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1322 | ################################################################
## evaalapi.py
## a web API interface for running the IPIN competitions
## Copyright 2021-2022 Francesco Potortì
## This program can be freely run, copied, modified and distributed
## under a GNU Affero General Public License v3.0 or later
## SPDX-License-Identifier: AGPL-3.0-or-later
################################################################
# Core packages
import os
from datetime import datetime, timezone # strftime with microseconds
import time # sleep
import lzma
# Extension packages
import yaml
from parse import parse
from markdown import markdown
from pygments import highlight
from pygments.lexers import get_lexer_by_name
from pygments.formatters import HtmlFormatter
from markupsafe import escape
from flask import Flask, abort, request, Request, Response, send_file
revision = "$Revision: 3.10.3.5 $"[11:-2]
source = "evaalapi.py"
sourcedir = "source/"
trialsdir = "trials/"
globinifn = "evaalapi.yaml"
privatefn = "private.yaml"
starttime = datetime.now(timezone.utc).strftime("%FT%H:%M:%SZ")
guisource = "evaalapigui.py"
## The Flask app
app = Flask(__name__)
## This is crude, probably something should be done with the app.logger
debug = app.debug
## Useful for logging to get the originating IP when behind proxies
## In the Request object request, use X-Forwarded-For to set remote_addr
proxies = 1 # number of proxies
if proxies > 0:
try: # get remote ip when behind a proxy
from werkzeug.middleware.proxy_fix import ProxyFix
app.wsgi_app = ProxyFix(app.wsgi_app, proxies)
except ImportError:
pass
states = ('nonstarted','running','finished','timeout')
esthdr = "pts,c,h,s,pos"
estfmt = "{pts:.3f},{c:.3f},{h:.3f},{s:.3f},{pos}"
statefmt = "{trialts:.3f},{rem:.3f},{V:.3f},{S:.3f},{p:.3f},{h:.3f},{pts:.3f},{pos}"
trials = {} # the known trials
test_trials = {"test": # a trial used by the test suite
{'name': "test",
'datafile': "test.csv", # text data file
'commsep': '%', # comment-starting string in data file
'sepch': ',', # field separator in data file
'V': 1, # normally 3, but testsuite would be slower
'S': 2, # normally 15, but testsuite would be slower
'inipos': "10.422057,43.718278,1", # my office location in WGS84
'reloadable': True},
}
## OpenAPI description initialisation using the swagger library
##
## A bug in flasgger 0.9.51 keeps newlines in description even with MK_SANITIZER
## so we should remove the newlines from the string. We do it by using yaml
## block scalars (see https://yaml-multiline.info/). Note that the blank lines
## between paragraphs are indented: the number of space characters matters!
apidescription = """
## IPIN competition interface
For official use at the [IPIN competition](http://evaal.aaloa.org) you need a trial name.
For unofficial testing you can freely use the `demo` trial, either by
writing your own tests or by running the [demo](/evaalapi/demo)
program at your premises. Calling `demo auto` produces [this output](/evaalapi/demo-auto.out)
on your terminal. Calling `demo interactive` allows one to choose the timing by
pressing Return at the terminal.
If you want to run `demo` with an API server at your premises, you need to download
the API server source code and the [demo configuration](/evaalapi/evaalapi.yaml) in the
same directory, plus the `Logfiles/01-Training/01a-Regular/T03_02.txt` file taken from
[Indoorloc](http://indoorloc.uji.es/ipin2020track3/files/logfiles2020.zip), to be put
under a `trials/` subdirectory.
### Documentation
You should start by carefully reading the [API complete documentation](/evaalapi/evaalapi.html)
(Markdown [source](/evaalapi/evaalapi.md)) which begins with an overall decription of the API.
Once you are familiar with it, you can use the [OpenAPI description](/evaalapi/apidocs/) as a
reference with examples.
### Source code
Copyright 2021-2022 Francesco Potortì
The Python ["""+source+"""](/evaalapi/"""+source+""") source code is released under the
[GNU Affero General Public License v3.0 or later](https://www.gnu.org/licenses/agpl-3.0.html).
"""
swagger_config = {
## See examples/changelog_090.py for additional customisations
'title': "EvaalAPI",
'uiversion': '3', # 3 is the default
'swagger_ui': True,
'hide_top_bar': True, # hide the green top bar
## 'top_text': "<h1>A web API for the IPIN competition</h1><br><hr>",
'footer_text': "<b>Copyright 2021-2023 Francesco Potortì - GNU AGPL 3.0 or later",
'headers': [],
'specs': [{'endpoint': "openapispec",
'route': "/evaalapi/openapispec.json",
'rule_filter': lambda rule: True, # all in
'model_filter': lambda tag: True, # all in
}],
'static_url_path': "/evaalapi/flasgger_static",
'specs_route': "/evaalapi/apidocs/"
}
swagger_template = yaml.safe_load("""
info:
title: EvaalAPI
schemes:
- https
description: >
""" + apidescription + """
contact:
name: Francesco Potortì
email: Potorti@isti.cnr.it
url: http://fly.isti.cnr.it
version: "1.0"
## The definition of Trialname is not conformant to OpenAPI 2.0: it should not
## contain the 'name' and 'in' properties, and references to it should be from
## inside a schema. However, Swagger parses it right this way, and doing it
## the official way shows the description only in the Models section, not inside
## the endpoint description, which is annoying
definitions:
Trialname:
name: trialname
in: path
type: string
description: >
Trial name provided by IPIN.
Competitors will individually receive one ore more scoring trial names. Scoring trials
are not reloadable, meaning they can be used only once and can not be restarted when finished.
IPIN will also provide some test trials for testing and tuning which are reloadable
and can be reset to nonstarted state by using the `reload` request.
The `test` and `demo` trials, both reloadable, are always available. The `test` trial
can be used for quickly testing the interface and provides arbitrary strings as data, while
the `demo` trial provides data from Logfiles/01-Training/01a-Regular/T03_02.txt taken
from http://indoorloc.uji.es/ipin2020track3/files/logfiles2020.zip"""
)
try:
from flasgger import Swagger, MK_SANITIZER
Swagger(app, config=swagger_config, template=swagger_template, sanitizer=MK_SANITIZER)
except ImportError:
pass
## This class is used inside a trial to provide logging services
class Triallog:
sep = " ================ " # predefined string for messages
# trialname: name of the containing trial
# logfn: name of the log file
# logf: the stream object for the log file
## Constructor
def __init__ (self, trial):
self.trialname = trial['name'] # name of this trial
self.logfn = trial['logfn']
openflag = 'a' if trial['reloadable'] else 'x'
try:
logf = lzma.open(self.logfn, openflag) # log file descriptor
except IOError:
abort(Response("Cannot write log for " + self.trialname, 500))
self.logf = logf
## Create date string
def __date (self):
## ISO format with milliseconds: YYYY-MM-DDTHH:MM:SS.mmm
return datetime.now(timezone.utc).strftime("%FT%H:%M:%S.%f")[0:-3]
## Low-level logger
def __log (self, entrystr):
if debug: print("logging entry: " + entrystr)
try:
self.logf.write(bytes(entrystr + '\n', 'ascii'))
except IOError:
abort(Response("Cannot log new entry for " + self.trialname, 500))
## CLose log file
def close (self):
if self.logf is not None: # if file opened
self.logf.close()
## Close and reopen log file to make sure it's flushed to disk
def reopen (self):
if self.logf is not None: # if file opened
self.logf.close()
try:
self.logf = lzma.open(self.logfn, 'a')
except IOError:
self.logf = None # log file not opened
abort(Response("Cannot reopen log for " + self.trialname, 500))
## Log functions
def log_msg (self, msg):
self.__log(self.__date() + self.sep + msg)
def log_request (self):
self.__log("%s <-- %s, %s%s" %
(self.__date(), request.remote_addr, request.host, request.full_path))
def log_response (self, trial, response):
self.__log("%s --> %d, trialts=%.3f rem=%.3f" %
(self.__date(), response.status_code, trial['trialts'], remaining_time(trial)))
ld = response.data.decode('ascii')
ll = ld.splitlines()
nl = 2
if len(ll) <= 2*nl+1:
# Print everything if less than 2*nl+2 lines
self.__log(ld)
else:
## Only print the first and last nl lines truncated to the first nc characters
nc = 100
self.__log('\n'.join(logline[:nc] for logline in ll[:nl])
+ "\n ... ___%d lines omitted___ ... \n" % len(ll)
+ '\n'.join(logline[:nc] for logline in ll[-nl:]))
## Return the timestamp (first numeric field) of a data line
def get_line_timestamp (line, sep):
fields = line.strip().split(sep) # split on commas
for field in fields: # look at fields starting from first
try: # is this a numeric field?
datats = float(field) # try to interpret it as a timestamp
except ValueError: # not a numeric field
continue # try next one
else: # yes, we found it
return datats
return None # no numeric field found
## Compute remaining time
def remaining_time (trial):
return round(trial['p'] + trial['V']*trial['h'] + trial['s'] - time.time(), 3)
## Get the trial TRIALNAME from the trials dict, or create it from config files
def get_trial (trialname):
## If we don't know about trialname, read the init files and the test trial
initrials = {}
if trialname not in trials:
if trialname in test_trials:
if debug: conforigin = "internal test"
initrials = test_trials
else:
trialinifn = trialsdir + trialname + ".yaml"
try:
## Look for a configuration file named after the trial name
if os.path.exists(trialinifn):
if debug: conforigin = "file " + trialinifn
with open(trialinifn, 'r') as inif:
initrials = yaml.safe_load(inif)
basefilename_key = "_BASEFILENAME_"
if basefilename_key in initrials:
initrials[trialname] = initrials.pop(basefilename_key)
## If not found, look at the global init file
elif os.path.exists(globinifn):
if debug: conforigin = "file " + globinifn
with open(globinifn, 'r') as inif:
initrials = yaml.safe_load(inif)
except IOError:
pass # ini file not readable
## Create trials from initrials, set state
for name in initrials:
initrial = initrials[name]
if name in trials:
state = trials[name]['state']
if state != 'nonstarted':
if debug: print(f"Trial {name} not reloaded from init file {globinifn} because it is {state}")
continue
## Create trial
trials[name] = {'name': name,
'addr': set(), # remote addresses accessing this trial
'logfn': trialsdir + name + ".log.xz",
'estfn': trialsdir + name + ".est",
'state': 'nonstarted'}
# if debug: print(f"Trial {name}: {initrial}")
if('offline' not in initrial):
initrial['offline'] = False
try:
for k in ( # selected keys from initrial
'datafile', # text data file
'commsep', # comment-starting string in data file
'sepch', # field separator in data file
'V', # trial time slowdown factor
'S', # timeout slack time (seconds)
'inipos', # initial position
'offline', # offline/online trial
'reloadable' # not a scoring trial
):
trials[name][k] = initrial[k]; # copy from initrial
if debug: print(f"Trial {name}: {trials[name]}");
assert isinstance(initrial['datafile'], str)
assert isinstance(initrial['commsep'], str)
assert isinstance(initrial['sepch'], str)
if not trials[name]['offline']:
assert isinstance(initrial['V'], (int, float)) and initrial['V'] >= 1
else:
assert isinstance(initrial['V'], (int, float)) and initrial['V'] == 0
assert isinstance(initrial['S'], (int, float)) and initrial['S'] >= 0
assert isinstance(initrial['inipos'], str)
assert isinstance(initrial['reloadable'], bool)
assert isinstance(initrial['offline'], bool)
except:
abort(Response(f"Bad config for trial {name}", 500))
if debug: print(f"Trial {name} loaded from {conforigin}")
## Return the trial, if it exists
if trialname in trials:
trial = trials[trialname]
trial['addr'].add(request.remote_addr)
return trial # got and initialised it
else:
time.sleep(0.1) # slow down brute-force attacks
return None
## Close trial: dump estimates, close log and data file descriptors
def close_trial (trial):
if 'est' in trial:
try:
with open(trial['estfn'], 'w') as estf:
estf.write("\n".join(trial['est']))
except IOError:
abort(Response("Cannot write estimates", 500))
if 'dataf' in trial:
trial['dataf'].close() # close the data file
del trial['dataf']
if 'log' in trial:
trial['log'].close() # close the Triallog
del trial['log']
################################################################
#### Documentation endpoints
################################################################
htmlhead = """<!DOCTYPE html><html lang=en><head><meta charset="utf-8"/>
<title>{title}</title><link rel="icon" href="{favicon}"/></head><body>
""".format(title = "EvaalAPI",
favicon = "https://evaal.aaloa.org/templates/evaal2012/favicon.ico")
## Make input strings safer
def safestr(string):
return escape(string).striptags()
@app.route("/evaalapi/")
def root ():
## Remove indentation from apidescription, least it be rendered literally
lines = apidescription.splitlines() # separate lines
sl = [i.lstrip() for i in lines] # remove leftmost spaces
desc = '\n'.join(sl) # join stripped lines
return htmlhead + markdown("Revision " + revision + desc)
@app.route("/evaalapi/evaalapi.html")
def doc_html ():
with open(sourcedir+"evaalapi.md", 'r') as sf:
return htmlhead + markdown(sf.read())
def html_beutify_sourcedir_file (filename, lexername, title=None):
if title is None: title = filename
lexer = get_lexer_by_name(lexername, stripall=True)
formatter = HtmlFormatter(full=True, title=title, linenos='table', wrapcode=True)
with open(sourcedir+filename, 'r') as sf:
code = sf.read()
return highlight(code, lexer, formatter)
@app.route("/evaalapi/evaalapi.md")
def doc_md ():
## TODO: "md" → "markdown" once python3-pygments is upgraded to 2.8
return html_beutify_sourcedir_file("evaalapi.md", "md")
@app.route("/evaalapi/"+source)
def python_source ():
return html_beutify_sourcedir_file(source, "python")
@app.route("/evaalapi/evaalapi.yaml")
def conf_source ():
return html_beutify_sourcedir_file("evaalapi.yaml", "yaml")
@app.route("/evaalapi/demo")
def demo_source ():
return html_beutify_sourcedir_file("demo", "python", "EvaalAPI demo")
@app.route("/evaalapi/demo-auto.out")
def demo_out ():
## TODO: "text" → "output" once python3-pygments is upgraded to 2.10
return html_beutify_sourcedir_file("demo-auto.out", "text")
################################################################
#### Management endpoints
################################################################
@app.route("/evaalapi/revision")
def server_revision ():
return { 'start_time': starttime, 'revision': revision }
"""Return revision and start time of the server.
---
produces: application/json
responses:
200:
description: Returns server revision and start time.
schema:
type: string
example: {"revision":"2.47","start_time":"2021-11-13T20:17:16"}
"""
@app.route("/evaalapi/status/<op>/<key>")
@app.route("/evaalapi/status/<key>", defaults={'op': 'complete'})
def trial_status (op, key):
key = safestr(key)
try:
with open(privatefn, 'r') as inif:
ini = yaml.safe_load(inif)
masterkey = ini['masterkey']
except (IOError, KeyError):
return "Cannot get global status", 500
if key != masterkey:
time.sleep(1) # slow down brute-force attacks
return revision()
ts = {}
#ts[n] = {k: v for k, v in trials[n].items() if k not in ('log', 'dataf', 'response_data')}
if op == 'complete':
for trialname in trials:
ts[trialname] = {}
for k, v in trials[trialname].items():
if k in ('log', 'dataf', 'response_data'):
pass
elif k == 'addr':
ts[trialname][k] = list(v)
elif k == 'est':
ts[trialname]['lastest'] = v[-1]
elif k == 'line' and v is not None:
ts[trialname][k] = v.strip()
else:
ts[trialname][k] = v
elif op == 'state':
## Return state for each trial
for trialname in trials:
ts[trialname] = trials[trialname]['state']
elif op == 'running':
## Return remaining time for running trials
for trialname in trials:
if trials[trialname]['state'] == 'running':
ts[trialname] = remaining_time(trials[trialname])
return ts
################################################################
#### EvaalAPI endpoints
################################################################
## Used at the beginning of route definitions for the EvaalAPI endpoints.
def check_request (trialname, valid_params):
err = None
trialname = safestr(trialname)
## Check for existence of trial
trial = get_trial(trialname)
if trial is None:
err = ("Trial does not exist", 404)
## Check parameters
invalid_params = set(request.args.keys()).difference(valid_params)
if len(invalid_params) > 0:
invalid_param = list(invalid_params)[0]
err = (f"Invalid parameter {invalid_param} -- request ignored", 422)
return trialname, trial, err
@app.route("/evaalapi/<trialname>/reload")
def trial_reload (trialname):
"""Reload trial data, set nonstarted state
Returns trial state after reload, as with the `state` request in nonstarted state.
Works for a testing trial or a nonstarted scoring trial. Does not work for a scoring
trial which has generated a log.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
- name: keeplog
in: query
allowEmptyValue: true
description: If present, keeps log and appends to it; if absent, deletes the log.
required: false
produces: text/csv
responses:
200:
description: Returns the state of the nonstarted trial.
schema:
type: string
example: 0.000,-1.000,3.000,15.000,0.000,0.000,0.000,10.422057;43.718278;1
404:
description: The trial does not exist.
405:
description: Trial is unstarted, no estimates are there.
422:
description: Invalid parameter or trial not reloadable.
"""
valid_parameters = {'keeplog'}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
logfn = trial['logfn']
estfn = trial['estfn']
logfnexisted = os.path.exists(logfn)
if debug: print(f"File {logfn} did{'' if logfnexisted else ' not'} exist")
if 'log' in trial: # trial not closed
state = trial['state']
assert state == 'running', state
trial['log'].log_request()
trial['log'].reopen() # flush the compressed data
logfnexists = os.path.exists(logfn)
else:
logfnexists = logfnexisted
assert not (logfnexisted and not logfnexists)
if debug: print(f"File {logfn} does{'' if logfnexists else ' not'} exist")
if not trial['reloadable']:
if logfnexisted:
return (f"Trial {trialname} is not reloadable", 422)
else:
## A non-reloadable trial can be reloaded if it has not yet produced any logs
## This opens a way to restart a non reloadable trial by first removing the log file
if debug: print(f"Reloading non-reloadable trial {trialname}")
close_trial(trial)
del trials[trialname]
if not logfnexisted or 'keeplog' not in request.args:
if logfnexists: os.remove(logfn)
if os.path.exists(estfn): os.remove(estfn)
trial = get_trial(trialname) # recreate trial from conf
return trial_state(trialname, trial)
################################################################
@app.route("/evaalapi/<trialname>/state")
def trial_state (trialname, trial=None, dolog=True):
"""Get trial state
Returns the trial state
Useful to get the state of the trial for consistency checking and for getting
the time remaining until timeout.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
produces: text/csv
responses:
200:
description: >
Returns the state of the trial as a CSV line
Returns a single data line in CSV format. From Python, the returned data line can be parsed with
`parse("{trialts:.3f},{rem:.3f},{V:.3f},{S:.3f},{p:.3f},{h:.3f},{pts:.3f},{pos}", line)`.
See the complete documentation for the meaning of the returned values.
schema:
type: string
example: 0.000,-1.000,3.000,15.000,0.000,0.000,0.000,10.422057;43.718278;1
404:
description: The trial does not exist.
405:
description: Trial is unstarted, no estimates are there.
422:
description: Invalid parameter or trial not reloadable.
"""
if trial is None: # called via app.route
valid_parameters = {}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
state = trial['state']
V = trial['V'] # V is 0 for offline trails
S = trial['S']
if dolog and 'log' in trial: # trial nonstarted or not closed
trial['log'].log_request()
if state == 'nonstarted':
inipos = trial['inipos']
if trial['offline']:
rem = -2
else:
rem = -1
data = statefmt.format(trialts=0,rem=rem,V=V,S=S,p=0,h=0,pts=0,pos=inipos)
if debug: print(f"State is {state}: {data}")
## Do not log this response, because trial has not started
return data, {"Content-Type": "text/csv"}
p = trial['p']
s = trial['s']
if trial['offline']: # offline trial
h = -2
if state == 'running':
trialts = trial['trialts']
rem = remaining_time(trial)
pts = 0
pos = trial['inipos']
elif state == 'finished' or state == 'timeout':
trialts = -1
est = trial['est'][-1]
if debug: print(f"Last estimate is: \"{est}\"")
lastest = parse(estfmt, est) # parse last estimate
assert lastest is not None
pts = lastest['pts'] # timestamp of last estimate
pos = lastest['pos'] # position of last estimate
rem = s
else:
assert False, f"Bad state '{state}' for offline trial"
else: # online trial
h = trial['h']
est = trial['est'][-1]
if debug: print(f"Last estimate is: \"{est}\"")
lastest = parse(estfmt, est) # parse last estimate
assert lastest is not None
pts = lastest['pts'] # timestamp of last estimate
pos = lastest['pos'] # position of last estimate
if state == 'running':
trialts = trial['trialts']
rem = remaining_time(trial) # time remaining until timeout
elif state == 'finished':
trialts = -1
rem = 0
elif state == 'timeout':
trialts = -1
rem = s
else:
assert False, f"Unknown state '{state}'"
data = statefmt.format(trialts=trialts,rem=rem,V=V,S=S,p=p,h=h,pts=pts,pos=pos)
r = Response(data, 200, {"Content-Type": "text/csv"})
if dolog and 'log' in trial: # trial nonstarted or not closed
trial['log'].log_response(trial, r)
if debug: print(f"State is {state}: {data}")
return r
################################################################
def trial_nextdata_response (trial):
if debug:
nlc = trial['response_data'].count('\n')
print(f"Sending {nlc} lines of data")
r = Response(trial['response_data'], 200, {"Content-Type": "text/csv"});
trial['log'].log_response(trial, r)
return r
@app.route("/evaalapi/<trialname>/nextdata")
def trial_nextdata (trialname):
"""Get data and set estimated position
This is the main endpoint.
For a scoring online trial, this is the only necessary request to use.
At each request, the competitor asks for next data, starting
from the current trial timestamp
through the requested `horizon` (default 0.5 seconds). With the same request,
the competitor can set a `position` estimate relative to the current timestamp.
If the trial has not started yet, starts it and make it running. If the trial is
not finished, returns the data for the requested `horizon`.
If the trial is finished, returns the status as with the `state` request.
For an offline trial this request must be called only once at start of trial.
It returns all data lines at once.
Parameter offline is compulsory and does not require a value.
See the complete documentation for detail and timeout management.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
- name: horizon
in: query
type: float
allowEmptyValue: true
description: A non-negative number of seconds.
required: false
default: 0.5
minimum: 0
maximum: 3e10
- name: position
in: query
type: string
description: Estimated position at current trial timestamp. Format is trial-dependent.
required: false
default: none
- name: offline
in: query
allowEmptyValue: true
description: A flag indicating a request for an offline trial
required: false
produces: text/csv
responses:
200:
description: For online trials, data lines in the requested time horizon. For offline trials, all data lines.
schema:
type: string
example: |
ACCE;0.015;17287.341;-2.64559;8.69813;2.78446;3
GYRO;0.016;17287.337;0.27428;-1.10933;-0.18998;3
MAGN;0.016;17287.342;7.56000;-26.28000;-39.84000;3
GYRO;0.016;17287.342;0.17776;-1.35429;-0.19364;3
ACCE;0.017;17287.346;-2.82995;8.87052;2.36547;3
AHRS;0.017;17287.346;51.891617;31.498898;-54.021839;0.48601067;0.02620481;-0.28725025;3
ACCE;0.017;17287.351;-2.96402;9.06684;2.32716;3
404:
description: The trial does not exist.
405:
description: >
Trial has finished, whether normally or because of a timeout;
the position estimate is ignored; the trial timestamp does not change.
For offline trials this is triggered by a duplicate call.
Returns the trial state, as with the `state` request in nonstarted state.
schema:
type: string
example: -1.000,0.000,1.000,2.000,1630239724.795,66.000,7.600,10.422059,43.718278,1
422:
description: >
Invalid parameter, parameter combination or parameter value;
the position estimate is ignored;
the trial timestamp does not change; no data are returned.
423:
description: >
This online,non-reloadable trial is configured with V > 2,
meaning that the client is expected to be on average twice slower than real time.
Yet, the time interval between the previous request and this one was smaller than
the horizon of the previous request;
the position estimate is ignored;
the trial timestamp does not change; no data are returned.
"""
valid_parameters = {'horizon', 'position', 'offline', 'label'}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
## Get state
state = trial['state']
assert state in states, state
## Log trial creation before logging request
if state == 'nonstarted':
log = trial['log'] = Triallog(trial) # first, init log
## When nonstarted, trial_state returns a tuple rather than a Response
## so we cannot use trial_state(trialname,trial)[0].data.decode('ascii')
log.log_msg(f"Creating trial '{trialname}'\nstate: {trial_state(trialname, trial, dolog=False)[0]}")
## The Triallog is not there if the trial is closed
if 'log' in trial:
assert state in ('nonstarted', 'running'), state
log = trial['log']
log.log_request()
else:
assert state in ('finished', 'timeout'), state
log = None
## Check offline parameter and offline not running
if not trial['offline']:
# Check that offline parameter was not supplied
if 'offline' in request.args:
return ("Trial is online, but offline parameter present", 422)
else:
# Check offline parameters and state
if not 'offline' in request.args:
return ("Trial is offline, but offline parameter is missing", 422)
if 'position' in request.args or 'horizon' in request.args:
return ("Trial is offline, but 'position' or 'horizon' present", 422)
if state == 'running': # called for the second time
s = remaining_time(trial)
if s < 0:
state = 'timeout'
else:
state = 'finished'
trial['s'] = s # save slack time
trial['state'] = state # set timeout state
if state == 'finished':
log.log_msg("Trial finished by repeated nextdata\n")
else:
log.log_msg("Trial finished by timeout\n")
close_trial(trial)
################################################################
## Return trial state if trial is finished
if state in ('finished', 'timeout'):
if debug: print(f"State is {state}")
return trial_state(trialname, trial, dolog=False), 405
################################################################
## Start the trial if not started
if state in ('nonstarted'):
if debug: print(f"State is {state}")
# Open data file
datafn = trialsdir + trial['datafile']
linets = None
try:
dataf = open(datafn, 'r')
## Skip initial headers, comments and empty lines
while linets is None: # a line without a numeric field
line = next(dataf)
if line.lstrip().startswith(trial['commsep']):
continue # skip comments
linets = get_line_timestamp(line, trial['sepch'])
except (IOError, StopIteration):
return "Error reading data file for " + trialname, 500
## Advance the state, set the remaining trial variables
state = 'running' # start the trial
S = trial['S']
inipos = trial['inipos']
iniest = [esthdr, # first line is header
estfmt.format( # initial estimate
pts = linets, # estimation timestamp
c = 0, # estimation wall clock
h = 0, # horizon requested at estimation
s = S, # slack time at estimation
pos = inipos # position estimate
)]
trial.update({'state': state, # running
'inits': linets, # initial timestamp, from first trial timestamp
'trialts': linets, # trial timestamp
'p': 0, # wall clock of previous step
'h': 0, # horizon of previous step
's': S, # timeout slack (inited to S)
'line': line, # first data line
'dataf': dataf, # d-ata file descriptor
'est': iniest, # initial estimate
'label': None # command label for retry request
})
################################################################
## Running state
assert state == 'running'
if debug: print(f"State is {state}")
V = trial['V']
S = trial['S']
trialts = trial['trialts']
p = trial['p']
h = trial['h']
s = trial['s']
dataf = trial['dataf']
sepch = trial['sepch']
line = trial['line']
label = None
# Get current time
c = time.time()
if not trial['offline']: # online trial
## Check for timeout
assert s >= 0 and s <= S
if p > 0: # p == 0 for first state request call
## V > 2 means that we expect the client to be twice slower than real time
## while (c-p) < h means that it is faster: ignore this request
if not trial['reloadable'] and V > 2 and (c-p) < h:
r = Response(f"Too fast, please slow down -- request ignored", 423)
log.log_response(trial, r); return r
s += V*h - (c-p) # same as s = remaining_time(trial)
if s > S: # remaining greater than slack time
s = S
elif s < 0: # no remaining time
state = 'timeout'
## Check for finished trial
if line is None: # no more data lines
state = 'finished'
## Unless timed out, read horizon and update the trial estimates
if state in ('running', 'finished'):
## If using the same label as the previous request, serve the same data
label = None
if 'label' in request.args:
label = safestr(request.args['label'])
if label == trial['label']:
## This is a retry request: return same data as last requested
if debug:
print(f"Nextadata retry request with label {label}")
return trial_nextdata_response(trial)
## Read and validate horizon
if 'horizon' in request.args:
horizon = safestr(request.args['horizon'])
try:
h = float(horizon)
except ValueError:
r = Response(f"Horizon value not a number: \"{horizon}\" -- request ignored", 422)
log.log_response(trial, r); return r
if h < 0 or h == float('inf'): # negative or infinite
r = Response(f"Horizon negative or inf: \"{horizon}\" -- request ignored", 422)
log.log_response(trial, r); return r
else:
h = 0.5 # default horizon (seconds)
## Update the trial estimates
if (trialts > trial['inits'] # position at 0 is the initial position
and 'position' in request.args):
pos = safestr(request.args['position'])
estimate = estfmt.format(
pts = trialts, # estimation timestamp
c = c, # estimation wall clock
h = h, # horizon requested at estimation
s = s, # slack time at estimation
pos = pos # position estimate
)
if debug: print(f"Estimate is: \"{estimate}\"")
trial['est'].append(estimate) # append to list of estimates
## If trial finished, stop here
if state in ('finished', 'timeout'):
trial['s'] = s # save slack time
trial['state'] = state # set finished or timeout state
r = trial_state(trialname, trial, dolog=False)
r.status_code = 405;
log.log_response(trial, r);
log.log_msg(f"Trial finished {'normally' if state == 'finished' else 'by timeout'}\n")
close_trial(trial)
return r
## Get data for the requested horizon (online) or all data (offline)
assert state == 'running'
linets = get_line_timestamp(line, sepch)
assert linets is not None
assert linets >= trialts
data = "" # data to return
datats = 0 # last data timestamp
while trial['offline'] or linets < trialts+h: # while line in horizon or offline trial
data += line # append line to data
datats = linets # only used for consistency check
try:
line = next(dataf) # read next line of data file
except IOError:
r = Response("IO error while reading data file for " + trialname, 500)
log.log_response(trial, r); return r
except StopIteration: # no more lines in data file
line = None
break
## Get new line timestamp and check it
linets = get_line_timestamp(line, sepch)
if linets is None:
r = Response("No timestamp in data file for " + trialname, 500)
log.log_response(trial, r); return r
if linets < datats: # invalid timestamp
r = Response("Decreasing timestamp in data file for " + trialname, 500)
log.log_response(trial, r); return r
## Advance trial timestamp, update trial variables
trialts += h
trial.update({'state': state,
'trialts': trialts, # trial timestamp
'p': c, # wall clock of last step
'h': h, # horizon of last step
's': s, # timeout slack
'line': line, # first line beyond horizon
'response_data': data, # data to send
'label': label # command label for retry request
})
## Return data in the requested horizon
return trial_nextdata_response(trial)
################################################################
@app.route("/evaalapi/<trialname>/estimates", methods=['GET'])
def trial_estimates (trialname):
"""Get estimates
Returns a list of the estimates in CSV format with header.
An estimate is an estimated position prepended with a timestamp and other relevant
parameters. For online trials, estimated positions are sent via `nextdata` requests.
For offline trials, estimated positions are prepended with a timestamp and sent via
the 'estimates' POST request.
Right after starting the trial, a header and the initial estimate are returned.
While running and after finished, all the estimates sent so far, are returned,
one per data line.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
produces: text/csv
responses:
200:
description: >
CSV list of estimates.
The first line of data is a header. Subsequent lines all have the same format.
From Python, a data line after the header can be parsed with
`parse("{pts:.3f},{c:.3f},{h:.3f},{s:.3f},{pos}", line)`.
See the complete documentation for the meaning of the returned values.
schema:
type: string
example: |
pts,c,h,s,pos
0.000,0.000,0.000,15.000,10.422057;43.718278;1
1.000,1630165968.001,0.500,7.475,10.422059;43.718278;1
1.500,1630165969.517,0.500,7.459,10.422063;43.718270;1
2.000,1630165971.013,0.500,7.462,10.422071;43.718268;1
2.500,1630165972.516,0.500,7.460,10.422072;43.718267;1
3.000,1630165974.023,5.000,7.452,10.422069;43.718266;1
404:
description: The trial does not exist.
405:
description: Trial is unstarted, no estimates are there.
422:
description: Invalid parameter.
"""
valid_parameters = {}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
## If unstarted, no estimates exist
if trial['state'] == 'nonstarted':
return "Trial has not started", 405
data = "\n".join(trial['est']) # estimates separated by newlines
estfn = trial['estfn']
return data, {"Content-Type": "text/csv",
"Content-Disposition": "attachment; filename=" + estfn}
################################################################
@app.route("/evaalapi/<trialname>/estimates", methods=['POST'])
def post_trial_estimates (trialname):
"""Post estimates
Accepts a list of estimates in CSV format.
An estimate is an estimated position request preceded by timestamp.
This call is only valid for offline trials and must be called only once at the end of the trial.
Content-type must be set to text/csv; charset=us-ascii.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
produces: text/csv
responses:
201:
description: >
The estimates were accepted.
schema:
type: string
example: |
0.000,0.000,0.000,15.000,10.422057;43.718278;1
1.000,1630165968.001,0.500,7.475,10.422059;43.718278;1
1.500,1630165969.517,0.500,7.459,10.422063;43.718270;1
2.000,1630165971.013,0.500,7.462,10.422071;43.718268;1
2.500,1630165972.516,0.500,7.460,10.422072;43.718267;1
3.000,1630165974.023,5.000,7.452,10.422069;43.718266;1
400:
description: Bad character set or character encoding.
404:
description: The trial does not exist.
405:
description: Trial not running; returns the state.
409:
description: Some estimates rejected, trial finished normally.
422:
description: Not an offline trial, or called before the nexdtata command.
"""
valid_parameters = {}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
# Check that trial is offline
if not trial['offline']:
return "Trial is not offline", 422
state = trial['state']
# State is not running, stop here
if state in ('nonstarted', 'finished', 'timeout'):
r = trial_state(trialname, trial, dolog=False)
if state == 'nonstarted': # trial_state returned a tuple
return r[0], 405
else: # trial_state returned a Response
r.status_code = 405
return r
assert state == 'running', state
log = trial['log']
log.log_request()
# Check for timeout
c = time.time()
s = trial['p'] + trial['S'] - c
if s < 0: # timeout
state = 'timeout'
trial['s'] = s # save slack time
trial['state'] = state # set timeout state
r = trial_state(trialname, trial, dolog=False)
r.status_code = 405;
log.log_response(trial, r);
log.log_msg("Trial finished by timeout\n")
close_trial(trial)
return r
# Check content-type header and encoding
expected_cc = "text/csv; charset=us-ascii"
content_type = request.headers.get('Content-type')
if content_type == None or content_type.lower() != expected_cc:
return f"Content-type is {content_type}, rather than {expected_cc}", 400
try:
data = request.get_data().decode(encoding='ascii')
except UnicodeDecodeError:
if debug: print(f"Non ascii data {data}")
return "Invalid character encoding for data: should be ASCII", 400
if debug: print(f"POST data:\n{data}")
## Not a causal trial, so no need to force inits <= timestamp of first estimate
previous_ts = 0 # for an online trial this would be previous_ts = inits
accno = 0 # number of accepted estimates
rejno = 0 # number of rejected estimates
rejfirst = 0 # number of first rejected estimate
rejreason = "" # reason for first reject
for line in data.splitlines():
# Check and parse estimate, discard inconsistent data
parse_results = parse("{pts:f},{pos:S}", line)
if parse_results == None:
if not rejreason:
rejfirst = accno + 1
rejreason = "bad format"
rejno += 1
continue
estimate_ts = parse_results['pts']
if estimate_ts < previous_ts:
if not rejreason:
rejfirst = accno + 1
rejreason = "decreasing timestamp"
rejno += 1
continue
# Save estimate
estimate = estfmt.format(
pts = estimate_ts, # estimation timestamp
c = c, # wall clock at time data was received
h = -1, # horizon value, set to -1 for offline trials
s = s, # slack time at estimation
pos = parse_results['pos']
)
trial['est'].append(estimate) # append to list of estimates
accno +=1
previous_ts = estimate_ts
state = 'finished'
trial['s'] = s # save slack time
trial['state'] = state # set timeout state
accmsg = f"{accno} estimates accepted"
if not rejreason:
r = Response(accmsg + f", none rejected", 201)
else:
r = Response(accmsg + f", {rejno} rejected, first at line {rejfirst}: {rejreason}", 409)
log.log_response(trial, r);
log.log_msg("Trial finished normally\n")
close_trial(trial)
return r
################################################################
@app.route("/evaalapi/<trialname>/log")
def trial_log (trialname):
"""Get the trial log
Returns the log in text format of timestamped `state` and `nextdata`
requests and responses. `state` requests are logged only while the trial is running,
that is after the first `nextdata` request and before it is finished.
The log file exists only after the trial has started, which happens after the first
`nextdata` request. It is deleted after a successful `reload` request, unless used
with the `keeplog` parameter.
---
externalDocs:
description: See the complete documentation.
url: /evaalapi/evaalapi.html
parameters:
- $ref: "#/definitions/Trialname"
- name: xzcompr
in: query
allowEmptyValue: true
description: If present, log is returned in xz compressed form.
required: false
produces: text/plain or application/x-xz
responses:
200:
description: The complete trial log.
schema:
type: string
example: |
2021-08-28T15:52:37.455 ================ Creating trial 'test'
state: 0.000,-1.000,3.000,15.000,0.000,0.000,0.000,10.422057;43.718278;1
2021-08-28T15:52:37.456 <-- evaal.aaloa.org/evaalapi/demo/nextdata?horizon=1
2021-08-28T15:52:37.516 --> 200, trialts=1.000 rem=17.983
ACCE;0.015;17287.341;-2.64559;8.69813;2.78446;3
GYRO;0.016;17287.337;0.27428;-1.10933;-0.18998;3
MAGN;0.016;17287.342;7.56000;-26.28000;-39.84000;3
404:
description: The trial does not exist.
405:
description: The trial log does not exist because the trial has not started.
422:
description: Invalid parameter.
"""
valid_parameters = {'xzcompr'}
trialname, trial, error = check_request(trialname, valid_parameters)
if error is not None: return error
logfn = trial['logfn']
if not os.path.exists(logfn):
return "Log file does not exist", 405
if 'log' in trial: # log file is still open
if debug: print(f"Reopening log file {logfn}")
trial['log'].reopen() # flush the compressed data
## Send the log
try:
if 'xzcompr' in request.args:
## Send the log file as it is
return send_file(logfn)
else:
## Create a byte stream and close the file before returning
# with lzma.open(logfn, 'r') as logf:
# stream = io.BytesIO(logf.read())
## Send the log decompressed the easy (and hopefully correct) way
stream = lzma.open(logfn, 'r')
# TODO remove version check when going to Flask 2
import flask
if int(flask.__version__.split(".")[0]) >= 2:
return send_file(stream, mimetype="text/plain", as_attachment=True,
download_name=trialname+".log")
else:
return send_file(stream, mimetype="text/plain", as_attachment=True,
attachment_filename=trialname+".log")
except IOError:
return "Cannot read log file for " + trialname, 500
## Main code
if os.path.exists(guisource):
with open(guisource, 'r') as guif:
exec(compile(guif.read()+'\n', guisource, 'exec'))
extrafiles = [guisource]
else:
extrafiles = []
if __name__ == "__main__":
app.run(extrafiles)
# Local Variables:
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# End:
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