app.py

import serial
import cv2
import os
from picamera2 import Picamera2
from picamera2.encoders import JpegEncoder, Quality, MJPEGEncoder
from picamera2.outputs import FileOutput
from libcamera import controls
from flask import Flask
from flask_restful import Api
from pymongo import MongoClient
import urllib.parse
from flask_jwt_extended import JWTManager, jwt_required, create_access_token
from common.robot import Robot
from resources.move_forward import MoveForward
from resources.move_backward import MoveBackward
from resources.move_left import MoveLeft
from resources.move_right import MoveRight
from resources.gripper import Gripper
from resources.rotate import Rotate
from resources.up_down import UpDown
from resources.gcode import Gcode
from resources.get_image_base import GetImageBase
from resources.get_image_top import GetImageTop
from resources.get_all_states import GetAllStates
from resources.calibrate import Calibrate
from resources.get_state import GetState
from resources.step_action import StepAction
from resources.register import Register
from resources.login import Login
from resources.streaming_output import StreamingOutput
from resources.video_capture import VideoCapture
from flask_sock import Sock
from resources.websocket_handler import register as register_websocket

# Making a Connection with MongoClient
mongoClientUsername = os.environ['MONGO_CLIENT_USERNAME']
mongoClientPassword = os.environ['MONGO_CLIENT_PASSWORD']
client = MongoClient("mongodb+srv://"+mongoClientUsername+":"+urllib.parse.quote(mongoClientPassword)+"@usercluster.kgmuck4.mongodb.net/?retryWrites=true&w=majority")
# database
db = client["api_database"]
# collection
users = db["Users"]
# Connect to teensy
teensy = None
try:
    teensy = serial.Serial('/dev/teensy', 9600, timeout=1)
except Exception as e:
    print(f"Failed to initialize teensy")

# Connect to base camera
camera_base = None
try:
    camera_base = VideoCapture("/dev/camdown0") # Original size: 640x480
except Exception as e:
    print(f"Failed to initialize bottom camera: {e}")

# Connect to top camera
camera_top = None
picam2 = Picamera2()
config = picam2.create_video_configuration(main={"size": (1280, 720), "format": "RGB888"})
picam2.configure(config)
picam2.set_controls({"AeEnable": True}) # Automatic camera gain nand exposure
picam2.set_controls({"AwbEnable": True}) # Automatic white balance
picam2.set_controls({"AfMode": controls.AfModeEnum.Continuous})
picam2.set_controls({"Brightness": 0.05})
picam2.set_controls({"Contrast": 1.1})
picam2.set_controls({"Sharpness": 7})
camera_top = StreamingOutput()
picam2.start_recording(MJPEGEncoder(), FileOutput(camera_top), quality=Quality.HIGH)


# Initiate Robot
xmin, xmax, ymin, ymax = -160.0, 0.0, 0.0, 220.0
user_xmin, user_xmax, user_ymin, user_ymax = -150.0, -10.0, 10.0, 150.0
limits_admin = [xmin, xmax, ymin, ymax]
limits_user = [user_xmin, user_xmax, user_ymin, user_ymax]
limits = [limits_admin, limits_user]
robot = Robot(teensy, camera_base, camera_top, limits)
# Flask object
app = Flask(__name__)
api = Api(app)
sock = Sock(app)
#  JWT manager
jwt = JWTManager(app)
# JWT Config
app.config["JWT_SECRET_KEY"] = os.environ['JWT_SECRET_KEY']
app.config["JWT_ACCESS_TOKEN_EXPIRES"] = False
app.config['PROPAGATE_EXCEPTIONS'] = True
app.config['SOCK_SERVER_OPTIONS'] = {'max_message_size': 16 * 1024 * 1024}


api.add_resource(Login, '/api/v1.1/robot/login', resource_class_kwargs={'users': users, 'app':app})
api.add_resource(Register, '/api/v1.1/robot/register', resource_class_kwargs={'users': users})
api.add_resource(MoveForward, '/api/v1.1/robot/moveUp', resource_class_kwargs={'robot': robot})
api.add_resource(MoveBackward, '/api/v1.1/robot/moveDown', resource_class_kwargs={'robot': robot})
api.add_resource(MoveRight, '/api/v1.1/robot/moveRight', resource_class_kwargs={'robot': robot})
api.add_resource(MoveLeft, '/api/v1.1/robot/moveLeft', resource_class_kwargs={'robot': robot})
api.add_resource(Gripper, '/api/v1.1/robot/grip/<string:grip_angle>', resource_class_kwargs={'robot': robot})
api.add_resource(Rotate, '/api/v1.1/robot/rotate/<string:rotate_angle>', resource_class_kwargs={'robot': robot})
api.add_resource(UpDown, '/api/v1.1/robot/up_down/<string:z_angle>', resource_class_kwargs={'robot': robot})
api.add_resource(Gcode, '/api/v1.1/robot/gcode/<string:x>/<string:y>', resource_class_kwargs={'robot': robot})
api.add_resource(Calibrate, '/api/v1.1/robot/calibrate', resource_class_kwargs={'robot': robot})
api.add_resource(GetImageBase, '/api/v1.1/robot/getImageBase', resource_class_kwargs={'robot': robot})
api.add_resource(GetImageTop, '/api/v1.1/robot/getImageTop', resource_class_kwargs={'robot': robot})
api.add_resource(GetAllStates, '/api/v1.1/robot/getAllStates', resource_class_kwargs={'robot': robot})
api.add_resource(GetState, '/api/v1.1/robot/getState',resource_class_kwargs={'robot': robot})
api.add_resource(StepAction, '/api/v1.1/robot/step/<string:x>/<string:y>/<string:z>/<string:rotation>/<string:grip>',resource_class_kwargs={'robot': robot})
register_websocket(sock, robot, app)

if __name__=="__main__":
    app.run(host='0.0.0.0', port=5000, threaded=True)