Merge pull request #25 from Scratchcat1/Flask-Server

Flask server

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_Client.py

@@ -139,7 +139,7 @@ def GetUserID(self,Username):
     def GetUsername(self,UserID):
         self.Send("GetUsername",(UserID,))
         Sucess,Message,Username = self.Recv()
-        return Sucess,Message,Username   #Username will be ["asfgg"] as it is how database returns it
+        return Sucess,Message,Username   
 
     def AddUser(self,Username,Password):
         self.Send("AddUser",(Username,Password))

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

@@ -41,16 +41,16 @@ class DBConnection:
     """
 
 
-    def __init__(self,DatabaseName = "Main.db"):
-        print("Initializing database connection '",DatabaseName,"'")
+    def __init__(self):
+        print("Initializing database connection ")
         self._db_con = sql.connect("localhost","AATC_Server","password","AATC_Database")
         self._cur = self._db_con.cursor()
         self._cur_header = self._db_con.cursor()
 
     def Exit(self):
         self._db_con.close()
     def Table_Headers(self,TableName):
-        self._cur_header.execute("SHOW COLUMNS FROM "+ 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:
@@ -328,7 +328,7 @@ def MonitorChangePassword(self,MonitorID,OldPassword,NewPassword):
             return False, "Incorrect old password"
 
     def GetMonitorDrones(self,MonitorID):
-        self._cur.execute("SELECT Drone.* FROM Drone,MonitorPermission WHERE Drone.UserID = MonitorPermission.UserID and MonitorPermission.MonitorID = %s",(MonitorID,))
+        self._cur.execute("SELECT Drone.* FROM Drone,MonitorPermission WHERE Drone.UserID = MonitorPermission.UserID AND MonitorPermission.MonitorID = %s",(MonitorID,))
         self._db_con.commit()
         return True,str(self.Table_Headers("Drone")),self._cur.fetchall()
 
@@ -345,11 +345,8 @@ def GetMonitorFlightWaypoints(self,MonitorID):
     def GetMonitorID(self,MonitorName):
         self._cur.execute("SELECT MonitorID FROM Monitor WHERE MonitorName = %s",(MonitorName,))
         result = self._cur.fetchall()
-        if len(result) != 0:
-            Sucess = True
-        else:
-            Sucess = False
-        return Sucess,"['MonitorID']",result
+        return True,"['MonitorID']",result
+
     def GetMonitorName(self,MonitorID):
         self._cur.execute("SELECT MonitorName FROM Monitor WHERE MonitorID = %s",(MonitorID,))
         return True,"['MonitorName']",self._cur.fetchall()
@@ -491,28 +488,40 @@ def Bot_GetUserID(self,chat_id):
 ##########################################################################    
 
     def ResetDatabase(self):
-        self._cur.execute("SET FOREIGN_KEY_CHECKS = 0")
+        self._cur.execute("SET FOREIGN_KEY_CHECKS = 0")  #Otherwise dropping tables will raise errors.
         TABLES = ["User","Drone","Monitor","MonitorPermission","Flight","FlightWaypoints","NoFlyZone","DroneCredentials","InputStack","Sessions"]
-        for item in TABLES:
+        for item in TABLES:  # Drops all tables
             self._cur.execute("DROP TABLE IF EXISTS {0}".format(item))
 
         self._cur.execute("CREATE TABLE User(UserID INTEGER PRIMARY KEY AUTO_INCREMENT, Username TEXT,Password TEXT, PublicVisibleFlights INT, PermissionAdder INT , ZoneCreatorPermission INT, ZoneRemoverPermission INT,ZoneModifierPermission INT)")
         self._cur.execute("CREATE TABLE Drone(DroneID INTEGER PRIMARY KEY AUTO_INCREMENT, UserID INT, DroneName TEXT, DroneType TEXT, DroneSpeed INT, DroneRange INT, DroneWeight REAL, FlightsFlown INT, LastCoords TEXT, LastBattery REAL)")
         self._cur.execute("CREATE TABLE Monitor(MonitorID INTEGER PRIMARY KEY AUTO_INCREMENT, MonitorName TEXT, MonitorPassword TEXT)")
         self._cur.execute("CREATE TABLE MonitorPermission(MonitorID INT ,UserID INT, LastAccessed TEXT, ExpiryDate TEXT,PRIMARY KEY(MonitorID,UserID),FOREIGN KEY(MonitorID) REFERENCES Monitor(MonitorID))")
         self._cur.execute("CREATE TABLE Flight(FlightID INTEGER PRIMARY KEY AUTO_INCREMENT, DroneID INT, StartCoords TEXT, EndCoords TEXT, StartTime REAL, ETA REAL, EndTime REAL, Distance  REAL,XOffset REAL , YOffset REAL , ZOffset REAL,Completed INT)")
-        self._cur.execute("CREATE TABLE FlightWaypoints(FlightID INT, WaypointNumber INT, Coords TEXT, ETA REAL, BlockTime INT)")
+        self._cur.execute("CREATE TABLE FlightWaypoints(FlightID INT, WaypointNumber INT, Coords TEXT, ETA REAL, BlockTime INT ,PRIMARY KEY(FlightID,WaypointNumber))")
         self._cur.execute("CREATE TABLE NoFlyZone(ZoneID INTEGER PRIMARY KEY AUTO_INCREMENT, StartCoord TEXT, EndCoord TEXT, Level INT, OwnerUserID INT)")
         self._cur.execute("CREATE TABLE DroneCredentials(DroneID INTEGER PRIMARY KEY AUTO_INCREMENT ,DronePassword TEXT)")
 
-        self._cur.execute("CREATE TABLE InputStack(chat_id INT , stack_pos INT, value TEXT)")
+        self._cur.execute("CREATE TABLE InputStack(chat_id INT , stack_pos INT, value TEXT, PRIMARY KEY(chat_id,stack_pos))")
         self._cur.execute("CREATE TABLE Sessions(chat_id INT PRIMARY KEY, UserID INT)")
 
-        self._cur.execute("SET FOREIGN_KEY_CHECKS = 1")
+        self._cur.execute("SET FOREIGN_KEY_CHECKS = 1")  # Reenables checks
         self._db_con.commit()
 
 
 
+#Pre Primary/Forigen key thing
+##self._cur.execute("CREATE TABLE User(UserID INTEGER PRIMARY KEY AUTO_INCREMENT, Username TEXT,Password TEXT, PublicVisibleFlights INT, PermissionAdder INT , ZoneCreatorPermission INT, ZoneRemoverPermission INT,ZoneModifierPermission INT)")
+##self._cur.execute("CREATE TABLE Drone(DroneID INTEGER PRIMARY KEY AUTO_INCREMENT, UserID INT, DroneName TEXT, DroneType TEXT, DroneSpeed INT, DroneRange INT, DroneWeight REAL, FlightsFlown INT, LastCoords TEXT, LastBattery REAL)")
+##self._cur.execute("CREATE TABLE Monitor(MonitorID INTEGER PRIMARY KEY AUTO_INCREMENT, MonitorName TEXT, MonitorPassword TEXT)")
+##self._cur.execute("CREATE TABLE MonitorPermission(MonitorID INT ,UserID INT, LastAccessed TEXT, ExpiryDate TEXT,PRIMARY KEY(MonitorID,UserID),FOREIGN KEY(MonitorID) REFERENCES Monitor(MonitorID))")
+##self._cur.execute("CREATE TABLE Flight(FlightID INTEGER PRIMARY KEY AUTO_INCREMENT, DroneID INT, StartCoords TEXT, EndCoords TEXT, StartTime REAL, ETA REAL, EndTime REAL, Distance  REAL,XOffset REAL , YOffset REAL , ZOffset REAL,Completed INT)")
+##self._cur.execute("CREATE TABLE FlightWaypoints(FlightID INT, WaypointNumber INT, Coords TEXT, ETA REAL, BlockTime INT)")
+##self._cur.execute("CREATE TABLE NoFlyZone(ZoneID INTEGER PRIMARY KEY AUTO_INCREMENT, StartCoord TEXT, EndCoord TEXT, Level INT, OwnerUserID INT)")
+##self._cur.execute("CREATE TABLE DroneCredentials(DroneID INTEGER PRIMARY KEY AUTO_INCREMENT ,DronePassword TEXT)")
+##
+##self._cur.execute("CREATE TABLE InputStack(chat_id INT , stack_pos INT, value TEXT)")
+##self._cur.execute("CREATE TABLE Sessions(chat_id INT PRIMARY KEY, UserID INT)")
 
 
 

AATC_Drone_Logic.py

@@ -1,4 +1,4 @@
-import AATC_Drone,threading,queue,math,time,AATC_GPIO,random, AATC_Config
+import AATC_Drone,threading,queue,time,AATC_GPIO,random, AATC_Config
 import AATC_Coordinate
 
 class DroneLogicSystem:
@@ -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)))
 
@@ -91,13 +91,13 @@ 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)
     if not (DSucess and FSucess and WSucess):
         print(DroneMessage,FlightMessage,WaypointsMessage)
-        raise Exception("FlightData or FlightWaypointData was not sucessfully obtained")
+        raise Exception("FlightData or FlightWaypointData or DroneData was not sucessfully obtained")
 
     DroneInfo = AATC_Drone.MakeDroneInfo(DroneMessage, DroneData)
     Flight = AATC_Drone.GetFlightObject(FlightMessage,FlightData)

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

@@ -5,16 +5,16 @@
 def GetTime():
     return int(time.time())
 
-def CoordLessThanOrEqual(Coord1,Coord2):# True if Coord1 <= Coord2
-    List1 = list(Coord1)
-    List2 = list(Coord2)
-    BoolList = []
-    for x in range(len(List1)):  #Goes through each item in the lists
-        if List1[x] <= List2[x]:   #If The Coord1[x] <= Coord2[x]
-            BoolList.append(True)
-        else:
-            BoolList.append(False)
-    return all(BoolList)
+##def CoordLessThanOrEqual(Coord1,Coord2):# True if Coord1 <= Coord2
+##    List1 = list(Coord1)
+##    List2 = list(Coord2)
+##    BoolList = []
+##    for x in range(len(List1)):  #Goes through each item in the lists
+##        if List1[x] <= List2[x]:   #If The Coord1[x] <= Coord2[x]
+##            BoolList.append(True)
+##        else:
+##            BoolList.append(False)
+##    return all(BoolList)
 
 
 
@@ -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

@@ -1,6 +1,7 @@
 import multiprocessing,socket,AATC_NoFlyZoneGrapher,sys,time,AATC_GPIO,HedaBot
 import AATC_Server_002 as AATC_Server
-from AATC_Coordinate import *
+#from AATC_Coordinate import *
+from flask_app import Flask_Test_App
 
 
 def UserProcessSpawner():
@@ -114,6 +115,12 @@ def MakeDroneConnection(Thread_Name,Thread_Queue,conn):
 
 
 ##########################################################
+#####################This section is part of the flask webserver component of the AATC program, not part of the main project.
+
+def StartFlaskServer(Thread_Name,Thread_Queue):
+    Flask_Test_App.main_app(Flask_Test_App.app) # Starts the flask webserver
+
+
 ##########################################################
 
 
@@ -168,21 +175,20 @@ 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,())))
+    ###Control_Queue.put(("Controller","Create_Process",("Flask_Server",StartFlaskServer,())))
     print("[StartProcesses] All processes started")
 
 
 if __name__ == "__main__":
     print("Server is starting")
-
-
+
 
     Control_Queue = AATC_GPIO.Create_Controller()
     StartProcesses(Control_Queue)
-
 
     Main_Command = ""
     while Main_Command != "EXIT":