Trying to fix last will message for API

First updates to the API, preparing for new UI
Added uiid for map coords and mow preview for new UI

CaSSAndRA/app.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-#Version:0.116.0 Added finish and restart button, some improvements on path planner
+#Version:0.117.0 Some changes on API
 # package imports
 import os
 import sys

CaSSAndRA/src/backend/backendserver.py

@@ -249,7 +249,7 @@ def start(file_paths) -> None:
             cfg = cfg = dict(CLIENT_ID=cfgdata.commcfg.api_mqtt_client_id, USERNAME=cfgdata.commcfg.api_mqtt_username, PASSWORD=cfgdata.commcfg.api_mqtt_pass,
                              MQTT_SERVER=cfgdata.commcfg.api_mqtt_server, PORT=cfgdata.commcfg.api_mqtt_port, NAME=cfgdata.commcfg.api_mqtt_cassandra_server_name)
             mqttapi.create(cfg, topics)
-            mqttapi.client.will_set(mqttapi.mqtt_mower_name+'/status', payload='offline')
+            mqttapi.client.will_set(mqttapi.mqtt_mower_name+'/status', payload='offline', retain=True)
             mqttapi.connect()
             connection_start = datetime.now()
             while mqttapi.client.connection_flag != True:

CaSSAndRA/src/backend/comm/api.py

@@ -9,6 +9,7 @@
 from .. data.cfgdata import schedulecfg, pathplannercfgapi
 from .. map import path, map
 from .. comm import cmdlist
+from .. comm.connections import mqttapi
 from .. data.roverdata import robot
 
 from icecream import ic
@@ -21,11 +22,13 @@ class API:
     mapsstate: dict = field(default_factory=dict)
     mowparametersstate: dict = field(default_factory=dict)
     mapstate: dict = field(default_factory=dict)
+    coordsstate: dict = field(default_factory=dict)
     robotstate_json: str = '{}'
     tasksstate_json: str = '{}'
     mapsstate_json: str = '{}'
     mowparametersstate_json: str = '{}'
     mapstate_json: str ='{}'
+    coordsstate_json: str = '{}'
     loaded_tasks: list = field(default_factory=list)
     commanded_object: str = ''
     command: str = ''
@@ -40,6 +43,7 @@ def create_robot_payload(self) -> None:
         self.robotstate['battery'] = dict(soc=robot.soc, voltage=robot.battery_voltage, electricCurrent=robot.amps)
         self.robotstate['position'] = dict(x=robot.position_x, y=robot.position_y)
         self.robotstate['target'] = dict(x=robot.target_x, y=robot.target_y) 
+        self.robotstate['angle'] = robot.position_delta
         self.robotstate_json = json.dumps(self.robotstate)
 
     def create_maps_payload(self) -> None:
@@ -76,9 +80,15 @@ def create_mow_parameters_payload(self) -> None:
         self.mowparametersstate_json = json.dumps(self.mowparametersstate)
 
     def create_map_payload(self) -> None:
+        self.mapstate['mapId'] = current_map.map_id
+        self.mapstate['previewId'] = current_map.previewId
         self.mapstate['mowprogressIdxPercent'] = current_map.idx_perc
         self.mapstate['mowprogressDistancePercent'] = current_map.distance_perc
         self.mapstate_json = json.dumps(self.mapstate)
+
+    def create_coords_payload(self) -> None:
+        self.coordsstate = current_map.perimeter_to_geojson()
+        self.coordsstate_json = json.dumps(self.coordsstate)
 
     def update_payload(self) -> None:
         self.create_api_payload()
@@ -109,6 +119,9 @@ def check_cmd(self, buffer: dict) -> None:
             self.commanded_object = 'map'
             buffer = buffer['map']
             self.check_map_cmd(buffer)
+        elif 'coords' in buffer:
+            self.create_coords_payload()
+            mqttapi.api_publish('coords', self.coordsstate_json)
         else:
             logger.info('No valid object in api message found. Aborting')
 

CaSSAndRA/src/backend/data/appdata.py

@@ -1,4 +1,4 @@
 import logging
 logger = logging.getLogger(__name__)
 
-version = '0.116.0'
+version = '0.117.0'

CaSSAndRA/src/backend/data/mapdata.py

@@ -12,6 +12,7 @@
 from dataclasses import dataclass, field, asdict
 from shapely.geometry import *
 from PIL import Image
+import uuid
 
 from .roverdata import robot
 from .cfgdata import PathPlannerCfg, pathplannercfg, rovercfg
@@ -20,6 +21,7 @@
 @dataclass
 class Perimeter:
     name: str = ''
+    map_id: str = None
     angle_offset: int = 0
     perimeter: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     perimeter_polygon: Polygon = Polygon()
@@ -32,6 +34,7 @@ class Perimeter:
     gotopoint: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     mowpath: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     preview: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
+    previewId: str = None
     obstacles: pd.DataFrame = field(default_factory=lambda: pd.DataFrame())
     obstacle_img: Image = field(default_factory = lambda: 
                                 Image.open(os.path.dirname(__file__).replace('/backend/data', '/assets/icons/obstacle.png')))
@@ -223,6 +226,7 @@ def create(self, name: str) -> None:
         self.preview = pd.DataFrame()
         self.mowpath = pd.DataFrame()
         self.obstacles = pd.DataFrame()
+        self.map_id = str(uuid.uuid4())
         self.create_perimeter_polygon()
         self.create_perimeter_for_plot()
         self.create_points_from_polygon()
@@ -234,6 +238,7 @@ def calc_route_preview(self, route: list) -> None:
         self.preview = pd.DataFrame(route)
         self.preview.columns = ['X', 'Y']
         self.preview['type'] = 'preview route'
+        self.previewId = str(uuid.uuid4())
 
     def read_map_name(self) -> str:
         try:
@@ -247,7 +252,7 @@ def read_map_name(self) -> str:
             return ''
 
     def save_map_name(self) -> None:
-        tmp_data = {'PERIMETERNAME': self.name}
+        tmp_data = {'PERIMETERNAME': self.name, 'MAPID': self.map_id}
         try:
             with open(self.current_perimeter_file, 'w') as f:
                 json.dump(tmp_data, f, indent=4)
@@ -302,6 +307,36 @@ def calc_mow_progress(self) -> None:
                 self.finished_idx = 0
                 self.idx = 0
                 self.idx_perc = 0
+
+    def perimeter_to_geojson(self) -> str:
+        try:
+            logger.info('Exporting current map to geojson')
+            perimeter_for_export = self.perimeter_for_plot
+            if not perimeter_for_export.empty:
+                geojson = dict(type="FeatureCollection", features=[])
+                #perimeter
+                coords = perimeter_for_export[perimeter_for_export['type'] == 'perimeter']
+                value = dict(type="Feature", properties=dict(name="perimeter"), geometry=dict(dict(type="Polygon", coordinates=[coords[['X', 'Y']].values.tolist()])))
+                geojson['features'].append(value)
+                #dockpoints
+                coords = perimeter_for_export[perimeter_for_export['type'] == 'dockpoints']
+                value = dict(type="Feature", properties=dict(name="dockpoints"), geometry=dict(dict(type="LineString", coordinates=coords[['X', 'Y']].values.tolist())))
+                geojson['features'].append(value)
+                #search wire
+                coords = perimeter_for_export[perimeter_for_export['type'] == 'search wire']
+                value = dict(type="Feature", properties=dict(name="search wire"), geometry=dict(dict(type="LineString", coordinates=coords[['X', 'Y']].values.tolist())))
+                geojson['features'].append(value)
+                #exclusions
+                filtered = perimeter_for_export[(perimeter_for_export['type'] != 'perimeter') & (perimeter_for_export['type'] != 'dockpoints') & (perimeter_for_export['type'] != 'search wire')]
+                for i, exclusion in enumerate(filtered['type'].unique()):
+                    coords = perimeter_for_export[perimeter_for_export['type'] == exclusion]
+                    value = dict(type="Feature", properties=dict(name="exclusion"), idx=i, geometry=dict(dict(type="Polygon", coordinates=[coords[['X', 'Y']].values.tolist()])))
+                    geojson['features'].append(value)
+                return geojson
+        except Exception as e:
+            logger.error('Could not export current map to gejson')
+            logger.debug(f'{e}')
+            return e
 
 @dataclass
 class Perimeters: