Intro

The backend for the Ground Station code is a Flask server written in Python. Run main.py to start the server.

Reference

GET - HTTP GET request

POST - HTTP POST request

Documenting format:

/endpoint_group/

• Description of general purpose

/endpoint_group/endpoint_name

• Purpose

• Description of how backend uses it

• Description of how frontend uses it

/mav/

• Endpoints for communicating with the pixhawk

/mav/quick

• Current telemetry in a dictionary

• Backend requests pixhawk for telemetry

• Frontend GETs the data and displays it on the Quick subtab in the Flight Data tab

/mav/all

• All pixhawk related data in a dictionary

• Backend requests pixhawk for data

• Frontend GETs the data and displays it on the All subtab in the Flight Data tab

/mav/actions

• Dictionary of actions to be uploaded to the pixhawk via pymavlink

• Backend will receive actions and send them to the pixhawk

• Frontend will POST the data based on buttons that user clicks

/interop/

• The only direct contact between the interop server and our entire ground station is through the backend server. Therefore, all actions concerning interop must go through the following endpoints

/interop/login/

• Logging into interop

• Sending a GET to this endpoint will force the interop server to retry login if not already logged in. Also returns the login status.

/interop/get/<key>

• Returns the requested data (which is the variable key)

  • Current list of requestable data: mission id, waypoints list, obstacles data, teams list, search grid boundary, ugv drive / drop locations, off-axis / emergent odlc locations, and RTL location for lost comms

• Backend POSTs the requested data to the endpoint

• Frontend requests the data and uses it for stuff

/interop/telemetry/

• Live telemetry data of the plane that is being submitted to interop

• Backend POSTs live telemetry data every time it submits to interop

• Someone on the frontend can open up the endpoint in their browser and monitor the live updates

/interop/odlcs/<id>/<dtype>

• Accessing ODLC data

• Backend will query interop for an ODLC submission with the provided id, then return it

• Frontend will GET the endpoint with parameters id and datatype to display on a client computer screen

/imaging/

/imaging/image_stream/<num>

• Returns an image, represented as bytes in .png encoding

  • The <num> variable is the image number in the stream of images coming from the Jetson

/imaging/image_stream/boundaries

• Returns the highest number image that has been received from the Jetson

/imaging/odcl_detection

• Returns a list of dicts, and each dict has 2 objects: an image and a characterization

  • The image is represented as bytes in .png encoding

  • The interop data of an image includes its thing, thing, and thing

/imaging/map_individual/

• Returns all the individual images used for the map stitching algorithms

• Not used by frontend by default, but could be useful if we wanna view the individual images

/imaging/map_stitched

• Returns the stitched map