import time import json from aux_functions import signal_functions as signal from drone_config import drone_config as drone_config from aux_functions import iot_functions as iot import numpy as np from aux_functions import helper_functions as helper #Read drone configuration data anmail_token = drone_config.get_param("anmail_token") antower_token = drone_config.get_param("antower_token") numTrials = drone_config.get_param("numTrials") #Download waypoints def download_waypoints(tower_token): requestHeader = {'Authorization': ('Bearer ' + tower_token)} requestBody = '' requestURL = 'https://tower.anomaaaerospace.com/APIs/downloadwaypoints.php' requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) return requestResponse #Log on to service and retrieve flight plan def anmail_logon(): #Establish comms with Anomaa Mail server requestHeader = {'Authorization': ('Bearer ' + anmail_token)} request_id = 'req' + str(time.time()) comm_purpose = 'logon' requestBody = {'requestid': request_id, 'commpurpose': comm_purpose} requestBodyJSON = json.dumps(requestBody) requestURL = 'https://anmail.anomaaaerospace.com/modules/dronecomm.php' responseStatus = 0 while (responseStatus != 200): requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBodyJSON) responseStatus = requestResponse.status_code if (responseStatus == 401): signal.raiseFlag("Unauthorized") elif (responseStatus == 408): signal.raiseFlag("RunawayAC") time.sleep(drone_config.get_param("logonTrialInterval")) #Retrieve route responseText = json.loads(requestResponse.text) routePlan = responseText['routeplan'] routeID = responseText['routeid'] takeoffIncluded = responseText['takeoffIncluded'] landIncluded = responseText['landIncluded'] landLocation = responseText['landLocation'] landBaseID = responseText['landBaseID'] #File flight plan requestHeaderA = {'Authorization': ('Bearer ' + antower_token), 'use_case': "mail"} requestBodyA = routePlan requestURLA = 'https://tower.anomaaaerospace.com/APIs/fileflightplan.php' counterValue = numTrials while (counterValue > 0): requestResponseA = iot.anomaa_client(requestHeaderA, requestURLA, requestBodyA) responseStatusA = requestResponseA.status_code if (responseStatusA == 200): break counterValue = counterValue - 1 time.sleep(drone_config.get_param("flightPlanTrialInterval")) if (counterValue == 0): #Failed to file flight plan signal.raiseFlag("FlightPlanFailed") return -1 #Download waypoints counterValue = numTrials while (counterValue > 0): requestResponseC = download_waypoints(antower_token) if (requestResponseC.status_code == 200) or (requestResponseC.status_code == 201): break counterValue = counterValue - 1 time.sleep(drone_config.get_param("waypointsTrialInterval")) if (counterValue == 0): #Failed to retrieve waypoints signal.raiseFlag("WaypointsDownloadFailed") return -1 else: responseTextC = json.loads(requestResponseC.text) logon_response = {'route_id': routeID, 'flight_plan': responseTextC['flight_plan'], \ 'evasion_maneuvers': responseTextC['evasion_maneuvers'], 'waypoints': responseTextC['waypoints'], \ 'num_waypoints': responseTextC['num_waypoints'], 'takeoff_included' : takeoffIncluded, 'velocities' : responseTextC['velocities'], \ 'land_included' : landIncluded, 'land_location' : landLocation, 'land_base' : landBaseID} #Provide feedback to Anomaa Mail server requestStatus = 'closed' comm_purpose = 'feedback' requestBodyB_i = {'requestid': request_id, 'commpurpose': comm_purpose, 'requeststatus': requestStatus} requestBodyB = json.dumps(requestBodyB_i) counterValue = numTrials while (counterValue > 0): requestResponseB = iot.anomaa_client(requestHeader, requestURL, requestBodyB) if (requestResponseB.status_code == 200): break counterValue = counterValue - 1 time.sleep(drone_config.get_param("feedbackTrialInterval")) if (counterValue == 0): #Failed to send feedback signal.raiseFlag("FeedbackFailed") return -1 signal.raiseFlag("LogonSuccessful") return logon_response #Logoff from service def anmail_logoff(): #terminate comms with ATC server requestHeaderA = {'Authorization': ('Bearer ' + antower_token)} requestBodyA = '' requestURL_A = 'https://tower.anomaaaerospace.com/APIs/endflight.php' tower_logoff_response = iot.anomaa_client(requestHeaderA, requestURL_A, requestBodyA) #terminate comms with anmail server requestHeaderB = {'Authorization': ('Bearer ' + anmail_token)} request_id = 'req' + str(time.time()) comm_purpose = 'logoff' requestBodyB_i = {'requestid': request_id, 'commpurpose': comm_purpose} requestBodyB = json.dumps(requestBodyB_i) requestURL_B = 'https://anmail.anomaaaerospace.com/modules/dronecomm.php' anmail_logoff_response = iot.anomaa_client(requestHeaderB, requestURL_B, requestBodyB) signal.raiseFlag("LogoffSuccessful") #Check in with anmail server def anmail_checkin(routeID): requestHeaderA = {'Authorization': ('Bearer ' + anmail_token)} request_id = 'req' + str(time.time()) comm_purpose = 'checkin' requestBodyA_i = {'requestid': request_id, 'commpurpose': comm_purpose, 'routeid': routeID} requestBodyA = json.dumps(requestBodyA_i) requestURL = 'https://anmail.anomaaaerospace.com/modules/dronecomm.php' requestResponseA = iot.anomaa_client(requestHeaderA, requestURL, requestBodyA) responseTextA = json.loads(requestResponseA.text) if (responseTextA == 'Checkin acknowledged.'): signal.raiseFlag("CheckinAcknowledged") result = 0 else: routeID = responseTextA['routeid'] routePlan = responseTextA['routeplan'] takeoffIncluded = responseTextA['takeoffIncluded'] landIncluded = responseTextA['landIncluded'] landLocation = responseTextA['landLocation'] landBaseID = responseTextA['landBaseID'] #Request reroute numRerouteTrials = numTrials routeList = routeID.split("_") if (routeList[0] == "system"): pass elif (routeList[0] == "land"): signal.raiseFlag("CompulsoryLand") return -2 else: while (numRerouteTrials > 0): requestHeaderB = {'Authorization': ('Bearer ' + antower_token)} requestBodyB = routePlan requestURL_B = 'https://tower.anomaaaerospace.com/APIs/rerouteflight.php' requestResponseB = iot.anomaa_client(requestHeaderB, requestURL_B, requestBodyB) responseStatusB = requestResponseB.status_code if (responseStatusB == 200): break numRerouteTrials = numRerouteTrials - 1 time.sleep(drone_config.get_param("routeRequestInterval")) if (numRerouteTrials == 0): signal.raiseFlag("RerouteRequestDenied") result = -1 else: #Feedback requestStatus = 'closed' comm_purpose = 'feedback' requestBodyC_i = {'requestid': request_id, 'commpurpose': comm_purpose, 'requeststatus': requestStatus} requestBodyC = json.dumps(requestBodyC_i) requestResponseC = iot.anomaa_client(requestHeaderA, requestURL, requestBodyC) #Request waypoints requestBodyD = '' requestURL_D = 'https://tower.anomaaaerospace.com/APIs/downloadwaypoints.php' requestResponseD = iot.anomaa_client(requestHeaderB, requestURL_D, requestBodyD) responseStatusD = requestResponseD.status_code responseTextD = json.loads(requestResponseD.text) if (responseStatusD == 200): result = {'flight_plan': responseTextD['flight_plan'], 'evasion_maneuvers': responseTextD['evasion_maneuvers'], 'waypoints': responseTextD['waypoints'], 'num_waypoints': responseTextD['num_waypoints'], \ 'route_id': routeID, 'takeoff_included' : takeoffIncluded, 'land_included' : landIncluded, 'land_location' : landLocation, 'land_base' : landBaseID} else: result = 0 signal.raiseFlag("CheckinAcknowledged") return result #report position to Anomaa Tower server def antower_update(data_to_tower): requestURL = 'https://tower.anomaaaerospace.com/APIs/sendreceiveupdate.php' requestHeader = {'Authorization': ('Bearer ' + antower_token)} odid_data = helper.param_from_file("odid_data") #retrieve ODID data if (odid_data["location_state"][6] < (time.time() - 60)): #check if ODID data received over BLE is current requestBody_i = {'own' : data_to_tower} else: requestBody_i = {'own' : data_to_tower, odid_data["uas_id"] : odid_data["location_state"]} requestBody = json.dumps(requestBody_i) requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) if (requestResponse.status_code == 200): signal.raiseFlag("UpdateSuccessful") return (json.loads(requestResponse.text)) else: signal.raiseFlag("UpdateNotSuccessful") return ({"traffic_data" : []}) #get live base location def get_live_posn(land_base): requestHeader = {'Authorization': ('Bearer ' + anmail_token)} requestBody = land_base requestURL = 'https://tower.anomaaaerospace.com/APIs/landpositiondownload.php' requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) live_posn = np.zeros(3) if (requestResponse.status_code == 200): lat, lon, alt = requestResponse.text.split(',') live_posn[0] = float(lat) live_posn[1] = float(lon) live_posn[2] = float(alt) return live_posn #log fuel def log_fuel(fuel_val): requestHeader = {'Authorization': ('Bearer ' + anmail_token)} requestBody = json.dumps(fuel_val) requestURL = 'https://anmail.anomaaaerospace.com/modules/logfuel.php' requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) #Log signal status def log_signal(signalStatus): requestHeader = {'Authorization': ('Bearer ' + anmail_token)} requestBody = json.dumps(signalStatus) requestURL = 'https://anmail.anomaaaerospace.com/modules/logsignalstatus.php' requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) #Request takeoff def requestTakeoff(): requestHeaderA = {'Authorization': ('Bearer ' + anmail_token)} request_id = 'req' + str(time.time()) comm_purpose = 'requestTakeoff' requestBodyA_i = {'requestid': request_id, 'commpurpose': comm_purpose} requestBodyA = json.dumps(requestBodyA_i) requestURL = 'https://anmail.anomaaaerospace.com/modules/dronecomm.php' requestResponseA = iot.anomaa_client(requestHeaderA, requestURL, requestBodyA) responseTextA = json.loads(requestResponseA.text) if (responseTextA == 'Cleared for takeoff'): returnStruct = {'value' : True, 'requestID' : request_id} return returnStruct else: returnStruct = {'value' : False, 'requestID' : request_id} return returnStruct def requestLand(): requestHeaderA = {'Authorization': ('Bearer ' + anmail_token)} request_id = 'req' + str(time.time()) comm_purpose = 'requestLand' requestBodyA_i = {'requestid': request_id, 'commpurpose': comm_purpose} requestBodyA = json.dumps(requestBodyA_i) requestURL = 'https://anmail.anomaaaerospace.com/modules/dronecomm.php' requestResponseA = iot.anomaa_client(requestHeaderA, requestURL, requestBodyA) responseTextA = json.loads(requestResponseA.text) return responseTextA #test connection def testInternetConnection(): land_base = "kumasi1" requestHeader = {'Authorization': ('Bearer ' + anmail_token)} requestBody = land_base requestURL = 'https://tower.anomaaaerospace.com/APIs/landpositiondownload.php' try: requestResponse = iot.anomaa_client(requestHeader, requestURL, requestBody) except: return False return True