feat: activate self-hosted lidar spatial scene

src/k1link/web/app.py

@@ -2,10 +2,11 @@ from __future__ import annotations
 
 import asyncio
 import threading
-from collections.abc import Mapping
+from collections.abc import AsyncIterator, Mapping
+from contextlib import asynccontextmanager
 from datetime import UTC, datetime
 from pathlib import Path
-from typing import Any
+from typing import Any, Literal
 
 from bleak.exc import BleakError
 from fastapi import FastAPI, HTTPException, WebSocket, WebSocketDisconnect
@@ -17,6 +18,7 @@ from k1link.artifacts import write_json_atomic
 from k1link.ble.scanner import scan
 from k1link.ble.wifi_provisioning import AP_FALLBACK_IPV4, provision_wifi_once
 from k1link.mqtt import validate_private_ipv4
+from k1link.viewer.rerun_bridge import RerunSceneSettings
 from k1link.viewer.runtime import VisualizationRuntime, new_live_session_dir
 
 REPOSITORY_ROOT = Path(__file__).resolve().parents[3]
@@ -43,6 +45,17 @@ class ReplayRequest(BaseModel):
     loop: bool = False
 
 
+class ViewerSettingsRequest(BaseModel):
+    point_size: float = Field(default=2.5, ge=0.5, le=12.0)
+    color_mode: Literal["intensity", "height", "distance", "rgb", "class"] = "intensity"
+    palette: Literal["turbo", "viridis", "plasma", "grayscale", "custom"] = "turbo"
+    custom_color: str = Field(default="#f7f8f4", pattern=r"^#[0-9A-Fa-f]{6}$")
+    accumulation_seconds: float = Field(default=12.0, ge=0.0, le=120.0)
+    show_points: bool = True
+    show_trajectory: bool = True
+    show_grid: bool = True
+
+
 class ConsoleService:
     def __init__(self, repository_root: Path) -> None:
         self.repository_root = repository_root.resolve()
@@ -100,6 +113,8 @@ class ConsoleService:
             "k1_ip": k1_ip,
             "foxglove_ws_url": runtime["foxglove_ws_url"],
             "foxglove_viewer_url": runtime["foxglove_viewer_url"],
+            "rerun_grpc_url": runtime["rerun_grpc_url"],
+            "viewer_settings": runtime["viewer_settings"],
             "source_mode": runtime["source_mode"],
             "metrics": {
                 "pipeline_ms": metrics["mqtt_to_publish_ms"],
@@ -213,6 +228,21 @@ class ConsoleService:
         self.runtime.stop()
         return self.state()
 
+    def update_viewer_settings(self, request: ViewerSettingsRequest) -> dict[str, Any]:
+        self.runtime.update_scene_settings(
+            RerunSceneSettings(
+                point_size=request.point_size,
+                color_mode=request.color_mode,
+                palette=request.palette,
+                custom_color=request.custom_color,
+                accumulation_seconds=request.accumulation_seconds,
+                show_points=request.show_points,
+                show_trajectory=request.show_trajectory,
+                show_grid=request.show_grid,
+            )
+        )
+        return self.state()
+
     def _set_operation(self, phase: str, message: str) -> None:
         with self._lock:
             self._operation_phase = phase
@@ -220,12 +250,23 @@ class ConsoleService:
 
 
 service = ConsoleService(REPOSITORY_ROOT)
+
+
+@asynccontextmanager
+async def app_lifespan(_: FastAPI) -> AsyncIterator[None]:
+    try:
+        yield
+    finally:
+        service.runtime.close()
+
+
 app = FastAPI(
     title="NODE.DC Device Control API",
     version=__version__,
     docs_url="/api/docs",
     redoc_url=None,
     openapi_url="/api/openapi.json",
+    lifespan=app_lifespan,
 )
 
 
@@ -284,6 +325,11 @@ def stop_session() -> dict[str, Any]:
     return service.stop()
 
 
+@app.post("/api/viewer/settings")
+def update_viewer_settings(request: ViewerSettingsRequest) -> dict[str, Any]:
+    return service.update_viewer_settings(request)
+
+
 @app.websocket("/api/events")
 async def events(websocket: WebSocket) -> None:
     await websocket.accept()