mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-04-22 07:06:38 +00:00
Denys Zaitsev
584 lines
24 KiB
Python
584 lines
24 KiB
Python
import logging
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import threading
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import time
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from datetime import datetime
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from typing import List, Optional, Dict, Any, Callable
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from pydantic import BaseModel, Field
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from abc import ABC, abstractmethod
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from sqlalchemy import create_engine, Column, String, Float, Boolean, DateTime, Integer, JSON, ForeignKey, Text
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from sqlalchemy.orm import declarative_base, sessionmaker, Session, relationship
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from sqlalchemy.exc import IntegrityError
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from sqlalchemy.pool import StaticPool
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from sqlalchemy import event
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from f02_1_flight_lifecycle_manager import Flight, Waypoint, GPSPoint, CameraParameters, Geofences, Polygon, FlightState
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logger = logging.getLogger(__name__)
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# --- Data Models ---
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class FrameResult(BaseModel):
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frame_id: int
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gps_center: GPSPoint
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altitude: Optional[float] = None
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heading: float
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confidence: float
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refined: bool = False
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timestamp: datetime
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updated_at: datetime = Field(default_factory=datetime.utcnow)
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class HeadingRecord(BaseModel):
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frame_id: int
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heading: float
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timestamp: datetime
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class BatchResult(BaseModel):
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success: bool
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updated_count: int
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failed_ids: List[str]
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class ChunkHandle(BaseModel):
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chunk_id: str
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start_frame_id: int
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end_frame_id: Optional[int] = None
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frames: List[int] = []
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is_active: bool = True
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has_anchor: bool = False
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anchor_frame_id: Optional[int] = None
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anchor_gps: Optional[GPSPoint] = None
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matching_status: str = 'unanchored'
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# --- SQLAlchemy ORM Models ---
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Base = declarative_base()
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class SQLFlight(Base):
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__tablename__ = 'flights'
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id = Column(String(36), primary_key=True)
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name = Column(String(255), nullable=False)
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description = Column(Text, default="")
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start_lat = Column(Float, nullable=False)
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start_lon = Column(Float, nullable=False)
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altitude = Column(Float, nullable=False)
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camera_params = Column(JSON, nullable=False)
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created_at = Column(DateTime, default=datetime.utcnow)
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updated_at = Column(DateTime, default=datetime.utcnow)
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class SQLWaypoint(Base):
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__tablename__ = 'waypoints'
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id = Column(String(36), primary_key=True)
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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lat = Column(Float, nullable=False)
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lon = Column(Float, nullable=False)
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altitude = Column(Float)
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confidence = Column(Float, nullable=False)
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timestamp = Column(DateTime, nullable=False)
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refined = Column(Boolean, default=False)
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class SQLGeofence(Base):
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__tablename__ = 'geofences'
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id = Column(String(36), primary_key=True)
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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nw_lat = Column(Float, nullable=False)
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nw_lon = Column(Float, nullable=False)
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se_lat = Column(Float, nullable=False)
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se_lon = Column(Float, nullable=False)
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class SQLFlightState(Base):
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__tablename__ = 'flight_state'
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), primary_key=True)
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status = Column(String(50), nullable=False)
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frames_processed = Column(Integer, default=0)
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frames_total = Column(Integer, default=0)
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current_frame = Column(Integer)
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blocked = Column(Boolean, default=False)
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search_grid_size = Column(Integer)
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created_at = Column(DateTime, default=datetime.utcnow)
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updated_at = Column(DateTime, default=datetime.utcnow)
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class SQLFrameResult(Base):
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__tablename__ = 'frame_results'
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id = Column(String(72), primary_key=True) # Composite key representation: {flight_id}_{frame_id}
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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frame_id = Column(Integer, nullable=False)
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gps_lat = Column(Float)
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gps_lon = Column(Float)
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altitude = Column(Float)
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heading = Column(Float)
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confidence = Column(Float)
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refined = Column(Boolean, default=False)
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timestamp = Column(DateTime)
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updated_at = Column(DateTime, default=datetime.utcnow)
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class SQLHeadingHistory(Base):
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__tablename__ = 'heading_history'
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id = Column(String(72), primary_key=True) # {flight_id}_{frame_id}
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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frame_id = Column(Integer, nullable=False)
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heading = Column(Float, nullable=False)
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timestamp = Column(DateTime, nullable=False)
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class SQLFlightImage(Base):
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__tablename__ = 'flight_images'
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id = Column(String(72), primary_key=True) # {flight_id}_{frame_id}
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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frame_id = Column(Integer, nullable=False)
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file_path = Column(String(500), nullable=False)
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metadata_json = Column(JSON)
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uploaded_at = Column(DateTime, default=datetime.utcnow)
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class SQLChunk(Base):
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__tablename__ = 'chunks'
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chunk_id = Column(String(36), primary_key=True)
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flight_id = Column(String(36), ForeignKey('flights.id', ondelete='CASCADE'), nullable=False)
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start_frame_id = Column(Integer, nullable=False)
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end_frame_id = Column(Integer)
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frames = Column(JSON, nullable=False)
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is_active = Column(Boolean, default=True)
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has_anchor = Column(Boolean, default=False)
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anchor_frame_id = Column(Integer)
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anchor_lat = Column(Float)
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anchor_lon = Column(Float)
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matching_status = Column(String(50), default='unanchored')
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created_at = Column(DateTime, default=datetime.utcnow)
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updated_at = Column(DateTime, default=datetime.utcnow)
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# --- Implementation ---
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class FlightDatabase:
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"""
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Provides transactional CRUD operations and state persistence over SQLAlchemy.
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Supports connection pooling and thread-safe batch transactions.
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"""
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def __init__(self, db_url: str = "sqlite:///:memory:"):
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connect_args = {"check_same_thread": False} if db_url.startswith("sqlite") else {}
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if db_url == "sqlite:///:memory:":
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self.engine = create_engine(db_url, connect_args=connect_args, poolclass=StaticPool)
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else:
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self.engine = create_engine(db_url, connect_args=connect_args)
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# Enable foreign key constraints for SQLite
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if db_url.startswith("sqlite"):
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@event.listens_for(self.engine, "connect")
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def set_sqlite_pragma(dbapi_connection, connection_record):
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cursor = dbapi_connection.cursor()
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cursor.execute("PRAGMA foreign_keys=ON")
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cursor.close()
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Base.metadata.create_all(self.engine)
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self.SessionLocal = sessionmaker(autocommit=False, autoflush=False, bind=self.engine)
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# Thread-local storage to coordinate active transactions
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self._local = threading.local()
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def _get_session(self) -> Session:
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if getattr(self._local, 'in_transaction', False):
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return self._local.session
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return self.SessionLocal()
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def _close_session_if_needed(self, session: Session):
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if not getattr(self._local, 'in_transaction', False):
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session.commit()
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session.close()
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def _rollback_if_needed(self, session: Session):
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if not getattr(self._local, 'in_transaction', False):
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session.rollback()
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session.close()
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def _get_connection(self) -> Session:
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"""Alias for _get_session to map to 03.01 spec naming conventions."""
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return self._get_session()
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def _release_connection(self, conn: Session):
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"""Alias to release connection back to the pool."""
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self._close_session_if_needed(conn)
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def _execute_with_retry(self, operation: Callable, retries: int = 3) -> Any:
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"""Executes a database operation with automatic retry on transient errors."""
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last_exception = None
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for attempt in range(retries):
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try:
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return operation()
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except Exception as e:
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last_exception = e
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time.sleep(0.1 * (2 ** attempt)) # Exponential backoff
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raise last_exception
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def _serialize_camera_params(self, params: CameraParameters) -> dict:
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return params.model_dump()
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def _deserialize_camera_params(self, jsonb: dict) -> CameraParameters:
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return CameraParameters(**jsonb)
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def _serialize_metadata(self, metadata: Dict) -> dict:
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return metadata
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def _deserialize_metadata(self, jsonb: dict) -> Dict:
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return jsonb if jsonb else {}
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def _serialize_chunk_frames(self, frames: List[int]) -> list:
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return frames
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def _deserialize_chunk_frames(self, jsonb: list) -> List[int]:
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return jsonb if jsonb else []
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def _build_flight_from_row(self, row: SQLFlight) -> Flight:
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return Flight(
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flight_id=row.id, flight_name=row.name,
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start_gps=GPSPoint(lat=row.start_lat, lon=row.start_lon),
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altitude_m=row.altitude, camera_params=self._deserialize_camera_params(row.camera_params)
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)
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def _build_waypoint_from_row(self, row: SQLWaypoint) -> Waypoint:
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return Waypoint(
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id=row.id, lat=row.lat, lon=row.lon, altitude=row.altitude,
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confidence=row.confidence, timestamp=row.timestamp, refined=row.refined
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)
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def _build_filter_query(self, query: Any, filters: Dict[str, Any]) -> Any:
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if filters:
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if "name" in filters:
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query = query.filter(SQLFlight.name.like(filters["name"]))
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if "status" in filters:
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query = query.join(SQLFlightState).filter(SQLFlightState.status == filters["status"])
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return query
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def _build_flight_state_from_row(self, row: SQLFlightState) -> FlightState:
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return FlightState(
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flight_id=row.flight_id, state=row.status,
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processed_images=row.frames_processed, total_images=row.frames_total
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)
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def _build_frame_result_from_row(self, row: SQLFrameResult) -> FrameResult:
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return FrameResult(
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frame_id=row.frame_id, gps_center=GPSPoint(lat=row.gps_lat, lon=row.gps_lon),
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altitude=row.altitude, heading=row.heading, confidence=row.confidence,
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refined=row.refined, timestamp=row.timestamp, updated_at=row.updated_at
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)
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def _build_heading_record_from_row(self, row: SQLHeadingHistory) -> HeadingRecord:
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return HeadingRecord(frame_id=row.frame_id, heading=row.heading, timestamp=row.timestamp)
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def _build_chunk_handle_from_row(self, row: SQLChunk) -> ChunkHandle:
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gps = GPSPoint(lat=row.anchor_lat, lon=row.anchor_lon) if row.anchor_lat is not None and row.anchor_lon is not None else None
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return ChunkHandle(
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chunk_id=row.chunk_id, start_frame_id=row.start_frame_id, end_frame_id=row.end_frame_id,
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frames=self._deserialize_chunk_frames(row.frames), is_active=row.is_active, has_anchor=row.has_anchor,
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anchor_frame_id=row.anchor_frame_id, anchor_gps=gps, matching_status=row.matching_status
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)
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def _upsert_flight_state(self, state: FlightState) -> bool:
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session = self._get_connection()
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try:
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state_obj = SQLFlightState(
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flight_id=state.flight_id, status=state.state,
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frames_processed=state.processed_images, frames_total=state.total_images
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)
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session.merge(state_obj)
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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def _upsert_frame_result(self, flight_id: str, result: FrameResult) -> bool:
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session = self._get_connection()
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try:
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fr = SQLFrameResult(
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id=f"{flight_id}_{result.frame_id}", flight_id=flight_id, frame_id=result.frame_id,
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gps_lat=result.gps_center.lat, gps_lon=result.gps_center.lon, altitude=result.altitude,
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heading=result.heading, confidence=result.confidence, refined=result.refined,
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timestamp=result.timestamp, updated_at=result.updated_at
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)
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session.merge(fr)
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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def _upsert_chunk_state(self, flight_id: str, chunk: ChunkHandle) -> bool:
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session = self._get_connection()
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try:
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anchor_lat = chunk.anchor_gps.lat if chunk.anchor_gps else None
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anchor_lon = chunk.anchor_gps.lon if chunk.anchor_gps else None
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c = SQLChunk(
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chunk_id=chunk.chunk_id, flight_id=flight_id, start_frame_id=chunk.start_frame_id,
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end_frame_id=chunk.end_frame_id, frames=self._serialize_chunk_frames(chunk.frames), is_active=chunk.is_active,
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has_anchor=chunk.has_anchor, anchor_frame_id=chunk.anchor_frame_id,
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anchor_lat=anchor_lat, anchor_lon=anchor_lon, matching_status=chunk.matching_status
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)
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session.merge(c)
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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# --- Transaction Support ---
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def execute_transaction(self, operations: List[Callable[[], None]]) -> bool:
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session = self.SessionLocal()
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self._local.session = session
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self._local.in_transaction = True
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try:
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for op in operations:
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op()
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session.commit()
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return True
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except Exception as e:
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session.rollback()
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logger.error(f"Transaction failed: {e}")
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return False
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finally:
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self._local.in_transaction = False
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self._local.session = None
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session.close()
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# --- Flight Operations ---
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def insert_flight(self, flight: Flight) -> str:
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def _do_insert():
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session = self._get_connection()
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try:
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sql_flight = SQLFlight(
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id=flight.flight_id, name=flight.flight_name, description=flight.flight_name,
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start_lat=flight.start_gps.lat, start_lon=flight.start_gps.lon,
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altitude=flight.altitude_m, camera_params=self._serialize_camera_params(flight.camera_params),
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created_at=flight.created_at, updated_at=flight.updated_at
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)
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session.add(sql_flight)
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self._release_connection(session)
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return flight.flight_id
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except IntegrityError as e:
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self._rollback_if_needed(session)
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raise ValueError(f"Duplicate flight or integrity error: {e}")
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except Exception as e:
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self._rollback_if_needed(session)
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raise e
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return self._execute_with_retry(_do_insert)
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def update_flight(self, flight: Flight) -> bool:
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session = self._get_connection()
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try:
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sql_flight = session.query(SQLFlight).filter_by(id=flight.flight_id).first()
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if not sql_flight:
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self._release_connection(session)
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return False
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sql_flight.name = flight.flight_name
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sql_flight.updated_at = datetime.utcnow()
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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def query_flights(self, filters: Dict[str, Any], limit: int, offset: int = 0) -> List[Flight]:
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session = self._get_connection()
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query = session.query(SQLFlight)
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query = self._build_filter_query(query, filters)
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sql_flights = query.offset(offset).limit(limit).all()
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flights = [self._build_flight_from_row(f) for f in sql_flights]
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self._release_connection(session)
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return flights
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def get_flight_by_id(self, flight_id: str) -> Optional[Flight]:
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session = self._get_connection()
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f = session.query(SQLFlight).filter_by(id=flight_id).first()
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if not f:
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self._release_connection(session)
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return None
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flight = self._build_flight_from_row(f)
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self._release_connection(session)
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return flight
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def delete_flight(self, flight_id: str) -> bool:
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session = self._get_connection()
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try:
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sql_flight = session.query(SQLFlight).filter_by(id=flight_id).first()
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if not sql_flight:
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self._release_connection(session)
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return False
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session.delete(sql_flight) # Cascade handles related rows
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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# --- Waypoint Operations ---
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def get_waypoints(self, flight_id: str, limit: Optional[int] = None) -> List[Waypoint]:
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session = self._get_connection()
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query = session.query(SQLWaypoint).filter_by(flight_id=flight_id).order_by(SQLWaypoint.timestamp)
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if limit:
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query = query.limit(limit)
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wps = [self._build_waypoint_from_row(w) for w in query.all()]
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self._release_connection(session)
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return wps
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def insert_waypoint(self, flight_id: str, waypoint: Waypoint) -> str:
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session = self._get_connection()
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try:
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sql_wp = SQLWaypoint(
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id=waypoint.id, flight_id=flight_id, lat=waypoint.lat, lon=waypoint.lon,
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altitude=waypoint.altitude, confidence=waypoint.confidence,
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timestamp=waypoint.timestamp, refined=waypoint.refined
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)
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session.merge(sql_wp)
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self._release_connection(session)
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return waypoint.id
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except Exception as e:
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self._rollback_if_needed(session)
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raise ValueError(f"Failed to insert waypoint: {e}")
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def update_waypoint(self, flight_id: str, waypoint_id: str, waypoint: Waypoint) -> bool:
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session = self._get_connection()
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try:
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wp = session.query(SQLWaypoint).filter_by(id=waypoint_id, flight_id=flight_id).first()
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if not wp:
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self._release_connection(session)
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return False
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wp.lat, wp.lon = waypoint.lat, waypoint.lon
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wp.altitude, wp.confidence = waypoint.altitude, waypoint.confidence
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wp.refined = waypoint.refined
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self._release_connection(session)
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return True
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except Exception:
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self._rollback_if_needed(session)
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return False
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|
|
def batch_update_waypoints(self, flight_id: str, waypoints: List[Waypoint]) -> BatchResult:
|
|
failed = []
|
|
def do_update():
|
|
for wp in waypoints:
|
|
success = self.update_waypoint(flight_id, wp.id, wp)
|
|
if not success: failed.append(wp.id)
|
|
|
|
success = self.execute_transaction([do_update])
|
|
if not success:
|
|
return BatchResult(success=False, updated_count=0, failed_ids=[w.id for w in waypoints])
|
|
return BatchResult(success=len(failed) == 0, updated_count=len(waypoints) - len(failed), failed_ids=failed)
|
|
|
|
# --- Flight State & auxiliary persistence ---
|
|
|
|
def save_flight_state(self, flight_state: FlightState) -> bool:
|
|
return self._execute_with_retry(lambda: self._upsert_flight_state(flight_state))
|
|
|
|
def load_flight_state(self, flight_id: str) -> Optional[FlightState]:
|
|
session = self._get_connection()
|
|
s = session.query(SQLFlightState).filter_by(flight_id=flight_id).first()
|
|
result = self._build_flight_state_from_row(s) if s else None
|
|
self._release_connection(session)
|
|
return result
|
|
|
|
def query_processing_history(self, filters: Dict[str, Any]) -> List[FlightState]:
|
|
session = self._get_connection()
|
|
query = session.query(SQLFlightState)
|
|
if filters:
|
|
if "status" in filters:
|
|
query = query.filter(SQLFlightState.status == filters["status"])
|
|
if "created_after" in filters:
|
|
query = query.filter(SQLFlightState.created_at >= filters["created_after"])
|
|
if "created_before" in filters:
|
|
query = query.filter(SQLFlightState.created_at <= filters["created_before"])
|
|
|
|
results = [self._build_flight_state_from_row(r) for r in query.all()]
|
|
self._release_connection(session)
|
|
return results
|
|
|
|
def save_frame_result(self, flight_id: str, frame_result: FrameResult) -> bool:
|
|
return self._execute_with_retry(lambda: self._upsert_frame_result(flight_id, frame_result))
|
|
|
|
def get_frame_results(self, flight_id: str) -> List[FrameResult]:
|
|
session = self._get_connection()
|
|
results = session.query(SQLFrameResult).filter_by(flight_id=flight_id).order_by(SQLFrameResult.frame_id).all()
|
|
parsed = [self._build_frame_result_from_row(r) for r in results]
|
|
self._release_connection(session)
|
|
return parsed
|
|
|
|
def save_heading(self, flight_id: str, frame_id: int, heading: float, timestamp: datetime) -> bool:
|
|
def _do_save():
|
|
session = self._get_connection()
|
|
try:
|
|
obj = SQLHeadingHistory(id=f"{flight_id}_{frame_id}", flight_id=flight_id, frame_id=frame_id, heading=heading, timestamp=timestamp)
|
|
session.merge(obj)
|
|
self._release_connection(session)
|
|
return True
|
|
except Exception:
|
|
self._rollback_if_needed(session)
|
|
return False
|
|
return self._execute_with_retry(_do_save)
|
|
|
|
def get_heading_history(self, flight_id: str, last_n: Optional[int] = None) -> List[HeadingRecord]:
|
|
session = self._get_connection()
|
|
query = session.query(SQLHeadingHistory).filter_by(flight_id=flight_id).order_by(SQLHeadingHistory.frame_id.desc())
|
|
if last_n: query = query.limit(last_n)
|
|
results = [self._build_heading_record_from_row(r) for r in query.all()]
|
|
self._release_connection(session)
|
|
return results
|
|
|
|
def get_latest_heading(self, flight_id: str) -> Optional[float]:
|
|
session = self._get_connection()
|
|
h = session.query(SQLHeadingHistory).filter_by(flight_id=flight_id).order_by(SQLHeadingHistory.frame_id.desc()).first()
|
|
result = h.heading if h else None
|
|
self._release_connection(session)
|
|
return result
|
|
|
|
def save_image_metadata(self, flight_id: str, frame_id: int, file_path: str, metadata: Dict) -> bool:
|
|
def _do_save():
|
|
session = self._get_connection()
|
|
try:
|
|
img = SQLFlightImage(id=f"{flight_id}_{frame_id}", flight_id=flight_id, frame_id=frame_id, file_path=file_path, metadata_json=self._serialize_metadata(metadata))
|
|
session.merge(img)
|
|
self._release_connection(session)
|
|
return True
|
|
except Exception:
|
|
self._rollback_if_needed(session)
|
|
return False
|
|
return self._execute_with_retry(_do_save)
|
|
|
|
def get_image_path(self, flight_id: str, frame_id: int) -> Optional[str]:
|
|
session = self._get_connection()
|
|
img = session.query(SQLFlightImage).filter_by(flight_id=flight_id, frame_id=frame_id).first()
|
|
result = img.file_path if img else None
|
|
self._release_connection(session)
|
|
return result
|
|
|
|
def get_image_metadata(self, flight_id: str, frame_id: int) -> Optional[Dict]:
|
|
session = self._get_connection()
|
|
img = session.query(SQLFlightImage).filter_by(flight_id=flight_id, frame_id=frame_id).first()
|
|
result = self._deserialize_metadata(img.metadata_json) if img else None
|
|
self._release_connection(session)
|
|
return result
|
|
|
|
def save_chunk_state(self, flight_id: str, chunk: ChunkHandle) -> bool:
|
|
return self._execute_with_retry(lambda: self._upsert_chunk_state(flight_id, chunk))
|
|
|
|
def load_chunk_states(self, flight_id: str) -> List[ChunkHandle]:
|
|
session = self._get_connection()
|
|
sql_chunks = session.query(SQLChunk).filter_by(flight_id=flight_id).all()
|
|
handles = [self._build_chunk_handle_from_row(c) for c in sql_chunks]
|
|
self._release_connection(session)
|
|
return handles
|
|
|
|
def delete_chunk_state(self, flight_id: str, chunk_id: str) -> bool:
|
|
session = self._get_connection()
|
|
try:
|
|
chunk = session.query(SQLChunk).filter_by(flight_id=flight_id, chunk_id=chunk_id).first()
|
|
if not chunk:
|
|
self._release_connection(session)
|
|
return False
|
|
session.delete(chunk)
|
|
self._release_connection(session)
|
|
return True
|
|
except Exception:
|
|
self._rollback_if_needed(session)
|
|
return False |