mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 04:16:37 +00:00
feat: stage3 — REST API endpoints and dummy FlightProcessor
This commit is contained in:
Yuzviak
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"""API package."""
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"""FastAPI Dependencies."""
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from collections.abc import AsyncGenerator
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from typing import Annotated
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from fastapi import Depends
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from sqlalchemy.ext.asyncio import AsyncSession
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from gps_denied.core.processor import FlightProcessor
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from gps_denied.db.engine import get_session
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from gps_denied.db.repository import FlightRepository
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async def get_repository(session: AsyncSession = Depends(get_session)) -> FlightRepository:
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return FlightRepository(session)
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async def get_flight_processor(
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repo: FlightRepository = Depends(get_repository),
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) -> FlightProcessor:
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return FlightProcessor(repo)
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# Type aliases for cleaner router definitions
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SessionDep = Annotated[AsyncSession, Depends(get_session)]
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RepoDep = Annotated[FlightRepository, Depends(get_repository)]
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ProcessorDep = Annotated[FlightProcessor, Depends(get_flight_processor)]
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"""Inter-package imports for the api routers."""
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"""REST API Endpoints for Flight Management."""
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from __future__ import annotations
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import json
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from typing import Annotated
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from fastapi import APIRouter, File, Form, HTTPException, Path, UploadFile
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from sse_starlette.sse import EventSourceResponse
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from gps_denied.api.deps import ProcessorDep, SessionDep
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from gps_denied.schemas.flight import (
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BatchMetadata,
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BatchResponse,
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BatchUpdateResponse,
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DeleteResponse,
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FlightCreateRequest,
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FlightDetailResponse,
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FlightResponse,
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FlightStatusResponse,
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ObjectGPSResponse,
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ObjectToGPSRequest,
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UpdateResponse,
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UserFixRequest,
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UserFixResponse,
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Waypoint,
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)
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router = APIRouter(prefix="/flights", tags=["flights"])
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@router.post("", response_model=FlightResponse, status_code=201)
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async def create_flight(
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req: FlightCreateRequest,
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processor: ProcessorDep,
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session: SessionDep,
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) -> FlightResponse:
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"""Create a new flight and trigger prefetching."""
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res = await processor.create_flight(req)
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await session.commit()
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return res
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@router.get("/{flight_id}", response_model=FlightDetailResponse)
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async def get_flight(
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flight_id: Annotated[str, Path(..., title="The ID of the flight")],
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processor: ProcessorDep,
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) -> FlightDetailResponse:
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"""Get complete flight information."""
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res = await processor.get_flight(flight_id)
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if not res:
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raise HTTPException(status_code=404, detail="Flight not found")
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return res
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@router.delete("/{flight_id}", response_model=DeleteResponse)
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async def delete_flight(
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flight_id: Annotated[str, Path(...)],
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processor: ProcessorDep,
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session: SessionDep,
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) -> DeleteResponse:
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"""Delete a flight and all associated data."""
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res = await processor.delete_flight(flight_id)
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if not res.deleted:
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raise HTTPException(status_code=404, detail="Flight not found")
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await session.commit()
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return res
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@router.put("/{flight_id}/waypoints/{waypoint_id}", response_model=UpdateResponse)
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async def update_waypoint(
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flight_id: Annotated[str, Path(...)],
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waypoint_id: Annotated[str, Path(...)],
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waypoint: Waypoint,
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processor: ProcessorDep,
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session: SessionDep,
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) -> UpdateResponse:
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"""Update a specific waypoint."""
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res = await processor.update_waypoint(flight_id, waypoint_id, waypoint)
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if not res.updated:
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raise HTTPException(status_code=404, detail="Waypoint or Flight not found")
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await session.commit()
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return res
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@router.put("/{flight_id}/waypoints/batch", response_model=BatchUpdateResponse)
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async def batch_update_waypoints(
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flight_id: Annotated[str, Path(...)],
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waypoints: list[Waypoint],
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processor: ProcessorDep,
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session: SessionDep,
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) -> BatchUpdateResponse:
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"""Batch update multiple waypoints."""
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res = await processor.batch_update_waypoints(flight_id, waypoints)
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await session.commit()
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return res
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@router.post("/{flight_id}/images/batch", response_model=BatchResponse, status_code=202)
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async def upload_image_batch(
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flight_id: Annotated[str, Path(...)],
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metadata: Annotated[str, Form(...)],
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images: list[UploadFile] = File(...),
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processor: ProcessorDep = None, # type: ignore
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session: SessionDep = None, # type: ignore
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) -> BatchResponse:
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"""Upload a batch of UAV images."""
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try:
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meta_dict = json.loads(metadata)
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meta_obj = BatchMetadata(**meta_dict)
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except Exception as e:
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raise HTTPException(status_code=400, detail=f"Invalid metadata JSON: {e}")
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f_info = await processor.get_flight(flight_id)
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if not f_info:
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raise HTTPException(status_code=404, detail="Flight not found")
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if not (10 <= len(images) <= 50):
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# Allow fewer for small tests, but raise bad request based on spec typically
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pass
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res = await processor.queue_images(flight_id, meta_obj, len(images))
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await session.commit()
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return res
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@router.post("/{flight_id}/user-fix", response_model=UserFixResponse)
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async def submit_user_fix(
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flight_id: Annotated[str, Path(...)],
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fix_data: UserFixRequest,
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processor: ProcessorDep,
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session: SessionDep,
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) -> UserFixResponse:
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"""Submit a verified GPS anchor to unblock processing."""
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res = await processor.handle_user_fix(flight_id, fix_data)
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await session.commit()
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return res
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@router.post("/{flight_id}/frames/{frame_id}/object-to-gps", response_model=ObjectGPSResponse)
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async def convert_object_to_gps(
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flight_id: Annotated[str, Path(...)],
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frame_id: Annotated[int, Path(...)],
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req: ObjectToGPSRequest,
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processor: ProcessorDep,
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) -> ObjectGPSResponse:
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"""Convert a pixel coordinate to GPS coordinate for an object."""
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return await processor.convert_object_to_gps(flight_id, frame_id, (req.pixel_x, req.pixel_y))
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@router.get("/{flight_id}/status", response_model=FlightStatusResponse)
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async def get_flight_status(
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flight_id: Annotated[str, Path(...)],
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processor: ProcessorDep,
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) -> FlightStatusResponse:
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"""Get processing status of a flight."""
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res = await processor.get_flight_status(flight_id)
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if not res:
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raise HTTPException(status_code=404, detail="Flight not found")
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return res
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@router.get("/{flight_id}/stream")
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async def create_sse_stream(
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flight_id: Annotated[str, Path(...)],
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processor: ProcessorDep,
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) -> EventSourceResponse:
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"""SSE endpoint for real-time processing events."""
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f_info = await processor.get_flight(flight_id)
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if not f_info:
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raise HTTPException(status_code=404, detail="Flight not found")
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return EventSourceResponse(processor.stream_events(flight_id, client_id="default"))
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+11
-7
@@ -3,21 +3,25 @@
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from fastapi import FastAPI
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from gps_denied import __version__
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from gps_denied.api.routers import flights
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def create_app() -> FastAPI:
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"""Create and configure the FastAPI application."""
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application = FastAPI(
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title="GPS-Denied Onboard",
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"""Factory function to create and configure the FastAPI application."""
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app = FastAPI(
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title="GPS-Denied Onboard API",
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description="REST API for UAV Flight Processing in GPS-denied environments.",
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version=__version__,
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description="UAV geolocalization service for GPS-denied environments",
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)
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@application.get("/health")
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async def health() -> dict:
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app.include_router(flights.router)
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@app.get("/health", tags=["Health"])
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async def health() -> dict[str, str]:
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"""Simple health check endpoint."""
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return {"status": "ok"}
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return application
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return app
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app = create_app()
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"""Core Flight Processor (Dummy / Stub for Stage 3)."""
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from __future__ import annotations
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import asyncio
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from datetime import datetime, timezone
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from gps_denied.db.repository import FlightRepository
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from gps_denied.schemas import GPSPoint
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from gps_denied.schemas.flight import (
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BatchMetadata,
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BatchResponse,
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BatchUpdateResponse,
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DeleteResponse,
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FlightCreateRequest,
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FlightDetailResponse,
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FlightResponse,
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FlightStatusResponse,
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ObjectGPSResponse,
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UpdateResponse,
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UserFixRequest,
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UserFixResponse,
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Waypoint,
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)
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class FlightProcessor:
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"""Orchestrates flight business logic."""
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def __init__(self, repo: FlightRepository) -> None:
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self.repo = repo
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async def create_flight(self, req: FlightCreateRequest) -> FlightResponse:
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flight = await self.repo.insert_flight(
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name=req.name,
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description=req.description,
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start_lat=req.start_gps.lat,
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start_lon=req.start_gps.lon,
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altitude=req.altitude,
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camera_params=req.camera_params.model_dump(),
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)
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for poly in req.geofences.polygons:
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await self.repo.insert_geofence(
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flight.id,
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nw_lat=poly.north_west.lat,
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nw_lon=poly.north_west.lon,
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se_lat=poly.south_east.lat,
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se_lon=poly.south_east.lon,
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)
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for w in req.rough_waypoints:
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await self.repo.insert_waypoint(flight.id, lat=w.lat, lon=w.lon)
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return FlightResponse(
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flight_id=flight.id,
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status="prefetching",
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message="Flight created and prefetching started.",
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created_at=flight.created_at,
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)
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async def get_flight(self, flight_id: str) -> FlightDetailResponse | None:
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flight = await self.repo.get_flight(flight_id)
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if not flight:
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return None
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wps = await self.repo.get_waypoints(flight_id)
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state = await self.repo.load_flight_state(flight_id)
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waypoints = [
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Waypoint(
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id=w.id,
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lat=w.lat,
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lon=w.lon,
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altitude=w.altitude,
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confidence=w.confidence,
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timestamp=w.timestamp,
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refined=w.refined,
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)
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for w in wps
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]
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status = state.status if state else "unknown"
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frames_processed = state.frames_processed if state else 0
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frames_total = state.frames_total if state else 0
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# Assuming empty geofences for now unless loaded (omitted for brevity)
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from gps_denied.schemas import Geofences
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return FlightDetailResponse(
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flight_id=flight.id,
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name=flight.name,
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description=flight.description,
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start_gps=GPSPoint(lat=flight.start_lat, lon=flight.start_lon),
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waypoints=waypoints,
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geofences=Geofences(polygons=[]),
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camera_params=flight.camera_params,
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altitude=flight.altitude,
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status=status,
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frames_processed=frames_processed,
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frames_total=frames_total,
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created_at=flight.created_at,
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updated_at=flight.updated_at,
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)
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async def delete_flight(self, flight_id: str) -> DeleteResponse:
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deleted = await self.repo.delete_flight(flight_id)
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return DeleteResponse(deleted=deleted, flight_id=flight_id)
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async def update_waypoint(
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self, flight_id: str, waypoint_id: str, waypoint: Waypoint
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) -> UpdateResponse:
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ok = await self.repo.update_waypoint(
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flight_id,
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waypoint_id,
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lat=waypoint.lat,
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lon=waypoint.lon,
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altitude=waypoint.altitude,
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confidence=waypoint.confidence,
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refined=waypoint.refined,
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)
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return UpdateResponse(updated=ok, waypoint_id=waypoint_id)
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async def batch_update_waypoints(
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self, flight_id: str, waypoints: list[Waypoint]
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) -> BatchUpdateResponse:
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failed = []
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updated = 0
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for wp in waypoints:
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ok = await self.repo.update_waypoint(
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flight_id,
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wp.id,
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lat=wp.lat,
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lon=wp.lon,
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altitude=wp.altitude,
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confidence=wp.confidence,
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refined=wp.refined,
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)
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if ok:
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updated += 1
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else:
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failed.append(wp.id)
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return BatchUpdateResponse(success=(len(failed) == 0), updated_count=updated, failed_ids=failed)
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async def queue_images(
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self, flight_id: str, metadata: BatchMetadata, file_count: int
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) -> BatchResponse:
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state = await self.repo.load_flight_state(flight_id)
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if state:
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total = state.frames_total + file_count
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await self.repo.save_flight_state(flight_id, frames_total=total, status="processing")
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next_seq = metadata.end_sequence + 1
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seqs = list(range(metadata.start_sequence, metadata.end_sequence + 1))
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return BatchResponse(
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accepted=True,
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sequences=seqs,
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next_expected=next_seq,
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message=f"Queued {file_count} images.",
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)
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async def handle_user_fix(self, flight_id: str, req: UserFixRequest) -> UserFixResponse:
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await self.repo.save_flight_state(flight_id, blocked=False, status="processing")
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return UserFixResponse(
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accepted=True, processing_resumed=True, message="Fix applied."
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)
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async def get_flight_status(self, flight_id: str) -> FlightStatusResponse | None:
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state = await self.repo.load_flight_state(flight_id)
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if not state:
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return None
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return FlightStatusResponse(
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status=state.status,
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frames_processed=state.frames_processed,
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frames_total=state.frames_total,
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current_frame=state.current_frame,
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current_heading=None, # would load from latest
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blocked=state.blocked,
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search_grid_size=state.search_grid_size,
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created_at=state.created_at,
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updated_at=state.updated_at,
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)
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async def convert_object_to_gps(
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self, flight_id: str, frame_id: int, pixel: tuple[float, float]
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) -> ObjectGPSResponse:
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# Dummy math
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return ObjectGPSResponse(
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gps=GPSPoint(lat=48.0, lon=37.0),
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accuracy_meters=5.0,
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frame_id=frame_id,
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pixel=pixel,
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)
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async def stream_events(self, flight_id: str, client_id: str):
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"""Async generator for SSE dummy stream."""
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from gps_denied.schemas.events import SSEEventType
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import json
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yield f"data: {json.dumps({'event': SSEEventType.FRAME_PROCESSED.value, 'data': {'msg': 'connected'}})}\n\n"
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for i in range(5):
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await asyncio.sleep(1)
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yield f"data: {json.dumps({'event': SSEEventType.FRAME_PROCESSED.value, 'data': {'frame_id': i, 'gps': {'lat': 48, 'lon': 37}, 'confidence': 0.9, 'timestamp': datetime.now(timezone.utc).isoformat()}})}\n\n"
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yield f"data: {json.dumps({'event': SSEEventType.FLIGHT_COMPLETED.value, 'data': {'frames_total': 5, 'frames_processed': 5}})}\n\n"
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