From d9732457352a13e111577c2a8f60a8ca8c1c1b0a Mon Sep 17 00:00:00 2001 From: Innovation Date: Sat, 4 May 2024 12:01:15 +0100 Subject: [PATCH] A big fuck-off commit with a bunch of bug fixes, bug additions, and a lot of work put into navigationd to the point that it actually does shit --- src/modules/navigationd/navigationd.py | 107 ++++++++++++++++++++ src/modules/navigationd/requirements.txt | 8 +- src/nightserver.py | 119 ++++++++++++++++++++++- src/requirements-all.txt | 7 +- src/templates/index.html | 48 ++++++++- 5 files changed, 280 insertions(+), 9 deletions(-) diff --git a/src/modules/navigationd/navigationd.py b/src/modules/navigationd/navigationd.py index e69de29..9356578 100644 --- a/src/modules/navigationd/navigationd.py +++ b/src/modules/navigationd/navigationd.py @@ -0,0 +1,107 @@ +import gpsd +import time +import requests +import geopandas as gpd +import osmnx as ox +import networkx as nx +import os + +urlBase = 'http://localhost:5000' +urlLocation = urlBase + '/api/navigation/position' +urlImage = urlBase + '/api/navigation/image' +urlAddCyberware = urlBase + '/api/cyberware/add' +urlRemoveCyberware = urlBase + '/api/cyberware/remove' + +uuid = "" + +def connectCyberware(): + global uuid + # Add to Cyberware and get UUID + try: + uuidRequest = requests.post(urlAddCyberware, json={ 'name': 'GPS', 'hotpluggable': True, 'canSet': [ '/api/navigation/position', '/api/navigation/image' ] }) + + uuid = uuidRequest.json()[0]['uuid'] + except: + print("Cannot connect to NightCall. Stopping.") + exit() + +def disconnectCyberware(): + try: + disconnectRequest = requests.post(urlRemoveCyberware, json={ 'uuid': uuid }) + except: + print("Cannot disconnect Cyberware.") + +gpsdData = None + +def getMapImage(distance): + ox.settings.use_cache = True + + + if(gpsdData.lat == 0 and gpsdData.lon == 0): + point = (42.352593, -83.2640164) + + try: + G = ox.graph_from_point(point, dist=distance, dist_type="bbox", network_type="drive") + + # impute edge (driving) speeds and calculate edge travel times + G = ox.routing.add_edge_speeds(G) + G = ox.routing.add_edge_travel_times(G) + + # I'm not sure how to handle this short of saving it and then reading it. :( + filepath = uuid+".png" + ox.plot_graph(G, show=True, node_size=0, edge_linewidth=2, bgcolor="#0B1629", edge_color="#5FE0E9", save=True, filepath=filepath) + except ox._errors.InsufficientResponseError: + print("Insufficient response. Skipping.") + +#def getMapImage(area): +# #lat, lon = gpsdData.position() +# lat, lon = 41.7573113, -93.8128377 +# bbox = lat-(area/2.0), lat+(area/2.0), lon+(area/2.0), lon-(area/2.0) +# +# G = ox.graph_from_bbox(bbox=bbox, network_type="drive_service") + +def sendLocation(): + try: + #request = requests.post(urlLocation, json={ 'x': gpsdData.lat, 'y': gpsdData.lon, 'z': gpsdData.alt, 'o': gpsdData.track }) + request = requests.post(urlLocation, json={ 'x': None, 'y': None, 'z': None, 'o': None, 'uuid': uuid }) + except: + print('Could not contact NightCall') + +def sendMapImage(): + try: + files = { 'image': open(uuid+".png", 'rb') } + request = requests.post(urlImage, files=files) + except: + print("Could not contact NightCall") + +print("Connecting to gpsd") +gpsd.connect() # Connect to gpsd + +continueFlag = True + +print("Adding Cyberware") +connectCyberware() + +while continueFlag: + try: + time.sleep(1) + try: + gpsdData = gpsd.get_current() + except gpsd.NoFixError: + gpsdData = None + print("No GPS fix yet! Using default coordinates.") + + getMapImage(1000) + sendLocation() + sendMapImage() + + #print(packet.position()) + except KeyboardInterrupt: + print("Exiting.") + continueFlag = False; + +print("Removing Cyberware") +disconnectCyberware() + +print("Cleaning up") +os.remove(uuid+".png") diff --git a/src/modules/navigationd/requirements.txt b/src/modules/navigationd/requirements.txt index fada3fb..9f8e4c3 100644 --- a/src/modules/navigationd/requirements.txt +++ b/src/modules/navigationd/requirements.txt @@ -1 +1,7 @@ -pygarmin +gpsd-py3 +osmnx +gdal==3.6.2 +geopandas +matplotlib +networkx +numpy diff --git a/src/nightserver.py b/src/nightserver.py index d2d93f8..374ccb8 100644 --- a/src/nightserver.py +++ b/src/nightserver.py @@ -1,10 +1,11 @@ -from flask import Flask, render_template, jsonify, request +from flask import Flask, render_template, jsonify, request, send_file from flask_apscheduler import APScheduler from copy import copy import uuid import time from datetime import datetime import requests +import io app = Flask(__name__) @@ -432,6 +433,103 @@ def setEnvironmentHumidity(): return 'Incorrect usage.\nUsage: { humidity: INT, uuid: STRING }\n', 400 return '', 204 +navigationX = None +navigationY = None +navigationZ = None +navigationO = None +navigationImage = None + +# Navigation +@app.route('/api/navigation') +def getNavigation(): + returnArr = [ { 'x': navigationX, 'y': navigationY, 'z': navigationZ, 'o': navigationO, 'img': navigationImage } ] + return jsonify(returnArr), 200 + +# Navigation//Position +# Position consists of: { x: FLOAT, y: FLOAT, z: FLOAT, o: FLOAT } +# o stands for ORIENTATION. o may be NoneType to indicate that such data is not available. +@app.route('/api/navigation/position') +def getNavigationPosition(): + returnArr = [ { 'x': navigationX, 'y': navigationY, 'z': navigationZ, 'o': navigationO } ] + return jsonify(returnArr), 200 + +@app.route('/api/navigation/position', methods=['POST']) +def setNavigationPosition(): + global navigationX + global navigationY + global navigationZ + global navigationO + + json = request.get_json() + + try: + uuid = json['uuid'] + if not authenticate(uuid, '/api/navigation/position'): + return 'Forbidden.', 403 + + tempX = json['x'] + tempY = json['y'] + tempZ = json['z'] + tempO = json['o'] + + navigationX = tempX + navigationY = tempY + navigationZ = tempZ + navigationO = tempO + except: + return 'Incorrect usage.\nUsage: { x: FLOAT, y: FLOAT, z: FLOAT, o: FLOAT }\n', 400 + return '', 204 + +# Navigation//Position//x +#@app.route('/api/navigation/position/x') +#def getNavigationPositionX(): +# return jsonify( [ 'x': navigationX ]), 200 + + +#@app.route('/api/navigation/position/x', methods=['POST']) +#def setNavigationPositionX(): +# global navigationX +# +# json = request.get_json() +# +# try: +# if not authenticate(url, +# except: +# + +# Navigation//Image +@app.route('/api/navigation/image') +def getNavigationImage(): + #returnArr = [ { 'img': navigationImage } ] + #return jsonify(returnArr), 200 + if(navigationImage != None): + imageStream = io.BytesIO(navigationImage) + return send_file(imageStream, mimetype="image/png", download_name="minimap.png", max_age=0) # We don't want this to cache ever + else: + return '', 200 + +@app.route('/api/navigation/image', methods=['POST']) +def setNavigationImage(): + global navigationImage + + try: + filename = request.files['image'].filename + uuid = filename.split('.')[0] + if not authenticate(uuid, '/api/navigation/image'): + return "Forbidden.", 403 + + file = request.files['image'].read() + + navigationImage = file + except: + return 'Auth failed, or no file was sent.\n', 400 + return '', 204 + +def resetNavigationImage(): + global navigationImage + + navigationImage = None + # Authentication method # This authorizes the given UUID to determine whether the request is # allowed to set the requested endpoint. @@ -441,12 +539,16 @@ def authenticate(uuid, endpoint): if uuid == internalUUID: return True + requestedHardware = None for c in cyberware: # UUID Match if c['uuid'] == uuid: requestedHardware = c c['lastContact'] = datetime.now() # Update last contact break + if requestedHardware == None: + return False + if requestedHardware['canSet'] == None: return False @@ -458,14 +560,16 @@ def authenticate(uuid, endpoint): @app.route('/') def uiindex(): - return render_template('index.html') + address = request.base_url + return render_template('index.html', access_addr=address ) # Maintenance functions # The jank, my oh my valuesToValidate = [ '/api/vitals/heartrate', '/api/vitals/oxygen', '/api/vitals/bodytemp', '/api/fitness/steps', - '/api/environment/temperature', '/api/environment/humidity'] + '/api/environment/temperature', '/api/environment/humidity', + '/api/navigation/position', '/api/navigation/image'] baseURL = "http://localhost:5000" # Value invalidation. A value is deemed invalid when there's no hardware attached # that can set it. @@ -490,7 +594,14 @@ def valueInvalidation(): endpointToReset = baseURL + invalidValue - requests.post(endpointToReset, json={ key: None, 'uuid': internalUUID }) + # Don't look at the special cases. STOP LOOKING AT IT + match invalidValue: + case '/api/navigation/position': + requests.post(endpointToReset, json={ 'x': None, 'y': None, 'z': None, 'o': None, 'uuid': internalUUID }) + case '/api/navigation/image': + resetNavigationImage() + case _: + requests.post(endpointToReset, json={ key: None, 'uuid': internalUUID }) invalidStr = invalidStr + invalidValue + ", " print("Values invalidated: " + invalidStr) diff --git a/src/requirements-all.txt b/src/requirements-all.txt index 8393161..eae92d7 100644 --- a/src/requirements-all.txt +++ b/src/requirements-all.txt @@ -1,4 +1,9 @@ flask Flask-APScheduler -pygarmin +gpsd-py3 +gdal=3.6.2 +geopandas +osmnx +matplotlib +numpy requests diff --git a/src/templates/index.html b/src/templates/index.html index e098c12..38aa5ed 100644 --- a/src/templates/index.html +++ b/src/templates/index.html @@ -7,6 +7,7 @@ } p { + font-size 24px; color: red; } @@ -114,6 +115,30 @@ width: 100%; border: 1px solid #5FE0E9; max-width: 100%; + overflow: hidden; + position: relative; + /*display: flex; + justify-content: center;*/ + /*align-items: center;*/ + } + + #mapImage { + width: 150%; + position: absolute; + top: 50%; + left: 50%; + transform: translate(-50%, -50%); + } + + #mapDot { + width: 5px; + height: 5px; + position: absolute; + top: 50%; + left: 50%; + transform: translate(-50%, -50%); + background: #F00; + border-radius: 50%; } /* Contains the time */ @@ -191,7 +216,8 @@
- + +

00:00:00

@@ -216,12 +242,13 @@