6024655a50
- init_pymavlink() passe en run_in_executor : ne bloque plus l'event loop asyncio pendant le démarrage de uvicorn - Ajout monitor_telemetry() : batterie et mode mis à jour en continu en cache (même logique que monitor_armed) - /status et action status lisent telemetry_cache directement, plus aucun async for bloquant dans les route handlers Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
291 lines
8.4 KiB
Python
291 lines
8.4 KiB
Python
import asyncio
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from contextlib import asynccontextmanager
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from fastapi import FastAPI
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from fastapi.responses import HTMLResponse, JSONResponse
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from pydantic import BaseModel
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import wireclaw_core
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@asynccontextmanager
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async def lifespan(app: FastAPI):
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await wireclaw_core.init()
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yield
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app = FastAPI(lifespan=lifespan)
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async def process(text: str) -> str:
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"""Point d'entrée générique : texte libre → commande interprétée → exécutée."""
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cmd = await wireclaw_core.interpret_command(text)
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return await wireclaw_core.execute_command(wireclaw_core.drone, cmd)
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class CommandRequest(BaseModel):
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text: str
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@app.post("/command")
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async def command(req: CommandRequest):
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response = await process(req.text)
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return {"response": response}
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@app.get("/status")
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async def status():
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# Lecture pure depuis les caches mis à jour par les tâches de fond —
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# aucun appel bloquant, réponse instantanée
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return {
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"lat": wireclaw_core.current_pos["lat"],
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"lon": wireclaw_core.current_pos["lon"],
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"alt": round(wireclaw_core.current_pos["alt"], 2),
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"abs_alt": round(wireclaw_core.current_pos["abs_alt"], 2),
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"battery": round(wireclaw_core.telemetry_cache["battery"], 1),
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"mode": wireclaw_core.telemetry_cache["mode"],
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"armed": wireclaw_core.drone_armed,
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}
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@app.get("/")
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async def index():
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return HTMLResponse(HTML)
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HTML = """<!DOCTYPE html>
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<html lang="fr">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>WireClaw</title>
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<style>
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*, *::before, *::after { box-sizing: border-box; margin: 0; padding: 0; }
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body {
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font-family: monospace;
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background: #0d0d0d;
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color: #e0e0e0;
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padding: 24px;
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max-width: 900px;
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margin: auto;
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}
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h1 {
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color: #00ff88;
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font-size: 1.3rem;
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letter-spacing: 3px;
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margin-bottom: 20px;
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}
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/* --- Panneau de statut --- */
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.status-panel {
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display: grid;
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grid-template-columns: repeat(auto-fill, minmax(130px, 1fr));
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gap: 10px;
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background: #141414;
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border: 1px solid #2a2a2a;
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border-radius: 6px;
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padding: 16px;
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margin-bottom: 20px;
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}
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.stat-label {
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font-size: 0.68rem;
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color: #666;
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text-transform: uppercase;
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letter-spacing: 1px;
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}
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.stat-value {
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font-size: 1rem;
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color: #00ff88;
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margin-top: 3px;
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}
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/* --- Zone de commande --- */
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.cmd-area { margin-bottom: 20px; }
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.input-row { display: flex; gap: 8px; margin-bottom: 8px; }
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input[type="text"] {
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flex: 1;
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padding: 10px 14px;
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background: #141414;
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border: 1px solid #333;
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border-radius: 4px;
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color: #e0e0e0;
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font-family: monospace;
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font-size: 0.95rem;
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}
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input[type="text"]:focus { outline: none; border-color: #00ff88; }
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input[type="text"]:disabled { opacity: 0.5; }
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button {
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padding: 10px 18px;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-family: monospace;
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font-size: 0.9rem;
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font-weight: bold;
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transition: background 0.15s;
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}
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.btn-send { background: #00ff88; color: #000; }
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.btn-send:hover { background: #00cc66; }
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.btn-send:disabled { opacity: 0.5; cursor: default; }
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.quick-row { display: flex; gap: 8px; flex-wrap: wrap; }
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.btn-quick {
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background: #141414;
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color: #aaa;
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border: 1px solid #2a2a2a;
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}
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.btn-quick:hover { border-color: #00ff88; color: #00ff88; }
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/* --- Historique --- */
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.history {
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background: #141414;
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border: 1px solid #2a2a2a;
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border-radius: 6px;
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padding: 16px;
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height: 340px;
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overflow-y: auto;
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}
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.entry { margin-bottom: 14px; }
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.entry-cmd { color: #4db8ff; }
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.entry-cmd::before { content: ">>> "; color: #444; }
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.entry-resp {
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color: #ccc;
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white-space: pre-wrap;
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padding-left: 22px;
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margin-top: 3px;
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line-height: 1.5;
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}
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.entry-resp.pending { color: #555; font-style: italic; }
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.entry-resp.error { color: #ff5555; }
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.entry-ts { font-size: 0.7rem; color: #444; padding-left: 22px; margin-top: 2px; }
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</style>
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</head>
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<body>
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<h1>WIRECLAW</h1>
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<div class="status-panel">
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<div>
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<div class="stat-label">Latitude</div>
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<div class="stat-value" id="s-lat">—</div>
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</div>
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<div>
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<div class="stat-label">Longitude</div>
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<div class="stat-value" id="s-lon">—</div>
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</div>
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<div>
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<div class="stat-label">Altitude AGL</div>
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<div class="stat-value" id="s-alt">—</div>
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</div>
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<div>
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<div class="stat-label">Alt MSL</div>
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<div class="stat-value" id="s-abs">—</div>
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</div>
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<div>
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<div class="stat-label">Batterie</div>
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<div class="stat-value" id="s-bat">—</div>
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</div>
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<div>
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<div class="stat-label">Mode</div>
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<div class="stat-value" id="s-mode">—</div>
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</div>
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<div>
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<div class="stat-label">Arme</div>
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<div class="stat-value" id="s-armed">—</div>
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</div>
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</div>
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<div class="cmd-area">
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<div class="input-row">
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<input type="text" id="cmd-input" placeholder="Entrez une commande en langage naturel..." autofocus>
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<button class="btn-send" id="btn-send" onclick="sendCommand()">Envoyer</button>
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</div>
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<div class="quick-row">
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<button class="btn-quick" onclick="sendQuick('status')">Status</button>
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<button class="btn-quick" onclick="sendQuick('position')">Position</button>
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<button class="btn-quick" onclick="sendQuick('hover')">Hover</button>
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<button class="btn-quick" onclick="sendQuick('rtl')">RTL</button>
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<button class="btn-quick" onclick="sendQuick('atterris')">Land</button>
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</div>
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</div>
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<div class="history" id="history"></div>
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<script>
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const inputEl = document.getElementById('cmd-input');
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const btnSend = document.getElementById('btn-send');
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const historyEl = document.getElementById('history');
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inputEl.addEventListener('keydown', e => { if (e.key === 'Enter') sendCommand(); });
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function setLoading(on) {
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inputEl.disabled = on;
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btnSend.disabled = on;
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}
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async function sendCommand() {
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const text = inputEl.value.trim();
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if (!text) return;
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inputEl.value = '';
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await send(text);
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}
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async function sendQuick(text) {
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await send(text);
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}
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async function send(text) {
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const ts = new Date().toLocaleTimeString('fr-FR');
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const entry = document.createElement('div');
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entry.className = 'entry';
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entry.innerHTML =
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`<div class="entry-cmd">${esc(text)}</div>` +
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`<div class="entry-resp pending" id="r-${Date.now()}">en cours...</div>` +
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`<div class="entry-ts">${ts}</div>`;
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historyEl.prepend(entry);
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const respEl = entry.querySelector('.entry-resp');
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setLoading(true);
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try {
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const r = await fetch('/command', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({ text })
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});
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const data = await r.json();
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respEl.textContent = data.response ?? data.detail ?? 'OK';
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respEl.classList.remove('pending');
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} catch (e) {
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respEl.textContent = 'Erreur réseau';
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respEl.classList.replace('pending', 'error');
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} finally {
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setLoading(false);
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inputEl.focus();
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}
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}
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function esc(s) {
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return s.replace(/&/g, '&').replace(/</g, '<').replace(/>/g, '>');
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}
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async function refreshStatus() {
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try {
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const r = await fetch('/status');
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if (!r.ok) return;
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const d = await r.json();
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document.getElementById('s-lat').textContent = d.lat.toFixed(6);
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document.getElementById('s-lon').textContent = d.lon.toFixed(6);
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document.getElementById('s-alt').textContent = d.alt.toFixed(1) + ' m';
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document.getElementById('s-abs').textContent = d.abs_alt.toFixed(1) + ' m';
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document.getElementById('s-bat').textContent = d.battery.toFixed(0) + ' %';
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document.getElementById('s-mode').textContent = d.mode;
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const el = document.getElementById('s-armed');
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el.textContent = d.armed ? 'OUI' : 'NON';
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el.style.color = d.armed ? '#ff8800' : '#00ff88';
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} catch (_) {}
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}
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refreshStatus();
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setInterval(refreshStatus, 2000);
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</script>
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</body>
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</html>
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"""
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