def get_state():
"""Get the current drone state from the drone server."""
drone = get_drone()
drone_state = drone["State"]
drone_state["DroneID"] = drone["DroneID"]
return drone_state
def init_datastream_locally():
"""Initialize the datasteam locally."""
drone = get_drone()
id_ = drone["DroneID"]
position = drone["State"]["Position"]
datastream = gen_Datastream("0", position, id_)
add_datastream(datastream)
print("Datastream initialized locally")
def init_datastream_locally():
"""Initialize the datasteam locally."""
drone = get_drone()
id_ = drone["DroneID"]
position = drone["State"]["Position"]
datastream = gen_Datastream("0", position, id_)
add_datastream(datastream)
print("Datastream initialized locally")
def update_drone_id(id_):
"""Update the drone identifier."""
# GET current drone object
drone = get_drone()
# Update the drone id
drone["DroneID"] = id_
# Update drone object
update_drone(drone)
print("DroneID updated successfully", id_)
return None
def update_state(state):
"""Update the drone state on drone server."""
drone = get_drone()
if drone["DroneID"] == state["DroneID"]:
# Remove the DroneID key from state
state.pop("DroneID", None)
# Update the drone state
drone["State"] = state
update_drone(drone)
print("Drone state updated successfully.")
else:
print("ERROR: DroneID %s not valid." % (state["DroneID"]))
def init_drone():
"""Initialize drone."""
# Add drone to the central_server and get identifier
init_drone_locally()
print("DRone initialization success")
drone = get_drone()
drone.pop("DroneID", None)
drone_id = int(add_drone(drone))
# Update the drone on localhost
update_drone_id(drone_id)
print("Drone initialized successfully!")
return None
def init_drone():
"""Initialize drone."""
# Add drone to the central_server and get identifier
init_drone_locally()
drone = get_drone()
drone_id = drone["DroneID"]
# If drone has default negative id initialize else remove old drone and then inintialize.
if drone_id == -1000:
drone_id = add_drone(drone)
else:
# Remove old drone
remove_drone(drone_id)
print("Previous drone successfully deleted from the central server.")
drone_id = add_drone(drone)
# Update the drone at localhost
drone["DroneID"] = drone_id
update_drone(drone)
update_drone_at_controller(drone, drone_id)
print("Drone initialized successfully!")
def init_drone():
"""Initialize drone."""
# Add drone to the central_server and get identifier
init_drone_locally()
drone = get_drone()
drone_id = drone["DroneID"]
# If drone has default negative id initialize else remove old drone and then inintialize.
if drone_id == -1000:
drone_id = add_drone(drone)
else:
# Remove old drone
remove_drone(drone_id)
print("Previous drone successfully deleted from the central server.")
drone_id = add_drone(drone)
# Update the drone at localhost
drone["DroneID"] = drone_id
update_drone(drone)
update_drone_at_controller(drone, drone_id)
print("Drone initialized successfully!")
def main():
"""Main 15 second time loop for drone mechanics."""
try:
print("Retrieving the drone details")
drone = get_drone()
drone_identifier = drone["DroneID"]
datastream = None
# Commands will be executed in any state
drone = handle_drone_commands(drone)
if is_not_off(drone):
## Handle drone battery change
drone = handle_drone_battery(drone)
## Handle drone general behaviour
anomaly = get_anomaly()
if anomaly is not None:
if anomaly["Status"] == "Confirming" and drone["State"][
"Status"] == "Active":
drone["State"]["Status"] = "Confirming"
if is_confirming(drone):
print("Drone handling anomaly")
drone = handle_anomaly(drone)
elif is_inactive(drone):
print("Drone battery low, needs to charge")
drone = handle_drone_low_battery(drone)
elif is_active(drone):
anomaly = gen_grid_anomaly(drone)
if anomaly is not None:
print("New anomaly created")
send_anomaly(anomaly, drone_identifier)
datastream = gen_Datastream(gen_abnormal_sensor_data(),
drone["State"]["Position"],
drone_identifier)
else:
datastream = gen_Datastream(gen_normal_sensor_data(),
drone["State"]["Position"],
drone_identifier)
# Handle positions change
drone = handle_drone_position(drone)
# update the drone both locally and on the controller
update_drone(drone)
update_drone_at_controller(drone, drone_identifier)
if datastream is not None:
# Send datastream to central controller
send_datastream(datastream)
# Update datastream locally
update_datastream(datastream)
except Exception as e:
print(e)
finally:
# call main() again in LOOP_TIME
threading.Timer(LOOP_TIME, main).start()
def get_drone_iri(drone):
"""Get the DroneID from a drone object and return DroneID, drone."""
drone_id = drone.pop("DroneID", None)
drone_id = "/serverapi/DroneCollection/" + drone_id
return drone_id, drone
def post_drone(id_, drone):
"""Update a drone object in the collection given command @id attribute."""
try:
i = Resource.from_iri(CENTRAL_SERVER_URL + id_)
# name = i.value(SCHEMA.name)
resp, _ = i.find_suitable_operation(SCHEMA.UpdateAction,
CENTRAL_SERVER.Drone)(drone)
if resp.status // 100 != 2:
return "error updating <%s>" % i.identifier
else:
return "successfully updated <%s>" % i.identifier
except:
return {404: "Resource with Id %s not found!" % (id_, )}
# print(delete_command("/api/CommandCollection/175"))
drone = get_drone()
drone_id, drone = get_drone_iri(drone)
print(drone_id, drone)
print(post_drone(drone_id, drone))