Added file transfer (server => copter)

Server/app_routes/file_sender.py

@@ -1,17 +1,11 @@
+import os
+from json import loads
 from flask import Blueprint, request, jsonify
 from web_server_models import copters
 
 file_sender_api = Blueprint('file_sender_api', __name__, template_folder='templates')
 
 
-@file_sender_api.route('/set/animation', methods=['GET', 'POST'])
-def set_animation():
-    if request.method == 'POST':
-        f = request.files['file']
-        print(f, 'ip', request.args.get('ip'))
-    return jsonify({'m': 'ok'})
-
-
 @file_sender_api.route('/set/config', methods=['GET', 'POST'])
 def set_config():
     if request.method == 'POST':
@@ -23,6 +17,30 @@ def set_config():
 @file_sender_api.route('/set/aruco', methods=['GET', 'POST'])
 def set_aruco():
     if request.method == 'POST':
-        f = request.files['file']
-        print(f, 'ip', request.args.get('ip'))
+        for key_name in request.files.keys():
+            request.files[key_name].save(os.path.join('files', key_name))
+            for ip in loads(request.args.get('ips')):
+                for copter in copters:
+                    if copter.ip == ip:
+                        copter.client.send_file('files/' + key_name, "/home/pi/catkin_ws/src/clever/aruco_pose/map/animation_map.txt")
+                        copter.client.send_message("service_restart", {"name": "clever"})
+            os.remove('files/' + key_name)
+    return jsonify({'m': 'ok'})
+
+
+@file_sender_api.route('/set/animation', methods=['GET', 'POST'])
+def set_animation():
+    if request.method == 'POST':
+        files = []
+        names = []
+        for key_name in request.files.keys():
+            names.append(key_name.replace('.csv', ''))
+            request.files[key_name].save(os.path.join('files', key_name))
+            files.append('files/' + key_name)
+        for file, name in zip(files, names):
+            for copter in copters:
+                if name == copter.name:
+                    copter.client.send_file(file, "animation.csv")
+        for filename in files:
+            os.remove(filename)
     return jsonify({'m': 'ok'})

Server/app_routes/misc.py

@@ -1,5 +1,6 @@
 from flask import Blueprint, request, jsonify
-from web_server_models import delay, set_delay_manually, get_delay_manually
+from web_server_models import set_delay_manually, get_delay_manually, copters
+from server import Client
 
 misc_api = Blueprint('misc_api', __name__, template_folder='templates')
 
@@ -13,3 +14,57 @@ def set_delay():
 @misc_api.route('/get/delay', methods=['GET', 'POST'])
 def get_delay():
     return jsonify(get_delay_manually())
+
+
+@misc_api.route('/stop/all', methods=['GET', 'POST'])
+def stop_all():
+    Client.broadcast_message("stop")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/disarm/all', methods=['GET', 'POST'])
+def disarm_all():
+    Client.broadcast_message("disarm")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/land/all', methods=['GET', 'POST'])
+def land_all():
+    Client.broadcast_message("land")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/flip/selected', methods=['GET', 'POST'])
+def flip_selected():
+    ip = request.args.get("ip")
+    for copter in copters:
+        if copter.ip == ip:
+            copter.client.send_message("flip")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/takeoff/selected', methods=['GET', 'POST'])
+def takeoff_selected():
+    ip = request.args.get("ip")
+    for copter in copters:
+        if copter.ip == ip:
+            copter.client.send_message("takeoff")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/pause/selected', methods=['GET', 'POST'])
+def pause_selected():
+    ip = request.args.get("ip")
+    for copter in copters:
+        if copter.ip == ip:
+            copter.client.send_message("pause")
+    return jsonify({'m': 'ok'})
+
+
+@misc_api.route('/resume/selected', methods=['GET', 'POST'])
+def resume_selected():
+    ip = request.args.get("ip")
+    for copter in copters:
+        if copter.ip == ip:
+            copter.client.send_message("resume")
+    return jsonify({'m': 'ok'})

Server/static/js/file.js

@@ -3,13 +3,41 @@ let configInput = document.getElementById('configFile');
 let arucoInput = document.getElementById('arucoFile');
 
 animationInput.onchange = function (e) {
-    sendRows(table.getSelectedRows(), animationInput.files[0], 'animation');
+    spinner.style.display = 'inline-block';
+    setTimeout(function () {
+        if (animationInput.files.length > 0) {
+            let fileReq = new XMLHttpRequest();
+            let fileFormData = new FormData();
+            for (let i = 0; i < animationInput.files.length; i++) {
+                fileFormData.append(animationInput.files[i].name, animationInput.files[i]);
+            }
+            fileReq.open("POST", '/set/animation', false);
+            fileReq.send(fileFormData);
+            deselectAll();
+            spinner.style.display = 'none';
+        }
+    }, 20);
 };
 configInput.onchange = function (e) {
     sendRows(table.getSelectedRows(), configInput.files[0], 'config');
 };
 arucoInput.onchange = function (e) {
-    sendRows(table.getSelectedRows(), arucoInput.files[0], 'aruco');
+    spinner.style.display = 'inline-block';
+    setTimeout(function () {
+        if (arucoInput.files.length > 0) {
+            let fileReq = new XMLHttpRequest();
+            let fileFormData = new FormData();
+            let ips = [];
+            table.getSelectedRows().forEach(function (element) {
+                ips.push(element._row.data.ip);
+            });
+            fileFormData.append(arucoInput.files[0].name, arucoInput.files[0]);
+            fileReq.open("POST", '/set/aruco?ips=' + encodeURIComponent(JSON.stringify(ips)), false);
+            fileReq.send(fileFormData);
+            deselectAll();
+            spinner.style.display = 'none';
+        }
+    }, 20);
 };
 
 function sendRows(selectedRows, file, file_type) {

Server/static/js/main.js

@@ -77,30 +77,28 @@ function deselectAll() {
     });
 }
 
-function testLedSelected() {
+function sendCommandToSelected(command) {
     spinner.style.display = 'inline-block';
     setTimeout(function () {
         table.getSelectedRows().forEach(function (element) {
             let req = new XMLHttpRequest();
-            req.open('POST', '/test_led/selected?ip=' + element._row.data.ip);
+            req.open('POST', '/' + command + '/selected?ip=' + element._row.data.ip);
             req.send();
+            element.deselect();
         });
         deselectAll();
         spinner.style.display = 'none';
     }, 20);
 }
 
-function pauseCopters() {
-
+function testLedSelected() {
+    sendCommandToSelected('test_led');
 }
 
 function stopCopters() {
-
-}
-
-
-function emLand() {
-
+    let req = new XMLHttpRequest();
+    req.open('POST', '/stop/all', false);
+    req.send();
 }
 
 function setStartTime() {
@@ -108,11 +106,57 @@ function setStartTime() {
         title: "Set animation delay",
         form: {delay: "Delay"}
     }).done(function (ui) {
-        setDelay(parseInt(ui.data.delay));
-        updateDelay();
+        if (ui.state) {
+            setDelay(parseInt(ui.data.delay));
+            updateDelay();
+        }
     });
 }
 
-function startAnimation() {
+function takeOff() {
+    sendCommandToSelected('takeoff');
+}
 
+function flipCopters() {
+    sendCommandToSelected('flip');
+}
+
+function land() {
+    let req = new XMLHttpRequest();
+    req.open('POST', '/land/all', false);
+    req.send();
+}
+
+function disarm() {
+    let req = new XMLHttpRequest();
+    req.open('POST', '/disarm/all', false);
+    req.send();
+}
+
+function pauseCopters() {
+    sendCommandToSelected('pause');
+}
+
+function resumeCopters() {
+    sendCommandToSelected('resume');
+}
+
+function emLand() {
+    spinner.style.display = 'inline-block';
+    setTimeout(function () {
+        let req = new XMLHttpRequest();
+        req.open('POST', '/em_land', false);
+        req.send();
+        spinner.style.display = 'none';
+    }, 20);
+}
+
+function startAnimation() {
+    spinner.style.display = 'inline-block';
+    setTimeout(function () {
+        let req = new XMLHttpRequest();
+        req.open('POST', '/start_animation', false);
+        req.send();
+        spinner.style.display = 'none';
+    }, 20);
 }

Server/templates/main.html

@@ -28,7 +28,7 @@
                 <div class="dropdown-menu" aria-labelledby="navbarDropdown">
                     <div class="dropdown-item">
                         <label for="animationFile" class="btn">Set animation</label>
-                        <input id="animationFile" style="visibility:hidden;" type="file">
+                        <input accept=".csv" id="animationFile" style="visibility:hidden;" type="file">
                     </div>
                     <div class="dropdown-item">
                         <label for="configFile" class="btn">Set configuration</label>
@@ -36,7 +36,7 @@
                     </div>
                     <div class="dropdown-item">
                         <label for="arucoFile" class="btn">Set ArUco map</label>
-                        <input id="arucoFile" style="visibility:hidden;" type="file">
+                        <input accept=".txt" id="arucoFile" style="visibility:hidden;" type="file">
                     </div>
                 </div>
             </li>
@@ -78,11 +78,20 @@
             </div>
             <div class="btn-group">
                 <button type="button" class="btn btn-warning btn-lg" onclick="pauseCopters()">Pause</button>
+                <button type="button" class="btn btn-warning btn-lg" onclick="resumeCopters()">Resume</button>
                 <button type="button" class="btn btn-warning btn-lg" onclick="stopCopters()">Stop</button>
             </div>
             <div class="btn-group">
                 <button type="button" class="btn btn-danger btn-lg" onclick="emLand()">Emergency landing</button>
             </div>
+            <div class="btn-group">
+                <button type="button" class="btn btn-outline-primary btn-lg" onclick="takeOff()">Take off</button>
+                <button type="button" class="btn btn-outline-primary btn-lg" onclick="flipCopters()">Flip</button>
+            </div>
+            <div class="btn-group">
+                <button type="button" class="btn btn-outline-primary btn-lg" onclick="land()">Land</button>
+                <button type="button" class="btn btn-outline-primary btn-lg" onclick="disarm()">Disarm</button>
+            </div>
         </div>
         <div class="action-container"></div>
     </div>

Server/web_server.py

@@ -1,5 +1,6 @@
 from server import Server
-from flask import Flask, render_template
+from web_server_models import copters, get_delay_manually
+from flask import Flask, render_template, jsonify, request
 from app_routes.selfcheck import selfcheck_api, refresh_copters
 from app_routes.file_sender import file_sender_api
 from app_routes.misc import misc_api
@@ -17,6 +18,20 @@ def home():
     return render_template('main.html', data=data)
 
 
+@app.route('/start_animation', methods=['GET', 'POST'])
+def resume_selected():
+    for copter in copters:
+        server.send_starttime(copter.client, get_delay_manually())
+    return jsonify({'m': 'ok'})
+
+
+@app.route('/em_land', methods=['GET', 'POST'])
+def em_land_selected():
+    for copter in copters:
+        copter.client.send_message("land")
+    return jsonify({'m': 'ok'})
+
+
 server = Server()
 server.start()
 app.run(host='0.0.0.0', debug=False)