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app.py

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+# app.py - InterFuser Self-Driving API Server
+
+import uuid
+import base64
+import cv2
+import torch
+import numpy as np
+from fastapi import FastAPI, HTTPException
+from fastapi.responses import HTMLResponse
+from pydantic import BaseModel
+from torchvision import transforms
+from typing import List, Dict, Any, Optional
+import logging
+import uuid
+import base64
+import cv2
+import torch
+import numpy as np
+import logging
+from fastapi import FastAPI, HTTPException
+from fastapi.responses import HTMLResponse
+from pydantic import BaseModel, Field
+from typing import List, Dict, Tuple
+
+from model_definition import InterfuserModel, load_and_prepare_model, get_master_config
+
+
+from simulation_modules import InterfuserController, Tracker
+from simulation_modules import DisplayInterface, render_bev, unnormalize_image, DisplayConfig
+
+# ==============================================================================
+# 2. إعدادات عامة وتطبيق FastAPI
+# ==============================================================================
+# إعداد التسجيل (Logging)
+logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+
+# تهيئة تطبيق FastAPI
+app = FastAPI(
+    title="Baseer Self-Driving API",
+    description="An advanced API for the InterFuser self-driving model, providing real-time control commands and scene analysis.",
+    version="1.1.0"
+)
+
+# متغيرات عامة سيتم تهيئتها عند بدء التشغيل
+MODEL: InterfuserModel = None
+DEVICE = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+SESSIONS: Dict[str, Dict] = {} # قاموس لتخزين حالة الجلسات النشطة
+
+# ==============================================================================
+# 3. تعريف نماذج البيانات (Pydantic Models) للـ API
+# ==============================================================================
+class Measurements(BaseModel):
+    pos_global: Tuple[float, float] = Field(..., example=(0.0, 0.0), description="Global [X, Y] position of the vehicle.")
+    theta: float = Field(..., example=0.0, description="Global orientation angle of the vehicle in radians.")
+    speed: float = Field(..., example=0.0, description="Current speed in m/s.")
+    target_point: Tuple[float, float] = Field(..., example=(10.0, 0.0), description="Target point relative to the vehicle.")
+
+class RunStepRequest(BaseModel):
+    session_id: str
+    image_b64: str = Field(..., description="Base64 encoded string of the vehicle's front camera view (BGR format).")
+    measurements: Measurements
+
+class ControlCommands(BaseModel):
+    steer: float
+    throttle: float
+    brake: bool
+
+class SceneAnalysis(BaseModel):
+    is_junction: float
+    traffic_light_state: float
+    stop_sign: float
+
+class RunStepResponse(BaseModel):
+    control_commands: ControlCommands
+    scene_analysis: SceneAnalysis
+    predicted_waypoints: List[Tuple[float, float]]
+    dashboard_b64: str = Field(..., description="Base64 encoded string of the comprehensive dashboard view.")
+    reason: str = Field(..., description="The reason for the current control action (e.g., 'Following ID 12', 'Red Light').")
+
+# ==============================================================================
+# 4. دوال مساعدة (Helpers)
+# ==============================================================================
+def b64_to_cv2(b64_string: str) -> np.ndarray:
+    try:
+        img_bytes = base64.b64decode(b64_string)
+        img_array = np.frombuffer(img_bytes, dtype=np.uint8)
+        return cv2.imdecode(img_array, cv2.IMREAD_COLOR)
+    except Exception:
+        raise HTTPException(status_code=400, detail="Invalid Base64 image string.")
+
+def cv2_to_b64(img: np.ndarray) -> str:
+    _, buffer = cv2.imencode('.jpg', img)
+    return base64.b64encode(buffer).decode('utf-8')
+
+def prepare_model_input(image: np.ndarray, measurements: Measurements) -> Dict[str, torch.Tensor]:
+    """
+    إعداد دفعة (batch of 1) لتمريرها إلى النموذج.
+    """
+    transform = transforms.Compose([
+        transforms.ToTensor(),
+        transforms.Resize((224, 224), antialias=True),
+        transforms.Normalize(mean=[0.485, 0.456, 0.406], std=[0.229, 0.224, 0.225])
+    ])
+    image_rgb = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+    image_tensor = transform(image_rgb).unsqueeze(0).to(DEVICE)
+
+    measurements_tensor = torch.tensor([[
+        measurements.pos_global[0], measurements.pos_global[1], measurements.theta,
+        0.0, 0.0, 0.0, # Steer, throttle, brake (not used by model)
+        measurements.speed, 4.0 # Command (default to FollowLane)
+    ]], dtype=torch.float32).to(DEVICE)
+    
+    target_point_tensor = torch.tensor([measurements.target_point], dtype=torch.float32).to(DEVICE)
+
+    return {
+        'rgb': image_tensor,
+        'rgb_left': image_tensor.clone(), 'rgb_right': image_tensor.clone(), 'rgb_center': image_tensor.clone(),
+        'measurements': measurements_tensor,
+        'target_point': target_point_tensor,
+        'lidar': torch.zeros_like(image_tensor)
+    }
+
+# ==============================================================================
+# 5. أحداث دورة حياة التطبيق (Startup/Shutdown)
+# ==============================================================================
+@app.on_event("startup")
+async def startup_event():
+    global MODEL
+    logging.info("🚗 Server starting up...")
+    logging.info(f"Using device: {DEVICE}")
+    MODEL = load_and_prepare_model(DEVICE)
+    if MODEL:
+        logging.info("✅ Model loaded successfully. Server is ready!")
+    else:
+        logging.error("❌ CRITICAL: Model could not be loaded. The API will not function correctly.")
+
+# ==============================================================================
+# 6. نقاط النهاية الرئيسية (API Endpoints)
+# ==============================================================================
+
+@app.get("/", response_class=HTMLResponse, include_in_schema=False, tags=["General"])
+async def root():
+    """
+    [النسخة النهائية مع التمرير]
+    يعرض صفحة رئيسية احترافية وجذابة بصريًا مع تمكين التمرير العمودي.
+    """
+    active_sessions_count = len(SESSIONS)
+    
+    status_color = "#00ff7f" # SpringGreen
+    status_text = "متصل ويعمل"
+    if MODEL is None:
+        status_color = "#ff4757" # Red
+        status_text = "خطأ: النموذج غير متاح"
+
+    html_content = f"""
+    <!DOCTYPE html>
+    <html dir="rtl" lang="ar">
+    <head>
+        <meta charset="UTF-8">
+        <meta name="viewport" content="width=device-width, initial-scale=1.0">
+        <title>🚗 Baseer - واجهة القيادة الذاتية</title>
+        <style>
+            @import url('https://fonts.googleapis.com/css2?family=Cairo:wght@400;700;900&display=swap');
+            
+            :root {{
+                --bg-dark: #1a1a2e;
+                --panel-dark: #16213e;
+                --primary-accent: #0f3460;
+                --secondary-accent: #e94560;
+                --glow-color: #537895;
+                --text-light: #e0e0e0;
+                --text-header: #ffffff;
+            }}
+
+            body {{
+                font-family: 'Cairo', sans-serif;
+                background: var(--bg-dark);
+                background-image: linear-gradient(to right top, #1a1a2e, #1c1d32, #1f2037, #22233b, #252640);
+                color: var(--text-light);
+                margin: 0;
+                padding: 40px 20px; /* إضافة padding علوي وسفلي للسماح بالمساحة */
+                min-height: 100vh;
+                box-sizing: border-box; /* لضمان أن padding لا يضيف إلى الارتفاع */
+                
+                /* --- [التصحيح هنا] --- */
+                overflow-x: hidden; /* إخفاء التمرير الأفقي غير المرغوب فيه */
+                overflow-y: auto;   /* السماح بالتمرير العمودي عند الحاجة */
+            }}
+            
+            .main-content {{
+                display: flex;
+                justify-content: center;
+                align-items: center;
+                width: 100%;
+            }}
+
+            .container {{
+                background: rgba(22, 33, 62, 0.85);
+                backdrop-filter: blur(15px);
+                border-radius: 25px;
+                padding: 40px 50px;
+                box-shadow: 0 25px 50px rgba(0, 0, 0, 0.3);
+                text-align: center;
+                max-width: 750px;
+                width: 100%;
+                border: 1px solid rgba(255, 255, 255, 0.1);
+                position: relative;
+                z-index: 1;
+            }}
+            
+            /* ... باقي كود CSS يبقى كما هو تمامًا ... */
+            .logo {{
+                font-size: 5rem;
+                margin-bottom: 10px;
+                text-shadow: 0 0 15px var(--glow-color);
+                animation: float 4s ease-in-out infinite;
+            }}
+
+            @keyframes float {{
+                0% {{ transform: translateY(0px); }}
+                50% {{ transform: translateY(-15px); }}
+                100% {{ transform: translateY(0px); }}
+            }}
+
+            h1 {{
+                font-size: 3rem;
+                font-weight: 900;
+                color: var(--text-header);
+                margin-bottom: 5px;
+                letter-spacing: 1px;
+            }}
+
+            .subtitle {{
+                font-size: 1.3rem;
+                color: #a7a9be;
+                margin-bottom: 25px;
+            }}
+            
+            .status-badge {{
+                display: inline-flex;
+                align-items: center;
+                gap: 10px;
+                background-color: rgba(255, 255, 255, 0.05);
+                border: 1px solid {status_color};
+                color: {status_color};
+                padding: 10px 22px;
+                border-radius: 50px;
+                font-weight: bold;
+                margin-bottom: 35px;
+                font-size: 1.1rem;
+                box-shadow: 0 0 15px {status_color}33;
+            }}
+
+            .stats-grid {{
+                display: grid;
+                grid-template-columns: 1fr 1fr;
+                gap: 25px;
+                margin-bottom: 40px;
+            }}
+
+            .stat-card {{
+                background: var(--primary-accent);
+                padding: 25px;
+                border-radius: 20px;
+                transition: transform 0.3s ease, box-shadow 0.3s ease;
+            }}
+            
+            .stat-card:hover {{
+                transform: scale(1.05);
+                box-shadow: 0 0 25px var(--secondary-accent)44;
+            }}
+
+            .stat-number {{
+                font-size: 3rem;
+                font-weight: 700;
+                color: var(--secondary-accent);
+            }}
+
+            .stat-label {{
+                font-size: 1rem;
+                color: #a7a9be;
+                margin-top: 5px;
+            }}
+
+            .button-group {{
+                display: flex;
+                gap: 20px;
+                justify-content: center;
+            }}
+
+            .btn {{
+                padding: 15px 35px;
+                border-radius: 50px;
+                text-decoration: none;
+                font-weight: 700;
+                font-size: 1.1rem;
+                transition: all 0.3s ease;
+                border: none;
+                cursor: pointer;
+                position: relative;
+                overflow: hidden;
+            }}
+            
+            .btn-primary {{
+                background: var(--secondary-accent);
+                color: var(--text-header);
+                box-shadow: 0 5px 15px {status_color}44;
+            }}
+            
+            .btn-primary:hover {{
+                 box-shadow: 0 8px 25px {status_color}66;
+                 transform: translateY(-3px);
+            }}
+
+            .btn-secondary {{
+                background: transparent;
+                color: var(--text-light);
+                border: 2px solid var(--glow-color);
+            }}
+            
+            .btn-secondary:hover {{
+                background: var(--glow-color);
+                color: var(--text-header);
+                border-color: var(--glow-color);
+            }}
+
+        </style>
+    </head>
+    <body>
+        <div class="main-content">
+            <div class="container">
+                <div class="logo">🚀</div>
+                <h1>بصيـر API</h1>
+                <p class="subtitle">مستقبل القيادة الذاتية بين يديك</p>
+                
+                <div class="status-badge">
+                    <span style="width: 12px; height: 12px; background-color: {status_color}; border-radius: 50%;"></span>
+                    <span>{status_text}</span>
+                </div>
+                
+                <div class="stats-grid">
+                    <div class="stat-card">
+                        <div class="stat-number">{active_sessions_count}</div>
+                        <div class="stat-label">الجلسات النشطة</div>
+                    </div>
+                    <div class="stat-card">
+                        <div class="stat-number">1.1</div>
+                        <div class="stat-label">الإصدار</div>
+                    </div>
+                </div>
+                
+                <div class="button-group">
+                    <a href="/docs" target="_blank" class="btn btn-primary">📚 التوثيق التفاعلي</a>
+                    <a href="/sessions" target="_blank" class="btn btn-secondary">📊 عرض الجلسات</a>
+                </div>
+            </div>
+        </div>
+    </body>
+    </html>
+    """
+    return HTMLResponse(content=html_content)
+    
+@app.post("/start_session", summary="Start a new driving session", tags=["Session Management"])
+def start_session():
+    session_id = str(uuid.uuid4())
+    
+    # 1. الحصول على الإعدادات الكاملة من المصدر الوحيد
+    config = get_master_config()
+    
+    # 2. استخراج الإعدادات المطلوبة لكل مكون بشكل صريح
+    grid_conf = config['grid_conf']
+    controller_params = config['controller_params']
+    simulation_freq = config['simulation']['frequency']
+
+    # 3. تهيئة المتتبع (Tracker) بمعلماته المحددة
+    tracker = Tracker(
+        grid_conf=grid_conf,
+        match_threshold=controller_params.get('tracker_match_thresh', 2.5),
+        prune_age=controller_params.get('tracker_prune_age', 5)
+    )
+
+    # 4. تهيئة المتحكم (Controller)
+    controller = InterfuserController({
+        'controller_params': controller_params,
+        'grid_conf': grid_conf,
+        'frequency': simulation_freq
+    })
+    
+    # 5. إنشاء الجلسة بالكائنات المهيأة
+    SESSIONS[session_id] = {
+        'tracker': tracker,
+        'controller': controller,
+        'frame_num': 0
+    }
+    
+    logging.info(f"New session started: {session_id}")
+    return {"session_id": session_id}
+
+@app.post("/run_step", response_model=RunStepResponse, summary="Process a single simulation step", tags=["Core"])
+@torch.no_grad()
+def run_step(request: RunStepRequest):
+    if MODEL is None:
+        raise HTTPException(status_code=503, detail="Model is not available.")
+    
+    session = SESSIONS.get(request.session_id)
+    if not session:
+        raise HTTPException(status_code=404, detail="Session ID not found.")
+
+    # --- 1. الإدراك (Perception) ---
+    image = b64_to_cv2(request.image_b64)
+    model_input = prepare_model_input(image, request.measurements)
+    traffic, waypoints, junc, light, stop, _ = MODEL(model_input)
+
+    # --- 2. معالجة مخرجات النموذج ---
+    traffic_processed = torch.cat([torch.sigmoid(traffic[0][:, 0:1]), traffic[0][:, 1:]], dim=1)
+    traffic_np = traffic_processed.cpu().numpy().reshape(20, 20, -1)
+    waypoints_np = waypoints[0].cpu().numpy()
+    junction_prob = torch.softmax(junc, dim=1)[0, 1].item()
+    light_prob = torch.softmax(light, dim=1)[0, 1].item()
+    stop_prob = torch.softmax(stop, dim=1)[0, 1].item()
+    
+    # --- 3. التتبع والتحكم ---
+    ego_pos = np.array(request.measurements.pos_global)
+    ego_theta = request.measurements.theta
+    frame_num = session['frame_num']
+    
+    active_tracks = session['tracker'].process_frame(traffic_np, ego_pos, ego_theta, frame_num)
+    steer, throttle, brake, ctrl_info = session['controller'].run_step(
+        speed=request.measurements.speed, waypoints=torch.from_numpy(waypoints_np),
+        junction=junction_prob, traffic_light=light_prob, stop_sign=stop_prob,
+        bev_map=traffic_np, ego_pos=ego_pos, ego_theta=ego_theta, frame_num=frame_num
+    )
+
+    # --- 4. إنشاء الواجهة المرئية ---
+    display_iface = DisplayInterface(DisplayConfig(width=1280, height=720))
+    bev_maps = render_bev(active_tracks, waypoints_np, ego_pos, ego_theta)
+    display_data = {
+        'camera_view': image, 'map_t0': bev_maps['t0'], 'map_t1': bev_maps['t1'], 'map_t2': bev_maps['t2'],
+        'frame_num': frame_num, 'speed': request.measurements.speed * 3.6,
+        'target_speed': ctrl_info.get('target_speed', 0) * 3.6,
+        'steer': steer, 'throttle': throttle, 'brake': brake,
+        'light_prob': light_prob, 'stop_prob': stop_prob,
+        'object_counts': {'car': len(active_tracks)}
+    }
+    dashboard = display_iface.run_interface(display_data)
+
+    # --- 5. تحديث الجلسة وإرجاع الرد ---
+    session['frame_num'] += 1
+    
+    return RunStepResponse(
+        control_commands=ControlCommands(steer=steer, throttle=throttle, brake=brake),
+        scene_analysis=SceneAnalysis(is_junction=junction_prob, traffic_light_state=light_prob, stop_sign=stop_prob),
+        predicted_waypoints=[tuple(wp) for wp in waypoints_np.tolist()],
+        dashboard_b64=cv2_to_b64(dashboard),
+        reason=ctrl_info.get('brake_reason', "Cruising")
+    )
+
+@app.post("/end_session", summary="End and clean up a session", tags=["Session Management"])
+def end_session(session_id: str):
+    if session_id in SESSIONS:
+        del SESSIONS[session_id]
+        logging.info(f"Session ended: {session_id}")
+        return {"message": f"Session {session_id} ended."}
+    raise HTTPException(status_code=404, detail="Session not found.")
+# ================== تشغيل الخادم ==================
+if __name__ == "__main__":
+    import uvicorn
+    uvicorn.run(app, host="0.0.0.0", port=7860)