Initial commit

main.py

@@ -0,0 +1,144 @@
+import logging
+import asyncio
+import uvicorn
+import sys
+from contextlib import asynccontextmanager
+from fastapi import FastAPI
+
+# --- API & Streaming ---
+from f01_flight_api import router as flight_router
+from f01_flight_api import get_lifecycle_manager, get_flight_database
+from f15_sse_event_streamer import SSEEventStreamer
+
+# --- Base Managers & Helpers ---
+from h04_faiss_index_manager import FaissIndexManager
+from f04_satellite_data_manager import SatelliteDataManager, CacheConfig
+from f03_flight_database import FlightDatabase
+
+# --- Vision & Metric Components ---
+from f09_local_geospatial_anchoring import LocalGeospatialAnchoring
+from f06_image_rotation_manager import ImageRotationManager
+from f08_global_place_recognition import GlobalPlaceRecognition
+from f07_sequential_visual_odometry import SequentialVisualOdometry
+from f05_image_input_pipeline import ImageInputPipeline
+from f14_result_manager import ResultManager
+from f16_model_manager import ModelManager
+from f17_configuration_manager import ConfigurationManager
+from f13_coordinate_transformer import CoordinateTransformer
+from h01_camera_model import CameraModel
+
+# --- Optimization & Graph Components ---
+from f10_factor_graph_optimizer import FactorGraphOptimizer
+from f12_route_chunk_manager import RouteChunkManager
+
+# --- Orchestration ---
+from f11_failure_recovery_coordinator import FailureRecoveryCoordinator
+from f02_2_flight_processing_engine import FlightProcessingEngine
+from f02_1_flight_lifecycle_manager import FlightLifecycleManager
+
+logging.basicConfig(
+    level=logging.INFO,
+    format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+    handlers=[
+        logging.FileHandler("server_debug.log", mode='w'),
+        logging.StreamHandler(sys.stdout)
+    ]
+)
+logger = logging.getLogger("AURA_Main")
+
+# Global reference for API access (can be accessed inside FastAPI route handlers)
+lifecycle_manager = None
+db_manager = None
+
+@asynccontextmanager
+async def lifespan(app: FastAPI):
+    """FastAPI Lifespan Context Manager. Instantiates pipeline components."""
+    global lifecycle_manager, db_manager
+    logger.info("Initializing AURA Pipeline Components...")
+    
+    # 1. Instantiate Base Managers
+    faiss_manager = FaissIndexManager()
+    sat_manager = SatelliteDataManager(CacheConfig())
+    db_manager = FlightDatabase()
+    sse_streamer = SSEEventStreamer()
+
+    # 2. Instantiate Vision/Metric Components
+    config_manager = ConfigurationManager(f03_database=db_manager)
+    model_manager = ModelManager()
+    
+    metric_refinement = LocalGeospatialAnchoring(model_manager=model_manager)
+    rotation_manager = ImageRotationManager()
+    global_place_rec = GlobalPlaceRecognition(model_manager, faiss_manager, sat_manager)
+    
+    # 3. Instantiate Odometry and Input
+    vo_frontend = SequentialVisualOdometry(model_manager)
+    image_pipeline = ImageInputPipeline()
+
+    # 4. Instantiate Optimization and Chunking
+    factor_graph = FactorGraphOptimizer()
+    chunk_manager = RouteChunkManager(f03=db_manager, f05=image_pipeline, f08=global_place_rec, f10=factor_graph)
+    result_manager = ResultManager(f03_database=db_manager, f15_streamer=sse_streamer)
+    
+    camera_model = CameraModel()
+    coord_transformer = CoordinateTransformer(f10_optimizer=factor_graph, f17_config=config_manager, camera_model=camera_model)
+
+    # 5. Instantiate Failure Recovery Coordinator
+    recovery_deps = {
+        "satellite_data_manager": sat_manager,
+        "image_rotation_manager": rotation_manager,
+        "global_place_recognition": global_place_rec,
+        "metric_refinement": metric_refinement,
+        "factor_graph_optimizer": factor_graph,
+        "route_chunk_manager": chunk_manager
+    }
+    failure_coordinator = FailureRecoveryCoordinator(recovery_deps)
+
+    # 7. Instantiate Lifecycle Manager and bind overrides
+    lifecycle_manager = FlightLifecycleManager(
+        db_adapter=db_manager,
+        orchestrator=None,
+        config_manager=config_manager,
+        model_manager=model_manager,
+        satellite_manager=sat_manager,
+        place_recognition=global_place_rec,
+        coordinate_transformer=coord_transformer,
+        sse_streamer=sse_streamer
+    )
+    
+    # 8. Bind Engine Factory Override to connect Real Engine
+    def real_engine_factory(flight_id: str) -> FlightProcessingEngine:
+        return FlightProcessingEngine(
+            f04=sat_manager, f05=image_pipeline, f06=rotation_manager,
+            f07=vo_frontend, f08=global_place_rec, f09=metric_refinement,
+            f10=factor_graph, f11=failure_coordinator, f12=chunk_manager,
+            f13=coord_transformer, f14=result_manager, f15=sse_streamer, f17=config_manager
+        )
+
+    def _get_or_create_engine_override(flight_id: str):
+        if flight_id not in lifecycle_manager.active_engines:
+            lifecycle_manager.active_engines[flight_id] = real_engine_factory(flight_id)
+        return lifecycle_manager.active_engines[flight_id]
+
+    lifecycle_manager._get_or_create_engine = _get_or_create_engine_override
+    lifecycle_manager._delegate_queue_batch = image_pipeline.queue_batch
+    lifecycle_manager.initialize_system()
+    
+    app.dependency_overrides[get_lifecycle_manager] = lambda: lifecycle_manager
+    app.dependency_overrides[get_flight_database] = lambda: db_manager
+        
+    logger.info("AURA Pipeline successfully initialized and bound to API.")
+    
+    yield
+    
+    logger.info("Shutting down AURA Pipeline...")
+    if lifecycle_manager:
+        for engine in lifecycle_manager.active_engines.values():
+            if hasattr(engine, "stop_processing"):
+                engine.stop_processing()
+
+app = FastAPI(title="AURA GPS-Denied Navigation API", lifespan=lifespan)
+app.include_router(flight_router)
+
+if __name__ == "__main__":
+    logger.info("Starting AURA REST API & SSE Service...")
+    uvicorn.run("main:app", host="0.0.0.0", port=8000, reload=False)