mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:31:13 +00:00
Yuzviak
0bb94da3c4
- app.py: replace inline component wiring with build_pipeline(env=cfg.env) - Store processor as app.state.processor (and backwards-compat pipeline_components) - RuntimeConfig replaces get_settings(); MAVLink stop() on shutdown - deps.py: get_flight_processor prefers app.state.processor from lifespan - Falls back to build_pipeline() for test contexts without lifespan - Per-request repo/streamer swap preserved
77 lines
2.1 KiB
Python
77 lines
2.1 KiB
Python
"""FastAPI application factory."""
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import logging
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from contextlib import asynccontextmanager
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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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from gps_denied.config import RuntimeConfig
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from gps_denied.pipeline import build_pipeline
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logger = logging.getLogger(__name__)
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@asynccontextmanager
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async def lifespan(app: FastAPI):
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"""Initialise core pipeline components on startup via build_pipeline."""
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cfg = RuntimeConfig()
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processor = build_pipeline(env=cfg.env, config=cfg)
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# Retrieve MAVLink bridge from processor internals for lifecycle management
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mavlink = processor._mavlink
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app.state.processor = processor
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app.state.config = cfg
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# Keep backwards-compat key so any code reading pipeline_components still works
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app.state.pipeline_components = {
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"vo": processor._vo,
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"gpr": processor._gpr,
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"metric": processor._metric,
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"graph": processor._graph,
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"recovery": processor._recovery,
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"chunk_mgr": processor._chunk_mgr,
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"rotation": processor._rotation,
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"coord": processor._coord,
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"satellite": processor._satellite,
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"mavlink": mavlink,
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}
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app.state.eskf_config = processor._eskf_config
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logger.info(
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"Pipeline ready — env=%s, MAVLink: %s, tiles: %s",
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cfg.env, cfg.mavlink.connection, cfg.satellite.tile_dir,
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)
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yield
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# Cleanup MAVLink on shutdown
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if mavlink is not None:
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try:
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await mavlink.stop()
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except Exception:
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pass
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app.state.pipeline_components = None
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def create_app() -> FastAPI:
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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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lifespan=lifespan,
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)
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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 app
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app = create_app()
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