def put(self, node_id):
node = None
nodes = Node.query.all() # @UndefinedVariable
for x in nodes:
if x.rid == node_id:
node = x
if node:
args = self.reqparse.parse_args()
lat = args['lat']
lon = args['lon']
for goal in node.goals:
if str(goal.location.lat) == str(lat) and str(goal.location.lon) == str(lon):
db.session.delete(goal)
db.session.commit()
publish_events(reqType="goalComplete", rid=node_id)
break
return {
'result': {
'node': node.name,
'nid': node.id,
'id': node.rid,
'msg': 'Goal Successfully Removed'
}
}
def put(self):
args = self.reqparse.parse_args()
node = None
nodes = Node.query.all() # @UndefinedVariable
node_id = args['rid']
for x in nodes:
if x.rid == node_id:
node = x
if node:
return {
'result': {
'nid': node.id,
'id': node.rid,
'msg': 'Robot with that id already exists!'
}
}
else:
new_ip = args['ip']
new_lat = args['lat']
new_lon = args['lon']
new_leader_rid = args['leader']
new_name = args['name']
new_leader = 0
if new_leader_rid != 0:
for x in nodes:
if x.id == new_leader_rid:
new_leader = x.id
#new node has passed validation, add to db
location = Location(lat=new_lat, lon=new_lon)
db.session.add(location) # @UndefinedVariable
node = Node(name=new_name, leader_id=new_leader, location=location, rid=node_id, ip=new_ip)
db.session.add(node) # @UndefinedVariable
db.session.commit() # @UndefinedVariable
publish_events(reqType="newNode", rid=node_id)
return {
'result': {
'node': node.name,
'nid': node.id,
'id': node.rid,
'msg': 'Node Added'
}
}
def put(self, node_id):
node = None
nodes = Node.query.all() # @UndefinedVariable
for x in nodes:
if x.id == node_id:
node = x
if node:
args = self.reqparse.parse_args()
data = args['jps']
#print "JumpPoints: " + data
jp_data = json.loads(data)
node_jumppoints = node.jumppoints
for node_jp in node.jumppoints:
db.session.delete(node_jp)
for jp in jp_data:
new_jp = JumpPoint()
lat = float(jp['lat'])
lon = float(jp['lng'])
location = Location(lat=lat, lon=lon)
db.session.add(location) # @UndefinedVariable
new_jp.location = location
new_jp.position = len(node.jumppoints) + 1
node.jumppoints.append(new_jp)
db.session.commit()
publish_events(reqType="nodeJumpPoints", rid=node_id)
return {
'result': {
'node': node.name,
'nid': node.id,
'id': node.rid,
'msg': 'Test'
}
}
def put(self, node_id):
node = None
nodes = Node.query.all() # @UndefinedVariable
for x in nodes:
if x.rid == node_id:
node = x
if node:
args = self.reqparse.parse_args()
lat = args['lat']
lon = args['lon']
speed = args['speed']
dir = args['dir']
#print "Location: lat=" + str(lat) + " lon=" + str(lon)
#if speed is not None:
# print " - speed= " + str(speed)
#if dir is not None:
# print " - dir= " + str(dir)
node.location.lat = float(lat)
node.location.lon = float(lon)
if speed is not None:
node.location.speed = float(speed)
if dir is not None:
node.location.dir = float(dir)
db.session.commit()
publish_events(reqType="nodeLocation", rid=node_id)
return {
'result': {
'node': node.name,
'nid': node.id,
'id': node.rid,
'lat': node.location.lat,
'lon': node.location.lon,
'msg': 'New location correctly set'
}
}
def put(self):
args = self.reqparse.parse_args()
data = args['obstacles']
ob_data = json.loads(data)
print "Obstacles" + data
newObCount = 0
for ob in ob_data:
lat = float(ob['lat'])
lon = float(ob['lon'])
obExists = False
existingLocation = Location.query.filter_by(lat=lat,lon=lon).first() # @UndefinedVariable
if existingLocation is not None:
# something is already at this location. see if it is an obstacle
existingObstacle = Obstacle.query.filter_by(loc_id=existingLocation.id).first() # @UndefinedVariable
if existingObstacle is not None:
obExists = True
# create new obstacle only if one doesn't already exist
if not obExists:
newOb = Obstacle()
newLocation = Location(lat=lat, lon=lon)
db.session.add(newLocation) # @UndefinedVariable
db.session.commit()
newOb.location = newLocation
db.session.add(newOb) # @UndefinedVariable
newObCount = newObCount + 1
publish_events(reqType="newObstacle", lat=lat, lon=lon)
db.session.commit()
return {
'result': {
'msg': str(newObCount) + " obstacles created."
}
}
