Simulator/dashboard/app.py

"""
dashboard/app.py
----------------
Flask backend for the BATL CARLA Orchestrator Dashboard.
Serves the HTML UI, exposes REST endpoints, and streams
real-time simulation output via Server-Sent Events (SSE).

NOTE: This file lives inside the /dashboard sub-folder.
      PROJECT_ROOT is therefore TWO levels up: dashboard/app.py → dashboard/ → Fox/
"""

import os
import sys
from flask import Flask, render_template, request, jsonify, Response
import subprocess
import time
import psutil
import logging

# Suppress status polling logs to keep terminal clean
class PollingFilter(logging.Filter):
    def filter(self, record):
        return "/api/simulator/status" not in record.getMessage()

logging.getLogger('werkzeug').addFilter(PollingFilter())

# ------------------------------------------------------------------
# Path bootstrapping — make the project root importable regardless
# of which directory the user launches from.
# ------------------------------------------------------------------
PROJECT_ROOT = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
if PROJECT_ROOT not in sys.path:
    sys.path.insert(0, PROJECT_ROOT)

import config
from src.scenario_loader import list_scenarios

# ------------------------------------------------------------------
# Flask app — templates and static assets are siblings of this file.
# ------------------------------------------------------------------
DASHBOARD_DIR = os.path.dirname(os.path.abspath(__file__))

app = Flask(
    __name__,
    template_folder=os.path.join(DASHBOARD_DIR, "templates"),
    static_folder=os.path.join(DASHBOARD_DIR, "static"),
)

active_simulation_process = None

def is_simulation_running():
    """Returns True if a scenario process is currently alive."""
    global active_simulation_process
    if active_simulation_process is None:
        return False
    return active_simulation_process.poll() is None

# ── Routes ────────────────────────────────────────────────────────

@app.route("/")
def index():
    return render_template("index.html")


@app.route("/api/config", methods=["GET"])
def get_config():
    scenarios = list_scenarios()
    return jsonify({
        "scenarios": scenarios,
        "default_scenario": getattr(config, "DEFAULT_SCENARIO", "braking"),
        "default_frames":   getattr(config, "MAX_FRAMES", 200),
        "default_weather":  getattr(config, "DEFAULT_WEATHER", "ClearNoon"),
        "weather_options":  [
            "ClearNoon", "CloudyNoon", "WetNoon",
            "SoftRainNoon", "HardRainNoon", "ClearSunset", "Night"
        ],
    })


@app.route("/api/scenario_params/<scenario_name>", methods=["GET"])
def get_scenario_params(scenario_name):
    from src.scenario_loader import load_scenario
    try:
        scenario = load_scenario(scenario_name)
        tunable_params = {}
        # Convention: tunable constants are UPPERCASE class-level attributes
        for attr in dir(scenario):
            if attr.isupper() and not attr.startswith("_"):
                val = getattr(scenario, attr)
                if isinstance(val, (int, float, str, bool)):
                    tunable_params[attr] = val
        return jsonify({"success": True, "params": tunable_params})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)})


@app.route("/api/simulator/status", methods=["GET"])
def simulator_status():
    status = "offline"
    is_paused = False
    is_running = False
    try:
        for proc in psutil.process_iter(['name']):
            if proc.info['name'] and 'CarlaUE4' in proc.info['name']:
                is_running = True
                break
    except Exception:
        pass
    
    if is_running:
        status = "loading"
        try:
            import carla
            client = carla.Client('localhost', 2000)
            client.set_timeout(5.0)
            client.get_server_version() # Will raise if not ready
            status = "ready"
            world = client.get_world()
            is_paused = world.get_settings().synchronous_mode
            
            # HEARTBEAT: If idle (sync mode) and no scenario is running, tick once
            # to keep the UE4 window responsive.
            if is_paused and not is_simulation_running():
                try:
                    world.tick()
                except Exception:
                    pass
        except Exception:
            pass
            
    return jsonify({"status": status, "is_paused": is_paused})


@app.route("/api/simulator/kill", methods=["POST"])
def simulator_kill():
    """Forces all CarlaUE4 processes to terminate."""
    try:
        killed_any = False
        for proc in psutil.process_iter(['name']):
            if proc.info['name'] and 'CarlaUE4' in proc.info['name']:
                try:
                    proc.kill()
                    killed_any = True
                except (psutil.NoSuchProcess, psutil.AccessDenied):
                    pass
        return jsonify({"success": True, "killed": killed_any})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)})


@app.route("/api/shutdown", methods=["POST"])
def shutdown():
    """Stops the Flask server itself."""
    import threading
    def delay_exit():
        time.sleep(1.0)
        print("[INFO] Shutdown triggered. Exiting...")
        os._exit(0)
    
    threading.Thread(target=delay_exit).start()
    return jsonify({"success": True, "message": "Server shutting down..."})

@app.route("/api/simulator/idle", methods=["POST"])
def simulator_idle():
    try:
        import carla
        client = carla.Client('localhost', 2000)
        client.set_timeout(5.0)
        world = client.get_world()
        settings = world.get_settings()
        settings.synchronous_mode = True
        world.apply_settings(settings)
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)})

@app.route("/api/simulator/wake", methods=["POST"])
def simulator_wake():
    try:
        import carla
        client = carla.Client('localhost', 2000)
        client.set_timeout(5.0)
        world = client.get_world()
        settings = world.get_settings()
        settings.synchronous_mode = False
        settings.fixed_delta_seconds = None
        world.apply_settings(settings)
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)})


@app.route("/api/simulator/launch", methods=["POST"])
def simulator_launch():
    try:
        exe_path = getattr(config, "CARLA_EXECUTABLE_PATH", r"D:\CARLA\CARLA_0.9.16\CarlaUE4.exe")
        if not os.path.exists(exe_path):
            return jsonify({"success": False, "error": f"Executable not found at {exe_path}"})
        # Launch detached
        subprocess.Popen([exe_path], creationflags=subprocess.CREATE_NEW_PROCESS_GROUP)
        return jsonify({"success": True})
    except Exception as e:
        return jsonify({"success": False, "error": str(e)})


@app.route("/api/stop", methods=["POST"])
def stop_simulation():
    global active_simulation_process
    
    flag_path = os.path.join(PROJECT_ROOT, "tmp", "stop.flag")
    os.makedirs(os.path.dirname(flag_path), exist_ok=True)
    with open(flag_path, "w") as f:
        f.write("stop")
        
    if active_simulation_process is not None:
        try:
            active_simulation_process.wait(timeout=5)
        except subprocess.TimeoutExpired:
            active_simulation_process.terminate()
        active_simulation_process = None
        
    return jsonify({"success": True, "message": "Simulation stopped."})


@app.route("/api/run", methods=["POST"])
def run_simulation():
    data      = request.json or {}
    scenario  = data.get("scenario") or "braking"
    frames    = data.get("frames")   or ""
    weather   = data.get("weather")  or ""
    no_record = bool(data.get("no_record"))
    params    = data.get("params")   or ""

    # Build the command — run.bat lives in PROJECT_ROOT
    cmd = ["cmd.exe", "/c", "run.bat", scenario]
    if frames:
        cmd.extend(["--frames", str(frames)])
    if weather:
        cmd.extend(["--weather", weather])
    if no_record:
        cmd.append("--no-record")
    if params:
        cmd.extend(["--params", f'"{params}"'])

    def generate():
        global active_simulation_process
        try:
            # cwd = project root so that run.bat is reachable
            env = os.environ.copy()
            env["PYTHONUNBUFFERED"] = "1"
            
            process = subprocess.Popen(
                cmd,
                stdout=subprocess.PIPE,
                stderr=subprocess.STDOUT,
                text=True,
                bufsize=1,
                cwd=PROJECT_ROOT,
                env=env,
                creationflags=subprocess.CREATE_NEW_PROCESS_GROUP,
            )
            active_simulation_process = process

            import re
            ansi_escape = re.compile(r'\x1B(?:[@-Z\\-_]|\[[0-?]*[ -/]*[@-~])')
            
            full_log = []
            log_file_path = None

            yield f"data: [INFO] Starting command: {' '.join(cmd)}\n\n"

            def write_to_log(text):
                if log_file_path:
                    try:
                        with open(log_file_path, "a", encoding="utf-8") as f:
                            f.write(text + "\n")
                    except Exception:
                        pass

            frame_show_count = 0
            for raw_line in iter(process.stdout.readline, ""):
                if raw_line:
                    # Strip ANSI and clean up trailing newlines
                    clean_line = ansi_escape.sub('', raw_line).rstrip('\r\n')
                    
                    if not clean_line.strip():
                        continue

                    # ------------------------------------------------------
                    # SSE Filtering: Sample high-frequency logs for the UI
                    # ------------------------------------------------------
                    should_yield = True
                    if "[FRAME " in clean_line:
                        frame_show_count += 1
                        if frame_show_count % 10 != 1: # Show 1st, 11th, 21st, etc.
                            should_yield = False
                    
                    if should_yield:
                        yield f"data: {clean_line}\n\n"
                    
                    # ------------------------------------------------------
                    # Log Mirroring: Always write every cleaned line to disk
                    # ------------------------------------------------------
                    if not log_file_path:
                        full_log.append(clean_line)
                        if "Saving data to: " in clean_line:
                            try:
                                # Extract path: "Saving data to: data\showcase_XXXX ---"
                                # Note: the log says "--- Recorder initialized. Saving data to: data\showcase_2026... ---"
                                path_part = clean_line.split("Saving data to: ")[1]
                                rel_path = path_part.split("---")[0].strip()
                                
                                log_file_path = os.path.join(PROJECT_ROOT, rel_path, "console.log")
                                os.makedirs(os.path.dirname(log_file_path), exist_ok=True)
                                
                                # Flush backlog
                                for prev in full_log:
                                    write_to_log(prev)
                            except Exception:
                                pass
                    else:
                        # Once file path is known, append all new lines
                        write_to_log(clean_line)

            process.stdout.close()
            return_code = process.wait()
            end_msg = f"[PROCESS_COMPLETED] Exit Code: {return_code}"
            yield f"data: {end_msg}\n\n"
            write_to_log(end_msg)

        except Exception as e:
            yield f"data: [ERROR] Failed to start process: {str(e)}\n\n"

    return Response(generate(), mimetype="text/event-stream")


# ── Entry point ───────────────────────────────────────────────────

if __name__ == "__main__":
    print("Starting BATL CARLA Dashboard orchestrator...")
    print(f"  Project root : {PROJECT_ROOT}")
    print(f"  Dashboard dir: {DASHBOARD_DIR}")
    app.run(host="0.0.0.0", port=5000, debug=True)