serverbrain.py

from wireless import Wireless
from drone import Drone
from flask_socketio import SocketIO, emit, send
from flask import jsonify
import eventlet
import time
import threading


class ServerBrain:

	def __init__(self, socket = None):

		self.socket = socket
		#used to switch connection
		self.connectionManager = Wireless()

		#array of drone initializer
		self.drones = {
			'Solo Gold' : None,
			'Solo Green' : None
		}

	'''
	This method returns a list that contains the name of the drones in the system
	'''
	def getDroneNames(self):
		droneList = list()
		for drone in self.drones:
			droneList.append(drone)
		return droneList

	'''
	This method is used for creating an instance of the class Drone.
	'''
	def connectDrone(self, droneName):
		'''
		Trying to find a free network for the drone
		'''

		interface, network = self.__getNetwork__(droneName, 'drone')
		if (interface, network) == (False, False):
			return droneName + " network is not reacheable"
		else:
			infosToReturn = {}
			self.drones[droneName] = Drone(droneName, interface, network)
			try:
				self.drones[droneName].connect()
				infosToReturn['drone status'] = 'available'
				infosToReturn['home location'] = self.drones[droneName].getCurrentLocation()
				infosToReturn['drone battery'] = self.drones[droneName].getBattery()
				infosToReturn['camera status'] = 'available'
				return infosToReturn
			except Exception as e:
				print "Error on establishing a connection with the " + droneName
				#raise
				return "timeout expired"

	'''
	This method assigns the locations to reach to the Solo passed as parameter.
	'''
	def buildPath(self, droneName, locationsToReach):
		'''
		algorithm for building a path for droneName
		'''
		self.drones[droneName].buildListOfLocations(locationsToReach)
		return {'drone': droneName, 'locations to reach' : self.drones[droneName].serializeListOfLocationsToReach()}


	def buildRandomPath(self, droneInvolved):
		if self.drones[droneInvolved] is None:
			return "ERROR"
		import randomflytry
		randomSurveyLocation = randomflytry.randMissionRead('randMission.txt')
		locations = []
		for location in randomSurveyLocation['picList']:
			'''
			location is a mission class instance. I can access to the single location values in a simple way:
			- location.latitude
			- location.longitude
			- location.altitude
			'''
			locations.append({
				"latitude" : location.latitude,
				"longitude": location.longitude,
				"altitude": location.altitude
				})
			pass
		self.drones[droneInvolved].buildListOfLocations(locations)
		return {
			'drone' : droneInvolved,
			'locations': locations
			}

	'''
	This method generates the points inside the rectangular area delimited by the 3 points sent by client.
	If the 3 points are perfectly put from client, this method will return all the points to client and moreover it will assing these points to
	each Solo involved in the survey. Otherwise it will notify the client of the possibile errors it has got.
	'''
	def buildRectangularSurveyPointsReal(self, data):

		points = data['locationsList']
		altitude = points[0]['altitude']
		involvedDrones = data['drones']
		#check if involved drones are connected
		for drone in involvedDrones:
			if self.drones[drone] == None:
				missionDivisionData = {
					'response' : 'Connection Error',
					'body': 'You need to be connected with the drones involved in the rectangular survey'
				}
				return missionDivisionData
		pointsNewFormat = []
		import rectPlan
		for point in points:
			pointsNewFormat.append(rectPlan.latlon(point['latitude'], point['longitude']))

		result = rectPlan.rectMission(pointsNewFormat[0], pointsNewFormat[1], pointsNewFormat[2], altitude)
		if result == 'Bad':
			return result
		#print "Result: ", result['picList']

		droneList = []
		for drone in data['drones']:
			droneList.append(drone)
			location = self.drones[drone].getCurrentLocation()
			droneList.append(location['latitude'])
			droneList.append(location['longitude'])

		missionDivisionData = rectPlan.missionDivision(result, droneList)
		missionDivisionData = rectPlan.serializeMissionData(missionDivisionData)
		'''
		Assign locations to reach to each involved drone
		'''
		if missionDivisionData['response'] == 'Good' or missionDivisionData['response'] == 'Warn':
			#filling the locationsToReach array for each involved drone
			for UAVInfo in missionDivisionData['UAVs']:
				drone = UAVInfo['name']
				self.drones[drone].buildListOfLocations(UAVInfo['points'])
		return missionDivisionData

	'''
	Same of precedent method but cheating...
	'''
	def buildRectangularSurveyPointsCheating(self, data):
		points = data['locationsList']
		altitude = points[0]['altitude']
		involvedDrones = data['drones']
		#check if involved drones are connected
		for drone in involvedDrones:
			if self.drones[drone] == None:
				missionDivisionData = {
					'response' : 'Connection Error',
					'body': 'You need to be connected with the drones involved in the rectangular survey'
				}
				return missionDivisionData
		pointsNewFormat = []
		import rectPlan
		for point in points:
			pointsNewFormat.append(rectPlan.latlon(point['latitude'], point['longitude']))

		result = rectPlan.rectMission(pointsNewFormat[0], pointsNewFormat[1], pointsNewFormat[2], altitude)
		if result == 'Bad':
			return result
		#print "Result: ", result['picList']

		droneList = []
		for drone in data['drones']:
			droneList.append(drone)
			location = self.drones[drone].getCurrentLocation()
			droneList.append(location['latitude'])
			droneList.append(location['longitude'])

		missionDivisionData = rectPlan.missionDivisionCheating(result, droneList, data['total'])
		#missionDivisionData = rectPlan.missionDivision(result, droneList)
		missionDivisionData = rectPlan.serializeMissionData(missionDivisionData)
		#dataToReturn is required for keeping data on missionDivisionData correct. In fact with the modify of "completed" field in eache UAVInfo object,
		#the risk is that client could not understand which points to show. File will be modified with the missionDivisionData updated for each drone("completed" key's value).
		dataToReturn = missionDivisionData
		'''
		Assign locations to reach to each involved drone
		'''
		if missionDivisionData['response'] == 'Good' or missionDivisionData['response'] == 'Warn':
			#filling the locations to reach array for each drone involved
			UAVInfo = missionDivisionData['UAVs']
			for index in xrange(0, len(UAVInfo)):
				drone = UAVInfo[index]['name']
				#if drone has already a filled list of locations to reach, I need to go ahead
				#otherwise I need to understand if the mission has been already completed and if not I can assign points to the associated drone and set the key "completed" to True
				if self.drones[drone] is not None:
					if self.drones[drone].listOfLocationsToReach is None:
						self.drones[drone].buildListOfLocations(UAVInfo[index]['points'])
						UAVInfo[index]['to complete'] = True
				else:
					print "This drone has already locations to reach"
			missionDivisionData['UAVs'] = UAVInfo
			file = open("oldSurvey.txt", "w")
			file.write(str(missionDivisionData))
			file.close()
		return dataToReturn

	'''
	This method allows to upload the points to reach by the Solos from a file where there is a dictionary with a particular structure.
	The structure of the dictionary is:
		missionDivisionData = {
			'response' : 'Good|Warm|Error',
			'UAVs' : [ {
				'name' : '..',
				'points' : [loc1, loc2, ...],
				'to complete' : True|False,
				'completed' : True|False
			},
			{
				'name' : '..',
				'points' : [loc1, loc2, ...],
				'to complete' : True|False,
				'completed' : True|False
			}]
		}
	As you can see the dictionary contains information about the last multiple flight that has involved multiple Solos.
	This method searches for that element of the array in missionDivisionData['UAVs'] that belongs to a connected Solo and that has key 'to complete' set to True.
	Once it finds the element of the array, it will upload the points in the key 'points' to the current listOfLocationsToReach associated to the current Solo.
	After the uploading (that can involve multiple Solos), this method will update the file with the new information about the old survey.
	'''
	def checkOldSurvey(self):
		#taking information about old survey not completed
		missionDivisionData = (open("oldSurvey.txt", "r").read())
		if len(missionDivisionData) == 0:
			return "No old survey to end"
		missionDivisionData = eval(missionDivisionData)
		#dataToReturt is required for keeping data on missionDivisionData correct. In fact with the modify of "completed" field in eache UAVInfo object,
		#the risk is that client could not understand which points to show. File will be modified with the missionDivisionData updated for each drone("completed" key's value).
		dataToReturn = missionDivisionData
		UAVInfo = missionDivisionData['UAVs']
		for index in xrange(0, len(UAVInfo)):
			drone = UAVInfo[index]['name']
			#if drone has already a filled list of locations to reach, I need to go ahead
			#otherwise I need to understand if the mission has been already completed and if not I can assign points to the associated drone and set the key "completed" to True
			if self.drones[drone] is not None:
				if self.drones[drone].listOfLocationsToReach is not None:
					print drone + " has already locations to reach"
				else:
					print drone + " has an empty list of locations"
					if UAVInfo[index]['completed'] == False:
						self.drones[drone].buildListOfLocations(UAVInfo[index]['points'])
						UAVInfo[index]['to complete'] = True
					else:
						print "This set of points has been completed"
		missionDivisionData['UAVs'] = UAVInfo
		file = open("oldSurvey.txt", "w")
		file.write(str(missionDivisionData))
		file.close()
		return dataToReturn

	'''
	This method creates a thread for a drone's flight.
	'''
	def takeAFlight(self, drone):
		if self.drones[drone] is not None and self.drones[drone].firstFlight is False:
			print drone + " has already had a flight, for the next flight I need to clear its memory.."
			self.drones[drone].cleanTheMemory()

		# we use the singleFlightWithTheUsingOfSolosMemory for the random flight
		eventlet.spawn(self.drones[drone].singleFlightWithTheUsingOfSolosMemory, self.connectionManager, self.socket)


	'''
	This method allows the drone to have an oscillation flight.
	'''
	def takeAnOscillationFlight(self, drone):
		data = self.drones[drone].oscillationFlight()
		return data

	'''
	This method starts the rectangular survey flight creating threads for each Solo involved.
	'''
	def takeARectangularFlight(self):
		#I need to be sure that the memory has been cleaned
		for drone in self.drones:
			if self.drones[drone] is not None and self.drones[drone].firstFlight is False:
				print drone + " has already had a flight, for the next flight I need to clear its memory.."
				self.drones[drone].cleanTheMemory()

		for drone in self.drones:
			if self.drones[drone] is not None:
				if len(self.drones[drone].listOfLocationsToReach)>0:
					print "launching the thread for " + drone + " for having a flight."
					eventlet.spawn(self.drones[drone].flightWithTheUsingOfSolosMemory, self.connectionManager, self.socket)
					eventlet.sleep(15)
					#time.sleep(10)

	'''
	This method is used for building the wifi network name the drone will connect to.
	'''
	def __getNetworkName__(self, type, drone):
		color = drone.split()[1] # I've just taken the drone color from drone name(ex:'Solo Gold')
		if type == "drone":
			print "Drone setting network"
			wifiNetwork = "SoloLink_" + color + "Drone"
		return wifiNetwork

	'''
	This method is designed in order to get network interface value and wifi network name for the Solo.
	'''
	def __getNetwork__(self, drone, type):
		wifiNetwork = self.__getNetworkName__(type, drone)
		print wifiNetwork
		'''This for-loop checks if this network is already connected '''
		for interface in self.connectionManager.interfaces():
			self.connectionManager.interface(interface)
			print self.connectionManager.current()
			if self.connectionManager.current() == wifiNetwork:
				print "You are already connected to this network, ", wifiNetwork
				self.connectionManager.connect(ssid = wifiNetwork, password = "Silvestri")
				return self.connectionManager.interface(), self.connectionManager.current()
			print self.connectionManager.current()
		'''This for-loop checks if this network has not a connection yet '''
		for interface in self.connectionManager.interfaces():
			self.connectionManager.interface(interface)
			if self.connectionManager.current() == None:
				print "I've just found one free antenna ready to be connected"
				if self.connectionManager.connect(ssid = wifiNetwork, password = "Silvestri"):
					return self.connectionManager.interface(), self.connectionManager.current()
				else:
					'''This could be possible if the network is not available '''
					print "Network not available"
					return False, False

		print "I haven't found a free antenna for your connection... sorry, ", wifiNetwork
		return False, False

	def closeBrain(self):
		for drone in self.drones:
			if self.drones[drone] is not None:
				print "closing connection with the vehicle of " + drone
				self.drones[drone].vehicle.close()
			self.drones[drone] = None