diff --git a/src/backend/app/config.py b/src/backend/app/config.py index d1b5dc90..6144ceb9 100644 --- a/src/backend/app/config.py +++ b/src/backend/app/config.py @@ -90,7 +90,7 @@ def assemble_db_connection(cls, v: Optional[str], info: ValidationInfo) -> Any: ALGORITHM: str = "HS256" ACCESS_TOKEN_EXPIRE_MINUTES: int = 60 * 60 * 24 * 1 # 1 day REFRESH_TOKEN_EXPIRE_MINUTES: int = 60 * 60 * 24 * 8 # 8 day - + RESET_PASSWORD_TOKEN_EXPIRE_MINUTES: int = 5 GOOGLE_CLIENT_ID: str GOOGLE_CLIENT_SECRET: str GOOGLE_LOGIN_REDIRECT_URI: str = "http://localhost:8000" diff --git a/src/backend/app/email_templates/password/password_reset.html b/src/backend/app/email_templates/password/password_reset.html new file mode 100644 index 00000000..8adba82f --- /dev/null +++ b/src/backend/app/email_templates/password/password_reset.html @@ -0,0 +1,87 @@ + + + + + + + + +
+
+

Password Reset Request

+
+
+

Hi {{email}},

+

+ We received a request to reset your password. Please click the button + below to reset it: +

+ Reset Password +

If you didn’t request this, please ignore this email.

+

Thank you,
The {{project_name}} Team

+
+
+

Thank you for using Drone Tasking Manager

+
+
+ + diff --git a/src/backend/app/projects/project_routes.py b/src/backend/app/projects/project_routes.py index acf282b5..29c70f12 100644 --- a/src/backend/app/projects/project_routes.py +++ b/src/backend/app/projects/project_routes.py @@ -19,7 +19,6 @@ from psycopg import Connection from shapely.geometry import shape, mapping from shapely.ops import unary_union - from app.projects import project_schemas, project_deps, project_logic from app.db import database from app.models.enums import HTTPStatus diff --git a/src/backend/app/tasks/task_routes.py b/src/backend/app/tasks/task_routes.py index 890ad7fa..aca4e1fb 100644 --- a/src/backend/app/tasks/task_routes.py +++ b/src/backend/app/tasks/task_routes.py @@ -206,6 +206,7 @@ async def new_event( db, project["author_id"] ) html_content = render_email_template( + folder_name="mapping", template_name="requests.html", context={ "name": author["name"], @@ -240,6 +241,7 @@ async def new_event( db, requested_user_id ) html_content = render_email_template( + folder_name="mapping", template_name="approved_or_rejected.html", context={ "email_subject": "Mapping Request Approved", @@ -286,6 +288,7 @@ async def new_event( db, requested_user_id ) html_content = render_email_template( + folder_name="mapping", template_name="approved_or_rejected.html", context={ "email_subject": "Mapping Request Rejected", diff --git a/src/backend/app/users/user_deps.py b/src/backend/app/users/user_deps.py index ae6b4af9..82984d2c 100644 --- a/src/backend/app/users/user_deps.py +++ b/src/backend/app/users/user_deps.py @@ -4,6 +4,8 @@ from app.users.auth import Auth from app.users.user_schemas import AuthUser from loguru import logger as log +from datetime import datetime, timedelta +import jwt async def init_google_auth(): @@ -50,3 +52,14 @@ async def login_required( raise HTTPException(status_code=401, detail="Access token not valid") from e return AuthUser(**user) + + +def create_reset_password_token(email: str): + expire = datetime.now() + timedelta( + minutes=settings.RESET_PASSWORD_TOKEN_EXPIRE_MINUTES + ) + to_encode = {"sub": email, "exp": expire} + encoded_jwt = jwt.encode( + to_encode, settings.SECRET_KEY, algorithm=settings.ALGORITHM + ) + return encoded_jwt diff --git a/src/backend/app/users/user_routes.py b/src/backend/app/users/user_routes.py index bb8e2467..fdd8384f 100644 --- a/src/backend/app/users/user_routes.py +++ b/src/backend/app/users/user_routes.py @@ -1,11 +1,13 @@ import os +import jwt from app.users import user_schemas from app.users import user_deps from app.users import user_logic -from fastapi import APIRouter, HTTPException, Depends, Request +from fastapi import APIRouter, HTTPException, Depends, Request, BackgroundTasks from typing import Annotated from fastapi.security import OAuth2PasswordRequestForm from app.users.user_schemas import ( + DbUser, Token, UserProfileIn, AuthUser, @@ -17,6 +19,8 @@ from psycopg import Connection from fastapi.responses import JSONResponse from loguru import logger as log +from pydantic import EmailStr +from app.utils import send_reset_password_email if settings.DEBUG: @@ -38,18 +42,18 @@ async def login_access_token( """ OAuth2 compatible token login, get an access token for future requests """ - user = await user_deps.authenticate(db, form_data.username, form_data.password) + user = await user_logic.authenticate(db, form_data.username, form_data.password) if not user: raise HTTPException(status_code=400, detail="Incorrect email or password") - elif not user.is_active: + elif not user.get("is_active"): raise HTTPException(status_code=400, detail="Inactive user") user_info = { - "id": user.id, - "email": user.email_address, - "name": user.name, - "profile_img": user.profile_img, + "id": user.get("id"), + "email": user.get("email_address"), + "name": user.get("name"), + "profile_img": user.get("profile_img"), } access_token, refresh_token = await user_logic.create_access_token(user_info) @@ -160,3 +164,71 @@ async def my_data( user_info_dict.update(has_user_profile.model_dump()) return user_info_dict + + +@router.post("/forgot-password/") +async def forgot_password( + db: Annotated[Connection, Depends(database.get_db)], + email: EmailStr, + background_tasks: BackgroundTasks, +): + user = await DbUser.get_user_by_email(db, email) + token = user_deps.create_reset_password_token(user["email_address"]) + # Store the token in the database (or other storage mechanism) FIXME it is necessary to save reset password token. + # user["reset_password_token"] = token + background_tasks.add_task(send_reset_password_email, user["email_address"], token) + + return JSONResponse( + content={"detail": "Password reset email sent"}, status_code=200 + ) + + +@router.post("/reset-password/") +async def reset_password( + db: Annotated[Connection, Depends(database.get_db)], token: str, new_password: str +): + try: + payload = jwt.decode( + token, settings.SECRET_KEY, algorithms=[settings.ALGORITHM] + ) + email = payload.get("sub") + if email is None: + raise HTTPException( + status_code=HTTPStatus.UNAUTHORIZED, detail="Invalid token" + ) + + user = await DbUser.get_user_by_email(db, email) + if not user: + raise HTTPException( + status_code=HTTPStatus.NOT_FOUND, detail="User not found" + ) + + # Update password within a transaction + async with db.transaction(): + async with db.cursor() as cur: + await cur.execute( + """ + UPDATE users + SET password = %(password)s + WHERE id = %(user_id)s; + """, + { + "password": user_logic.get_password_hash(new_password), + "user_id": user.get("id"), + }, + ) + + except jwt.ExpiredSignatureError: + raise HTTPException(status_code=HTTPStatus.UNAUTHORIZED, detail="Token expired") + except jwt.JWTError: + raise HTTPException(status_code=HTTPStatus.UNAUTHORIZED, detail="Invalid token") + except Exception as e: + raise HTTPException( + status_code=HTTPStatus.INTERNAL_SERVER_ERROR, + detail=f"An error occurred: {str(e)}", + ) + + return JSONResponse( + content={"detail": "Your password has been successfully reset!"}, + status_code=200, + ) diff --git a/src/backend/app/users/user_schemas.py b/src/backend/app/users/user_schemas.py index f58fb40d..fb61a6fd 100644 --- a/src/backend/app/users/user_schemas.py +++ b/src/backend/app/users/user_schemas.py @@ -1,5 +1,5 @@ import uuid -from app.models.enums import State, UserRole +from app.models.enums import HTTPStatus, State, UserRole from pydantic import BaseModel, EmailStr, ValidationInfo, Field from pydantic.functional_validators import field_validator from typing import Optional @@ -253,12 +253,23 @@ async def get_user_by_id(db: Connection, id: str) -> dict[str, Any] | None: return result if result else None @staticmethod - async def get_user_by_email(db: Connection, email: str) -> dict[str, Any] | None: + async def get_user_by_email(db: Connection, email: str) -> dict[str, Any]: query = "SELECT * FROM users WHERE email_address = %s LIMIT 1;" - async with db.cursor() as cur: - await cur.execute(query, (email,)) - result = await cur.fetchone() - return result if result else None + try: + async with db.cursor(row_factory=dict_row) as cur: + await cur.execute(query, (email,)) + result = await cur.fetchone() + if result is None: + raise HTTPException( + status_code=HTTPStatus.NOT_FOUND, + detail="User with this email does not exist", + ) + return result + except Exception: + raise HTTPException( + status_code=HTTPStatus.INTERNAL_SERVER_ERROR, + detail="An error occurred while querying the database.", + ) @staticmethod async def get_requested_user_id( diff --git a/src/backend/app/utils.py b/src/backend/app/utils.py index 8998fa1c..ae30711f 100644 --- a/src/backend/app/utils.py +++ b/src/backend/app/utils.py @@ -367,31 +367,24 @@ class EmailData: subject: str -def render_email_template(template_name: str, context: dict[str, Any]) -> str: +def render_email_template( + folder_name: str, template_name: str, context: dict[str, Any] +) -> str: """ - Render an email template with the given context. + Render an email template with the given context from the specified folder. Args: + folder_name (str): The folder containing the template file. template_name (str): The name of the template file to be rendered. context (dict[str, Any]): A dictionary containing the context variables to be used in the template. Returns: str: The rendered HTML content of the email template. - - Example: - html_content = render_email_template( - template_name="welcome_email.html", - context={"username": "John Doe", "welcome_message": "Welcome to our service!"} - ) - - This function reads the specified email template from the 'email-templates' directory, - then uses the `Template` class from the `jinja2` library to render the template with - the provided context variables. """ - - template_str = ( - Path(__file__).parent / "email_templates" / "mapping" / template_name - ).read_text() + template_path = ( + Path(__file__).parent / "email_templates" / folder_name / template_name + ) + template_str = template_path.read_text() html_content = Template(template_str).render(context) return html_content @@ -438,6 +431,7 @@ async def send_notification_email(email_to, subject, html_content): def test_email(email_to: str, subject: str = "Test email") -> None: html_content = render_email_template( + folder_name="mapping", template_name="email_template.html", context={"project_name": settings.APP_NAME, "email": email_to}, ) @@ -445,3 +439,34 @@ def test_email(email_to: str, subject: str = "Test email") -> None: send_notification_email( email_to=email_to, subject=subject, html_content=html_content ) + + +async def send_reset_password_email(email: str, token: str): + reset_link = f"{settings.FRONTEND_URL}/reset-password?token={token}" + + context = { + "reset_link": reset_link, + "project_name": settings.EMAILS_FROM_NAME, + "email": email, + } + + html_content = render_email_template("password", "password_reset.html", context) + + message = MIMEText(html_content, "html") + message["From"] = formataddr( + (settings.EMAILS_FROM_NAME, settings.EMAILS_FROM_EMAIL) + ) + message["To"] = email + message["Subject"] = "Password Reset Request" + + try: + log.debug("Sending email message") + await send_email( + message, + hostname=settings.SMTP_HOST, + port=settings.SMTP_PORT, + username=settings.SMTP_USER, + password=settings.SMTP_PASSWORD, + ) + except Exception as e: + log.error(f"Error sending email: {e}") diff --git a/src/backend/app/waypoints/waypoint_logic.py b/src/backend/app/waypoints/waypoint_logic.py index f581ac3c..efe53d23 100644 --- a/src/backend/app/waypoints/waypoint_logic.py +++ b/src/backend/app/waypoints/waypoint_logic.py @@ -1,475 +1,42 @@ -import os -import uuid -import zipfile -import xml.etree.ElementTree as ET -from shapely.geometry import Polygon -from app.models.enums import DroneType -from math import radians, sin, cos, sqrt, atan2 -from xml.etree.ElementTree import Element +from pyproj import Transformer +from shapely.ops import transform +from shapely.geometry import shape +from geojson_pydantic import Polygon, Point -def haversine_distance(coord1, coord2): - # Haversine formula for great-circle distance - lon1, lat1 = map(radians, coord1) - lon2, lat2 = map(radians, coord2) - - dlat = lat2 - lat1 - dlon = lon2 - lon1 - - a = sin(dlat / 2) ** 2 + cos(lat1) * cos(lat2) * sin(dlon / 2) ** 2 - c = 2 * atan2(sqrt(a), sqrt(1 - a)) - - # Radius of Earth in kilometers - radius = 6371.0 - distance = radius * c - - return distance - - -async def get_drone_specs(drone_type: DroneType): - if drone_type == DroneType.DJI_MINI_4_PRO: - drone_specs = { - "sensor_width": 9.6, # mm - "sensor_height": 7.2, # mm - "sensor_diagonal": 12.0, # mm - "image_width": 4032, # pixels - "image_height": 3024, # pixels - "focal_length": 6.7, # mm - "sensor_size": "1/1.3", - } - else: - drone_specs = None - return drone_specs - - -async def calculate_gsd(drone_type: DroneType, flight_altitude: int): - drone_specs = await get_drone_specs(drone_type) - - # gsd = (sensor_width * flight_altitude * 100) / (focal_length * image_width) - gsd = (drone_specs["sensor_width"] * flight_altitude * 100) / ( - drone_specs["focal_length"] * drone_specs["image_width"] - ) - return gsd # (cm/pixel) - - -async def calculate_drone_flying_speed( - flight_altitude: float, drone_type: DroneType, image_interval: int, overlap: float +def check_point_within_buffer( + point: Point, polygon_geojson: Polygon, buffer_distance: float ): - # Calculate the ground sampling distance (GSD) - gsd = await calculate_gsd(drone_type, flight_altitude) - - drone_specs = await get_drone_specs(drone_type) - - # calculate vertical image footprint - vertical_image_footprint = (gsd * drone_specs["image_height"]) / 100 - - # Calculate the drone flying speed - drone_flying_speed = (vertical_image_footprint / (100 / (100 - overlap))) / ( - image_interval + 0.1 - ) - - return drone_flying_speed - - -async def calculate_distance_between_2_lines( - overlap: float, drone_type: DroneType, flight_altitude: float -): - gsd = await calculate_gsd(drone_type, flight_altitude) - drone_specs = await get_drone_specs(drone_type) - image_width_in_pixels = drone_specs["image_width"] - overlap_fraction = overlap / 100 - image_width_in_cm = gsd * image_width_in_pixels - overlap_distance_in_cm = image_width_in_cm * (1 - overlap_fraction) - return overlap_distance_in_cm / 100 # return in metre - - -def zip_directory(directory_path, zip_path): - with zipfile.ZipFile(zip_path, "w") as zipf: - for root, dirs, files in os.walk(directory_path): - for file in files: - zipf.write( - os.path.join(root, file), - os.path.relpath( - os.path.join(root, file), os.path.join(directory_path, "..") - ), - ) - - -def create_zip_file(waylines_path_uid): - # Create the wpmz folder if it doesn't exist - wpmz_path = f"/tmp/{waylines_path_uid}/wpmz" - os.makedirs(wpmz_path, exist_ok=True) - - import xml.etree.ElementTree as ET - - xml_string = """ - - - fly - 1702051864938 - 1702051864938 - - safely - noAction - executeLostAction - hover - 2.5 - - 68 - 0 - - - - """ + Check if a point is within the buffer of a polygon. - # Parse the XML string - root = ET.fromstring(xml_string) - - # Create an ElementTree object - tree = ET.ElementTree(root) - - # Write the ElementTree object to a file - with open(f"{wpmz_path}/template.kml", "wb") as file: - tree.write(file, encoding="utf-8", xml_declaration=True) - - # Read content of template.kml - with open(f"/tmp/{waylines_path_uid}/waylines.wpml", "r") as f: - wpml_content = f.read() - - with open(f"{wpmz_path}/waylines.wpml", "w") as f: - f.write(wpml_content) - - # Create a Zip file containing the contents of the wpmz folder directly - output_file_name = f"/tmp/{waylines_path_uid}/output.kmz" - zip_directory(wpmz_path, output_file_name) - - return output_file_name - - -def take_photo_action(action_group_element: Element, index: str): - action = ET.SubElement(action_group_element, "wpml:action") - action_id = ET.SubElement(action, "wpml:actionId") - action_id.text = str(index) - action_actuator_func = ET.SubElement(action, "wpml:actionActuatorFunc") - action_actuator_func.text = "takePhoto" - action_actuator_func_param = ET.SubElement(action, "wpml:actionActuatorFuncParam") - payload_position_index = ET.SubElement( - action_actuator_func_param, "wpml:payloadPositionIndex" - ) - payload_position_index.text = "0" - - -def gimble_rotate_action( - action_group_element: Element, index: str, gimble_pitch_rotate_angle: str -): - action1 = ET.SubElement(action_group_element, "wpml:action") - action1_id = ET.SubElement(action1, "wpml:actionId") - action1_id.text = str(index) - action1_actuator_func = ET.SubElement(action1, "wpml:actionActuatorFunc") - action1_actuator_func.text = "gimbalRotate" - action1_actuator_func_param = ET.SubElement(action1, "wpml:actionActuatorFuncParam") - gimbal_heading_yaw_base = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalHeadingYawBase" - ) - gimbal_heading_yaw_base.text = "aircraft" - gimbal_rotate_mode = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalRotateMode" - ) - gimbal_rotate_mode.text = "absoluteAngle" - gimbal_pitch_rotate_enable = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalPitchRotateEnable" - ) - gimbal_pitch_rotate_enable.text = "1" - gimbal_pitch_rotate_angle = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalPitchRotateAngle" - ) - gimbal_pitch_rotate_angle.text = str(gimble_pitch_rotate_angle) - gimbal_roll_rotate_enable = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalRollRotateEnable" - ) - gimbal_roll_rotate_enable.text = "0" - gimbal_roll_rotate_angle = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalRollRotateAngle" - ) - gimbal_roll_rotate_angle.text = "0" - gimbal_yaw_rotate_enable = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalYawRotateEnable" - ) - gimbal_yaw_rotate_enable.text = "0" - gimbal_yaw_rotate_angle = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalYawRotateAngle" - ) - gimbal_yaw_rotate_angle.text = "0" - gimbal_rotate_time_enable = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalRotateTimeEnable" - ) - gimbal_rotate_time_enable.text = "0" - gimbal_rotate_time = ET.SubElement( - action1_actuator_func_param, "wpml:gimbalRotateTime" - ) - gimbal_rotate_time.text = "0" - payload_position_index = ET.SubElement( - action1_actuator_func_param, "wpml:payloadPositionIndex" - ) - payload_position_index.text = "0" - - -def create_placemark( - index, - coordinates, - execute_height, - waypoint_speed, - waypoint_heading_angle, - gimble_angle, - take_photo: bool = False, -): - placemark = ET.Element("Placemark") - - point = ET.SubElement(placemark, "Point") - coordinates_elem = ET.SubElement(point, "coordinates") - coordinates_elem.text = coordinates - - wpml_index = ET.SubElement(placemark, "wpml:index") - wpml_index.text = str(index) - - execute_height_elem = ET.SubElement(placemark, "wpml:executeHeight") - execute_height_elem.text = str(execute_height) - - waypoint_speed_elem = ET.SubElement(placemark, "wpml:waypointSpeed") - waypoint_speed_elem.text = str(waypoint_speed) + Parameters: + - point_coords: tuple (lon, lat) for the point's coordinates + - polygon_coords: list of (lon, lat) tuples for the polygon's coordinates + - buffer_distance: buffer distance in meters - waypoint_heading_param = ET.SubElement(placemark, "wpml:waypointHeadingParam") - wpml_waypoint_heading_mode = ET.SubElement( - waypoint_heading_param, "wpml:waypointHeadingMode" - ) - wpml_waypoint_heading_mode.text = "followWayline" - wpml_waypoint_heading_angle = ET.SubElement( - waypoint_heading_param, "wpml:waypointHeadingAngle" - ) - wpml_waypoint_heading_angle.text = str(waypoint_heading_angle) - wpml_waypoint_poi_point = ET.SubElement( - waypoint_heading_param, "wpml:waypointPoiPoint" - ) - wpml_waypoint_poi_point.text = "0.000000,0.000000,0.000000" - wpml_waypoint_heading_angle_enable = ET.SubElement( - waypoint_heading_param, "wpml:waypointHeadingAngleEnable" - ) - wpml_waypoint_heading_angle_enable.text = "1" - wpml_waypoint_heading_path_mode = ET.SubElement( - waypoint_heading_param, "wpml:waypointHeadingPathMode" - ) - wpml_waypoint_heading_path_mode.text = "followBadArc" - - wpml_waypoint_turn_param = ET.SubElement(placemark, "wpml:waypointTurnParam") - wpml_waypoint_turn_mode = ET.SubElement( - wpml_waypoint_turn_param, "wpml:waypointTurnMode" - ) - wpml_waypoint_turn_mode.text = "toPointAndStopWithContinuityCurvature" - wpml_waypoint_turn_damping_dist = ET.SubElement( - wpml_waypoint_turn_param, "wpml:waypointTurnDampingDist" - ) - wpml_waypoint_turn_damping_dist.text = "0" - - use_straight_line = ET.SubElement(placemark, "wpml:useStraightLine") - use_straight_line.text = "0" - - action_group1 = ET.SubElement(placemark, "wpml:actionGroup") - action_group1_id = ET.SubElement(action_group1, "wpml:actionGroupId") - action_group1_id.text = "1" - action_group1_start = ET.SubElement(action_group1, "wpml:actionGroupStartIndex") - action_group1_start.text = str(index) # Start index - action_group1_end = ET.SubElement(action_group1, "wpml:actionGroupEndIndex") - action_group1_end.text = str(index) # End Index - action_group1_mode = ET.SubElement(action_group1, "wpml:actionGroupMode") - action_group1_mode.text = "parallel" - action_group1_trigger = ET.SubElement(action_group1, "wpml:actionTrigger") - action_group1_trigger_type = ET.SubElement( - action_group1_trigger, "wpml:actionTriggerType" - ) - action_group1_trigger_type.text = "reachPoint" - - if take_photo: - # Take photo action - take_photo_action(action_group1, "1") - else: - # Gimble rotate action - gimble_rotate_action(action_group1, "1", "-90") - - action_group2 = ET.SubElement(placemark, "wpml:actionGroup") - action_group2_id = ET.SubElement(action_group2, "wpml:actionGroupId") - action_group2_id.text = "2" # Not always 2 - action_group2_start = ET.SubElement(action_group2, "wpml:actionGroupStartIndex") - action_group2_start.text = "0" - action_group2_end = ET.SubElement(action_group2, "wpml:actionGroupEndIndex") - action_group2_end.text = "1" - action_group2_mode = ET.SubElement(action_group2, "wpml:actionGroupMode") - action_group2_mode.text = "parallel" - action_group2_trigger = ET.SubElement(action_group2, "wpml:actionTrigger") - action_group2_trigger_type = ET.SubElement( - action_group2_trigger, "wpml:actionTriggerType" - ) - action_group2_trigger_type.text = "reachPoint" - action2 = ET.SubElement(action_group2, "wpml:action") - action2_id = ET.SubElement(action2, "wpml:actionId") - action2_id.text = "2" # Not always 2 - action2_actuator_func = ET.SubElement(action2, "wpml:actionActuatorFunc") - action2_actuator_func.text = "gimbalEvenlyRotate" - action2_actuator_func_param = ET.SubElement(action2, "wpml:actionActuatorFuncParam") - gimbal_pitch_rotate_angle2 = ET.SubElement( - action2_actuator_func_param, "wpml:gimbalPitchRotateAngle" - ) - gimbal_pitch_rotate_angle2.text = str(gimble_angle) - payload_position_index2 = ET.SubElement( - action2_actuator_func_param, "wpml:payloadPositionIndex" - ) - payload_position_index2.text = "0" - - return placemark - - -def create_mission_config(finish_action_value): - mission_config = ET.Element("wpml:missionConfig") - - fly_to_wayline_mode = ET.SubElement(mission_config, "wpml:flyToWaylineMode") - fly_to_wayline_mode.text = "safely" - - finish_action = ET.SubElement(mission_config, "wpml:finishAction") - finish_action.text = str(finish_action_value) - - exit_on_rc_lost = ET.SubElement(mission_config, "wpml:exitOnRCLost") - exit_on_rc_lost.text = "executeLostAction" - - execute_rc_lost_action = ET.SubElement(mission_config, "wpml:executeRCLostAction") - execute_rc_lost_action.text = "hover" - - global_transitional_speed = ET.SubElement( - mission_config, "wpml:globalTransitionalSpeed" - ) - global_transitional_speed.text = "2.5" - - drone_info = ET.SubElement(mission_config, "wpml:droneInfo") - drone_enum_value = ET.SubElement(drone_info, "wpml:droneEnumValue") - drone_enum_value.text = "68" - drone_sub_enum_value = ET.SubElement(drone_info, "wpml:droneSubEnumValue") - drone_sub_enum_value.text = "0" - - return mission_config - - -def create_folder(placemarks, generate_each_points): - folder = ET.Element("Folder") - - template_id = ET.SubElement(folder, "wpml:templateId") - template_id.text = "0" - - execute_height_mode = ET.SubElement(folder, "wpml:executeHeightMode") - execute_height_mode.text = "relativeToStartPoint" - - wayline_id = ET.SubElement(folder, "wpml:waylineId") - wayline_id.text = "0" - - distance = ET.SubElement(folder, "wpml:distance") - distance.text = "0" - - duration = ET.SubElement(folder, "wpml:duration") - duration.text = "0" - - auto_flight_speed = ET.SubElement(folder, "wpml:autoFlightSpeed") - auto_flight_speed.text = "2.5" - - for index, placemark_data in enumerate(placemarks): - placemark = create_placemark(index, *placemark_data, generate_each_points) - folder.append(placemark) - - return folder - - -def create_kml(mission_config, folder): - kml = ET.Element("kml") - kml.set("xmlns", "http://www.opengis.net/kml/2.2") - kml.set("xmlns:wpml", "http://www.dji.com/wpmz/1.0.2") - - document = ET.SubElement(kml, "Document") - document.append(mission_config) - document.append(folder) - - return kml - - -def create_xml(placemarks, finish_action, generate_each_points: bool = False): - mission_config = create_mission_config(finish_action) - folder = create_folder(placemarks, generate_each_points) - kml = create_kml(mission_config, folder) - - tree = ET.ElementTree(kml) - - folder_name = str(uuid.uuid4()) - os.makedirs(os.path.join("/tmp/", folder_name), exist_ok=True) - waylines_path = os.path.join("/tmp/", folder_name, "waylines.wpml") - - tree.write(waylines_path, encoding="UTF-8", xml_declaration=True) - output_file_name = create_zip_file(folder_name) - return output_file_name - - -async def generate_waypoints_within_polygon( - aoi, distance_between_lines, generate_each_points -): - # 1 degree = 111 km - # 1 km = 1/111 degree - # 1 metre = 1/111000 degree - - distance_between_lines = 1 / 111000 * distance_between_lines - - polygon = Polygon(aoi["features"][0]["geometry"]["coordinates"][0]) - - minx, miny, maxx, maxy = polygon.bounds - waypoints = [] + Returns: + - True if the point is within the buffer, False otherwise + """ - # Generate waypoints within the polygon - y = miny - row_count = 0 - angle = -90 + # Create a shapely polygon and point using the input coordinates + polygon = shape(polygon_geojson["features"][0]["geometry"]) + from shapely.geometry import Point - # Extend the loop by one iteration so that the point will be outside the polygon - while y <= maxy + distance_between_lines: - x = minx - x_row_waypoints = [] + point = Point(point) - while x <= maxx + distance_between_lines: - x_row_waypoints.append({"coordinates": (x, y), "angle": str(angle)}) - x += distance_between_lines - y += distance_between_lines + # Create a transformer to project from EPSG:4326 to EPSG:3857 (meters) + transformer_to_3857 = Transformer.from_crs("EPSG:4326", "EPSG:3857", always_xy=True) - if generate_each_points: - if row_count % 2 == 0: - waypoints.extend(x_row_waypoints) - else: - waypoints.extend(reversed(x_row_waypoints)) - else: - # Add waypoints ensuring at least two points at each end of the line - if x_row_waypoints: - if row_count % 2 == 0: - waypoints.append(x_row_waypoints[0]) - if len(x_row_waypoints) > 1: - waypoints.append(x_row_waypoints[1]) # Append second point - if len(x_row_waypoints) > 2: - waypoints.append( - x_row_waypoints[-2] - ) # Append second-to-last point - waypoints.append(x_row_waypoints[-1]) # Append last point - else: - if len(x_row_waypoints) > 2: - waypoints.append(x_row_waypoints[-1]) # Append last point - waypoints.append( - x_row_waypoints[-2] - ) # Append second-to-last point - if len(x_row_waypoints) > 1: - waypoints.append(x_row_waypoints[1]) # Append second point - waypoints.append(x_row_waypoints[0]) # Append first point + # Transform the polygon and point to EPSG:3857 (meters) + projected_polygon = transform(transformer_to_3857.transform, polygon) + projected_point = transform(transformer_to_3857.transform, point) - row_count += 1 - angle = angle * -1 + # Create a buffer around the polygon boundary + polygon_buffer = projected_polygon.buffer( + buffer_distance + ) # buffer distance in meters - return waypoints + # Check if the point is within the buffer + is_within_buffer = polygon_buffer.contains(projected_point) + return is_within_buffer diff --git a/src/backend/app/waypoints/waypoint_routes.py b/src/backend/app/waypoints/waypoint_routes.py index ed3dd686..af795fb2 100644 --- a/src/backend/app/waypoints/waypoint_routes.py +++ b/src/backend/app/waypoints/waypoint_routes.py @@ -14,12 +14,16 @@ ) from app.models.enums import HTTPStatus from app.tasks.task_logic import get_task_geojson +from app.waypoints.waypoint_logic import check_point_within_buffer from app.db import database from app.utils import merge_multipolygon from app.s3 import get_file_from_bucket from typing import Annotated from psycopg import Connection from app.projects import project_deps +from geojson_pydantic import Point +from shapely.geometry import shape + # Constant to convert gsd to Altitude above ground level GSD_to_AGL_CONST = 29.7 # For DJI Mini 4 Pro @@ -31,12 +35,13 @@ ) -@router.get("/task/{task_id}/") +@router.post("/task/{task_id}/") async def get_task_waypoint( db: Annotated[Connection, Depends(database.get_db)], project_id: uuid.UUID, task_id: uuid.UUID, download: bool = True, + take_off_point: Point = None, ): """ Retrieve task waypoints and download a flight plan. @@ -52,9 +57,22 @@ async def get_task_waypoint( """ task_geojson = await get_task_geojson(db, task_id) - project = await project_deps.get_project_by_id(project_id, db) + # create a takeoff point in this format ["lon","lat"] + if take_off_point: + take_off_point = [take_off_point.longitude, take_off_point.latitude] + if not check_point_within_buffer(take_off_point, task_geojson, 200): + raise HTTPException( + status_code=400, + detail="Take off point should be within 200m of the boundary", + ) + else: + # take the centroid of the task as the takeoff point + task_polygon = shape(task_geojson["features"][0]["geometry"]) + task_centroid = task_polygon.centroid + take_off_point = [task_centroid.x, task_centroid.y] + forward_overlap = project.front_overlap if project.front_overlap else 70 side_overlap = project.side_overlap if project.side_overlap else 70 generate_each_points = True if project.is_terrain_follow else False @@ -66,16 +84,18 @@ async def get_task_waypoint( altitude = project.altitude_from_ground points = waypoints.create_waypoint( - task_geojson, - altitude, - gsd, - forward_overlap, - side_overlap, - generate_each_points, - generate_3d, + project_area=task_geojson, + agl=altitude, + gsd=gsd, + forward_overlap=forward_overlap, + side_overlap=side_overlap, + rotation_angle=0, + generate_each_points=generate_each_points, + generate_3d=generate_3d, + take_off_point=take_off_point, ) - parameters = calculate_parameters.calculate_parameters( + parameters = calculate_parameters( forward_overlap, side_overlap, altitude, @@ -91,20 +111,14 @@ async def get_task_waypoint( # TODO: Do this with inmemory data outfile_with_elevation = "/tmp/output_file_with_elevation.geojson" - add_elevation_from_dem.add_elevation_from_dem( - dem_path, points, outfile_with_elevation - ) + add_elevation_from_dem(dem_path, points, outfile_with_elevation) inpointsfile = open(outfile_with_elevation, "r") points_with_elevation = inpointsfile.read() - placemarks = create_placemarks.create_placemarks( - geojson.loads(points_with_elevation), parameters - ) + placemarks = create_placemarks(geojson.loads(points_with_elevation), parameters) else: - placemarks = create_placemarks.create_placemarks( - geojson.loads(points), parameters - ) + placemarks = create_placemarks(geojson.loads(points), parameters) if download: outfile = outfile = f"/tmp/{uuid.uuid4()}" kmz_file = wpml.create_wpml(placemarks, outfile) @@ -157,6 +171,7 @@ async def generate_kmz( None, description="The Digital Elevation Model (DEM) file that will be used to generate the terrain follow flight plan. This file should be in GeoTIFF format", ), + take_off_point: Point = None, ): if not (altitude or gsd): raise HTTPException( @@ -182,19 +197,28 @@ async def generate_kmz( boundary = merge_multipolygon(geojson.loads(await project_geojson.read())) + # create a takeoff point in this format ["lon","lat"] + take_off_point = [take_off_point.longitude, take_off_point.latitude] + if not check_point_within_buffer(take_off_point, boundary, 200): + raise HTTPException( + status_code=400, + detail="Take off point should be within 200m of the boundary", + ) + if not download: points = waypoints.create_waypoint( - boundary, - altitude, - gsd, - forward_overlap, - side_overlap, - generate_each_points, - generate_3d, + project_area=boundary, + agl=altitude, + gsd=gsd, + forward_overlap=forward_overlap, + side_overlap=side_overlap, + generate_each_points=generate_each_points, + generate_3d=generate_3d, + take_off_point=take_off_point, ) return geojson.loads(points) else: - output_file = create_flightplan.create_flightplan( + output_file = create_flightplan( aoi=boundary, forward_overlap=forward_overlap, side_overlap=side_overlap, @@ -203,6 +227,7 @@ async def generate_kmz( generate_each_points=generate_each_points, dem=dem_path if dem else None, outfile=f"/tmp/{uuid.uuid4()}", + take_off_point=take_off_point, ) return FileResponse( diff --git a/src/backend/app/waypoints/waypoint_schemas.py b/src/backend/app/waypoints/waypoint_schemas.py new file mode 100644 index 00000000..32e4fee0 --- /dev/null +++ b/src/backend/app/waypoints/waypoint_schemas.py @@ -0,0 +1,14 @@ +import json +from pydantic import BaseModel, model_validator + + +class Point(BaseModel): + longitude: float + latitude: float + + @model_validator(mode="before") + @classmethod + def validate_to_json(cls, value): + if isinstance(value, str): + return cls(**json.loads(value)) + return value diff --git a/src/backend/pdm.lock b/src/backend/pdm.lock index a2e0b338..b031501c 100644 --- a/src/backend/pdm.lock +++ 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@@ -30,7 +30,7 @@ dependencies = [ "GDAL==3.6.2", "aiosmtplib>=3.0.1", "python-slugify>=8.0.4", - "drone-flightplan==0.3.1rc3", + "drone-flightplan==0.3.1rc4", "psycopg2>=2.9.9", ] requires-python = ">=3.11" diff --git a/src/frontend/src/components/CreateProject/FormContents/DefineAOI/MapSection/index.tsx b/src/frontend/src/components/CreateProject/FormContents/DefineAOI/MapSection/index.tsx index d6990a64..3e219a37 100644 --- a/src/frontend/src/components/CreateProject/FormContents/DefineAOI/MapSection/index.tsx +++ b/src/frontend/src/components/CreateProject/FormContents/DefineAOI/MapSection/index.tsx @@ -85,7 +85,7 @@ const MapSection = ({ useEffect(() => { if (!projectArea) return; const bbox = getBbox(projectArea as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25, duration: 500 }); }, [map, projectArea]); const drawSaveFromMap = () => { diff --git a/src/frontend/src/components/CreateProject/FormContents/GenerateTask/MapSection/index.tsx b/src/frontend/src/components/CreateProject/FormContents/GenerateTask/MapSection/index.tsx index 70943a54..8751fec9 100644 --- a/src/frontend/src/components/CreateProject/FormContents/GenerateTask/MapSection/index.tsx +++ b/src/frontend/src/components/CreateProject/FormContents/GenerateTask/MapSection/index.tsx @@ -40,7 +40,7 @@ const MapSection = () => { useEffect(() => { if (!projectArea) return; const bbox = getBbox(projectArea as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25, duration: 500 }); }, [map, projectArea]); // eslint-disable-next-line no-unused-vars diff --git a/src/frontend/src/components/DroneOperatorTask/DescriptionSection/index.tsx b/src/frontend/src/components/DroneOperatorTask/DescriptionSection/index.tsx index 68345792..0120f319 100644 --- a/src/frontend/src/components/DroneOperatorTask/DescriptionSection/index.tsx +++ b/src/frontend/src/components/DroneOperatorTask/DescriptionSection/index.tsx @@ -96,6 +96,7 @@ const DroneOperatorDescriptionBox = () => { const handleDownloadFlightPlan = () => { fetch( `${BASE_URL}/waypoint/task/${taskId}/?project_id=${projectId}&download=true`, + {"method":'POST'} ) .then(response => { if (!response.ok) { diff --git a/src/frontend/src/components/DroneOperatorTask/MapSection/index.tsx b/src/frontend/src/components/DroneOperatorTask/MapSection/index.tsx index f88259fc..5ddd3954 100644 --- a/src/frontend/src/components/DroneOperatorTask/MapSection/index.tsx +++ b/src/frontend/src/components/DroneOperatorTask/MapSection/index.tsx @@ -61,7 +61,7 @@ const MapSection = () => { if (!taskWayPoints?.geojsonAsLineString) return; const { geojsonAsLineString } = taskWayPoints; const bbox = getBbox(geojsonAsLineString as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25, duration: 500 }); }, [map, taskWayPoints]); const getPopupUI = useCallback(() => { @@ -70,11 +70,15 @@ const MapSection = () => {

{popupData?.index}

- {popupData?.coordinates?.lat}, {popupData?.coordinates?.lng}{' '} + {popupData?.coordinates?.lat?.toFixed(8)}, {popupData?.coordinates?.lng?.toFixed(8)}{' '}

-

Angle: {popupData?.angle} degree

+

Speed: {popupData?.speed} m/s

+ {popupData?.elevation && +

Elevation (Sea Level): {popupData?.elevation} meter

+ } +

Take Photo: {popupData?.take_photo ? "True" : "False"}

Gimble angle: {popupData?.gimbal_angle} degree

diff --git a/src/frontend/src/components/IndividualProject/MapSection/index.tsx b/src/frontend/src/components/IndividualProject/MapSection/index.tsx index fa9b4893..f6e4bcdb 100644 --- a/src/frontend/src/components/IndividualProject/MapSection/index.tsx +++ b/src/frontend/src/components/IndividualProject/MapSection/index.tsx @@ -114,7 +114,7 @@ const MapSection = () => { }, ); const bbox = getBbox(tasksCollectiveGeojson as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 25, duration: 500 }); }, [map, tasksData]); const getPopupUI = useCallback( @@ -248,7 +248,7 @@ const MapSection = () => { paint: { 'fill-color': '#ffffff', 'fill-outline-color': '#484848', - 'fill-opacity': 0.8, + 'fill-opacity': 0.5, }, } } diff --git a/src/frontend/src/components/Projects/MapSection/index.tsx b/src/frontend/src/components/Projects/MapSection/index.tsx index 8ac709dd..81c2b14d 100644 --- a/src/frontend/src/components/Projects/MapSection/index.tsx +++ b/src/frontend/src/components/Projects/MapSection/index.tsx @@ -59,7 +59,7 @@ const ProjectsMapSection = () => { useEffect(() => { if (!projectsList || !projectsList?.features?.length) return; const bbox = getBbox(projectsList as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 100 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 100, duration: 500 }); }, [projectsList, map]); const getPopupUI = useCallback(() => { diff --git a/src/frontend/src/components/Projects/ProjectCard/MapSection/index.tsx b/src/frontend/src/components/Projects/ProjectCard/MapSection/index.tsx index 6fafcc23..3f94d6c4 100644 --- a/src/frontend/src/components/Projects/ProjectCard/MapSection/index.tsx +++ b/src/frontend/src/components/Projects/ProjectCard/MapSection/index.tsx @@ -29,7 +29,7 @@ const MapSection = ({ useEffect(() => { if (!geojson) return; const bbox = getBbox(geojson as FeatureCollection); - map?.fitBounds(bbox as LngLatBoundsLike, { padding: 30 }); + map?.fitBounds(bbox as LngLatBoundsLike, { padding: 30, duration: 500 }); }, [geojson, map]); return ( diff --git a/src/frontend/src/services/tasks.ts b/src/frontend/src/services/tasks.ts index af789959..daa54213 100644 --- a/src/frontend/src/services/tasks.ts +++ b/src/frontend/src/services/tasks.ts @@ -1,7 +1,7 @@ import { api, authenticated } from '.'; export const getTaskWaypoint = (projectId: string, taskId: string) => - authenticated(api).get( + authenticated(api).post( `/waypoint/task/${taskId}/?project_id=${projectId}&download=false`, ); diff --git a/src/frontend/src/views/IndividualProject/index.tsx b/src/frontend/src/views/IndividualProject/index.tsx index 88ecc5d4..e27ceed6 100644 --- a/src/frontend/src/views/IndividualProject/index.tsx +++ b/src/frontend/src/views/IndividualProject/index.tsx @@ -107,7 +107,7 @@ const IndividualProject = () => { )}
-
+
diff --git a/src/frontend/src/views/Projects/index.tsx b/src/frontend/src/views/Projects/index.tsx index 8786db87..b772f938 100644 --- a/src/frontend/src/views/Projects/index.tsx +++ b/src/frontend/src/views/Projects/index.tsx @@ -52,7 +52,7 @@ const Projects = () => { )}
{showMap && ( -
+
)}