮询 accept，连接交给工作线程处理
         self._timer = self.create_timer(0.01, self._handle_http_requests)
 
         hostname = socket.gethostname()
         ip = socket.gethostbyname(hostname)
         self.get_logger().info(
-            f'Web server on http://{ip}:{port}  (http://localhost:{port})'
+            f'API server on http://{ip}:{port}'
         )
 
     def _handle_http_requests(self):
-        # 一次 tick 内处理所有积压连接
         for _ in range(20):
             try:
                 self._server.handle_request()
             except Exception:
                 break
 
-    def _make_jpeg_callback(self, key):
-        def callback(msg):
-            global _latest_jpeg
-            try:
-                cv_image = self._bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
-                _, jpeg = cv2.imencode('.jpg', cv_image,
-                                       [cv2.IMWRITE_JPEG_QUALITY, 85])
-                if _latest_jpeg is None:
-                    _latest_jpeg = {}
-                _latest_jpeg[key] = jpeg.tobytes()
-            except Exception as e:
-                self.get_logger().error(f'JPEG encode error ({key}): {e}')
-        return callback
-
     def destroy_node(self):
         self._server.shutdown()
         super().destroy_node()

workspace/src/application_pkg/package.xml

@@ -8,8 +8,6 @@
   <license>TODO: License declaration</license>
 
   <depend>rclpy</depend>
-  <depend>sensor_msgs</depend>
-  <depend>cv_bridge</depend>
   <depend>std_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>