LightGlueUnity/Assets/LightGlue/Scripts/Sdk/Unity/LightGlueBridgeBehaviour.cs

using LightGlue.Unity.Config;
using LightGlue.Unity.Networking;
using LightGlue.Unity.Python;
using LightGlue.Unity.Sdk.Core;
using UnityEngine;

namespace LightGlue.Unity.Sdk.Unity
{
    /// <summary>
    /// SDK 原型版：供第三方/当前工程直接挂在场景中的桥接组件。
    /// 内部持有 LightGlueClient，并在 Unity 生命周期中驱动它。
    /// </summary>
    public sealed class LightGlueBridgeBehaviour : MonoBehaviour
    {
        [Header("配置管理")]
        [Tooltip("是否从NetworkConfigManager自动加载网络配置")]
        public bool autoLoadNetworkConfig = true;

        [Header("Hardware UDP (input: hardware -> Unity)")]
        public string hardwareBindIp = "192.168.0.105";
        public int hardwarePort = 12346;
        public float hardwareTimeoutSeconds = 2.0f;
        public int maxQueuedFrames = 2;

        [Header("Hardware Control UDP (Unity -> Hardware)")]
        public string hardwareControlIp = "192.168.0.106";
        public int hardwareControlPort = 8888;

        [Header("Python Output Mode")]
        public LightGlueClient.TransferMode transferMode = LightGlueClient.TransferMode.Stdin;

        [Header("Python UDP (legacy mode: Unity -> Python)")]
        public string pythonIp = "127.0.0.1";
        public int pythonPort = 12347;

        [Header("Python Process (stdin mode: Unity -> Python)")]
        public PythonProcessController pythonProcessController;

        [Header("Python Result Receiver (Python -> Unity)")]
        public bool enableResultReceiver = true;
        public string pythonResultBindIp = "127.0.0.1";
        public int pythonResultPort = 12348;
        public int maxResultQueueSize = 10;

        [Header("Image Transmission Config")]
        [Tooltip("图像传输配置（可由 UI 写入）")]
        public ImageTransmissionConfig transmissionConfig;

        /// <summary>
        /// 最新的算法结果（每帧由 TryGetLatestResult 刷新）
        /// </summary>
        public LightGlueResult LatestResult { get; private set; }

        private LightGlueClient _client;

        private void Start()
        {
            if (autoLoadNetworkConfig)
            {
                TryLoadNetworkConfig();
            }

            var options = new LightGlueClient.Options
            {
                HardwareBindIp = hardwareBindIp,
                HardwarePort = hardwarePort,
                HardwareTimeoutSeconds = hardwareTimeoutSeconds,
                MaxQueuedFrames = maxQueuedFrames,
                HardwareControlIp = hardwareControlIp,
                HardwareControlPort = hardwareControlPort,
                Mode = transferMode,
                PythonIp = pythonIp,
                PythonPort = pythonPort,
                PythonController = pythonProcessController,
                EnableResultReceiver = enableResultReceiver,
                PythonResultBindIp = pythonResultBindIp,
                PythonResultPort = pythonResultPort,
                MaxResultQueueSize = maxResultQueueSize
            };

            _client = new LightGlueClient(options);

            try
            {
                _client.Start();
            }
            catch
            {
                // 端口冲突等错误已经在 client 内部打 log，这里防止异常中断游戏。
            }

            if (transmissionConfig != null)
            {
                _client.SetTransmissionConfig(transmissionConfig);
            }
        }

        private void TryLoadNetworkConfig()
        {
            try
            {
                var config = NetworkConfigManager.LoadConfig();
                if (config != null && config.Validate())
                {
                    hardwareBindIp = config.hardwareBindIp;
                    hardwarePort = config.hardwarePort;
                    hardwareTimeoutSeconds = config.hardwareTimeoutSeconds;
                    pythonIp = config.pythonIp;
                    pythonPort = config.pythonPort;
                    pythonResultBindIp = config.pythonResultBindIp;
                    pythonResultPort = config.pythonResultPort;
                    hardwareControlIp = config.hardwareControlIp;
                    hardwareControlPort = config.hardwareControlPort;
                    Debug.Log($"[SDK][Bridge] Loaded network config: hardware={hardwareBindIp}:{hardwarePort}, python={pythonIp}:{pythonPort}, result={pythonResultBindIp}:{pythonResultPort}, hwCtrl={hardwareControlIp}:{hardwareControlPort}");
                }
            }
            catch (System.Exception ex)
            {
                Debug.LogWarning($"[SDK][Bridge] Load NetworkConfig failed, use Inspector values. {ex.Message}");
            }
        }

        private void Update()
        {
            if (_client == null) return;

            _client.Tick();

            if (enableResultReceiver && _client.TryGetLatestResult(out var result))
            {
                LatestResult = result;
            }
        }

        private void OnDisable()
        {
            if (_client != null)
            {
                _client.Dispose();
                _client = null;
            }
        }

        /// <summary>
        /// 供 UI 调用：更新图像传输配置（Unity->Python）。
        /// </summary>
        public void SetTransmissionConfig(ImageTransmissionConfig config)
        {
            transmissionConfig = config;
            if (_client != null)
            {
                _client.SetTransmissionConfig(config);
            }
        }

        /// <summary>
        /// 供 UI 调用：下发硬件图像参数（0x40 协议）。
        /// </summary>
        public void ApplyHardwareConfig(ImageTransmissionConfig config)
        {
            if (_client != null)
            {
                _client.ApplyHardwareConfig(config);
            }
        }

        /// <summary>
        /// 获取最新 JPEG 图（拷贝），方便外部 Viewer 使用。
        /// </summary>
        public byte[] GetLatestJpeg()
        {
            return _client != null ? _client.GetLatestJpegCopy() : null;
        }
    }
}