def test(self):
truncateTable('incoming_image')
truncateTable('cropped_autonomous')
truncateTable('outgoing_autonomous')
dao = OutgoingAutonomousDAO(defaultConfigPath())
testIns = outgoing_autonomous()
testIns.crop_id = 42
testIns.shape = 'circle'
testIns.background_color = 'white'
testIns.alphanumeric = 'A'
testIns.alphanumeric_color = 'black'
self.assertNotEqual(dao.addClassification(testIns), -1)
dao = CroppedAutonomousDAO(defaultConfigPath())
model = cropped_autonomous()
model.image_id = 123
model.time_stamp = 1547453775.2
model.cropped_path = '/im/a/totally/real/cropped/path/i/swear.jpg'
model.crop_coordinate_br = "(12, 34)"
model.crop_coordinate_tl = "(56, 78)"
self.assertNotEqual(dao.addImage(model), -1)
dao = IncomingImageDAO(defaultConfigPath())
model = incoming_image()
model.time_stamp = 1547453775.2
model.focal_length = 16.0
model.image_path = '/im/a/totally/real/path/i/swear.jpg'
model.manual_tap = True
model.autonomous_tap = True
resultingId = dao.addImage(model)
self.assertNotEqual(resultingId, -1)
util = UtilDAO(defaultConfigPath())
util.resetAutonomousDB()
resultingModel = dao.getImage(resultingId)
self.assertIsNotNone(resultingModel)
self.assertFalse(resultingModel.autonomous_tap)
self.assertTrue(resultingModel.manual_tap)
self.assertEqual(resultingModel.image_path, model.image_path)
self.assertEqual(resultingModel.focal_length, model.focal_length)
dao = CroppedAutonomousDAO(defaultConfigPath())
self.assertEqual(len(dao.getAll()), 0)
dao = OutgoingAutonomousDAO(defaultConfigPath())
self.assertEqual(len(dao.getAll()), 0)
def post(self):
# confirm that the X-Manual header was specified
manual = checkXManual(request)
prevId = -1
if 'X-Crop-Id' in request.headers:
prevId = request.headers.get('X-Crop-Id')
else:
abort(400, "Need to specify header 'X-Crop-Id'!")
dao = OutgoingManualDAO(
defaultConfigPath()) if manual else OutgoingAutonomousDAO(
defaultConfigPath())
outgoingIn = outgoing_manual(
json=request.get_json()) if manual else outgoing_autonomous(
json=request.get_json())
outgoingIn.crop_id = prevId
resultingId = dao.upsertClassification(outgoingIn)
if resultingId == -1:
return {
'message':
'Failed to insert classification into outgoing table'
}, 500
response = make_response(
jsonify({
'message': 'success!',
'id': resultingId
}))
response.headers['X-Class-Id'] = resultingId
return response
def run(self):
# wait until we get our first gps coordinate
# remember - the ros_handler code does not insert a gps record
# into the table until the gps has a fix
haveGps = False
print("waiting for gps")
while not haveGps and not self._should_shutdown:
# check for any entries by just getting all
dao = IncomingGpsDAO(defaultConfigPath())
results = dao.getAll()
dao.close()
if results is None:
time.sleep(1)
else:
haveGps = True # we've got something!
print(
"Have gps! Using the first coordinate as our ground station. Starting geolocation..."
)
# get the coordinates from the first recorded gps measurement
# this will be the coordinates we use for the groundstation
# in geolocation
dao = IncomingGpsDAO(defaultConfigPath())
groundstationGps = dao.getFirst()
dao.close()
# now we can run stuff
geo = targetGeolocation(groundstationGps.lat, groundstationGps.lon)
while not self._should_shutdown:
# lets deal with manual classifications in the queue
dao = OutgoingManualDAO(defaultConfigPath())
classifications = dao.getUnlocatedClassifications()
dao.close()
if classifications is not None:
for classification in classifications:
self.processManualGeolocation(geo, classification)
# now lets do autonomous
dao = OutgoingAutonomousDAO(defaultConfigPath())
classifications = dao.getUnlocatedClassifications()
dao.close()
if classifications is not None:
for classification in classifications:
self.processAutonomousGeolocation(geo, classification)
time.sleep(1)
def get(self, class_id):
# confirm that the X-Manual header was specified
manual = checkXManual(request)
dao = OutgoingManualDAO(
defaultConfigPath()) if manual else OutgoingAutonomousDAO(
defaultConfigPath())
result = dao.getClassification(class_id)
if result is None:
return {
'message':
'Failed to locate classification with id {}'.format(class_id)
}, 404
return jsonify(result.toDict())
def test(self):
truncateTable('outgoing_autonomous')
dao = OutgoingAutonomousDAO(defaultConfigPath())
testIns = outgoing_autonomous()
testIns.crop_id = 42
testIns.shape = 'circle'
testIns.background_color = 'white'
testIns.alphanumeric = 'A'
testIns.alphanumeric_color = 'black'
resultingId = dao.addClassification(testIns)
self.assertNotEqual(resultingId, -1)
# should not be able to insert a duplicate record
self.assertEqual(dao.addClassification(testIns), -1)
self.assertIsNotNone(dao.getClassification(resultingId))
def put(self, class_id):
# confirm that the X-Manual header was specified
manual = checkXManual(request)
dao = OutgoingManualDAO(
defaultConfigPath()) if manual else OutgoingAutonomousDAO(
defaultConfigPath())
result = dao.updateClassification(class_id, request.get_json())
if result is None:
return {
'message':
'No image with id {} found with a classification to update or your input was invalid (or was there a server error?)'
.format(class_id)
}, 404
else:
return jsonify(result.toDict())
def get(self):
# confirm that the X-Manual header was specified
manual = checkXManual(request)
outgoingList = []
dao = OutgoingManualDAO(
defaultConfigPath()) if manual else OutgoingAutonomousDAO(
defaultConfigPath())
outgoingList = dao.getAll()
if not outgoingList:
return {'message': 'Outgoing table is empty!'}, 404
exportable = [
classification.toDict() for classification in outgoingList
]
return jsonify(exportable)
def processAutonomousGeolocation(self, geolocator, classification):
"""
See documentation for processManualGeolocation function. This is the same
thing but autonomous.
"""
dao = CroppedAutonomousDAO(defaultConfigPath())
croppedImg = dao.getImage(classification.crop_id)
dao.close()
if croppedImg is None:
print(
"Failed to find cropped image {} for autonomous classification {}!"
.format(classification.crop_id, classification.class_id))
return
updateDict = self.processGeolocation(geolocator, classification,
croppedImg)
dao = OutgoingAutonomousDAO(defaultConfigPath())
dao.updateClassification(classification.class_id, updateDict)
dao.close()
def delete(self, class_id):
# confirm that the X-Manual header was specified
manual = checkXManual(request)
dao = OutgoingManualDAO(
defaultConfigPath()) if manual else OutgoingAutonomousDAO(
defaultConfigPath())
if dao.getClassification(class_id) is None:
return {
'message':
'Couldnt find classification with id {}'.format(class_id)
}, 404
result = dao.removeClassification(class_id)
if not result:
return {
'message':
'Something went wrong while trying to delete id {} (was it delete by someone else first??)'
.format(class_id)
}, 500
return {'message': 'success!', 'id': class_id}
def test(self):
truncateTable('outgoing_autonomous')
dao = OutgoingAutonomousDAO(defaultConfigPath())
# empty table
self.assertIsNone(dao.getUnlocatedClassifications())
# populate with two classifications that need geo, one that doesnt
testIns = outgoing_manual()
testIns.crop_id = 42
testIns.shape = 'circle'
testIns.background_color = 'white'
testIns.alphanumeric = 'A'
testIns.alphanumeric_color = 'black'
resultingId = dao.addClassification(testIns)
self.assertNotEqual(resultingId, -1)
testIns.crop_id = 43
testIns.background_color = 'orange'
resultingId2 = dao.addClassification(testIns)
self.assertNotEqual(resultingId2, -1)
testIns.crop_id = 44
testIns.latitude = 40.111
testIns.longitude = -111.222
resultingId3 = dao.addClassification(testIns)
self.assertNotEqual(resultingId3, -1)
unlocated = dao.getUnlocatedClassifications()
self.assertIsNotNone(unlocated)
self.assertEqual(len(unlocated), 2)
# the two models in the list should be our first two inserts and have
# crop ids 42 and 43
self.assertLess(unlocated[0].crop_id, 44)
self.assertLess(unlocated[1].crop_id, 44)
def test(self):
dao = OutgoingAutonomousDAO(defaultConfigPath())
self.assertIsNotNone(dao)
self.assertIsNotNone(dao.conn)
def getClassificationDAO(isManual):
if isManual:
return OutgoingManualDAO(defaultConfigPath())
else:
return OutgoingAutonomousDAO(defaultConfigPath())