gps-denied-onboard/main.py

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)