Update Image retreival to use new HTTP-based system + more

More: Use better type hints for GroundStation-dependent classes, attempt filter for groundstation vs autopilot logs, other bugfixes

.gitignore

@@ -152,6 +152,7 @@ cython_debug/
 !/server/assets/odlc_images/sample.png
 /server/handlers/uav/uav_mission.txt
 /server/handlers/ugv/ugv_mission.txt
+/client/public/map/*/*/*
 odlc.json
 log.txt
 debug_log.txt

client/src/pages/FlightData/tabs/Logs.js

@@ -18,6 +18,7 @@ const Logs = () => {
 	const [logs, setLogs] = useState([])
 	const [autoScroll, setAutoScroll] = useState(true)
 	const [filters, setFilters] = useState(["[INFO     ]", "[IMPORTANT]", "[WARNING  ]", "[ERROR    ]", "[CRITICAL ]"])
+	const [types, setTypes] = useState(["(groundstation)", "(autopilot)"])
 	const autoScrollRef = useRef()
 	const scrollDiv = useRef()
 	const container = useRef()
@@ -86,6 +87,7 @@ const Logs = () => {
 	return (
 		<StyledContainer>
 			<CheckboxList name="logFilter" onChange={(e) => {
+					console.log(e.target.value)
 					if (e.target.checked) {
 						if (!filters.includes(e.target.value)) {
 							setFilters([...filters, e.target.value])
@@ -109,9 +111,10 @@ const Logs = () => {
 						<CheckboxList.Option checked={filters.includes("[ERROR    ]")} value="[ERROR    ]" color={colors.ERROR}>Error</CheckboxList.Option>
 						<CheckboxList.Option checked={filters.includes("[CRITICAL ]")} value="[CRITICAL ]" color={colors.CRITICAL}>Critical</CheckboxList.Option>
 					</Column>
-					<div>
+					<Column gap="0em">
+						<ScrollButton onChange={() => window.open("http://localhost:5000/logs")}>Open Log File</ScrollButton>
 						<ScrollButton onChange={() => { scrollDiv.current.scrollIntoView(); setAutoScroll(true) }}>Scroll To End</ScrollButton>
-					</div>
+					</Column>
 				</Row>
 			</CheckboxList>
 			<StyledLogsContainer ref={container}>
@@ -144,9 +147,9 @@ const StyledLog = ({ content }) => {
 }
 
 const ScrollButton = styled(Button)`
-	margin: 2em 0 0 auto;
+	margin: auto 0 0 auto;
 	width: 75%;
-	height: 2.5em;
+	height: 1.5em;
 `
 
 const StyledContainer = styled.div`

server/app.py

@@ -42,7 +42,11 @@ def log_root(message, *args, **kwargs):
 
 logger = logging.getLogger("groundstation")
 logger.setLevel(logging.DEBUG)
-formatter = logging.Formatter("[%(levelname)-9s] %(asctime)s  %(message)s")
+
+autopilot = logging.getLogger("autopilot")
+autopilot.setLevel(logging.DEBUG)
+
+formatter = logging.Formatter("[%(levelname)-9s] (%(name)s) %(asctime)s  %(message)-500s")
 
 # console_handler = logging.StreamHandler(sys.stdout)
 # console_handler.setLevel(logging.IMPORTANT)
@@ -53,17 +57,20 @@ def log_root(message, *args, **kwargs):
 file_handler.setLevel(logging.INFO)
 file_handler.setFormatter(formatter)
 logger.addHandler(file_handler)
+autopilot.addHandler(file_handler)
 
 debug_file_handler = logging.FileHandler("logs/debug.log", mode="w")
 debug_file_handler.setLevel(logging.DEBUG)
 debug_file_handler.setFormatter(formatter)
 logger.addHandler(debug_file_handler)
+autopilot.addHandler(debug_file_handler)
 
 LOG_STREAM = StringIO()
 string_handler = logging.StreamHandler(LOG_STREAM)
 string_handler.setLevel(logging.DEBUG)
 string_handler.setFormatter(formatter)
 logger.addHandler(string_handler)
+autopilot.addHandler(string_handler)
 
 logger.info("STARTED LOGGING")
 

server/groundstation.py

@@ -3,6 +3,8 @@
 import time
 from threading import Thread
 
+import requests
+
 import errors
 from handlers import DummyUAV, ProdUAV
 from handlers import DummyUGV, ProdUGV
@@ -92,14 +94,26 @@ def ugv_thread(self):
             time.sleep(0.1)
 
     def image_thread(self):
-        if not self.config["uav"]["images"]["type"] == "prod":  # Initialize a socket connection
-            self.image.socket_connect()
+        if self.config["uav"]["images"]["type"] == "prod":  # Initialize a socket connection
+            while True:
+                time.sleep(1)
+                try:
+                    res = requests.get(f"{self.config['uav']['images']['url']}/last_image")
+                except Exception:
+                    self.logger.error("[Image] Cannot connect to FlightSoftware, retrying in 5 seconds")
+                    time.sleep(4)
+                    continue
+                if res.status_code != 200:
+                    self.logger.error("[Image] Unable to retreive image count, retrying in 5 seconds")
+                    time.sleep(4)
+                    continue
+                img_cnt = res.json()["result"]
+                if img_cnt != self.image.img_count:
+                    self.image.retreive_image(img_cnt)
         else:  # Use a dummy connection
             while True:
-                run = self.image.retreive_images()
-                if run:
-                    self.logger.info("[Image] Successfully identified ODLC from Image")
-                time.sleep(0.1)
+                self.image.dummy_retreive_image()
+                time.sleep(2)
 
     def async_calls(self):
         print("╔═══ STARTING ASYNC THREADS")

server/handlers/image.py

@@ -1,63 +1,49 @@
+from __future__ import annotations
 import base64
 import logging
 import string
+import time
+import typing
 from random import random, randint, choice
 
 import eventlet
+import requests
 import socketio
 from dotenv import load_dotenv
 
 from handlers.utils import decorate_all_functions, log
 
 load_dotenv()
 
+if typing.TYPE_CHECKING:
+    from groundstation import GroundStation
+
 
 @decorate_all_functions(log, logging.getLogger("groundstation"))
 class ImageHandler:
     def __init__(self, gs, config):
         self.logger = logging.getLogger("groundstation")
-        self.gs = gs
+        self.gs: GroundStation = gs
         self.config = config
-        self.sio = self.app = None
+        self.img_count = -1
         print("╠ CREATED IMAGE HANDLER")
         self.logger.info("CREATED IMAGE HANDLER")
 
     def initialize(self):
-        self.sio = socketio.Server(max_http_buffer_size=40_000_000)
-        self.app = socketio.WSGIApp(self.sio)
-
-        @self.sio.event
-        def connect(sid, _):
-            self.logger.important("[Image] Socketio connection established (sid: %s)", sid)
-
-        @self.sio.event
-        def image(sid, data):
-            self.logger.debug(
-                "[Image] Successfully retreived image from socketio connection (sid: %s)", sid
-            )
-            img = data["image"]
-            if self.process_image(img):
-                self.logger.info("[Image] Successfully identified ODLC from Image (sid: %s)", sid)
-
-        @self.sio.event
-        def disconnect(sid):
-            self.logger.warning("[Image] Lost socketio connection (sid: %s)", sid)
-
         print("╠ INITIALIZED IMAGE HANDLER")
         self.logger.info("INITIALIZED IMAGE HANDLER")
 
-    def socket_connect(self):
-        eventlet.wsgi.server(
-            eventlet.listen(
-                (self.config["uav"]["images"]["host"], self.config["uav"]["images"]["port"])
-            ),
-            self.app,
-            log_output=False,
-        )
+    def retreive_image(self, img_cnt):
+        for i in range(self.img_count, img_cnt):
+            self.logger.info("Retreiving image %s", i)
+            img_res = requests.get(self.config["uav"]["images"]["url"] + f"/image/{i}")
+            if img_res.status_code == 200 and self.process_image(img_res.content):
+                self.logger.info("[Image] Successfully identified ODLC from Image")
+            time.sleep(1)
+        self.img_count = img_cnt
 
-    # When socket connection is not used
-    def retreive_images(self):
-        # Retreives Image from UAV
+    def dummy_retreive_image(self):
+        # Retrieves Image from UAV
         if random() < 1:  # Every image (until CV implementation)
             with open("assets/odlc_images/sample.png", "rb") as image_file:
                 img = base64.b64encode(image_file.read())
@@ -67,14 +53,14 @@ def retreive_images(self):
         return False
 
     def process_image(self, image):
-        if random() < 0.05:  # 5% chance that the image is of an ODLC
+        if random() < 1:  # 5% chance that the image is of an ODLC
             # Dummy Data
-            self.gs.interop.odlc.add_to_queue(
+            self.gs.interop.odlc_add_to_queue(
                 image,
                 "standard",
-                random() * 90,
-                random() * -90,
-                randint(0, 360),
+                self.gs.uav.lat,
+                self.gs.uav.lon,
+                self.gs.uav.orientation["yaw"],
                 choice(
                     [
                         "circle",
@@ -119,7 +105,6 @@ def process_image(self, image):
                         "orange",
                     ]
                 ),
-                log=False,
             )
             return True
         return False

server/handlers/interop.py

@@ -1,7 +1,9 @@
+from __future__ import annotations
 import base64
 import json
 import logging
 import os
+import typing
 from datetime import datetime, timedelta, date
 
 from auvsi_suas.client import client
@@ -12,6 +14,9 @@
 from errors import InvalidRequestError, InvalidStateError, GeneralError, ServiceUnavailableError
 from handlers.utils import decorate_all_functions, log
 
+if typing.TYPE_CHECKING:
+    from groundstation import GroundStation
+
 
 def json_serial(obj):
     if isinstance(obj, (datetime, date)):
@@ -55,7 +60,7 @@ def __init__(self, gs, config):
         self.logger = logging.getLogger("groundstation")
         print("╠ CREATED INTEROP HANDLER")
         self.logger.info("CREATED INTEROP ERROR")
-        self.gs = gs
+        self.gs: GroundStation = gs
         self.config = config
         self.mission_id = self.config["interop"]["mission_id"]
         self.login_status = False
@@ -206,7 +211,7 @@ def odlc_get_queue(self, filter_val=3):
 
     def odlc_add_to_queue(
         self,
-        image: str = None,
+        image: bytes = None,
         type_: str = None,
         lat: float = None,
         lon: float = None,
@@ -219,7 +224,7 @@ def odlc_add_to_queue(
     ):
         try:
             with open(f"assets/odlc_images/{len(self.odlc_queued_data)}.png", "wb") as file:
-                file.write(base64.b64decode(image))
+                file.write(image)
             base_obj = {
                 "created": datetime.now(),
                 "auto_submit": datetime.now() + timedelta(minutes=5),

server/handlers/uav/dummy.py

@@ -1,15 +1,20 @@
+from __future__ import annotations
 import json
 import logging
 import math
 import os
 import random
+import typing
 
 from dronekit import Command
 from pymavlink import mavutil as uavutil
 
 from errors import GeneralError, ServiceUnavailableError, InvalidRequestError
 from handlers.utils import decorate_all_functions, log
 
+if typing.TYPE_CHECKING:
+    from groundstation import GroundStation
+
 COMMANDS = {
     "WAYPOINT": uavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
     "GEOFENCE": uavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION,
@@ -68,7 +73,7 @@ class DummyUAVHandler:
 
     def __init__(self, gs, config):
         self.logger = logging.getLogger("groundstation")
-        self.gs = gs
+        self.gs: GroundStation = gs
         self.config = config
         self.port = self.config["uav"]["telemetry"]["port"]
         self.serial = self.config["uav"]["telemetry"]["serial"]

server/handlers/uav/prod.py

@@ -1,7 +1,9 @@
+from __future__ import annotations
 import json
 import logging
 import math
 import os
+import typing
 from typing import Optional
 
 from dronekit import connect, Command, VehicleMode, Vehicle
@@ -10,6 +12,9 @@
 from errors import GeneralError, InvalidRequestError, InvalidStateError
 from handlers.utils import decorate_all_functions, log
 
+if typing.TYPE_CHECKING:
+    from groundstation import GroundStation
+
 BAUDRATE = 57600
 
 COMMANDS = {
@@ -139,7 +144,7 @@ class UAVHandler:
 
     def __init__(self, gs, config):
         self.logger = logging.getLogger("groundstation")
-        self.gs = gs
+        self.gs: GroundStation = gs
         self.config = config
         self.port = self.config["uav"]["telemetry"]["port"]
         self.serial = self.config["uav"]["telemetry"]["serial"]
@@ -271,11 +276,11 @@ def set_home(self):
 
     def calibrate(self):
         try:
-            self.vehicle.send_calibrate_accelerometer()
+            self.vehicle.send_calibrate_accelerometer(simple=True)
             self.vehicle.send_calibrate_barometer()
             self.vehicle.send_calibrate_gyro()
-            self.vehicle.send_calibrate_magnetometer()
-            self.vehicle.send_calibrate_vehicle_level()
+            # self.vehicle.send_calibrate_magnetometer()
+            # self.vehicle.send_calibrate_vehicle_level()
             return {}
         except Exception as e:
             raise GeneralError(str(e)) from e