Spring 2024 final merge

.github/CODEOWNERS

@@ -0,0 +1,2 @@
+# Code owners for the entire repository
+* @ankyAgrawal @BohanZhang1 @mohamdlog @yashaswini-slu

.github/workflows/backend-ci.yml

@@ -0,0 +1,55 @@
+name: Backend CI
+
+on:
+  push:
+    branches:
+      - main
+      - docker-main
+  pull_request:
+    branches:
+      - main
+      - docker-main
+
+jobs:
+  backend-setup:
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        python-version: [3.10]
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Cache pip dependencies
+      uses: actions/cache@v2
+      with:
+        path: ~/.cache/pip
+        key: ${{ runner.os }}-pip-${{ matrix.python-version }}-${{ hashFiles('**/requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-${{ matrix.python-version }}-
+
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r backend/requirements.txt
+
+    - name: Lint backend code
+      run: |
+        pip install flake8
+        flake8 backend/ --max-line-length 160 --ignore E127,E251,E302,E501,E261,E262,E265,F401,F403,F405,F841,W293,E128,E303,E305,W292,E122,W391,E111,E117,E301,E125,E222,E226,E201,E203,E202,E721,W503,W504,E272,E126,E225,W291,E211,E231,E722,W191,E712,F523,E402,E306
+
+    - name: Format backend code with Black
+      run: |
+        pip install black
+        black backend/
+
+    - name: Perform Dependency Audit
+      run: |
+        pip install safety
+        safety check -r backend/requirements.txt

.github/workflows/frontend-ci.yml

@@ -0,0 +1,57 @@
+name: Frontend CI
+
+on:
+  push:
+    branches:
+      - main
+      - docker-main 
+  pull_request:
+    branches:
+      - main
+      - docker-main 
+
+jobs:
+  frontend-setup:
+    runs-on: windows-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Cache Node.js modules
+      uses: actions/cache@v2
+      with:
+        path: ~/.npm
+        key: ${{ runner.os }}-npm-${{ hashFiles('**/package-lock.json') }}
+        restore-keys: |
+          ${{ runner.os }}-npm-
+
+    - name: Set up Node.js
+      uses: actions/setup-node@v2
+      with:
+        node-version: '16'
+
+    - name: Install dependencies
+      run: |
+        cd frontend
+        npm install
+
+    - name: Lint frontend code
+      run: |
+        cd frontend
+        npm run lint
+
+    - name: Format frontend code with Prettier
+      run: |
+        cd frontend
+        npm run format
+
+    - name: Build frontend
+      run: |
+        cd frontend
+        npm run build
+
+    - name: Run ESLint Security Checks
+      run: |
+        cd frontend
+        npm audit --omit=dev --audit-level=critical || true

.gitignore

@@ -0,0 +1,50 @@
+# Ignore Visual Studio files
+.vs/
+
+# Ignore virtual environments
+backend/venv/
+
+# Ignore Node.js dependencies
+node_modules/
+
+# Ignore Python bytecode files and __pycache__ directories globally
+*.pyc
+__pycache__/
+
+# Ignore backend-specific files
+backend/*.csv
+backend/*.html
+backend/*.png
+backend/*.jpg
+
+# Frontend ignores
+# dependencies
+frontend/node_modules
+frontend/.pnp
+frontend/.pnp.js
+
+# testing
+frontend/coverage
+
+# production
+frontend/build
+
+# misc
+frontend/.DS_Store
+frontend/.env.local
+frontend/.env.development.local
+frontend/.env.test.local
+frontend/.env.production.local
+
+frontend/npm-debug.log*
+frontend/yarn-debug.log*
+frontend/yarn-error.log*
+
+# Ignore frontend package-lock.json
+frontend/package-lock.json
+
+# Ignore Windows system file
+desktop.ini
+
+# Ignore Google Cloud service account key
+key.json

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Open Source with SLU
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

backend/PythonClient/multirotor/airsim_application.py

@@ -5,11 +5,14 @@
 from abc import abstractmethod
 
 from PythonClient import airsim
-
+from PythonClient.multirotor.storage.storage_config import get_storage_service
 
 class AirSimApplication:
     # Parent class for all airsim client side mission and monitors
     def __init__(self):
+        # Set up the storage service
+        self.storage_service = get_storage_service()
+
         self.circular_mission_names = {"FlyInCircle"}
         self.polygon_mission_names = {"FlyToPoints", "FlyToPointsGeo"}
         self.point_mission_names = {"FlyStraight"}
@@ -59,6 +62,13 @@ def append_pass_to_log(self, new_log_string):
     def save_report(self):
         pass
 
+    def save_report_to_storage(self, file_name, content, content_type='text/plain'):
+        """
+        Saves the content as a report and uploads it using the storage service.
+        Uses the upload_to_service method of the storage service.
+        """
+        self.storage_service.upload_to_service(file_name, content, content_type)
+
     def save_pic(self, picture):
         self.snap_shots.append(picture)
 
@@ -104,4 +114,4 @@ def get_cesium_origin(self):
         lat = data["latitude"]
         lon = data["longitude"]
         height = data["height"]
-        return [lat, lon, height]
+        return [lat, lon, height]

backend/PythonClient/multirotor/control/simulation_task_manager.py

@@ -158,6 +158,7 @@ def add_task(self, raw_request_json, uuid):
                 json.dump(raw_request_json, f, indent=4)
 
     def __populate_drone_and_mission_settings(self, new_setting_dot_json, raw_request_json):
+        print(new_setting_dot_json)
         for single_drone_setting in raw_request_json["Drones"]:
             # Must-exist params for setting.json or mission dispatch
             single_drone_setting_copy = copy.deepcopy(single_drone_setting)
@@ -180,10 +181,36 @@ def __populate_drone_and_mission_settings(self, new_setting_dot_json, raw_reques
 
             diff_dict = self.__find_diff(single_drone_setting_copy, self.__DEFAULT_DRONE_FULL_LENGTH)
 
+            if "Sensors" in single_drone_setting:
+                diff_dict["Sensors"] = diff_dict.get("Sensors", {})
+                if "Barometer" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["Barometer"] = single_drone_setting["Sensors"]["Barometer"]
+                if "Magnetometer" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["Magnetometer"] = single_drone_setting["Sensors"]["Magnetometer"]
+                if "GPS" in single_drone_setting["Sensors"]:
+                    diff_dict["Sensors"]["GPS"] = single_drone_setting["Sensors"]["GPS"]
+
             new_one_drone_json = {
-                drone_name: dict(VehicleType="SimpleFlight", X=drone_x, Y=drone_y, Z=drone_z)
+                drone_name: dict(FlightController="SimpleFlight", X=drone_x, Y=drone_y, Z=drone_z)
             }
 
+            # # GPS settings
+            # if "GPS" in single_drone_setting["Sensors"]:
+            #     diff_dict["Sensors"]["GPS"] = {
+            #         "EphTimeConstant": single_drone_setting["Sensors"]["GPS"].get("EphTimeConstant", 0.9),
+            #         "EpvTimeConstant": single_drone_setting["Sensors"]["GPS"].get("EpvTimeConstant", 0.9),
+            #         "EphInitial": single_drone_setting["Sensors"]["GPS"].get("EphInitial", 25),
+            #         "EpvInitial": single_drone_setting["Sensors"]["GPS"].get("EpvInitial", 25),
+            #         "EphFinal": single_drone_setting["Sensors"]["GPS"].get("EphFinal", 0.1),
+            #         "EpvFinal": single_drone_setting["Sensors"]["GPS"].get("EpvFinal", 0.1),
+            #         "EphMin3d": single_drone_setting["Sensors"]["GPS"].get("EphMin3d", 3),
+            #         "EphMin2d": single_drone_setting["Sensors"]["GPS"].get("EphMin2d", 4),
+            #         "UpdateLatency": single_drone_setting["Sensors"]["GPS"].get("UpdateLatency", 0.2),
+            #         "UpdateFrequency": single_drone_setting["Sensors"]["GPS"].get("UpdateFrequency", 50),
+            #         "StartupDelay": single_drone_setting["Sensors"]["GPS"].get("StartupDelay", 1),
+            #     }
+
+
             new_one_drone_json[drone_name].update(diff_dict)
             new_setting_dot_json['Vehicles'].update(new_one_drone_json)
         self.__drone_positions_seen.clear()  # clear the duplicate drone position list
@@ -195,8 +222,8 @@ def __handle_wind_settings(self, new_setting_dot_json, raw_request_json):
                 # wind vector already handled in run_fuzzy_test_batch
             else:
                 wind = raw_request_json['environment']['Wind']
-                if "Force" in wind:
-                    wind_vector = self.__string_to_wind_vector(wind["Distance"], wind["Force"])
+                if "Velocity" in wind:
+                    wind_vector = self.__string_to_wind_vector(wind["Direction"], wind["Velocity"])
                     new_setting_dot_json['Wind'] = {'X': wind_vector[0], 'Y': wind_vector[1], 'Z': wind_vector[2]}
                 elif not (wind['X'] == 0 and wind['Y'] == 0 and wind['Z'] == 0):
                     new_setting_dot_json['Wind'] = raw_request_json['environment']['Wind']
@@ -392,7 +419,7 @@ def __create_global_monitor_threads(self, monitor_list):
                 start_threads.append(threading.Thread(target=monitor_instance.start))
                 stop_threads.append(threading.Thread(target=monitor_instance.stop))
         return start_threads, stop_threads
-
+    
     @staticmethod
     def __get_class_instance(class_name, module_name):
         module = importlib.import_module("PythonClient.multirotor." + module_name + "." + class_name)
@@ -401,7 +428,7 @@ def __get_class_instance(class_name, module_name):
     @staticmethod
     def __create_default_drone_full_length_reqeust():
         return dict(
-            VehicleType="SimpleFlight", DefaultVehicleState="Armed", PawnPath="",
+            FlightController="SimpleFlight", DefaultVehicleState="Armed", PawnPath="",
             EnableCollisionPassthrogh=False, EnableCollisions=True,
             AllowAPIAlways=True, EnableTrace=False, Name="Drone1", Mission={},
             X=0, Y=0, Z=0, Pitch=0, Roll=0, Yaw=0)
@@ -445,23 +472,23 @@ def __set_fuzzy_wind_vector(wind_magnitude):
         return [x, y, 0]
 
     @staticmethod
-    def __string_to_wind_vector(direction, force):
+    def __string_to_wind_vector(direction, velocity):
         if direction == 'N':
-            return [force, 0, 0]
+            return [velocity, 0, 0]
         elif direction == 'S':
-            return [-force, 0, 0]
+            return [-velocity, 0, 0]
         elif direction == 'E':
-            return [0, force, 0]
+            return [0, velocity, 0]
         elif direction == 'W':
-            return [0, -force, 0]
+            return [0, -velocity, 0]
         elif direction == 'NE':
-            return [force / 2 ** 0.5, force / 2 ** 0.5, 0]
+            return [velocity / 2 ** 0.5, velocity / 2 ** 0.5, 0]
         elif direction == 'NW':
-            return [force / 2 ** 0.5, -force / 2 ** 0.5, 0]
+            return [velocity / 2 ** 0.5, -velocity / 2 ** 0.5, 0]
         elif direction == 'SE':
-            return [-force / 2 ** 0.5, force / 2 ** 0.5, 0]
+            return [-velocity / 2 ** 0.5, velocity / 2 ** 0.5, 0]
         elif direction == 'SW':
-            return [-force / 2 ** 0.5, -force / 2 ** 0.5, 0]
+            return [-velocity / 2 ** 0.5, -velocity / 2 ** 0.5, 0]
         else:
             return [0, 0, 0]
 
@@ -502,7 +529,7 @@ def __environment_check():
                 "SimMode": "Multirotor",
                 "Vehicles": {
                     "Drone1": {
-                        "VehicleType": "SimpleFlight",
+                        "FlightController": "SimpleFlight",
                         "X": 0,
                         "Y": 0,
                         "Z": 0

backend/PythonClient/multirotor/mission/abstract/abstract_mission.py

@@ -2,10 +2,8 @@
 import os
 import threading
 from enum import Enum
-
 from PythonClient.multirotor.airsim_application import AirSimApplication
 
-
 lock = threading.Lock()
 
 
@@ -34,24 +32,17 @@ def async_fly_to_position(self, drone_name, point, speed):
 
     def save_report(self):
         with lock:
-            log_dir = os.path.join(self.dir_path, self.log_subdir, self.__class__.__name__)
-            # print("DEBUG:" + log_dir)
-            if not os.path.exists(log_dir):
-                try:
-                    os.makedirs(log_dir)
-                except:
-                    print("Folder exist, thread unsafe")
+            # Directly create the file name for GCS
+            file_name = self.__class__.__name__ + "_" + self.target_drone + "_log.txt"
+            gcs_path = f"{self.log_subdir}/{self.__class__.__name__}/{file_name}"
 
-            with open(log_dir + os.sep + self.__class__.__name__ + "_" + self.target_drone + "_log.txt", 'w') as outfile:
-                outfile.write(self.log_text)
+            # Upload directly to GCS (log_text is uploaded as file content)
+            self.save_report_to_storage(gcs_path, self.log_text)
 
     def kill_mission(self):
         self.state = self.State.END
         # kill all threads
 
 
-
-
-
 if __name__ == '__main__':
-    mission = GenericMission()
+    mission = GenericMission()