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-General bug fixes and improvements
-NoFlyZoneGrapher now correctly converts NoFlyZones to the costs on the graphs, cleaning up removed NoFlyZones. Additionally the memory usage of the program has decreased, see AATC_Config NoFlyZoneGrapher for more.

AATC_AStar.py

@@ -50,6 +50,9 @@ def Size(self,xSize,ySize,zSize):
 
     def Get_Size(self):
         return self._xSize, self._ySize, self._zSize
+
+    def Get_Count(self):
+        return self._xCount, self._yCount, self._zCount
 
     def add_node(self,node):
         self._Nodes[node.Get_NodeID()] = node

AATC_Config.py

@@ -39,6 +39,10 @@
 #Control at which setting the server will raise an error if the cost for entering that node sector exceeds value. To prevent selecting a blocked node as a target node to bypass search algorithm.
 NOFLYZONE_THRESHOLD_COST = 50
 
+#NoFlyZoneGrapher
+NOFLYZONEGRAPHER_FLUSH_GRAPH_NUMBER = 50000 # This controls how frequently while generating the new node costs the no fly zone grapher should flush the graph to reduce memoryu usage.
+
 #OWM Controls
 ENABLE_FINE_SPEED_ESTIMATION = False   #Allows fine grained estimation of drone speed due to wind. Noticable slowdown when creating flight due to many requests which may be limited by OWM depending on contract
 OWM_SLEEP_TIME = 1/60*60*4 # How long the add flight program should sleep between requests to reduce the chance of overusing requests. 1/REQUESTS_PER_MINUTE*60*NUMBER_OF_CONCURRENT_SEARCHES should ensure that the program never hits the limit of OWM.
+OWM_API_KEY = '5b943c4857a45d75ef7ee9b301666fa8'  #Contains the API key for the OWM 

AATC_DB.py

@@ -50,7 +50,7 @@ def __init__(self):
     def Exit(self):
         self._db_con.close()
     def Table_Headers(self,TableName):
-        self._cur_header.execute("SHOW COLUMNS FROM %s",( TableName))
+        self._cur_header.execute("SHOW COLUMNS FROM "+ TableName)  # Cannot use placeholders when referencing the table name , syntax error
         result = self._cur_header.fetchall()
         Headers = []
         for item in result:

AATC_Drone_Logic.py

@@ -65,7 +65,7 @@ def CheckForFlight(self):
 
         FlightID = FlightID[0][0]   
         print("Obtaining flight and drone information. FlightID :",FlightID)
-        DroneInfo, Flight, Waypoints = GetAllFlightInfo(self._D,self._DroneID,FlightID)
+        DroneInfo, Flight, Waypoints = GetAllFlightInfo(self._D,FlightID)
 
         self._FlightQueue.put((False,(DroneInfo,Flight,Waypoints)))
 
@@ -91,7 +91,7 @@ def RunFlight(self):
 
 
 
-def GetAllFlightInfo(D,DRONEID,FlightID):    #Gets all drone flight information and packages the information into objects
+def GetAllFlightInfo(D,FlightID):    #Gets all drone flight information and packages the information into objects
     DSucess,DroneMessage,DroneData = D.DroneGetDroneInfo()
     FSucess,FlightMessage,FlightData = D.GetFlight(FlightID)
     WSucess,WaypointsMessage,FlightWaypointsData = D.GetFlightWaypoints(FlightID)

AATC_GPIO.py

@@ -42,7 +42,7 @@ def GPIO_Thread(Thread_Name,GPIO_Queue):
             if not Repeat:
                 Function,FuncArgs = BlankFunction,()  #Resets commands. Allows function to exit itself.
 
-            if not GPIO_Queue.empty():
+            while not GPIO_Queue.empty():  #While loop implemented so that if many commands are send per loop they will all be processed.
                 Data = GPIO_Queue.get()
                 #GPIO_Queue.task_done()
                 Command,Arguments = Data[0],Data[1]
@@ -133,7 +133,7 @@ def Main(self):
                         self.Reset(*Args)
 
                 else:
-                    self.PassData(Request[0],(Request[1],Request[2]))
+                    self.PassData(Request[0],Request[1:])
 
 
             except Exception as e:

AATC_NoFlyZoneGrapher.py

@@ -1,5 +1,8 @@
-import AATC_DB,AATC_AStar,ast,time
-from AATC_Coordinate import *
+import AATC_DB,AATC_AStar,ast,time,AATC_Config,AATC_Coordinate
+
+def NoFlyZoneGrapher_Launch(Thread_Name,Thread_Queue,Interval = 36000):  
+    NFZG = NoFlyZoneGrapher(Thread_Name,Thread_Queue,Interval)
+    NFZG.Main_Loop()
 
 class NoFlyZoneGrapher:
     """ Selects all NoFlyZones, calculates the nodes which they correspond to and modifies the cost of those nodes
@@ -8,7 +11,7 @@ class NoFlyZoneGrapher:
         Then for all nodes, the node is loaded, cost modified
         Then graph is saved
         Repeats every interval seconds.
-        Must load entire graph and all NoFlyZones at once as if a NoFlyZone is removed there may be other smaller NoFlyZones which affect the cost of the node.
+        Must load entire graph and all NoFlyZones at once as if a NoFlyZone is removed there may be other smaller NoFlyZones which affect the cost of the node.  #DEALT WITH , DONE IN GROUPS
         Very RAM intensive. Could be run on a different device and update via a network share.
         Could use an A/B method to update if file locking occurs where the Updating takes place on one set of data while the other set of data is read from by eg A* pathfinding
 
@@ -24,7 +27,7 @@ def __init__(self,Thread_Name,Thread_Queue,Interval = 36000):
         self._xSize,self._ySize,self._zSize = graph.Get_Size()
         del graph
 
-        self.Main_Loop()
+
 
     def Main_Loop(self):
         self._Exit = False
@@ -69,8 +72,8 @@ def GetNoFlyZones(self):
         for line in Data:  #Converts each line into a dict with the column name as a key
             lineDict = {
                 "ZoneID":line[ZoneIDIndex],
-                "StartCoord":Coordinate(*ast.literal_eval(line[StartCoordIndex])),
-                "EndCoord":Coordinate(*ast.literal_eval(line[EndCoordIndex])),
+                "StartCoord":AATC_Coordinate.Coordinate(*ast.literal_eval(line[StartCoordIndex])),
+                "EndCoord":AATC_Coordinate.Coordinate(*ast.literal_eval(line[EndCoordIndex])),
                 "Level":line[LevelIndex],
                 "OwnerUserID":line[OwnerUserIDIndex]}
             ProcessedData.append(lineDict)  #Also turns sthe coords into objects rather than strings
@@ -99,20 +102,28 @@ def Make_Values(self,NoFlyZoneData,ABSlot = 1):
 
                         Values[NodeID] = v  #This gets the maximum cost for that node
 
-        ######MODIFY TO BE OK
-        graph.Node_Cache = {}  #Reduces memory usage.
+##        ######MODIFY TO BE OK
+##        graph.Node_Cache = {}  #Reduces memory usage.
+        graph.FlushGraph()  #Reduces memory usage by removing the Node_Caches
 
-
         print("[NoFlyZoneGrapher] Length of Values:",len(Values))
-        for NodeID in list(Values.keys()):   #CHECK THIS. Only using those involved with a new no fly zone may cause issues if a no fly zone was removed. Maybe should be set to all node IDs.
+        for NodeID in graph.All_NodeIDs():   #CHECK THIS. Only using those involved with a new no fly zone may cause issues if a no fly zone was removed. Maybe should be set to all node IDs.
             node = graph.GetNode(NodeID)
             if node.Get_NodeID() in Values:
                 node.Set_Cost( Values[node.Get_NodeID()])
                 Values.pop(node.Get_NodeID())# Reduce memory usage by evicting Node values which have been added already
             else:
                 node.Set_Cost(1)
+            if NodeID % AATC_Config.NOFLYZONEGRAPHER_FLUSH_GRAPH_NUMBER == 0:  #Every N nodes the program will save the current nodes and remove them from memory
+                try:
+                    graph.SaveNodes([graph.CurrentFolderName()])  #Ensures any loaded nodes are saved. As all nodes in a block are loaded , entire blocks are saved thus no nodes are lost.
+                except Exception as e:
+                    print("Error saving nodes",e," Most likely no NoFlyZoneData yet")
+                graph.FlushGraph()  #The graph nodes are then emptied to reduce memory usage.
+                #print("Processede block to ",NodeID)
+
         try:
-            graph.SaveNodes([graph.CurrentFolderName()])
+            graph.SaveNodes([graph.CurrentFolderName()])   #Saves any last nodes.
         except Exception as e:
             print("Error saving nodes",e," Most likely no NoFlyZoneData yet")
 

AATC_Server_002.py

@@ -368,15 +368,15 @@ def AddFlight(self,Arguments):
                 DroneSpeed,DroneRange = DroneData[SpeedIndex],DroneData[RangeIndex]                
 
                 Weather_Estimator = AATC_Weather.OWM_Control()
-                Estimated_Drone_Speed = Weather_Estimator.Get_Ajusted_Speed(CoordList[0]["Coords"],CoordList[-1]["Coords"],DroneSpeed,Time)
+                Estimated_Drone_Speed = Weather_Estimator.Get_Adjusted_Speed(CoordList[0]["Coords"],CoordList[-1]["Coords"],DroneSpeed,Time)
                 TotalDistance = 0
                 for x in range(len(CoordList)):
                     if x != 0: #If not first Coord add the difference in distance to time etc
                         Distance = DeltaCoordToMetres(CoordList[x]["Coords"],CoordList[x-1]["Coords"]) #Gets distance in metres
                         TotalDistance += Distance
 
                         if AATC_Config.ENABLE_FINE_SPEED_ESTIMATION:
-                            Estimated_Drone_Speed = Weather_Estimator.Get_Ajusted_Speed(CoordList[x]["Coords"],CoordList[x-1]["Coords"],DroneSpeed,Time)
+                            Estimated_Drone_Speed = Weather_Estimator.Get_Adjusted_Speed(CoordList[x]["Coords"],CoordList[x-1]["Coords"],DroneSpeed,Time)
                             time.sleep(AATC_Config.OWM_SLEEP_TIME)
                         DeltaTime = Distance/Estimated_Drone_Speed
                         Time = Time + DeltaTime
@@ -498,12 +498,12 @@ def Main(self,Command,Arguments):
 
         except Exception as e:
             Sucess,Message,Data = False,"An Error occured"+str(e),[]
-            print("Error occured with UserID:",str(self._ClientID),". Error :",str(e),". Sending failure message")
+            print("Error occured with ",self._Thread_Name,". Error :",str(e),". Sending failure message")
 
         try:
             self.Send((Sucess,Message,Data))
         except Exception as e:
-            print("Error sending message back to chat",e)
+            print(self._Thread_Name,"Error sending message back to chat",e)
         self._DB.Exit()
 
 

AATC_Server_Starter.py

@@ -175,7 +175,7 @@ def StartProcesses(Control_Queue):
     Control_Queue.put(("Controller","Create_Process",("DSpawner",ProcessSpawner,(8002,"Drone",MakeDroneConnection))))
 
 
-    Control_Queue.put(("Controller","Create_Process",("Grapher",AATC_NoFlyZoneGrapher.NoFlyZoneGrapher)))
+    Control_Queue.put(("Controller","Create_Process",("Grapher",AATC_NoFlyZoneGrapher.NoFlyZoneGrapher_Launch)))
     Control_Queue.put(("Controller","Create_Process",("Cleaner",AATC_Server.Cleaner)))
 
     Control_Queue.put(("Controller","Create_Process",("Hedabot",HedaBot.TelebotLaunch,())))