def open(self):
# FIXME: make chat_channel dynamic
self.chat_channel = "chat"
self.chat_userset = chat_userset_key(self.chat_channel)
self.from_user = self.get_current_user()['name']
host, port = options.redis.split(":")
self.sub_client = Client()
self.sub_client.connect(host, int(port))
logging.debug("Opened subscribe connection to redis for user=%s",
self.from_user)
# first add entered user in user_set, then subscribe to notifications
def sadd_finished(resp):
self.sub_client.subscribe(self.chat_channel,
callback=self.on_redis_message)
self.sub_client.sadd(self.chat_userset,
self.from_user,
callback=sadd_finished)
logging.info("%s joined the chat", self.from_user)
ChatSocketHandler.send_message(self.chat_channel,
self.from_user,
"joined the chat",
system=True)
def on_message(self, message):
entity = Message.from_dict(json.loads(message))
self.application.db.messages.insert_one(entity.__dict__)
conn = ToRedisClient()
conn.connect(host="redis")
def publish_message(channel,message):
conn.publish(channel,message)
self.io_loop.add_timeout(time.time(), partial(publish_message,self.channel,format_entity(entity.__dict__)))
class Application(tornado.web.Application):
def __init__(self):
options = {'disconnect_delay': 5, 'jsessionid': False, 'sockjs_url': 'https://d1fxtkz8shb9d2.cloudfront.net/sockjs-0.3.min.js'}
self.WaitRouter = SockJSRouter(WaitingRoomConnection, '/sockjs/wait', options)
self.GameRouter = SockJSRouter(GameConnection, '/sockjs/game', options)
self.SessionRouter = SockJSRouter(SessionConnection, '/sockjs/session', options)
GameConnection.ready = 0
GameConnection.size = 2
urls = [
(r'/', handlers.MainHandler),
(r'/session', handlers.SessionHandler),
(r'/about', RegisterHandler),
(r'/quiz/user/([a-zA-Z0-9])*', handlers.QuizHandler),
(r'/instructionsemployer([^/]*)', handlers.InstructionsHandler),
(r'/instructionsemployee([^/]*)', handlers.Instructions2Handler),
(r'/tutorial1/user/([a-zA-Z0-9])*', handlers.TutorialHandler),
(r'/tutorial2/user/([a-zA-Z0-9])*', handlers.Tutorial2Handler),
(r'/welcome([^/]*)', handlers.WelcomeHandler),
(r'/payment([^/]*)', handlers.PaymentHandler),
(r'/game/user/([a-zA-Z0-9])*', handlers.GameHandler),
(r'/api/player/register([^/]*)', handlers.PlayerCreateHandler),
(r'/api/player/(.*)', handlers.PlayerHandler),
(r'/api/credential', handlers.CredentialHandler),
(r'/experimenter/config/sync/activate/([a-zA-Z0-9]+$)', handlers.SyncExperimentLaunchHandler),
(r'/admin/user', handlers.UserHandler),
(r'/admin', AdminHandler)
] + self.WaitRouter.urls + self.GameRouter.urls + self.SessionRouter.urls
settings = {
"debug": True,
"template_path": os.path.join(os.path.dirname(__file__), "templates"),
"static_path": os.path.join(os.path.dirname(__file__), "static"),
"cookie_secret": "__TODO:_GENERATE_RANDOM_VALUE_HERE__"
}
self.redis_cmd = redis.Redis(db=0, \
password='******', \
unix_socket_path='/tmp/redis.sock')
self.redis_pub = Client()
self.redis_pub.connect_usocket('/tmp/redis.sock', callback=self.auth)
tornado.web.Application.__init__(self, urls, **settings)
@tornado.gen.coroutine
def auth(self):
status = yield tornado.gen.Task(self.redis_pub.auth, 'dufkeIASF93NSDCJW8sajkef83fjA9fesi3nf8SAFOJ8sibnagnwurqwo')
if status == 'OK':
logger.info('[Application] Redis authenticated')
status = yield tornado.gen.Task(self.redis_pub.select, '1')
if status == 'OK':
logger.info('[Application] Redis db 1 selected')
async def get_grouped_count(group_type, content_id):
""" Sends document id and group type to redis and returns page view count as response. """
group_value = get_group_value(group_type)
if group_value is None:
return 0
redis = Client()
redis.connect(config.HOST, config.PORT)
response = await gen.Task(redis.zcard,
"{0}:{1}".format(group_value, content_id))
return response
class Handler(RequestHandler):
@asynchronous
def get(self):
self.client = Client()
self.client.connect()
self.client.subscribe("foo", callback=self.on_receive)
def on_receive(self, msg):
""" New message, close out connection. """
msg_type, msg_channel, msg = msg
if msg_type == "message":
self.finish({"message": msg})
class Handler(RequestHandler):
@asynchronous
def get(self):
self.client = Client()
self.client.connect()
self.client.subscribe("foo", callback=self.on_receive)
def on_receive(self, msg):
""" New message, close out connection. """
msg_type, msg_channel, msg = msg
if msg_type == b"message":
self.finish({"message": msg.decode()})
def test_subscribe(self):
""" Tests a subscription message """
# conn = redis.Redis()
conn = Client()
conn.connect()
def publish_message():
conn.publish("foo", "bar")
self.io_loop.add_timeout(time.time() + 0.5, publish_message)
response = self.fetch("/")
# blocks
self.assertEqual(response.code, 200)
def __init__(self, drone_info, drone_vec, sub_topics, throttle_rate=6000):
self.api_key = drone_info["api_key"] # API key to talk with drone.
self.vehicle_id = drone_info["vehicle_id"] # vehicle ID of the drone.
self.namespace = drone_info["namespace"] # namespace of the drone
self.topics_subscribed = []
self.drone_vec = drone_vec # drone status vector that will be updated.
self.topics_to_subscribe = sub_topics
self.msglib = MsgStructs(self.namespace, throttle_rate)
self.redis = RedisClient()
self.redis.connect('localhost')
super(WebSocketClient, self).__init__()
def __init__(self):
options = {
'disconnect_delay': 5,
'jsessionid': False,
'sockjs_url':
'https://d1fxtkz8shb9d2.cloudfront.net/sockjs-0.3.min.js'
}
self.WaitRouter = SockJSRouter(WaitingRoomConnection, '/sockjs/wait',
options)
self.GameRouter = SockJSRouter(GameConnection, '/sockjs/game', options)
GameConnection.ready = 0
GameConnection.size = 2
GameConnection.participants = list()
handlers = [
(r'/', MainHandler), (r'/about', RegisterHandler),
(r'/welcome', WelcomeHandler), (r'/game', GameHandler),
(r'/api/player/register', PlayerCreateHandler),
(r'/api/player/(.*)', PlayerHandler),
(r'/api/credential', CredentialHandler),
(r'/experimenter/config/sync/activate/([a-zA-Z0-9]+$)',
SyncExperimentLaunchHandler), (r'/admin/user', UserHandler)
] + self.WaitRouter.urls + self.GameRouter.urls
settings = {
"debug": True,
"template_path": os.path.join(os.path.dirname(__file__),
"templates"),
"static_path": os.path.join(os.path.dirname(__file__), "static"),
"cookie_secret": "__TODO:_GENERATE_RANDOM_VALUE_HERE__"
}
self.redis_cmd = redis.Redis(db=0, \
password='******', \
unix_socket_path='/tmp/redis.sock')
self.redis_pub = Client()
self.redis_pub.connect_usocket('/tmp/redis.sock', callback=self.auth)
tornado.web.Application.__init__(self, handlers, **settings)
def open(self):
# FIXME: make chat_channel dynamic
self.chat_channel = "chat"
self.chat_userset = chat_userset_key(self.chat_channel)
self.from_user = self.get_current_user()['name']
host, port = options.redis.split(":")
self.sub_client = Client()
self.sub_client.connect(host, int(port))
logging.debug("Opened subscribe connection to redis for user=%s", self.from_user)
# first add entered user in user_set, then subscribe to notifications
def sadd_finished(resp):
self.sub_client.subscribe(self.chat_channel, callback=self.on_redis_message)
self.sub_client.sadd(self.chat_userset, self.from_user, callback=sadd_finished)
logging.info("%s joined the chat", self.from_user)
ChatSocketHandler.send_message(self.chat_channel, self.from_user, "joined the chat", system=True)
class RedisWebSocket(tornado.websocket.WebSocketHandler):
client = None
user = None
channel = None
io_loop = tornado.ioloop.IOLoop.instance()
def open(self):
# Get user and channel
self.user = self.get_argument('user', None)
self.channel = self.get_argument('channel', None)
# new access
self.application.db.access.insert_one(Access.connect(self.user,self.channel).__dict__)
# get all messages
messages = self.application.db.messages.find({"channel" : self.channel}).sort("$natural",pymongo.DESCENDING)
output = [format_entity(msg) for msg in messages]
for message in reversed(output):
self.write_message(message)
# subscribe to channel
self.client = ToRedisClient()
self.client.connect(host="redis")
self.client.subscribe(self.channel, callback=self.on_receive)
def on_receive(self,msg):
msg_type, msg_channel, msg = msg
if msg_type == b"message":
self.write_message(eval(msg))
# client.write_message(message)
def on_message(self, message):
entity = Message.from_dict(json.loads(message))
self.application.db.messages.insert_one(entity.__dict__)
conn = ToRedisClient()
conn.connect(host="redis")
def publish_message(channel,message):
conn.publish(channel,message)
self.io_loop.add_timeout(time.time(), partial(publish_message,self.channel,format_entity(entity.__dict__)))
# self.application.manager.notify(entity.channel,format_entity(entity.__dict__))
def on_close(self):
self.application.db.access.insert_one(Access.disconnect(self.user, self.channel).__dict__)
self.client.unsubscribe(self.channel)
def open(self):
# Get user and channel
self.user = self.get_argument('user', None)
self.channel = self.get_argument('channel', None)
# new access
self.application.db.access.insert_one(Access.connect(self.user,self.channel).__dict__)
# get all messages
messages = self.application.db.messages.find({"channel" : self.channel}).sort("$natural",pymongo.DESCENDING)
output = [format_entity(msg) for msg in messages]
for message in reversed(output):
self.write_message(message)
# subscribe to channel
self.client = ToRedisClient()
self.client.connect(host="redis")
self.client.subscribe(self.channel, callback=self.on_receive)
def __init__(self,
session_id,
vehicle_id,
api_key,
namespace,
name,
poi,
height,
clearance,
wait_time=10.,
url=None):
self.session_id = session_id
self.vehicle_id = vehicle_id
self.api_key = api_key
self.ns = namespace
self.name = name
self.poi = poi # point of interest information. e.g. {'lat':45.,'long':65., 'alt':10.0}
self.height = height # height at which the drone should fly
self.clearance = clearance # distance away from PPOI
self.wait_time = wait_time # drone will wait at users;s location for these many seconds
self.url = url # stream endpoint
# setup environment variables.
self.api_base_url = 'https://dev.flytbase.com/rest/ros/' + self.ns
self.header = {
'Authorization': 'Token ' + self.api_key,
'VehicleID': self.vehicle_id
}
self.status = -1 # set session status flag to 'initilized state'
self.fuse = True # if fuse is false then the session will stay on hold. No call backs should execute.
self.home = None
self.target_loc = self.poi.copy(
) # later change this to 'clearance' meter distance away from POI in straight line path.
# Initialize redis client
self.redis = RedisClient()
self.redis.connect('localhost')
# instance of non blocking http client
self.http_client = AsyncHTTPClient()
self.init_redis_structs()
class MessageHandler(WebSocketHandler):
def __init__(self, *args, **kwargs):
super(MessageHandler, self).__init__(*args, **kwargs)
self.r_server = Redis()
self.redis = Client()
self.redis.connect()
def get_current_user(self):
user = self.get_secure_cookie("user")
if user is None:
return ''
else:
return user.strip('" ')
def on_message(self, msg):
msginfo = loads(msg)
# listens for handshake from page
self.channel = msginfo['user']
# need to split the rest off to new func so it can be asynchronous
self.listen()
def listen(self):
# runs task given, with the yield required to get returned value
# equivalent of callback/wait pairing from tornado.gen
self.redis.subscribe(self.channel, callback=self.callback)
# fight race condition by loading from redis after listen started
oldmessages = self.r_server.lrange('%s:messages' % self.channel, 0, -1)
if oldmessages is not None:
for message in oldmessages:
self.write_message(message)
def callback(self, msg):
if msg[0] == 'message':
self.write_message(msg[2])
@engine
def on_close(self):
yield Task(self.redis.unsubscribe, self.channel)
self.redis.disconnect()
return None
key = custom_vars["1"][0]
value = custom_vars["1"][1]
if value == "":
return None
return value
def make_app():
return tornado.web.Application([
(r"/capture", MainHandler),
# serve pikik tag
(r"/static/(.*)", tornado.web.StaticFileHandler, {'path': STATIC_DIR}),
])
def set_database():
redis.select(config.getint('redis','index'))
if __name__ == "__main__":
app = make_app()
app.listen(config.getint('server','port'))
redis = Client()
redis.connect(host=config.get('redis','hostname'), port=config.getint('redis','port'), callback=set_database)
tornado.ioloop.IOLoop.current().start()
def get(self):
self.client = Client()
self.client.connect()
self.client.subscribe("foo", callback=self.on_receive)
def has_connected(application, io_loop):
def handle(*args, **kw):
pass
return handle
application = tornado.web.Application([
(r"/", MainHandler),
(r"/report", GetReportHandler),
(r"/healthcheck", HealthCheckHandler),
], static_path=root_path, template_path=root_path)
redis_host = settings.REDIS_HOST
redis_port = int(settings.REDIS_PORT)
application.redis = Client(io_loop=io_loop)
application.redis.authenticated = True
application.redis.connect(redis_host, redis_port, callback=has_connected(application, io_loop))
application.redis.auth(settings.REDIS_PASSWORD)
if __name__ == "__main__":
if len(sys.argv) > 2:
server_port = int(sys.argv[2])
else:
server_port = int(sys.argv[1])
application.listen(server_port, address='0.0.0.0')
io_loop.start()
class ChatSocketHandler(UserMixin, tornado.websocket.WebSocketHandler):
cache_size = 30
commands_client = Client()
pub_client = Client()
def open(self):
# FIXME: make chat_channel dynamic
self.chat_channel = "chat"
self.chat_userset = chat_userset_key(self.chat_channel)
self.from_user = self.get_current_user()['name']
host, port = options.redis.split(":")
self.sub_client = Client()
self.sub_client.connect(host, int(port))
logging.debug("Opened subscribe connection to redis for user=%s",
self.from_user)
# first add entered user in user_set, then subscribe to notifications
def sadd_finished(resp):
self.sub_client.subscribe(self.chat_channel,
callback=self.on_redis_message)
self.sub_client.sadd(self.chat_userset,
self.from_user,
callback=sadd_finished)
logging.info("%s joined the chat", self.from_user)
ChatSocketHandler.send_message(self.chat_channel,
self.from_user,
"joined the chat",
system=True)
def on_redis_message(self, msg):
msg_type, msg_channel, msg = msg
logging.debug("Got message from Redis: type=%s, channel=%s, msg=%s",
msg_type, msg_channel, msg)
if msg_type == b"message":
# write message back to websocket
self.write_message(json.loads(msg.decode()))
def on_close(self):
logging.info("%s left the chat", self.from_user)
self.sub_client.srem(self.chat_userset, self.from_user)
ChatSocketHandler.send_message(self.chat_channel,
self.from_user,
"left the chat",
system=True)
def on_message(self, message):
logging.info("got message %r", message)
ChatSocketHandler.send_message(self.chat_channel, self.from_user,
message)
@classmethod
def update_lastmessages(cls, chat_channel, chat):
cls.pub_client.lpush(chat_lastmessages_key(chat_channel),
json.dumps(chat))
cls.pub_client.ltrim(chat_lastmessages_key(chat_channel), 0,
cls.cache_size)
@classmethod
def last_messages(cls, chat_channel, callback):
"""get last messages"""
if not cls.commands_client.is_connected():
host, port = options.redis.split(":")
cls.commands_client.connect(host, int(port))
logging.debug("Opened commands connection to redis")
def transform(response):
json_resp = [json.loads(x.decode("utf8")) for x in response]
callback(json_resp[::-1])
cls.commands_client.lrange(chat_lastmessages_key(chat_channel),
0,
cls.cache_size,
callback=transform)
@classmethod
def current_users(cls, chat_channel, callback):
"""get last messages"""
if not cls.commands_client.is_connected():
host, port = options.redis.split(":")
cls.commands_client.connect(host, int(port))
logging.debug("Opened commands connection to redis")
def transform(response):
json_resp = [x.decode("utf8") for x in response]
callback(json_resp)
cls.commands_client.smembers(chat_userset_key(chat_channel),
callback=transform)
@classmethod
def send_message(cls, chat_channel, from_user, body, system=False):
if not cls.pub_client.is_connected():
host, port = options.redis.split(":")
cls.pub_client.connect(host, int(port))
logging.debug("Opened publish connection to redis")
if not system:
body = message_beautify(body)
chat_msg = {
"id": str(uuid.uuid4()),
"from": from_user,
"when": datetime.now().strftime("%Y-%m-%d %H:%M"),
"body": body,
"system": system,
}
cls.update_lastmessages(chat_channel, chat_msg)
logging.debug("Broadcasting message %s", chat_msg)
cls.pub_client.publish(chat_channel, json.dumps(chat_msg))
import operator
from tornado import gen
from toredis import Client as RedisClient
from tornado.web import Application, RequestHandler, asynchronous
import sys
from tornado import ioloop
import json
import time
import requests
from helper import WebSocketClient, dist_bet_coordinates, DroneRemoteAccess
from session import SessionHandler
### Initialize redis client
redis_main = RedisClient()
redis_main.connect('localhost')
### set parameters
drone_status_update_rate = 4000 # data will be updated every T mili seconds.
sub_topics = ["gpos", "lpos", 'imu', "battery"] # topics to be subscribed
def init_redis_structures(drone_list):
""" update initial structures on redis server
"""
counter = 0
drone_dict = {}
for drone in drone_list:
counter += 1
name = "SFRD00" + str(counter)
# -*- coding: utf-8 -*-
from tornado import httpclient
from toredis import Client
redis_client = Client()
redis_client.connect('localhost')
http_client = httpclient.AsyncHTTPClient()
import logging
import tornado.ioloop
from toredis import Client
def test_auth():
# Assuming that 12345 is your redis pasword
redis.auth('12345', after_auth)
def after_auth(status):
print 'Authentication status:', status
assert status == 'OK'
io_loop.stop()
if __name__ == "__main__":
logging.basicConfig()
io_loop = tornado.ioloop.IOLoop.instance()
redis = Client()
redis.connect('localhost', callback=test_auth)
io_loop.start()
def __init__(self, *args, **kwargs):
super(MessageHandler, self).__init__(*args, **kwargs)
self.r_server = Redis()
self.redis = Client()
self.redis.connect()
class ChatSocketHandler(UserMixin, tornado.websocket.WebSocketHandler):
cache_size = 30
commands_client = Client()
pub_client = Client()
def open(self):
# FIXME: make chat_channel dynamic
self.chat_channel = "chat"
self.chat_userset = chat_userset_key(self.chat_channel)
self.from_user = self.get_current_user()['name']
host, port = options.redis.split(":")
self.sub_client = Client()
self.sub_client.connect(host, int(port))
logging.debug("Opened subscribe connection to redis for user=%s", self.from_user)
# first add entered user in user_set, then subscribe to notifications
def sadd_finished(resp):
self.sub_client.subscribe(self.chat_channel, callback=self.on_redis_message)
self.sub_client.sadd(self.chat_userset, self.from_user, callback=sadd_finished)
logging.info("%s joined the chat", self.from_user)
ChatSocketHandler.send_message(self.chat_channel, self.from_user, "joined the chat", system=True)
def on_redis_message(self, msg):
msg_type, msg_channel, msg = msg
logging.debug("Got message from Redis: type=%s, channel=%s, msg=%s", msg_type, msg_channel, msg)
if msg_type == b"message":
# write message back to websocket
self.write_message(json.loads(msg.decode()))
def on_close(self):
logging.info("%s left the chat", self.from_user)
self.sub_client.srem(self.chat_userset, self.from_user)
ChatSocketHandler.send_message(self.chat_channel, self.from_user, "left the chat", system=True)
def on_message(self, message):
logging.info("got message %r", message)
ChatSocketHandler.send_message(self.chat_channel, self.from_user, message)
@classmethod
def update_lastmessages(cls, chat_channel, chat):
cls.pub_client.lpush(chat_lastmessages_key(chat_channel), json.dumps(chat))
cls.pub_client.ltrim(chat_lastmessages_key(chat_channel), 0, cls.cache_size)
@classmethod
def last_messages(cls, chat_channel, callback):
"""get last messages"""
if not cls.commands_client.is_connected():
host, port = options.redis.split(":")
cls.commands_client.connect(host, int(port))
logging.debug("Opened commands connection to redis")
def transform(response):
json_resp = [json.loads(x.decode("utf8")) for x in response]
callback(json_resp[::-1])
cls.commands_client.lrange(chat_lastmessages_key(chat_channel), 0, cls.cache_size, callback=transform)
@classmethod
def current_users(cls, chat_channel, callback):
"""get last messages"""
if not cls.commands_client.is_connected():
host, port = options.redis.split(":")
cls.commands_client.connect(host, int(port))
logging.debug("Opened commands connection to redis")
def transform(response):
json_resp = [x.decode("utf8") for x in response]
callback(json_resp)
cls.commands_client.smembers(chat_userset_key(chat_channel), callback=transform)
@classmethod
def send_message(cls, chat_channel, from_user, body, system=False):
if not cls.pub_client.is_connected():
host, port = options.redis.split(":")
cls.pub_client.connect(host, int(port))
logging.debug("Opened publish connection to redis")
if not system:
body = message_beautify(body)
chat_msg = {
"id": str(uuid.uuid4()),
"from": from_user,
"when": datetime.now().strftime("%Y-%m-%d %H:%M"),
"body": body,
"system": system,
}
cls.update_lastmessages(chat_channel, chat_msg)
logging.debug("Broadcasting message %s", chat_msg)
cls.pub_client.publish(chat_channel, json.dumps(chat_msg))
import operator
from tornado import gen
from toredis import Client as RedisClient
from tornado.web import Application, RequestHandler, asynchronous
import sys
from tornado import ioloop
import json
import time
import requests
from helper import WebSocketClient, dist_bet_coordinates, DroneRemoteAccess
from session import SessionHandler
### Initialize redis client
redis_main = RedisClient()
redis_main.connect('localhost')
### set parameters
drone_status_update_rate = 4000 # data will be updated every T mili seconds.
sub_topics = ["gpos", "lpos", 'imu', "battery"] # topics to be subscribed
def init_redis_structures(drone_list):
""" update initial structures on redis server
"""
counter = 0
drone_dict = {}
for drone in drone_list:
counter += 1
name = "SFRD00" + str(counter)
class WebSocketClient(WebSocketClientBase):
def __init__(self, drone_info, drone_vec, sub_topics, throttle_rate=6000):
self.api_key = drone_info["api_key"] # API key to talk with drone.
self.vehicle_id = drone_info["vehicle_id"] # vehicle ID of the drone.
self.namespace = drone_info["namespace"] # namespace of the drone
self.topics_subscribed = []
self.drone_vec = drone_vec # drone status vector that will be updated.
self.topics_to_subscribe = sub_topics
self.msglib = MsgStructs(self.namespace, throttle_rate)
self.redis = RedisClient()
self.redis.connect('localhost')
super(WebSocketClient, self).__init__()
def _on_message(self, msg):
try:
res = json.loads(msg)
ioloop.IOLoop.instance().add_callback(partial(self.parse_msg, res))
except ValueError:
print "json decoding failed"
def _on_connection_success(self):
print('Drone Connected! ', self.vehicle_id)
deadline = time.time() + 1
ioloop.IOLoop().instance().add_timeout(
deadline, functools.partial(self.subscribe_to_topics))
def _on_connection_close(self):
print('Connection closed!')
def _on_connection_error(self, exception):
print('Connection error: %s', exception)
def subscribe_to_topics(self):
for topic in self.topics_to_subscribe:
self.topics_subscribed.append(topic)
ioloop.IOLoop.instance().add_callback(
partial(self.send, json.dumps(self.msglib.sub_msg(topic))))
# TODO remove debug statement
# ioloop.IOLoop().instance().add_timeout(time.time()+10, functools.partial(self.stop_client))
def stop_client(self):
# unsubscribe from the data.
for topic in self.topics_subscribed:
self.send(json.dumps(self.msglib.get_unsub_msg(topic)))
# call close method
self.close()
def parse_msg(self, msg):
if isinstance(msg, dict):
if 'op' in msg.keys():
if msg['op'] == 'publish':
# print msg
word6 = msg['topic'][-6:]
if word6 == "global":
lat = msg['msg']['latitude']
lon = msg['msg']['longitude']
alt = msg['msg']['altitude']
# print lat, lon, "global"
self.redis.set(
self.vehicle_id + '_gpos',
json.dumps({
"lat": lat,
"long": lon,
"alt": alt
}))
if word6 == "/local":
x = msg['msg']['twist']['linear']['x']
y = msg['msg']['twist']['linear']['y']
z = msg['msg']['twist']['linear']['z']
yaw = msg['msg']['twist']['angular']['z']
# print x,y,z, "local"
self.redis.set(
self.vehicle_id + '_lpos',
json.dumps({
"x": x,
"y": y,
"z": z,
"yaw": yaw
}))
if word6 == "attery":
percent = msg['msg']['percentage']
# print percent*100, " % battery"
self.redis.set(self.vehicle_id + '_batt',
json.dumps({"percent": percent}))
if word6 == "_euler":
yaw = msg['msg']['twist']['linear']['z']
# print percent*100, " % battery"
self.redis.set(self.vehicle_id + '_imu',
json.dumps({"yaw": yaw}))
class SessionHandler(object):
"""
Manage complete flight session.
"""
def __init__(self,
session_id,
vehicle_id,
api_key,
namespace,
name,
poi,
height,
clearance,
wait_time=10.,
url=None):
self.session_id = session_id
self.vehicle_id = vehicle_id
self.api_key = api_key
self.ns = namespace
self.name = name
self.poi = poi # point of interest information. e.g. {'lat':45.,'long':65., 'alt':10.0}
self.height = height # height at which the drone should fly
self.clearance = clearance # distance away from PPOI
self.wait_time = wait_time # drone will wait at users;s location for these many seconds
self.url = url # stream endpoint
# setup environment variables.
self.api_base_url = 'https://dev.flytbase.com/rest/ros/' + self.ns
self.header = {
'Authorization': 'Token ' + self.api_key,
'VehicleID': self.vehicle_id
}
self.status = -1 # set session status flag to 'initilized state'
self.fuse = True # if fuse is false then the session will stay on hold. No call backs should execute.
self.home = None
self.target_loc = self.poi.copy(
) # later change this to 'clearance' meter distance away from POI in straight line path.
# Initialize redis client
self.redis = RedisClient()
self.redis.connect('localhost')
# instance of non blocking http client
self.http_client = AsyncHTTPClient()
self.init_redis_structs()
@gen.engine
def init_redis_structs(self):
# initialize session structure and upload to redis server. No need to update this later
session_struct = json.dumps({
"vehicle_id": self.vehicle_id,
"session_key": "removed_key",
"api_key": self.api_key,
"ns": self.ns
})
yield gen.Task(self.redis.set, self.session_id + "_info",
session_struct)
# initialize status structure for session on redis. This should be updated after state change.
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
# update sessions structure. No need to update this.
cur_sessions = yield gen.Task(self.redis.get, "sessions")
try:
cur_sessions = json.loads(cur_sessions)
updated_sessions = cur_sessions.copy()
updated_sessions[self.session_id] = {"session_key": "removed"}
yield gen.Task(self.redis.set, "sessions", updated_sessions)
except ValueError:
print "session JSON decode error"
@gen.coroutine
def run_mission(self):
# todo "make sure app is initialized"
yield gen.sleep(5.0)
if self.status == -1 and self.fuse:
print "Session Handler: Initialized, starting stream"
success, resp = yield self.start_stream()
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
self.status = 0
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 0 and self.fuse:
# save home location.
self.home = yield self.get_drone_state()
# Update the target clearance distance away from POI
offset_loc = get_offset_location(self.home['lat'],
self.home['long'],
self.poi['lat'], self.poi['long'],
self.clearance)
self.target_loc = {
'lat': offset_loc[0],
'long': offset_loc[1],
'alt': self.poi['alt']
}
print "Session Handler: taking off"
success, resp = yield self.take_off(3.0)
if success:
print "Request success: ", resp
else:
print "Request failed: ", resp
# todo handle takeoff failure
self.status = 1
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 1 and self.fuse:
print "Session Handler: Attaining mission height and correcting heading"
# todo check that self.home is populated
success, resp = yield self.attain_global_setpoint(
self.home['lat'], self.home['long'], self.height, 3)
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
# todo handle this case
dist, ang = dist_ang_betn_coordinates(self.home['lat'],
self.home['long'],
self.poi['lat'],
self.poi['long'])
delta_ang = ang - self.home['yaw']
success, resp = yield self.attain_yaw_sp(delta_ang)
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
# todo handle this case
self.status = 2
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 2 and self.fuse:
print "Session Handler: Moving to goal"
success, resp = yield self.attain_global_setpoint(
self.target_loc['lat'], self.target_loc['long'], self.height,
3)
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
self.status = 3
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 3 and self.fuse:
# print "Session Handler: pointing towards user"
# Nothing here
self.status = 4
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
# don't change mission number now, 4 will be used to allow 3rd party access.
if self.status == 4 and self.fuse:
print "Session Handler: Waiting at goal", self.wait_time
yield gen.sleep(self.wait_time)
print "Session Handler: confirming lock"
access_lock = yield self.check_access_lock(4, 100)
print "Session Handler: acquired lock"
if not access_lock:
print "FATAL!"
self.status = 5
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
# continue only if status code is 5 in database. If it is 100 (foreign access)
# then wait for 10 more seconds before checking
if self.status == 5 and self.fuse:
print "Session Handler: Moving back to home"
# success, resp = yield self.global_sp(self.home['lat'], self.home['long'], self.height, 0., False, False)
success, resp = yield self.attain_global_setpoint(
self.home['lat'], self.home['long'], self.height, 3)
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
self.status = 6
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 6 and self.fuse:
print "Session Handler: landing"
success, resp = yield self.land()
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
self.status = 7
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
if self.status == 7 and self.fuse:
print "Session Handler: stopping stream"
success, resp = yield self.stop_stream()
if success:
print "Session Handler: Request success: ", resp
else:
print "Session Handler: Request failed: ", resp
self.status = 8
yield gen.Task(self.redis.set, self.session_id + "_status",
self.status)
# set_drone free
yield self.close_session()
@gen.coroutine
def check_access_lock(self, wait_case, foreign_case):
"""return True when access lock is released"""
# TOdo repeat only 3 times.
current_state = yield gen.Task(self.redis.get,
self.session_id + "_status")
if current_state == str(wait_case):
raise gen.Return(True)
if current_state == str(foreign_case):
print "Session Handler: will try to acquire lock again in 10 secs."
yield gen.sleep(10.)
res = yield self.check_access_lock(wait_case, foreign_case)
raise gen.Return(res)
@gen.coroutine
def attain_global_setpoint(self,
lat,
long,
height,
max_retries=3,
max_error_retries=3,
r_count=0,
re_count=0):
success, resp = yield self.global_sp(lat, long, height, 0., False,
False)
if success:
# print "Request success: ", resp
max_error_retries = 0
try:
resp_dec = json.loads(resp)
if not resp_dec['success']:
if r_count <= max_retries:
r_count += 1
print "Session Handler: Target not achieved, retrying: retry no. ", r_count
success, resp = yield self.attain_global_setpoint(
lat, long, height, max_retries, max_error_retries,
r_count, re_count)
raise gen.Return((success, resp))
else:
raise gen.Return((False, resp))
raise gen.Return((True, resp))
except ValueError, KeyError:
print "drone GPOS sp API json response decode failed", success, resp
raise gen.Return((False, resp))
else:
import logging
import tornado.ioloop
from tornado import gen
from toredis import Client
@gen.engine
def test():
# Authenticate first
status = yield gen.Task(redis.auth, '12345')
assert status == 'OK'
# Select database
status = yield gen.Task(redis.select, '0')
assert status == 'OK'
print('Success')
io_loop.stop()
if __name__ == "__main__":
logging.basicConfig()
io_loop = tornado.ioloop.IOLoop.instance()
redis = Client()
redis.connect('localhost', callback=test)
io_loop.start()
# -*- coding: utf-8 -*-
from tornado import httpclient
from toredis import Client
redis_client = Client()
redis_client.connect('localhost')
http_client = httpclient.AsyncHTTPClient()
if message_type == 'landing:track:change':
for participant in RouterConnection.participants:
if participant.user_id == 'anonymous':
participant.send(message_data)
elif message_type == 'admin:':
user_id = data.get('user_id', None)
for participant in RouterConnection.participants:
if participant.user_id == user_id:
participant.send(message_data)
application = tornado.web.Application(
sockjs.tornado.SockJSRouter(RouterConnection, '/sock').urls
)
if __name__ == '__main__':
parse_command_line()
import logging
logging.getLogger().setLevel(logging.DEBUG)
http_server = tornado.httpserver.HTTPServer(application)
http_server.listen(options.port, address=options.host)
client = Client()
client.connect()
client.subscribe('tornado_events', callback=tornado_events)
tornado.ioloop.IOLoop.instance().start()
import logging
import tornado.ioloop
from tornado import gen
from toredis import Client
@gen.engine
def test():
# Authenticate first
status = yield gen.Task(redis.auth, "12345")
assert status == "OK"
# Select database
status = yield gen.Task(redis.select, "0")
assert status == "OK"
print "Success"
io_loop.stop()
if __name__ == "__main__":
logging.basicConfig()
io_loop = tornado.ioloop.IOLoop.instance()
redis = Client()
redis.connect("localhost", callback=test)
io_loop.start()
redis.get('test_key', callback=after_get)
@gen.engine
def test_gen():
"""
``gen.engine`` example
"""
# Set test_key2 with 10
result = yield gen.Task(redis.set, 'test_key2', 10)
assert result == 'OK'
# Increment test_key2.
result = yield gen.Task(redis.incr, 'test_key2')
assert result == 11
# Get test_key2 value. Redis will return string instead of number.
result = yield gen.Task(redis.get, 'test_key2')
assert result == '11'
finish()
if __name__ == "__main__":
logging.basicConfig()
redis = Client()
redis.connect('localhost', callback=test_set)
tornado.ioloop.IOLoop.instance().start()
