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6686473 563e902 6686473 563e902 6686473 563e902 6686473 563e902 6686473 563e902 6686473 563e902 6686473 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 | import sys
import os
import json
from PySide6.QtCore import QObject, Slot
# Ensure project source root is in path
PROJECT_SRC = os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))
if PROJECT_SRC not in sys.path:
sys.path.insert(0, PROJECT_SRC)
from frontend.threads.llm_thread import LLMThread
from frontend.threads.simulation_thread import SimulationThread
from llm_panda.conversation import ConversationManager
from llm_panda.plan_verifier import PlanVerifier
class UIController(QObject):
"""
Main controller coordinates widgets and background threads (LLM Planning & PyBullet Simulation).
"""
def __init__(self, main_window):
super().__init__()
self.main_window = main_window
# References to widgets
self.viewport_widget = None
self.chat_widget = None
self.log_widget = None
self.status_widget = None
self.score_modal = None
# Threads
self.sim_thread = None
self.llm_thread = None
self.last_scene_state = None
self.conversation_manager = ConversationManager()
def start(self):
"""Initializes and starts the simulation background thread."""
self.viewport_widget = self.main_window.viewport_widget
self.chat_widget = self.main_window.chat_widget
self.log_widget = self.main_window.log_widget
self.status_widget = self.main_window.status_widget
self.score_modal = self.main_window.score_modal
# Bind Viewport events to simulation camera actions
self.viewport_widget.camera_rotated.connect(self.handle_camera_rotate)
self.viewport_widget.camera_panned.connect(self.handle_camera_pan)
self.viewport_widget.camera_zoomed.connect(self.handle_camera_zoom)
self.viewport_widget.viewport_clicked.connect(self.handle_viewport_clicked)
# Bind Chat events
self.chat_widget.command_submitted.connect(self.handle_command_submit)
self.chat_widget.preset_clicked.connect(self.handle_preset_click)
self.chat_widget.reset_clicked.connect(self.handle_reset_click)
self.chat_widget.gui_toggled.connect(self.handle_gui_toggle)
# Create and run simulation thread
self.sim_thread = SimulationThread()
# Connect simulation thread signals
self.sim_thread.frame_ready.connect(self.viewport_widget.update_frame)
self.sim_thread.log_message.connect(self.log_widget.append_log)
self.sim_thread.fps_updated.connect(self.status_widget.update_fps)
self.sim_thread.step_completed.connect(self.handle_step_completed)
self.sim_thread.finished.connect(self.handle_execution_finished)
self.sim_thread.init_completed.connect(self.handle_sim_init_completed)
self.sim_thread.start()
def handle_sim_init_completed(self):
self.status_widget.update_connection_badge(True)
def handle_camera_rotate(self, dx, dy):
if self.sim_thread:
self.sim_thread.queue_command("camera_rotate", (dx, dy))
def handle_camera_pan(self, dx, dy):
if self.sim_thread:
self.sim_thread.queue_command("camera_pan", (dx, dy))
def handle_camera_zoom(self, delta):
if self.sim_thread:
self.sim_thread.queue_command("camera_zoom", delta)
def handle_viewport_clicked(self, x, y):
if self.sim_thread:
w = self.viewport_widget.width()
h = self.viewport_widget.height()
self.sim_thread.queue_command("viewport_click", (x, y, w, h))
def handle_preset_click(self, prompt_text):
self.chat_widget.set_prompt_text(prompt_text)
def handle_reset_click(self):
if self.sim_thread:
self.conversation_manager.clear()
self.log_widget.clear_logs()
self.chat_widget.clear_plan()
self.status_widget.reset_steps()
self.sim_thread.queue_command("reset")
def handle_gui_toggle(self, checked):
if self.sim_thread:
self.sim_thread.queue_command("gui_toggle", checked)
def handle_command_submit(self, prompt, use_mock):
if not prompt:
return
self.log_widget.clear_logs()
self.chat_widget.clear_plan()
self.status_widget.reset_steps()
self.log_widget.append_log(f"Gửi yêu cầu: \"{prompt}\"", "info")
self.chat_widget.lock_inputs()
# Capture current scene state thread-safely
scene_state = {}
with self.sim_thread.pybullet_lock:
# Define reachability check for scene state
def reachability_fn(oid):
cls = self.sim_thread.sim.scene.get_class(oid)
try:
grasp_pos, grasp_ori = self.sim_thread.sim.grasp_planner.compute_grasp_pose(oid, cls)
return self.sim_thread.sim.controller.is_reachable(grasp_pos, grasp_ori)
except Exception:
return False
carried_name = self.sim_thread.sim.scene.get_name(self.sim_thread.sim._carried) if self.sim_thread.sim._carried is not None else None
scene_state = self.sim_thread.sim.scene.get_scene_state(reachability_fn=reachability_fn, carried_object=carried_name)
self.last_scene_state = scene_state
# Start LLM Planning Thread
self.status_widget.set_step_active("llm")
self.llm_thread = LLMThread(
prompt,
scene_state,
use_mock,
conversation_manager=self.conversation_manager,
)
self.llm_thread.plan_ready.connect(self.handle_plan_ready)
self.llm_thread.log_message.connect(self.log_widget.append_log)
self.llm_thread.failed.connect(self.handle_llm_failed)
self.llm_thread.start()
def handle_llm_failed(self, error_msg):
self.status_widget.set_step_error("llm")
self.chat_widget.unlock_inputs()
def handle_plan_ready(self, plan_steps):
self.status_widget.set_step_completed("llm")
if not plan_steps:
self.log_widget.append_log("⚠️ [1] Kế hoạch rỗng.", "warn")
self.status_widget.set_step_active("score")
# Calculate score immediately for empty plan
self.sim_thread.queue_command("execute_plan", [])
return
first_step = plan_steps[0]
if first_step.get("skill") in ("clarify", "reject"):
message = first_step.get("args", {}).get(
"message",
"Yêu cầu cần được làm rõ.",
)
self.chat_widget.add_message(message, is_user=False)
self.log_widget.append_log(f"Robot: {message}", "info")
self.chat_widget.clear_plan()
self.chat_widget.unlock_inputs()
return
self.chat_widget.display_plan(plan_steps)
# Step 2: Validation
self.status_widget.set_step_active("val")
self.log_widget.append_log("⏳ [2/5] Đang kiểm tra kế hoạch (Validator)...", "info")
try:
warnings = PlanVerifier.check(plan_steps, self.last_scene_state)
if not warnings:
self.log_widget.append_log("✅ [2] Kế hoạch hợp lệ.", "success")
self.status_widget.set_step_completed("val")
else:
self.log_widget.append_log(f"⚠️ [2] Validator phát hiện {len(warnings)} cảnh báo.", "warn")
for w in warnings:
self.log_widget.append_log(f" - {w}", "warn")
self.status_widget.set_step_active("val") # Set to warning/active state (orange dot visually)
except Exception as e:
self.log_widget.append_log(f"❌ [2] Lỗi kiểm tra kế hoạch: {e}", "error")
self.status_widget.set_step_error("val")
self.chat_widget.unlock_inputs()
return
# Step 3: Execution
self.status_widget.set_step_active("exec")
self.sim_thread.queue_command("execute_plan", plan_steps)
def handle_step_completed(self, step_idx):
self.chat_widget.mark_step_completed(step_idx)
def handle_execution_finished(self, success, score_md, score_val):
if success:
self.status_widget.set_step_completed("exec")
else:
self.status_widget.set_step_error("exec")
self.status_widget.set_step_completed("score")
# Show rearrangement report modal
self.score_modal.show_score(score_md)
# Re-enable inputs
self.chat_widget.unlock_inputs()
def shutdown(self):
"""Safely stops background threads."""
if self.llm_thread and self.llm_thread.isRunning():
self.llm_thread.terminate()
self.llm_thread.wait()
if self.sim_thread:
self.sim_thread.shutdown()
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