mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-23 00:16:37 +00:00
Yuzviak
64 lines
2.0 KiB
Python
64 lines
2.0 KiB
Python
"""FastAPI application factory."""
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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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@asynccontextmanager
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async def lifespan(app: FastAPI):
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"""Initialise core pipeline components on startup."""
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from gps_denied.core.models import ModelManager
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from gps_denied.core.vo import SequentialVisualOdometry
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from gps_denied.core.gpr import GlobalPlaceRecognition
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from gps_denied.core.metric import MetricRefinement
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from gps_denied.core.graph import FactorGraphOptimizer
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from gps_denied.core.chunk_manager import RouteChunkManager
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from gps_denied.core.recovery import FailureRecoveryCoordinator
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from gps_denied.core.rotation import ImageRotationManager
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from gps_denied.schemas.graph import FactorGraphConfig
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mm = ModelManager()
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vo = SequentialVisualOdometry(mm)
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gpr = GlobalPlaceRecognition(mm)
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metric = MetricRefinement(mm)
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graph = FactorGraphOptimizer(FactorGraphConfig())
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chunk_mgr = RouteChunkManager(graph)
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recovery = FailureRecoveryCoordinator(chunk_mgr, gpr, metric)
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rotation = ImageRotationManager(mm)
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# Store on app.state so deps can access them
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app.state.pipeline_components = {
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"vo": vo, "gpr": gpr, "metric": metric,
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"graph": graph, "recovery": recovery,
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"chunk_mgr": chunk_mgr, "rotation": rotation,
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}
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yield
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# Cleanup
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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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