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

using LightGlue.Unity.Networking;
using LightGlue.Unity.Python;
using UnityEngine;

namespace LightGlue.Unity.Roma
{
    /// <summary>
    /// Roma 新场景一键启动器：
    /// - 启动广播发现
    /// - 发现后配置 WiFi 图传并开启
    /// - 启动 Roma Python（独立于 LightGlue_Deployment）
    /// - 启动图像显示与结果接收（复用 UDPResultReceiver 协议/端口）
    ///
    /// 约束：该脚本只应挂在 Roma 新场景中；用户不会同时运行旧场景与新场景。
    /// </summary>
    public sealed class RomaSceneBootstrap : MonoBehaviour
    {
        [Header("Discovery + Control")]
        public RomaDeviceDiscoveryListener discovery;
        public RomaWifiCameraControlClient wifiControl;

        [Header("Python (RoMa)")]
        [Tooltip("Roma 专用 Python 进程控制器（需指向 LightGlue_Roma 工程目录与脚本）")]
        public PythonProcessController romaPythonController;

        [Header("Image Viewer (Python -> Unity)")]
        public RomaForwardedImageViewer forwardedViewer;

        [Header("Result Receiver (Python -> Unity)")]
        [Tooltip("复用现有 UDPResultReceiver 协议（0x0001/20字节），监听 pythonResultPort=12348（可在 Inspector 改）")]
        public bool enableResultReceiver = true;
        public string resultBindIp = "127.0.0.1";
        public int resultPort = 12348;
        public int maxResultQueueSize = 10;

        public UDPResultReceiver ResultReceiver => _resultReceiver;

        private UDPResultReceiver _resultReceiver;

        private void OnEnable()
        {
            // 如果已存在持久化 RomaManager，则不再在场景里重复启动/绑定端口
            if (RomaManager.Instance != null)
            {
                enabled = false;
                return;
            }

            Application.runInBackground = true;

            if (discovery == null) discovery = FindObjectOfType<RomaDeviceDiscoveryListener>();
            if (wifiControl == null) wifiControl = FindObjectOfType<RomaWifiCameraControlClient>();
            if (forwardedViewer == null) forwardedViewer = FindObjectOfType<RomaForwardedImageViewer>();

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

            if (discovery != null && !discovery.IsListening)
                discovery.StartListening();

            // 启动 Roma Python：这里不改旧工程逻辑，只调用 StartPython（Roma 控制器需在 Inspector 配好路径/脚本）
            if (romaPythonController != null && !romaPythonController.IsRunning)
                romaPythonController.StartPython();

            if (enableResultReceiver)
            {
                try
                {
                    _resultReceiver = new UDPResultReceiver(resultBindIp, resultPort, maxResultQueueSize);
                    _resultReceiver.Start();
                }
                catch (System.Exception ex)
                {
                    Debug.LogError($"[RomaBootstrap] Start result receiver failed on {resultBindIp}:{resultPort}: {ex.Message}");
                    try { _resultReceiver?.Stop(); } catch { /* ignore */ }
                    _resultReceiver = null;
                }
            }
        }

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

        /// <summary>
        /// Roma 场景侧提供一个“取最新结果”的便捷接口（与 Bridge.TryGetLatestResult 风格一致）。
        /// </summary>
        public bool TryGetLatestResult(out LightGlueResult result)
        {
            result = default(LightGlueResult);
            if (_resultReceiver == null) return false;

            bool any = false;
            while (_resultReceiver.TryDequeueResult(out var r))
            {
                result = r;
                any = true;
            }
            return any;
        }
    }
}