Update app.py

app.py

@@ -35,7 +35,7 @@ NUDGE_BODY = 0.3      # degrees for body_yaw
 NUDGE_PITCH = 5.0     # degrees for pitch
 
 # Video loop timing
-FRAME_SLEEP_S = 0.02
+FRAME_SLEEP_S = 0.04  # 25 fps
 
 # TURN config
 TURN_TTL_SERVER_MS = 360_000
@@ -134,7 +134,6 @@ class GlobalState:
             try:
                 dropped = q.get_nowait()
                 del dropped
-                print(f"Dropping oldest audio {description}, queue size is {q.qsize()}")
             except queue.Empty:
                 break
         q.put(item)
@@ -287,6 +286,8 @@ def send_pose_to_robot(mov: Movement, msg: str = "Move sent"):
 
 def generate_mjpeg_stream():
     last_timestamp = 0.0
+    frame_count = 0
+    start_time = time.time()
     while True:
         with state.frame_lock:
             current_bytes = state.latest_frame_bytes
@@ -294,6 +295,13 @@ def generate_mjpeg_stream():
 
         if current_timestamp > last_timestamp and current_bytes is not None:
             last_timestamp = current_timestamp
+            frame_count += 1
+            elapsed = time.time() - start_time
+            if elapsed > 1.0:
+                fps = frame_count / elapsed
+                print(f"[generate_mjpeg_stream] Current FPS: {fps:.2f}")
+                frame_count = 0
+                start_time = time.time()
             yield (
                 b"--frame\r\n"
                 b"Content-Type: image/jpeg\r\n\r\n" + current_bytes + b"\r\n"
@@ -311,6 +319,8 @@ def webrtc_video_generator():
     """
     last_ts = 0.0
     frame = state.black_frame.copy()
+    frame_count = 0
+    start_time = time.time()
 
     while True:
         with state.frame_lock:
@@ -325,8 +335,16 @@ def webrtc_video_generator():
                 frame = decoded
             else:
                 frame = state.black_frame.copy()
+            frame_count += 1
+            elapsed = time.time() - start_time
+            if elapsed > 1.0:
+                fps = frame_count / elapsed
+                print(f"[webrtc_video_generator] Current FPS: {fps:.2f}")
+                frame_count = 0
+                start_time = time.time()
 
         yield frame
+        time.sleep(FRAME_SLEEP_S)
 
 
 # -------------------------------------------------------------------
@@ -366,18 +384,29 @@ def video_feed():
 async def stream_endpoint(ws: WebSocket):
     """Endpoint for Robot/Sim to send video frames."""
     await ws.accept()
+    frame_count = 0
+    start_time = time.time()
     try:
         while True:
             msg = await ws.receive()
             data = msg.get("bytes")
             if data:
                 state.update_frame(data)
+                frame_count += 1
+                elapsed = time.time() - start_time
+                if elapsed > 1.0:
+                    fps = frame_count / elapsed
+                    print(f"[Video] Receiving FPS: {fps:.2f}")
+                    frame_count = 0
+                    start_time = time.time()
+    except WebSocketDisconnect as e:
+        print(f"[Video] WebSocketDisconnect: code={e.code}, reason={e.reason}")
     except asyncio.CancelledError:
         print("[Video] stream_endpoint cancelled")
-    except Exception:
-        print("[Video] stream_endpoint closed")
+    except Exception as e:
+        print(f"[Video] stream_endpoint closed with error: {e!r}")
     finally:
-        print("[Video] stream_endpoint closed")
+        print("[Video] stream_endpoint closed (finally)")
 
 @app.websocket("/audio_stream")
 async def audio_endpoint(ws: WebSocket):
@@ -1053,5 +1082,5 @@ app = gr.mount_gradio_app(app, demo, path="/")
 if __name__ == "__main__":
     print("🚀 Server starting on http://0.0.0.0:7860")
     print("ℹ️ Point your Robot/Sim to: ws://<YOUR_PC_IP>:7860/robot")
-    uvicorn.run(app, host="0.0.0.0", port=7860, proxy_headers=True, forwarded_allow_ips="*")
+    uvicorn.run(app, host="0.0.0.0", port=7860, proxy_headers=True, forwarded_allow_ips="*", log_level="warning")