Gui rework

app.py

@@ -76,11 +76,25 @@
 )
 
 # Initialize IP camera (SMTSEC SIP-K327GS) via RTSP
-ip_cam_url = os.getenv("IP_CAMERA_URL", "rtsp://10.77.0.3:554/stream1")
+_ip_camera_config = _config.get_section("ip_camera") or {}
+ip_cam_active_ip = _ip_camera_config.get("active_ip") or "10.77.0.4"
+ip_cam_url = os.getenv("IP_CAMERA_URL")
+if ip_cam_url:
+    ip_cam_active_ip = None
+else:
+    ip_cam_url = f"rtsp://{ip_cam_active_ip}:554/stream1"
 ip_cam_out_width = int(os.getenv("IP_CAMERA_OUT_WIDTH", "960"))
 ip_cam_out_height = int(os.getenv("IP_CAMERA_OUT_HEIGHT", "540"))
 ip_cam_jpeg_quality = int(os.getenv("IP_CAMERA_JPEG_QUALITY", "70"))
 ip_cam_flip_180 = os.getenv("IP_CAMERA_FLIP_180", "false").strip().lower() in {"1", "true", "yes", "on"}
+app.config["IP_CAMERA_ACTIVE_IP"] = ip_cam_active_ip
+app.config["IP_CAMERA_ACTIVE_URL"] = ip_cam_url
+app.config["IP_CAMERA_SETTINGS"] = {
+    "out_width": ip_cam_out_width,
+    "out_height": ip_cam_out_height,
+    "jpeg_quality": ip_cam_jpeg_quality,
+    "flip_180": ip_cam_flip_180,
+}
 app.config["IP_CAMERA"] = init_ip_camera(
     url=ip_cam_url,
     out_width=ip_cam_out_width,

data/config.json

@@ -13,5 +13,9 @@
         "x": "+x",
         "y": "+y",
         "z": "+z"
+    },
+    "ip_camera": {
+        "active_ip": "10.77.0.4",
+        "presets": []
     }
-}
+}

docs/swagger.yml

@@ -5,7 +5,7 @@ info:
   description: >
     REST and streaming endpoints exposed by the Topside ROV Flask application.
     The API provides camera status and feeds, telemetry, command/uplink status,
-    IMU configuration, debug overrides, controller gains, and PID tuning.
+    IMU configuration, debug overrides, controller input, and PID tuning.
   version: "1.0.0"
 
 host: localhost:5000
@@ -28,8 +28,6 @@ tags:
     description: IMU receiver status, tare, offsets, and axis mappings
   - name: Debug
     description: Manual debug overrides and attitude setpoints
-  - name: Controller
-    description: Gamepad controller input and gain settings
   - name: PID
     description: PID gain tuning, setpoints, and saved presets
   - name: System
@@ -695,46 +693,6 @@ paths:
         504:
           description: Thruster axes were neutralized, but the MCU did not confirm zero PID gains
 
-  /api/controller/gains:
-    get:
-      tags: [Controller]
-      summary: Get controller gain settings
-      responses:
-        200:
-          description: Current controller gains
-          schema:
-            type: object
-            properties:
-              ok:
-                type: boolean
-                example: true
-              gains:
-                $ref: "#/definitions/ControllerGains"
-        503:
-          description: Controller not available
-    post:
-      tags: [Controller]
-      summary: Set controller gain settings
-      parameters:
-        - in: body
-          name: body
-          required: true
-          schema:
-            $ref: "#/definitions/ControllerGains"
-      responses:
-        200:
-          description: Gains updated
-          schema:
-            type: object
-            properties:
-              ok:
-                type: boolean
-                example: true
-              gains:
-                $ref: "#/definitions/ControllerGains"
-        503:
-          description: Controller not available
-
   /api/pid/gains:
     get:
       tags: [PID]
@@ -1020,17 +978,6 @@ definitions:
           type: number
         example: [0, 0, 1, 0, 0, 0, 0.4, 0]
 
-  ControllerGains:
-    type: object
-    properties:
-      master: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      surge: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      sway: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      heave: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      roll: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      pitch: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-      yaw: {type: number, minimum: 0.0, maximum: 1.0, example: 1.0}
-
   CameraStatusBase:
     type: object
     properties:

lib/camera.py

@@ -338,14 +338,14 @@ def _build_placeholder_jpeg(self):
         return buf.tobytes() if ok else b""
 
     def _run(self):
-        print("[RPi Camera] Trying OpenCV+GStreamer …")
+        print("[RPi Camera] Trying OpenCV+GStreamer ...")
         if self._opencv_gstreamer_available():
             if self._run_opencv_gstreamer():
                 return
         else:
             print("[RPi Camera]   OpenCV has no GStreamer support, skipping.")
 
-        print("[RPi Camera] Trying gst-launch-1.0 …")
+        print("[RPi Camera] Trying gst-launch-1.0 ...")
         self._run_gst_subprocess()
 
     def _opencv_gstreamer_available(self):
@@ -373,14 +373,14 @@ def _run_opencv_gstreamer(self):
             self.last_error = "OpenCV GStreamer pipeline failed to open"
             return False
 
-        print(f"[RPi Camera]   Listening on UDP port {self.port} …")
+        print(f"[RPi Camera]   Listening on UDP port {self.port} ...")
         self.is_listening = True
         had_frame = False
         while not self._stop_event.is_set():
             ok, frame = cap.read()
             if ok and frame is not None and frame.size > 0:
                 if not had_frame:
-                    print("[RPi Camera] ✓ Receiving frames")
+                    print("[RPi Camera] Receiving frames")
                     had_frame = True
                 self._set_frame(frame)
             else:
@@ -454,7 +454,7 @@ def _run_gst_subprocess(self):
             "async=false",
         ]
 
-        print(f"[RPi Camera]   Listening on UDP port {self.port} …")
+        print(f"[RPi Camera]   Listening on UDP port {self.port} ...")
         self.is_listening = True
         proc = subprocess.Popen(
             cmd,
@@ -504,7 +504,7 @@ def _run_gst_subprocess(self):
                 del buffer[: end + 2]
 
                 if not had_frame:
-                    print("[RPi Camera] ✓ Receiving frames")
+                    print("[RPi Camera] Receiving frames")
                     had_frame = True
                 # JPEG is already encoded by GStreamer; avoid re-decode/re-encode.
                 self._set_jpeg_bytes(jpg)
@@ -741,31 +741,31 @@ def _release_cap(self):
             self._cap = None
 
     def _run_loop(self):
-        """Main thread: connect → read frames → reconnect on failure."""
+        """Main thread: connect, read frames, then reconnect on failure."""
         while not self._stop_event.is_set():
-            print(f"[IP Camera] Connecting to {self.url} …")
+            print(f"[IP Camera] Connecting to {self.url} ...")
             if not self._open_stream():
                 self.last_error = f"Failed to open: {self.url}"
-                print(f"[IP Camera] ✗ {self.last_error}")
+                print(f"[IP Camera] error: {self.last_error}")
                 self.is_connected = False
                 if self._stop_event.wait(self.RECONNECT_DELAY):
                     break
                 continue
 
-            print("[IP Camera] ✓ Stream connected")
+            print("[IP Camera] Stream connected")
             self.last_error = None
             had_frame = False
 
             while not self._stop_event.is_set():
                 ok, frame = self._cap.read()
                 if not ok or frame is None:
-                    print("[IP Camera] Lost connection, will reconnect …")
+                    print("[IP Camera] Lost connection, will reconnect ...")
                     self.is_connected = False
                     self._release_cap()
                     break
 
                 if not had_frame:
-                    print("[IP Camera] ✓ Receiving frames")
+                    print("[IP Camera] Receiving frames")
                     had_frame = True
 
                 if frame.shape[1] != self.out_width or frame.shape[0] != self.out_height:

lib/controller.py

@@ -83,17 +83,6 @@ def __init__(self, bitmask_client: BitmaskClient = None, rate_hz: float = 60.0):
         self._debug_lock = threading.Lock()
         self._input_status_lock = threading.Lock()
         self._input_status = self._empty_input_status()
-        # Gain settings (per-axis and master)
-        self._gain_lock = threading.Lock()
-        self._master_gain = 1.0
-        self._axis_gains = {
-            "surge": 1.0,
-            "sway": 1.0,
-            "heave": 1.0,
-            "roll": 1.0,
-            "pitch": 1.0,
-            "yaw": 1.0,
-        }
         self._try_connect()
 
     def _try_connect(self):
@@ -287,26 +276,6 @@ def _update_input_status(self, buttons):
             }
         )
 
-    # --- Gain API ---
-    def set_gains(self, master=None, **axis_gains):
-        """Set master and/or per-axis gains. Values should be 0.0 – 1.0."""
-        with self._gain_lock:
-            if master is not None:
-                self._master_gain = max(0.0, min(1.0, float(master)))
-            for key in ("surge", "sway", "heave", "roll", "pitch", "yaw"):
-                if key in axis_gains:
-                    self._axis_gains[key] = max(0.0, min(1.0, float(axis_gains[key])))
-
-    def get_gains(self):
-        """Return current gain settings."""
-        with self._gain_lock:
-            return {"master": self._master_gain, **self._axis_gains}
-
-    def _apply_gain(self, axis_name, value):
-        """Multiply a value by its per-axis gain and the master gain."""
-        with self._gain_lock:
-            return value * self._axis_gains.get(axis_name, 1.0) * self._master_gain
-
     # --- Light API ---
     def set_light(self, level):
         """Set light brightness from a normalized 0.0-1.0 level.
@@ -499,14 +468,6 @@ def update(self):
         self._prev_dpad_down = dpad_down
         self._update_input_status(buttons)
 
-        # Apply gain to each axis
-        surge = self._apply_gain("surge", surge)
-        sway = self._apply_gain("sway", sway)
-        heave = self._apply_gain("heave", heave)
-        roll = self._apply_gain("roll", roll)
-        pitch = self._apply_gain("pitch", pitch)
-        yaw = self._apply_gain("yaw", yaw)
-
         # Send to ROV!
         if self.bm:
             self.bm.set_from_axes(