app.py

# ------------------ 导入库 ------------------
import dash
from dash import dcc, html, Input, Output, State, no_update
import plotly.graph_objects as go
import pandas as pd
import numpy as np
import cv2
import base64
from scipy.ndimage import gaussian_filter1d
import requests
import json
import tempfile
import os
from urllib.parse import urljoin
import subprocess

# ------------------ 数据下载与处理 ------------------
class RemoteDatasetLoader:
    def __init__(self, repo_id: str, timeout: int = 30):
        self.repo_id = repo_id
        self.timeout = timeout
        self.base_url = f"https://huggingface.co/datasets/{repo_id}/resolve/main/"

    def _get_dataset_info(self) -> dict:
        info_url = urljoin(self.base_url, "meta/info.json")
        response = requests.get(info_url, timeout=self.timeout)
        response.raise_for_status()
        return response.json()

    def _get_episode_info(self, episode_id: int) -> dict:
        episodes_url = urljoin(self.base_url, "meta/episodes.jsonl")
        response = requests.get(episodes_url, timeout=self.timeout)
        response.raise_for_status()
        episodes = [json.loads(line) for line in response.text.splitlines() if line.strip()]
        for episode in episodes:
            if episode.get("episode_index") == episode_id:
                return episode
        raise ValueError(f"Episode {episode_id} not found")

    def _is_valid_mp4(self, file_path):
        if not os.path.exists(file_path) or os.path.getsize(file_path) < 1024 * 100:
            return False
        # 用ffprobe检查是否为有效mp4
        try:
            result = subprocess.run([
                'ffprobe', '-v', 'error', '-select_streams', 'v:0',
                '-show_entries', 'stream=codec_name', '-of', 'default=noprint_wrappers=1:nokey=1', file_path
            ], capture_output=True, text=True, timeout=10)
            if result.returncode == 0 and '264' in result.stdout:
                return True
        except Exception as e:
            print(f"ffprobe video check failed: {e}")
        return False

    def _download_video(self, video_url: str, save_path: str) -> str:
        response = requests.get(video_url, timeout=self.timeout, stream=True)
        response.raise_for_status()
        # 检查Content-Type
        if 'video' not in response.headers.get('Content-Type', ''):
            raise ValueError(f"URL {video_url} 返回的不是视频内容，Content-Type: {response.headers.get('Content-Type')}")
        os.makedirs(os.path.dirname(save_path), exist_ok=True)
        with open(save_path, 'wb') as f:
            for chunk in response.iter_content(chunk_size=8192):
                f.write(chunk)
        return save_path

    def load_episode_data(self, episode_id: int,
                          video_keys=None,
                          download_dir=None):
        dataset_info = self._get_dataset_info()
        self._get_episode_info(episode_id)  # 检查episode是否存在

        if download_dir is None:
            download_dir = tempfile.mkdtemp(prefix="lerobot_videos_")

        if video_keys is None:
            video_keys = [key for key, feature in dataset_info["features"].items()
                          if feature["dtype"] == "video"]

        video_keys = video_keys[:2]
        video_paths = []
        chunks_size = dataset_info.get("chunks_size", 1000)

        for i, video_key in enumerate(video_keys):
            video_url = self.base_url + dataset_info["video_path"].format(
                episode_chunk=episode_id // chunks_size,
                video_key=video_key,
                episode_index=episode_id
            )
            video_filename = f"episode_{episode_id}_{video_key}.mp4"
            local_path = os.path.join(download_dir, video_filename)
            # 优先加载本地有效mp4
            if self._is_valid_mp4(local_path):
                print(f"Local valid video found: {local_path}")
                video_paths.append(local_path)
                continue
            try:
                downloaded_path = self._download_video(video_url, local_path)
                video_paths.append(downloaded_path)
            except Exception as e:
                print(f"Failed to download video {video_key}: {e}")
                video_paths.append(video_url)

        data_url = self.base_url + dataset_info["data_path"].format(
            episode_chunk=episode_id // chunks_size,
            episode_index=episode_id
        )
        try:
            df = pd.read_parquet(data_url)
        except Exception as e:
            print(f"Failed to load data: {e}")
            df = pd.DataFrame()

        return video_paths, df

def check_ffmpeg_available():
    try:
        result = subprocess.run(['ffmpeg', '-version'], 
                              capture_output=True, text=True, timeout=5)
        return result.returncode == 0
    except (subprocess.TimeoutExpired, FileNotFoundError):
        return False

def get_video_codec_info(video_path):
    try:
        result = subprocess.run([
            'ffprobe', '-v', 'quiet', '-print_format', 'json', 
            '-show_streams', video_path
        ], capture_output=True, text=True, timeout=10)
        if result.returncode == 0:
            info = json.loads(result.stdout)
            for stream in info.get('streams', []):
                if stream.get('codec_type') == 'video':
                    return stream.get('codec_name', 'unknown')
    except Exception as e:
        print(f"获取视频编码信息失败: {e}")
    return 'unknown'

def reencode_video_to_h264(input_path, output_path=None, quality='medium'):
    if output_path is None:
        base_name = os.path.splitext(input_path)[0]
        output_path = f"{base_name}_h264.mp4"
    quality_params = {
        'fast': ['-preset', 'ultrafast', '-crf', '28'],
        'medium': ['-preset', 'medium', '-crf', '23'],
        'high': ['-preset', 'slow', '-crf', '18']
    }
    params = quality_params.get(quality, quality_params['medium'])
    try:
        cmd = [
            'ffmpeg', '-i', input_path,
            '-c:v', 'libx264',
            '-c:a', 'aac',
            '-movflags', '+faststart',
            '-y',
        ] + params + [output_path]
        result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
        if result.returncode == 0:
            return output_path
        else:
            print(f"重编码失败: {result.stderr}")
            return input_path
    except subprocess.TimeoutExpired:
        print("重编码超时")
        return input_path
    except Exception as e:
        print(f"重编码异常: {e}")
        return input_path

def process_video_for_compatibility(video_path):
    if not os.path.exists(video_path):
        print(f"视频文件不存在: {video_path}")
        return video_path
    if not check_ffmpeg_available():
        print("ffmpeg不可用，跳过重编码")
        return video_path
    codec = get_video_codec_info(video_path)
    if codec in ['av01', 'av1', 'vp9', 'vp8'] or codec == 'unknown':
        reencoded_path = reencode_video_to_h264(video_path, quality='fast')
        if os.path.exists(reencoded_path) and os.path.getsize(reencoded_path) > 1024:
            return reencoded_path
        else:
            print("重编码失败，使用原始文件")
            return video_path
    else:
        return video_path

def load_remote_dataset(repo_id: str,
                        episode_id: int = 0,
                        video_keys=None,
                        download_dir=None):
    loader = RemoteDatasetLoader(repo_id)
    video_paths, df = loader.load_episode_data(episode_id, video_keys, download_dir)
    processed_video_paths = []
    for video_path in video_paths:
        processed_path = process_video_for_compatibility(video_path)
        processed_video_paths.append(processed_path)
    return processed_video_paths, df

# ------------------ Dash 初始化 ------------------
app = dash.Dash(__name__, suppress_callback_exceptions=True)
server = app.server

# ------------------ 页面布局 ------------------
app.layout = html.Div([
    # Header with gradient background
    html.Div([
        html.H1("Robot Data Visualization", 
                style={
                    "textAlign": "center", 
                    "marginBottom": "10px",
                    "color": "white",
                    "fontSize": "2.5rem",
                    "fontWeight": "300",
                    "textShadow": "2px 2px 4px rgba(0,0,0,0.3)"
                }),
        html.P("Interactive Joint Analysis with Video Synchronization", 
               style={
                   "textAlign": "center", 
                   "color": "rgba(255,255,255,0.9)",
                   "fontSize": "1.1rem",
                   "marginBottom": "0"
               })
    ], style={
        "background": "linear-gradient(135deg, #667eea 0%, #764ba2 100%)",
        "padding": "30px 20px",
        "marginBottom": "30px",
        "borderRadius": "0 0 15px 15px",
        "boxShadow": "0 4px 20px rgba(0,0,0,0.1)"
    }),
    
    # Control Panel
    html.Div([
        html.Div([
            html.Label("Repository ID:", 
                      style={
                          "fontWeight": "600",
                          "color": "#333",
                          "marginRight": "10px",
                          "fontSize": "1rem"
                      }),
            dcc.Input(
                id="input-repo-id", 
                type="text", 
                value="zijian2022/sortingtest", 
                style={
                    "width": "350px",
                    "padding": "12px 15px",
                    "border": "2px solid #e1e5e9",
                    "borderRadius": "8px",
                    "fontSize": "14px",
                    "transition": "border-color 0.3s ease",
                    "outline": "none"
                },
                placeholder="Enter HuggingFace dataset repository ID"
            ),
        ], style={"marginBottom": "15px"}),
        
        html.Div([
            html.Label("Episode ID:", 
                      style={
                          "fontWeight": "600",
                          "color": "#333",
                          "marginRight": "10px",
                          "fontSize": "1rem"
                      }),
            dcc.Input(
                id="input-episode-id", 
                type="number", 
                value=0, 
                min=0, 
                style={
                    "width": "120px",
                    "padding": "12px 15px",
                    "border": "2px solid #e1e5e9",
                    "borderRadius": "8px",
                    "fontSize": "14px",
                    "transition": "border-color 0.3s ease",
                    "outline": "none"
                }
            ),
            html.Button(
                "Load Data", 
                id="btn-load", 
                n_clicks=0, 
                style={
                    "marginLeft": "20px",
                    "padding": "12px 25px",
                    "backgroundColor": "#667eea",
                    "color": "white",
                    "border": "none",
                    "borderRadius": "8px",
                    "fontSize": "14px",
                    "fontWeight": "600",
                    "cursor": "pointer",
                    "transition": "all 0.3s ease",
                    "boxShadow": "0 2px 10px rgba(102, 126, 234, 0.3)"
                }
            ),
        ]),
    ], style={
        "textAlign": "center",
        "marginBottom": "40px",
        "padding": "25px",
        "backgroundColor": "white",
        "borderRadius": "12px",
        "boxShadow": "0 4px 20px rgba(0,0,0,0.08)",
        "border": "1px solid #f0f0f0"
    }),
    
    # Loading and Data Store
    dcc.Loading(
        id="loading",
        type="circle",
        style={"margin": "20px auto"},
        children=dcc.Store(id="store-data")
    ),
    
    # Main Content Area
    html.Div(
        id="main-content",
        style={
            "backgroundColor": "#f8f9fa",
            "minHeight": "400px",
            "borderRadius": "12px",
            "padding": "20px"
        }
    )
], style={
    "fontFamily": "'Segoe UI', Tahoma, Geneva, Verdana, sans-serif",
    "backgroundColor": "#f5f7fa",
    "minHeight": "100vh",
    "padding": "0"
})

# ------------------ 数据加载回调 ------------------
@app.callback(
    Output("store-data", "data"),
    Input("btn-load", "n_clicks"),
    State("input-repo-id", "value"),
    State("input-episode-id", "value"),
    prevent_initial_call=True
)
def load_data_callback(n_clicks, repo_id, episode_id):
    try:
        video_paths, data_df = load_remote_dataset(
            repo_id=repo_id,
            episode_id=int(episode_id),
            download_dir="./downloaded_videos"
        )
        if data_df is None or data_df.empty:
            return {}
        return {
            "video_paths": video_paths,
            "data_df": data_df.to_dict("records"),
            "columns": ["shoulder_pan", "shoulder_pitch", "elbow", "wrist_pitch", "wrist_roll", "gripper"],
            "timestamps": data_df["timestamp"].tolist()
        }
    except Exception as e:
        print(f"Data loading error: {e}")
        return {}

# ------------------ 主内容渲染回调 ------------------
@app.callback(
    Output("main-content", "children"),
    Input("store-data", "data")
)
def update_main_content(data):
    if not data or "data_df" not in data or len(data["data_df"]) == 0:
        return html.Div([
            html.Div("📊", style={"fontSize": "3rem", "marginBottom": "20px"}),
            html.H3("No Data Available", style={"color": "#666", "marginBottom": "10px"}),
            html.P("Please click the 'Load Data' button above to get data.", 
                   style={"color": "#888", "fontSize": "1rem"})
        ], style={
            "textAlign": "center", 
            "padding": "60px 20px",
            "color": "#666"
        })
    
    columns = data["columns"]
    rows = []
    for i, joint in enumerate(columns):
        rows.append(html.Div([
            # 关节图 - 左侧50%
            html.Div([
                dcc.Graph(id=f"graph-{i}")
            ], style={
                "flex": "0 0 50%", 
                "backgroundColor": "white",
                "borderRadius": "8px",
                "padding": "8px",
                "boxShadow": "0 2px 10px rgba(0,0,0,0.05)",
                "border": "1px solid #e9ecef",
                "marginRight": "2%"
            }),
            # 视频区域 - 右侧48%
            html.Div([
                html.Img(id=f"video1-{i}", style={
                    "width": "49%", 
                    "height": "180px", 
                    "objectFit": "contain", 
                    "display": "inline-block",
                    "borderRadius": "6px",
                    "border": "2px solid #e9ecef"
                }),
                html.Img(id=f"video2-{i}", style={
                    "width": "49%", 
                    "height": "180px", 
                    "objectFit": "contain", 
                    "display": "inline-block",
                    "borderRadius": "6px",
                    "border": "2px solid #e9ecef"
                })
            ], style={
                "flex": "0 0 48%"
            })
        ], style={
            "marginBottom": "25px",
            "backgroundColor": "white",
            "borderRadius": "12px",
            "padding": "12px",
            "boxShadow": "0 4px 15px rgba(0,0,0,0.08)",
            "border": "1px solid #f0f0f0",
            "display": "flex",
            "alignItems": "flex-start",
            "minHeight": "250px"
        }))
    return html.Div(rows)

# ------------------ 阴影与高亮工具函数 ------------------
def find_intervals(mask):
    intervals = []
    start = None
    for i, val in enumerate(mask):
        if val and start is None:
            start = i
        elif not val and start is not None:
            intervals.append((start, i - 1))
            start = None
    if start is not None:
        intervals.append((start, len(mask) - 1))
    return intervals

def get_shadow_info(joint_name, action_df, delta_t, time_for_plot):
    angles = action_df[joint_name].values
    velocity = np.diff(angles) / delta_t
    smoothed_velocity = gaussian_filter1d(velocity, sigma=1)
    smoothed_angle = gaussian_filter1d(angles[1:], sigma=1)
    vel_threshold = 0.5
    highlight_width = 3
    k = 2
    shadows = []
    low_speed_mask = np.abs(smoothed_velocity) < vel_threshold
    low_speed_intervals = find_intervals(low_speed_mask)
    for start, end in low_speed_intervals:
        if end - start + 1 <= k:
            shadows.append({
                'type': 'low_speed',
                'start_time': time_for_plot[start],
                'end_time': time_for_plot[end],
                'start_idx': start,
                'end_idx': end
            })
    max_idx = np.argmax(smoothed_angle)
    s_max = max(0, max_idx - highlight_width)
    e_max = min(len(time_for_plot) - 1, max_idx + highlight_width)
    shadows.append({
        'type': 'max_value',
        'start_time': time_for_plot[s_max],
        'end_time': time_for_plot[e_max],
        'start_idx': s_max,
        'end_idx': e_max
    })
    min_idx = np.argmin(smoothed_angle)
    s_min = max(0, min_idx - highlight_width)
    e_min = min(len(time_for_plot) - 1, min_idx + highlight_width)
    shadows.append({
        'type': 'min_value',
        'start_time': time_for_plot[s_min],
        'end_time': time_for_plot[e_min],
        'start_idx': s_min,
        'end_idx': e_min
    })
    return shadows

def is_hover_in_shadow(hover_time, shadows):
    for shadow in shadows:
        if shadow['start_time'] <= hover_time <= shadow['end_time']:
            return True
    return False

def find_shadows_in_range(shadows, start_time, end_time):
    shadows_in_range = []
    for shadow in shadows:
        if not (shadow['end_time'] < start_time or shadow['start_time'] > end_time):
            shadows_in_range.append(shadow)
    return shadows_in_range

def generate_joint_graph(joint_name, idx, action_df, delta_t, time_for_plot, all_shadows, highlighted_shadows=None):
    angles = action_df[joint_name].values
    velocity = np.diff(angles) / delta_t
    smoothed_velocity = gaussian_filter1d(velocity, sigma=1)
    smoothed_angle = gaussian_filter1d(angles[1:], sigma=1)
    shapes = []
    current_shadows = all_shadows[joint_name]
    for shadow in current_shadows:
        is_highlighted = False
        if highlighted_shadows:
            for h_shadow in highlighted_shadows:
                if (shadow['start_time'] == h_shadow['start_time'] and 
                    shadow['end_time'] == h_shadow['end_time']):
                    is_highlighted = True
                    break
        color = "#3b82f6" if is_highlighted else "#ef4444"  # Blue for highlighted, red for normal
        opacity = 0.7 if is_highlighted else 0.4
        shapes.append({
            "type": "rect",
            "xref": "x",
            "yref": "paper",
            "x0": shadow['start_time'],
            "x1": shadow['end_time'],
            "y0": 0,
            "y1": 1,
            "fillcolor": color,
            "opacity": opacity,
            "line": {"width": 0}
        })
    return {
        "data": [
            go.Scatter(
                x=time_for_plot,
                y=smoothed_angle,
                name="Joint Angle",
                line=dict(color='#f59e0b', width=2),
                hovertemplate='<b>Time:</b> %{x:.2f}s<br><b>Angle:</b> %{y:.2f}°<extra></extra>'
            )
        ],
        "layout": go.Layout(
            title={
                'text': joint_name.replace('_', ' ').title(),
                'font': {'size': 16, 'color': '#374151'}
            },
            xaxis={
                "title": "Time (seconds)",
                "titlefont": {"color": "#6b7280"},
                "tickfont": {"color": "#6b7280"},
                "gridcolor": "#f3f4f6",
                "zerolinecolor": "#e5e7eb"
            },
            yaxis={
                "title": "Angle (degrees)",
                "titlefont": {"color": "#6b7280"},
                "tickfont": {"color": "#6b7280"},
                "gridcolor": "#f3f4f6",
                "zerolinecolor": "#e5e7eb"
            },
            shapes=shapes,
            hovermode="x unified",
            height=220,
            margin=dict(t=30, b=30, l=50, r=30),
            showlegend=False,
            plot_bgcolor='white',
            paper_bgcolor='white',
            font={'family': "'Segoe UI', Tahoma, Geneva, Verdana, sans-serif"}
        )
    }

# ------------------ 联动高亮回调 ------------------
@app.callback(
    [Output(f"graph-{i}", "figure") for i in range(6)],
    [Input("store-data", "data")] + [Input(f"graph-{i}", "hoverData") for i in range(6)],
    prevent_initial_call=True
)
def update_all_graphs(data, *hover_datas):
    if not data or "data_df" not in data or len(data["data_df"]) == 0:
        return [no_update] * 6
    columns = data["columns"]
    df = pd.DataFrame.from_records(data["data_df"])
    action_df = pd.DataFrame(df["action"].tolist(), columns=columns)
    timestamps = df["timestamp"].values
    delta_t = np.diff(timestamps)
    time_for_plot = timestamps[1:]
    all_shadows = {}
    for joint in columns:
        all_shadows[joint] = get_shadow_info(joint, action_df, delta_t, time_for_plot)

    # 查找是否有任何一个hover落在阴影内
    for idx, hover_data in enumerate(hover_datas):
        if hover_data and "points" in hover_data and len(hover_data["points"]) > 0:
            hover_time = float(hover_data["points"][0]["x"])
            triggered_joint = columns[idx]
            if is_hover_in_shadow(hover_time, all_shadows[triggered_joint]):
                hover_idx = np.searchsorted(time_for_plot, hover_time)
                start_idx = max(0, hover_idx - 20)
                end_idx = min(len(time_for_plot) - 1, hover_idx + 20)
                start_time = time_for_plot[start_idx]
                end_time = time_for_plot[end_idx]
                figures = []
                for i, joint in enumerate(columns):
                    shadows_in_range = find_shadows_in_range(all_shadows[joint], start_time, end_time)
                    fig = generate_joint_graph(joint, i, action_df, delta_t, time_for_plot, all_shadows, shadows_in_range)
                    figures.append(fig)
                return figures
    # 没有hover或不在阴影内，全部正常显示
    return [
        generate_joint_graph(joint, i, action_df, delta_t, time_for_plot, all_shadows)
        for i, joint in enumerate(columns)
    ]

# ------------------ 视频帧提取函数 ------------------
def get_video_frame(video_path, time_in_seconds):
    try:
        cap = cv2.VideoCapture(video_path)
        if not cap.isOpened():
            print(f"❌ 无法打开视频: {video_path}")
            return None
        fps = cap.get(cv2.CAP_PROP_FPS)
        if fps <= 0:
            cap.release()
            return None
        frame_num = int(time_in_seconds * fps)
        cap.set(cv2.CAP_PROP_POS_FRAMES, frame_num)
        success, frame = cap.read()
        cap.release()
        if success and frame is not None:
            height, width = frame.shape[:2]
            if width > 640:
                new_width = 640
                new_height = int(height * (new_width / width))
                frame = cv2.resize(frame, (new_width, new_height))
            encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 85]
            _, buffer = cv2.imencode('.jpg', frame, encode_param)
            encoded = base64.b64encode(buffer).decode('utf-8')
            return f"data:image/jpeg;base64,{encoded}"
        else:
            return None
    except Exception as e:
        print(f"❌ 提取视频帧异常: {e}")
        return None

# ------------------ 视频帧回调 ------------------
for i in range(6):
    @app.callback(
        Output(f"video1-{i}", "src"),
        Output(f"video2-{i}", "src"),
        Input("store-data", "data"),
        Input(f"graph-{i}", "hoverData"),
        prevent_initial_call=True
    )
    def update_video_frames(data, hover_data, idx=i):
        if not data or "data_df" not in data or len(data["data_df"]) == 0:
            return no_update, no_update
        columns = data["columns"]
        df = pd.DataFrame.from_records(data["data_df"])
        timestamps = df["timestamp"].values
        time_for_plot = timestamps[1:]
        video_paths = data["video_paths"]
        
        # 确定要显示的时间点
        display_time = 0.0  # 默认显示开始时间
        if hover_data and "points" in hover_data and len(hover_data["points"]) > 0:
            # 如果有hover数据，使用hover时间
            display_time = float(hover_data["points"][0]["x"])
        elif len(time_for_plot) > 0:
            # 如果没有hover数据，使用时间轴开始时间
            display_time = time_for_plot[0]
        
        try:
            frame1 = get_video_frame(video_paths[0], display_time)
            frame2 = get_video_frame(video_paths[1], display_time)
            if frame1 and frame2:
                return frame1, frame2
            else:
                return no_update, no_update
        except Exception as e:
            print(f"update_video_frames callback error: {e}")
            return no_update, no_update

# ------------------ 启动应用 ------------------
if __name__ == "__main__":
    app.run(debug=True, host='0.0.0.0', port=7860)