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

@@ -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")

src/modules/navigationd/requirements.txt

@@ -1 +1,7 @@
-pygarmin
+gpsd-py3
+osmnx
+gdal==3.6.2
+geopandas
+matplotlib
+networkx
+numpy

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)

src/requirements-all.txt

@@ -1,4 +1,9 @@
 flask
 Flask-APScheduler
-pygarmin
+gpsd-py3
+gdal=3.6.2
+geopandas
+osmnx
+matplotlib
+numpy
 requests

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 @@
 							</div>
 						</div>
 						<div id="mapProper">
-						
+							<img id="mapImage" alt=" "></img>
+							<div id="mapDot"></div>
 						</div>
 						<div id="mapTime">
 							<p id="time">00:00:00</p>
@@ -216,12 +242,13 @@
 		</div>
 		<script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/3.6.2/jquery.min.js" integrity="sha512-tWHlutFnuG0C6nQRlpvrEhE4QpkG1nn2MOUMWmUeRePl4e3Aki0VB6W1v3oLjFtd0hVOtRQ9PHpSfN6u6/QXkQ==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
 		<script type="text/javascript">
-			// TODO: Make baseUrl be set by Flask
+			//var baseUrl = "http://192.168.6.48:5000";
-			var baseUrl = "http://localhost:5000";
+			var baseUrl = "{{ access_addr }}";
 			var vitalsUrl =      baseUrl + "/api/vitals";
 			var environmentUrl = baseUrl + "/api/environment";
 			var malfunctionUrl = baseUrl + "/api/cyberware/malfunctions";
 			var messageUrl =     baseUrl + "/api/cyberware/messages";
+			var navImageUrl =    baseUrl + "/api/navigation/image";
 
 			// Malfunction Messages (human-friendly)
 			malfunctionOrigin = [ "API Malfunction" ];
@@ -297,7 +324,20 @@
 			}
 
 			function setEnvironmentHumidity(humidity) {
+			}
 
+			//function handleMapImage() {
+			//		document.getElementById("mapProper").innerHTML = "<img src=" + navImageUrl + "></img>";
+			//}
+
+			//function displayMapStatic() {
+			//		document.getElementById("mapProper").innerHTML = "";
+			//}
+
+			function updateNavigationImage() {
+				//handleMapImage()
+				var image = document.getElementById("mapImage");
+				image.src = navImageUrl + "?" + new Date().getTime();
 			}
 
 			// Malfunction handling
@@ -347,6 +387,8 @@
 					}
 				});
 				//stopInterval(t)
+
+				updateNavigationImage()
 			}
 			var t=setInterval(updateAll, 1000)
 		</script>