smart-bow-infrared/Assets/LightGlue/Scripts/Roma/RomaManager.cs

using System;
using LightGlue.Unity.Networking;
using LightGlue.Unity.Python;
using LightGlue.Unity.Roma.Bridge;
using LightGlue.Unity.Roma.Networking;
using UnityEngine;

namespace LightGlue.Unity.Roma
{
    /// <summary>
    /// Roma 全局管理器（跨场景单例，DontDestroyOnLoad）。
    /// 目的：在切换游戏场景时，Roma 的发现/图传配置/Python进程/结果接收/转发显示能持续运行。
    /// </summary>
    public sealed class RomaManager : MonoBehaviour
    {
        public static RomaManager Instance { get; private set; }

        [Header("Roma 核心组件（建议挂在同一 GameObject 上）")]
        public RomaDeviceDiscoveryListener discovery;
        public RomaWifiCameraControlClient wifiControl;
        public PythonProcessController romaPythonController;
        public RomaForwardedImageViewer forwardedViewer;
        public RomaDeviceInfoReceiver deviceInfoReceiver;

        [Header("启动策略（手动模式建议全部关闭）")]
        [Tooltip("是否在 RomaManager.OnEnable 自动开始监听广播（12345）。")]
        public bool autoStartDiscoveryOnEnable = false;

        [Tooltip("是否在 RomaManager.OnEnable 自动启动 Roma Python 进程。")]
        public bool autoStartPythonOnEnable = false;

        [Tooltip("是否在 RomaManager.OnEnable 自动启动 Python->Unity 图像转发接收（12366）。")]
        public bool autoStartForwardViewerOnEnable = false;

        [Tooltip("是否在 RomaManager.OnEnable 自动启动结果接收（12348）。")]
        public bool autoStartResultReceiverOnEnable = false;

        [Header("Roma 结果接收 (Python -> Unity)")]
        public bool enableResultReceiver = true;
        public string resultBindIp = "127.0.0.1";
        public int resultPort = 12348;
        public int maxResultQueueSize = 10;

        private UDPResultReceiver _resultReceiver;
        private RomaHardwareToPythonBridge _bridge;

        public UDPResultReceiver ResultReceiver => _resultReceiver;

        public event Action<LightGlueResult> OnResultUpdated;

        private LightGlueResult _latest;
        private bool _hasLatest;

        public bool HasLatestResult => _hasLatest;
        public LightGlueResult LatestResult => _latest;

        private void Awake()
        {
            if (Instance != null && Instance != this)
            {
                gameObject.SetActive(false);
                Destroy(gameObject);
                return;
            }

            Instance = this;
            DontDestroyOnLoad(gameObject);

            if (discovery == null) discovery = GetComponent<RomaDeviceDiscoveryListener>();
            if (wifiControl == null) wifiControl = GetComponent<RomaWifiCameraControlClient>();
            if (romaPythonController == null) romaPythonController = GetComponent<PythonProcessController>();
            if (forwardedViewer == null) forwardedViewer = GetComponent<RomaForwardedImageViewer>();
            if (deviceInfoReceiver == null) deviceInfoReceiver = GetComponent<RomaDeviceInfoReceiver>();

            if (wifiControl != null && discovery != null)
                wifiControl.BindDiscovery(discovery);
        }

        private void OnDestroy()
        {
            if (Instance == this) Instance = null;
        }

        private void OnEnable()
        {
            Application.runInBackground = true;

            // 若场景中存在 RomaHardwareToPythonBridge，则由它负责接收结果，RomaManager 仅做统一对外分发
            TryBindBridgeAsResultSource();

            // 设备信息接收器：用于 ESP32 无广播时自动填充 device_ip/device_port
            if (deviceInfoReceiver != null)
                deviceInfoReceiver.StartListening();

            if (autoStartDiscoveryOnEnable)
                StartDiscovery();

            if (autoStartPythonOnEnable)
                StartPython();

            if (autoStartForwardViewerOnEnable)
                StartForwardViewer();

            // 仅当没有桥接层接管结果接收时，才由 RomaManager 自己启动 UDPResultReceiver
            if (_bridge == null && autoStartResultReceiverOnEnable && enableResultReceiver)
                StartResultReceiver();
        }

        private void OnDisable()
        {
            StopResultReceiver();
            _hasLatest = false;

            if (_bridge != null)
            {
                _bridge.OnResultUpdated -= OnBridgeResultUpdated;
                _bridge = null;
            }
        }

        private void Update()
        {
            // 若桥接层存在，则结果通过桥接层事件推送，这里无需再 drain 自己的 UDP 队列
            if (_bridge != null)
                return;
            if (_resultReceiver == null) return;

            // 排空队列，只保留最新
            bool any = false;
            LightGlueResult last = default;
            while (_resultReceiver.TryDequeueResult(out var r))
            {
                last = r;
                any = true;
            }

            if (any)
            {
                _latest = last;
                _hasLatest = true;
                OnResultUpdated?.Invoke(last);
            }
        }

        public bool TryGetLatestResult(out LightGlueResult result)
        {
            result = default;
            if (!_hasLatest) return false;
            result = _latest;
            return true;
        }

        public void StartDiscovery()
        {
            if (discovery == null)
                discovery = GetComponent<RomaDeviceDiscoveryListener>() ?? FindObjectOfType<RomaDeviceDiscoveryListener>();
            if (discovery != null && !discovery.IsListening)
                discovery.StartListening();
        }

        public void StopDiscovery()
        {
            if (discovery == null)
                discovery = GetComponent<RomaDeviceDiscoveryListener>() ?? FindObjectOfType<RomaDeviceDiscoveryListener>();
            discovery?.StopListening();
        }

        public void StartPython()
        {
            if (romaPythonController == null)
                romaPythonController = GetComponent<PythonProcessController>() ?? FindObjectOfType<PythonProcessController>();
            if (romaPythonController != null && !romaPythonController.IsRunning)
                romaPythonController.StartPython();
        }

        public void StopPython()
        {
            if (romaPythonController == null)
                romaPythonController = GetComponent<PythonProcessController>() ?? FindObjectOfType<PythonProcessController>();
            if (romaPythonController != null && romaPythonController.IsRunning)
                romaPythonController.StopPython();
        }

        public void StartForwardViewer()
        {
            if (forwardedViewer == null)
                forwardedViewer = GetComponent<RomaForwardedImageViewer>() ?? FindObjectOfType<RomaForwardedImageViewer>();
            forwardedViewer?.StartReceiver();
        }

        public void StopForwardViewer()
        {
            if (forwardedViewer == null)
                forwardedViewer = GetComponent<RomaForwardedImageViewer>() ?? FindObjectOfType<RomaForwardedImageViewer>();
            forwardedViewer?.StopReceiver();
        }

        public void StartResultReceiver()
        {
            if (!enableResultReceiver) return;
            if (_resultReceiver != null) return;
            if (_bridge != null) return; // 避免与桥接层抢占端口
            TryStartResultReceiver();
        }

        public void StopResultReceiver()
        {
            try { _resultReceiver?.Stop(); } catch { /* ignore */ }
            _resultReceiver = null;
        }

        private void TryStartResultReceiver()
        {
            try
            {
                _resultReceiver = new UDPResultReceiver(resultBindIp, resultPort, maxResultQueueSize);
                _resultReceiver.Start();
                Debug.Log($"[RomaManager] Result receiver started on {resultBindIp}:{resultPort}");
            }
            catch (Exception ex)
            {
                Debug.LogError($"[RomaManager] Start result receiver failed on {resultBindIp}:{resultPort}: {ex.Message}");
                _resultReceiver = null;
            }
        }

        private void TryBindBridgeAsResultSource()
        {
            if (_bridge != null) return;
            _bridge = FindObjectOfType<RomaHardwareToPythonBridge>();
            if (_bridge == null) return;

            _bridge.OnResultUpdated -= OnBridgeResultUpdated;
            _bridge.OnResultUpdated += OnBridgeResultUpdated;

            if (_bridge.HasLatestResult)
            {
                OnBridgeResultUpdated(_bridge.LatestResult);
            }

            Debug.Log("[RomaManager] Using RomaHardwareToPythonBridge as result source.");
        }

        private void OnBridgeResultUpdated(LightGlueResult result)
        {
            _latest = result;
            _hasLatest = true;
            OnResultUpdated?.Invoke(result);
        }
    }
}