EXPEREMENTAL: Backendserver replaced by Server dataclasss

CaSSAndRA/app.py

@@ -13,7 +13,9 @@
 from logging.handlers import RotatingFileHandler
 
 # local imports
+from src.pathdata import paths
 from src.backend import backendserver
+from src.backend.server import cassandra
 
 # logging setup
 logger = logging.getLogger(__name__)
@@ -48,7 +50,8 @@ def __init__(self):
     signal.signal(signal.SIGTERM, self.exit_gracefully)
 
   def exit_gracefully(self, *args):
-    backendserver.stop()
+    #backendserver.stop()
+    cassandra.stop()
     self.kill_now = True
 
 default_data_path = os.path.join(os.path.expanduser('~'), '.cassandra')
@@ -121,12 +124,16 @@ def start(host, port, proxy, data_path, debug, app_log_level, app_log_file_level
 
         # initialize data files
         file_paths = init_data(data_path)
+        paths.set(file_paths)
 
         # logging config
         config_logging(file_paths.log, app_log_level, app_log_file_level, server_log_level, pil_log_level)
 
         # start backend server
-        backendserver.start(file_paths)
+        cassandra.setup(file_paths)
+        cassandra.run()
+        #backendserver.start(file_paths)
+
 
         assets_path = os.path.abspath(os.path.dirname(__file__)) +'/src/assets'
         app = dash.Dash(

CaSSAndRA/src/backend/backendserver.py

@@ -5,6 +5,7 @@
 import time
 import os
 
+from src.pathdata import paths
 from . data import saveddata, calceddata, cleandata, cfgdata, logdata
 from . data.scheduledata import schedule_tasks
 from . comm.connections import mqttcomm, httpcomm, uartcomm, mqttapi
@@ -15,17 +16,6 @@
 
 restart = threading.Event()
 
-# def slow_tasks(restart: threading.ExceptHookArgs) -> None:
-#     start_time_slow_tasks = datetime.now()
-#     time_to_wait = 1
-#     while True:
-#         if restart.is_set():
-#             logger.info('Slow tasks thread is stopped')
-#             return
-#         if (datetime.now() - start_time_slow_tasks).seconds >= 30*time_to_wait:
-#             robot.calc_seconds_per_idx()
-#         time.sleep(1)
-
 def message_service(restart: threading.ExceptHookArgs) -> None:
     while True:
         if restart.is_set():
@@ -193,12 +183,7 @@ def start(file_paths) -> None:
 
     logger.info('Backend: Read communication config file')
 
-    # todo: this should be refactored so the class is initialized with correct data immediately
-    logdata.commlog.path = file_paths.log
-
     # initialize config data
-    # todo: this should be a class or refactored in some way to avoid circular dependencies
-    cfgdata.file_paths = file_paths
     connect_data = cfgdata.commcfg.read_commcfg()
     cfgdata.rovercfg.read_rovercfg()
     cfgdata.pathplannercfg.read_pathplannercfg()
@@ -210,13 +195,13 @@ def start(file_paths) -> None:
     cfgdata.schedulecfg.read_schedulecfg()
 
     # todo: saveddata should probably be a class instead
-    saveddata.file_paths = file_paths
+    saveddata.file_paths = paths.file_paths
     logger.info('Backend: Read saved data')
-    saveddata.read(file_paths.measure)
+    saveddata.read(paths.file_paths.measure)
     logger.info('Backend: Read map data file')
-    saveddata.read_perimeter(file_paths.map)
+    saveddata.read_perimeter(paths.file_paths.map)
     logger.info('Backend: Read tasks data file')
-    saveddata.read_tasks(file_paths.map)
+    saveddata.read_tasks(paths.file_paths.map)
 
     #read schedule tasks
     schedule_tasks.load_task_order(cfgdata.schedulecfg)
@@ -321,12 +306,6 @@ def start(file_paths) -> None:
     schedule_thread.daemon = True
     schedule_thread.start()
 
-    #start an own thre for slow tasks
-    # logger.info('Starting thread for slow tasks')
-    # slow_tasks_thread = threading.Thread(target=slow_tasks, args=(restart,), name='slow tasks')
-    # slow_tasks_thread.daemon = True
-    # slow_tasks_thread.start()
-
     #give some times to establish connection
     time.sleep(2)
 
@@ -341,7 +320,7 @@ def reboot() -> None:
                 data_storage_running = True
     time.sleep(5)
     restart.clear()
-    start(cfgdata.file_paths)
+    start(paths.file_paths)
 
 def stop() -> None:
     logger.info('Backendserver is being shut down')

CaSSAndRA/src/backend/comm/api.py

@@ -42,6 +42,9 @@ class API:
 
     def create_api_payload(self) -> None:
         self.apistate = 'ready'
+
+    def create_server_payload(self) -> None:
+        pass
 
     def create_robot_payload(self) -> None:
         self.robotstate['firmware'] = robot.fw

CaSSAndRA/src/backend/data/cfgdata.py

@@ -9,7 +9,8 @@
 import pandas as pd
 from PIL import Image
 
-file_paths = None
+# local imports
+from src.pathdata import paths
 
 #commcfg class
 @dataclass
@@ -40,7 +41,7 @@ class CommCfg:
 
     def read_commcfg(self) -> dict:
         try:
-            with open(file_paths.user.comm) as f: 
+            with open(paths.file_paths.user.comm) as f: 
                 commcfg_from_file = json.load(f)
                 f.close()
                 logger.debug('Backend: commcfg to read: '+ str(commcfg_from_file))
@@ -72,7 +73,7 @@ def read_commcfg(self) -> dict:
             logger.error('Could not read commcfg.json. Missing commcfg.json. Go with standard values')
             logger.debug(str(e))
             res = self.save_commcfg()
-            with open (file_paths.user.comm) as f: 
+            with open (paths.file_paths.user.comm) as f: 
                 commcfg_from_file = json.load(f)
                 f.close()
                 return commcfg_from_file
@@ -107,7 +108,7 @@ def save_commcfg(self) -> None:
                                     {'CHAT_ID': self.telegram_chat_id}]
             new_data['PUSHOVER'] = [{'TOKEN': self.pushover_token},
                                     {'USER': self.pushover_user}]
-            with open(file_paths.user.comm, 'w') as f:
+            with open(paths.file_paths.user.comm, 'w') as f:
                 logger.debug('New commcfg data: '+str(new_data))
                 json.dump(new_data, f, indent=4)
             logger.info('commcfg data are successfully stored in commcfg.json')
@@ -134,7 +135,7 @@ class AppCfg:
 
     def read_appcfg(self) -> None:
         try:
-            with open(file_paths.user.appcfg) as f: 
+            with open(paths.file_paths.user.appcfg) as f: 
                 appcfg_from_file = json.load(f)
                 f.close()
         except Exception as e:
@@ -171,7 +172,7 @@ def save_appcfg(self) -> int:
             new_data['obstacles_amount'] = self.obstacles_amount
             new_data['light_mode'] = self.light_mode
             new_data['rover_picture_size'] = self.rover_picture_size
-            with open(file_paths.user.appcfg, 'w') as f:
+            with open(paths.file_paths.user.appcfg, 'w') as f:
                 logger.debug('New appcfg data: '+str(new_data))
                 json.dump(new_data, f, indent=4)
             logger.info('appcfg data are successfully stored in appcfg.json')
@@ -198,7 +199,7 @@ class RoverCfg:
 
     def read_rovercfg(self) -> None:
         try:
-            with open(file_paths.user.rovercfg) as f: 
+            with open(paths.file_paths.user.rovercfg) as f: 
                 rovercfg_from_file = json.load(f)
                 f.close()
         except Exception as e:
@@ -229,7 +230,7 @@ def save_rovercfg(self) -> int:
             new_data['lat'] = self.lat
             new_data['fix_timeout'] = self.fix_timeout
             new_data['finish_and_restart'] = self.finish_and_restart
-            with open(file_paths.user.rovercfg, 'w') as f:
+            with open(paths.file_paths.user.rovercfg, 'w') as f:
                 logger.debug('New rovercfg data: '+str(new_data))
                 json.dump(new_data, f, indent=4)
             logger.info('rovercfg data are successfully stored in rovercfg.json')
@@ -253,7 +254,7 @@ class PathPlannerCfg:
 
     def read_pathplannercfg(self) -> None:
         try:
-            with open(file_paths.user.pathplannercfg) as f: 
+            with open(paths.file_paths.user.pathplannercfg) as f: 
                 pathplannercfg_from_file = json.load(f)
                 f.close()
         except Exception as e:
@@ -286,7 +287,7 @@ def save_pathplannercfg(self) -> int:
             new_data['mowborder'] = self.mowborder
             new_data['mowexclusion'] = self.mowexclusion
             new_data['mowborderccw'] = self.mowborderccw
-            with open(file_paths.user.pathplannercfg, 'w') as f:
+            with open(paths.file_paths.user.pathplannercfg, 'w') as f:
                 logger.debug('New pathplannercfg data: '+str(new_data))
                 json.dump(new_data, f, indent=4)
             logger.info('pathplannercfg data are successfully stored in pathplannercfg.json')
@@ -344,7 +345,7 @@ def reset_schedulecfg(self) -> None:
 
     def read_schedulecfg(self) -> None:
         try:
-            with open(file_paths.user.schedulecfg) as f: 
+            with open(paths.file_paths.user.schedulecfg) as f: 
                 schedulecfg_from_file = json.load(f)
                 f.close()
         except Exception as e:
@@ -393,7 +394,7 @@ def save_schedulecfg(self) -> int:
                                  {'saturday': self.saturday_tasks},
                                  {'sunday': self.sunday_tasks}
                                 ]
-            with open(file_paths.user.schedulecfg, 'w') as f:
+            with open(paths.file_paths.user.schedulecfg, 'w') as f:
                 logger.debug('New schedulecfg data: '+str(new_data))
                 json.dump(new_data, f, indent=4)
             logger.info('Schedulecfg data are successfully stored in schedulecfg.json')

CaSSAndRA/src/backend/data/logdata.py

@@ -1,17 +1,22 @@
 import logging
 logger = logging.getLogger(__name__)
 
+# imports
 import pandas as pd
 from datetime import datetime
 from dataclasses import dataclass, field
 import os
 
+# local imports
+from src.pathdata import paths
+
 ABSOLUTE_PATH = os.path.dirname(__file__)
 
 @dataclass
 class Log():
     lastdata: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
-    path = ABSOLUTE_PATH.replace('/src/backend/data', '/src/data/log/cassandra.log')
+    #path = ABSOLUTE_PATH.replace('/src/backend/data', '/src/data/log/cassandra.log')
+    path: str = paths.log
 
     def read(self) -> None:
         try:

CaSSAndRA/src/backend/data/roverdata.py

@@ -51,10 +51,7 @@ class Mower:
     last_cmd: pd.DataFrame = field(default_factory=lambda: pd.DataFrame([{'msg': 'AT+C,-1,-1,-1,-1,-1,-1,-1,-1'}]))
     last_task_name: str = 'no task'
     current_task: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
-    map_upload_started: bool = False
-    map_upload_failed: bool = False
     map_old_crc: int = None
-    map_upload_cnt: int = 0
     mowprogress: float = 0.0
     last_position_mow_point_index: int = None
     measured_time_since_last_position_index_change = None
@@ -68,7 +65,6 @@ class Mower:
     status_tmp_timestamp: datetime = datetime.now()
     sensor_status: str = 'unknown'
     position_age_hr = '99+d'
-    dock_reason_operator: bool = False
     dock_reason: str = None
     dock_reason_time: datetime = datetime.now()
 
@@ -251,7 +247,7 @@ def set_rover_image(self) -> None:
 
     def check_dock_reason(self) -> None:
         if self.job == 4: 
-            if self.dock_reason_operator:
+            if self.dock_reason != None:
                 pass
             elif self.sensor == 18:
                 self.dock_reason = 'temperature'
@@ -263,7 +259,6 @@ def check_dock_reason(self) -> None:
                 self.dock_reason = 'low battery'
             self.dock_reason_time = datetime.now()
         elif (self.job == 2 and (datetime.now() - self.dock_reason_time).seconds >= 3600) or (self.job != 4 and self.job != 2):
-            self.dock_reason_operator = False
             self.dock_reason = None
             self.dock_reason_time = datetime.now()