def send_anomaly(anomaly, drone_identifier):
"""Send the detected anomaly to the central server."""
post_anomaly = RES_CS.find_suitable_operation(
operation_type=SCHEMA.AddAction, input_type=CENTRAL_SERVER.Anomaly)
resp, body = post_anomaly(anomaly)
assert resp.status in [200, 201], "%s %s" % (resp.status, resp.reason)
print("Anomaly added successfully.")
body = json.loads(body.decode('utf-8'))
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone_identifier)),
"PUT Anomaly", "Controller")
send_http_api_log(http_api_log)
try:
# Get the anomaly_id from body
anomaly_id = body[list(body.keys())[0]].split(" ")[3]
print("ID assigned to anomaly is", anomaly_id)
# Update the anomalyID at central controller
anomaly["AnomalyID"] = anomaly_id
update_anomaly_at_controller(anomaly, anomaly_id, drone_identifier)
except Exception as e:
print(e)
return None
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"detected anomaly at %s" % (str(anomaly["Location"])))
send_dronelog(dronelog)
def handle_drone_commands(drone):
"""Handle the commands on the drone server and update drone accordingly."""
# Using the latest command, not following previously stored ones, server will ensure order
drone_identifier = drone["DroneID"]
commands = get_command_collection()
command_identifiers = [x["@id"] for x in commands]
temp_list = list()
for id_ in command_identifiers:
regex = r'/(.*)/(\d*)'
matchObj = re.match(regex, id_)
if matchObj:
command_id = matchObj.group(2)
temp_list.append(command_id)
temp_list.sort()
if len(temp_list) > 0:
latest_command = get_command(temp_list[-1])
## Generate and send Dronelog
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"executing command with id %s" % (str(temp_list[-1])))
send_dronelog(dronelog)
## Generate and send HttpApiLog
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone["DroneID"])),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
# Execute the latest command
drone = execute_command(latest_command, drone)
# Delete after execution
delete_commands(temp_list)
return drone
def handle_anomaly(drone):
"""Handle the anomaly that the drone needs to check on."""
anomaly = get_anomaly()
if anomaly is not None:
destination = tuple(float(a) for a in anomaly["Location"].split(","))
if not drone_reached_destination(drone, destination):
print("Drone moving toward anomaly")
source = tuple(
float(a) for a in drone["State"]["Position"].split(","))
new_direction = get_direction(source, destination)
print(new_direction)
if new_direction != drone["State"]["Direction"]:
drone["State"]["Direction"] = new_direction
dronelog = gen_DroneLog(
"Drone %s" % (str(drone["DroneID"]), ),
"changed direction to %s" % (str(new_direction)))
send_dronelog(dronelog)
else:
# if reached destination
print("Drone reached destination")
dronelog = gen_DroneLog("Drone %s" % (str(drone["DroneID"])),
"reached anomaly location, scanning")
send_dronelog(dronelog)
## Check if anomaly exists at that location
confirm_anomaly = gen_grid_anomaly(drone)
if confirm_anomaly is not None:
anomaly["Status"] = "Positive"
dronelog = gen_DroneLog("Drone %s" % (str(drone["DroneID"])),
"detected POSITIVE anomaly.")
send_dronelog(dronelog)
else:
anomaly["Status"] = "Negative"
dronelog = gen_DroneLog("Drone %s" % (str(drone["DroneID"])),
"detected NEGATIVE anomaly.")
send_dronelog(dronelog)
print("Updating anomaly locally")
update_anomaly_locally(anomaly, drone["DroneID"])
print("Updating anomaly at controller")
update_anomaly_at_controller(anomaly, anomaly["AnomalyID"],
drone["DroneID"])
print("Anomaly confirmation done")
drone["State"]["Status"] = "Active"
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone["DroneID"])),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
return drone
def handle_drone_position(drone):
"""Handle the drone position changes."""
if not is_charging(drone):
drone_speed = float(drone["State"]["Speed"])
distance_travelled = calculate_dis_travelled(drone_speed, LOOP_TIME)
drone_direction = str(drone["State"]["Direction"])
drone_identifier = drone["DroneID"]
drone = update_drone_position(drone, distance_travelled,
drone_direction)
if (drone["State"]["Direction"] != drone_direction):
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"changed direction to %s" % (str(drone["State"]["Direction"])))
send_dronelog(dronelog)
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone_identifier)),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
return drone
def charge_drone_battery(drone):
"""Handle the drone battery charging operation."""
battery_level = drone["State"]["Battery"]
if float(battery_level) < 95:
# Increase battery level
drone["State"]["Battery"] = float(battery_level) + 5
else:
# If battery >= 95 set battery level to 100%
drone["State"]["Battery"] = 100
dronelog = gen_DroneLog(
"Drone %s" % (str(drone["DroneID"])),
"charging complete, returning to Active state")
send_dronelog(dronelog)
drone["State"]["Status"] = "Active"
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone["DroneID"])),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
return drone
def discharge_drone_battery(drone):
"""Handle drone battery discharging."""
battery_level = drone["State"]["Battery"]
drone_identifier = drone["DroneID"]
if float(battery_level) > 20:
drone["State"]["Battery"] = int(drone["State"]["Battery"]) - 1
elif float(battery_level) <= 20 and float(battery_level) > 3:
# Drone in inactive state will take less battery per iteration (1/4 of normal battery usage).
drone["State"]["Battery"] = float(drone["State"]["Battery"]) - 0.25
if float(battery_level) == 20.0:
drone["State"]["Status"] = "Inactive"
drone["State"]["Battery"] = int(drone["State"]["Battery"]) - 1
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"battery Low %s, changing to Inactive state" %
(str(drone["State"]["Battery"])))
send_dronelog(dronelog)
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone_identifier)),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
elif float(battery_level) <= 4.0:
# Battery level critical change drone status to OFF
drone["State"]["Status"] = "Off"
dronelog = gen_DroneLog("Drone %s" % (str(drone_identifier)),
"Battery level critical, shutting down!")
send_dronelog(dronelog)
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone_identifier)),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
return drone
def handle_drone_low_battery(drone):
"""Handle the drone inactive state ( when 3< battery < 20)."""
destination = CONTROLLER_LOC
if not drone_reached_destination(drone, destination):
print("Drone moving toward central controller")
source = tuple(float(a) for a in drone["State"]["Position"].split(","))
new_direction = get_direction(source, destination)
if new_direction != drone["State"]["Direction"]:
drone["State"]["Direction"] = new_direction
dronelog = gen_DroneLog(
"Drone %s" % (str(drone["DroneID"]), ),
"changed direction to %s" % (str(new_direction)))
send_dronelog(dronelog)
else:
# if reached destination
dronelog = gen_DroneLog("Drone %s" % (str(drone["DroneID"]), ),
"reached central controller, charging.")
send_dronelog(dronelog)
print("Drone reached destination")
drone["State"]["Status"] = "Charging"
return drone
def execute_command(command, drone):
"""Execute the command on the drone."""
drone_identifier = drone["DroneID"]
if command["DroneID"] == drone_identifier:
for prop in command["State"]:
if prop != "@type" and prop in drone["State"].keys():
prop_val = command["State"][prop]
# Handle direction prop
if prop == "Direction":
drone["State"]["Direction"] = prop_val
## Generate and send Dronelog
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"changed direction to %s after command execution." %
(str(prop_val)))
send_dronelog(dronelog)
# Handle speed prop
if prop == "Speed":
if float(prop_val) <= float(drone["MaxSpeed"]):
drone["State"]["Speed"] = prop_val
else:
drone["State"]["Speed"] = drone["MaxSpeed"]
## Generate and send Dronelog
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"changed speed to %s after command execution." %
(str(drone["State"]["Speed"])))
send_dronelog(dronelog)
# Handle status prop
if prop == "Status":
if prop_val in ["Active", "Off"]:
drone["State"]["Status"] = prop_val
## Generate and send Dronelog
dronelog = gen_DroneLog(
"Drone %s" % (str(drone_identifier), ),
"changed status to %s after command execution." %
(str(prop_val)))
send_dronelog(dronelog)
# Generate and Send HttpApiLog
http_api_log = gen_HttpApiLog("Drone %s" % (str(drone["DroneID"])),
"PUT DroneLog", "Controller")
send_http_api_log(http_api_log)
return drone