initial auth token WIP

Author: SamuelDudley

maverick_api/modules/api/authentication/__init__.py

@@ -10,14 +10,15 @@
 from maverick_api.modules import schemaBase
 from maverick_api.modules.base.tornadoql.session_control import GraphQLSession
 
-user1 = dict(id="1", userName="sam", password="password1")
+user1 = dict(id="1", userName="bob", password="password1")
 user2 = dict(id="2", userName="ben", password="password2")
 auth_data = {user1["id"]: user1, user2["id"]: user2}
 
 
 class AuthenticationSchema(schemaBase):
     def __init__(self):
         super().__init__(self)
+
         self.auth_request_type = GraphQLObjectType(
             "AuthenticationRequest",
             lambda: {

maverick_api/modules/api/maverick/example_conf.json

@@ -0,0 +1,99 @@
+// These are local config settings.  Because they can include sensitive information like usernames and passwords, this file
+//  is excluded from ever being committed back to git.
+//
+// Any manifest parameter can be added here, what follows is a sampling of common useful settings.
+// More info and settings can be found here:
+// https://goodrobots.github.io/maverick/#/modules/intro
+{
+    // Set passwords
+    // "base::users::mav_password": "", // Set mav user encrypted password here (obtain using: mkpasswd  -m sha-512 -s)
+    // "base::users::root_password": "", // Set root user encrypted password here (obtain as above)
+    "base::users::mav_password": "$6$xq6EVGnLPDit/0n$wPzRss9HjhhPPRQz4xezAnQ8C7Tymx8Aa7jl2CtjTd9KxA1fyqfd5pYacX/7bWll9kQ.Ytj/9rp8YW5cYa/iL.", // boseheadphonesaresilver
+    // Set defaults for wifi.  If set, any wifi interface detected will be automatically activated with these settings.
+    // These setting can be overridden in the per-interface settings.
+    // "wifi_ssid": "MySSID",
+    // "wifi_passtype":     "wpa2",
+    // "wifi_passphrase":   false, // unencrypted wifi passphrase, strongly recommended to use psk below instead
+    // "wifi_psk":  "averylonggeneratedkey", // must be encrypted psk created using 'wpa_passphrase MySSID MyPassphrase'
+    // See https://goodrobots.github.io/maverick/#/modules-network for more info
+    // Note a fallback generic eth0 and wlan0 config is always created in addition to these settings
+    "maverick_analysis::grafana::admin_hash": "93e2aaac76487b067f0ac5ecedbb49814634a2381588dc9f8f2eef1f2cadc3db129f380eefa318079de31916887d8817d7ab",
+    "maverick_analysis::grafana::admin_password": "boseheadphonesaresilver",
+    // "maverick_dev::ardupilot::ardupilot_vehicle": "copter",
+    // "maverick_dev::ardupilot::ardupilot_source": "https://github.com/ardupilot/ardupilot",
+    "maverick_dev::px4": false,
+    // "maverick_dev::vscode_watchers": 524288,
+
+    // "maverick_dev::px4::cross_compile": false,
+    // "maverick_dev::px4::sitl_active": false,
+    // "maverick_dev::px4::mavlink_active": false,
+    // "maverick_dev::px4::rosmaster_active": false,
+    // "maverick_dev::px4::mavros_active": false,
+    // "maverick_dev::px4::api_active": false,
+    // "maverick_dev::apsitl_dev::sitl_active": true,
+    // "maverick_dev::apsitl_dev::mavlink_active": true,
+    // "maverick_dev::apsitl_dev::mavros_active": true,
+    // "maverick_dev::apsitl_dev::rosmaster_active": true,
+    // "maverick_dev::apsitl_dev::api_active": true,
+    // "maverick_ros::ros2": true,
+    // "maverick_desktop::enable": true, // Desktop is disabled by default
+    // "maverick_network::zerotier::libzt": true,
+    // Flight Controller (fc) mavlink setup
+    // "maverick_fc::mavlink_proxy": "mavproxy", // Default mavlink proxy type to use
+    "maverick_fc::mavlink_active": false, // Whether the mavlink proxy is active or not
+    // "maverick_fc::mavlink_input": "/dev/ttyS1", // Input source for mavlink proxy, how the Companion Computer connects to the Flight Controller
+    // "maverick_fc::mavlink_baud": "115200", // Input baud rate for UART connections
+    "maverick_fc::rosmaster_active": false, // Whether ROS master for fc is active or not
+    "maverick_fc::mavros_active": false, // Whether Mavros for fc is active or not - requires fc rosmaster to be active
+    // Dev SITL mavlink setup - note this requires dev environment to be active
+    // "maverick_dev::sitl::mavlink_proxy": "mavlink-router", // Default mavlink proxy type to use
+    // "maverick_dev::sitl::sitl_active": true, // Whether SITL is active or not
+    // "maverick_dev::sitl::mavlink_active": true, // Whether mavlink proxy is active or not
+    // "maverick_dev::sitl::rosmaster_active": false, // Whether ROS master for sitl is active or not
+    // "maverick_dev::sitl::mavros_active": false, // Whether Mavros for sitl is active or not - requires sitl rosmaster to be active
+    // "maverick_mavlink::mavcesium_active": false,
+    // "maverick_dev::ardupilot::armeabi_packages": false, // Set to true to install packages that allow px4 firmware to be compiled and uploaded to fc
+
+    "maverick_ros::module_realsense": true,
+    // "maverick_ros::ros2::installtype": "source",
+    // "maverick_ros::ros2::distribution": "dashing",
+
+    "maverick_vision::visiond::active": false, // Whether visiond is active or not
+    "maverick_vision::visiond::webvision_active": false,
+    // "maverick_vision::vision_landing::active": false, // Whether vision_landing is active or not
+
+    "maverick_web::cloud9::cloud9_password": "boseheadphonesaresilver",
+    "maverick_web::cloud9::cloud9_active": true,
+    "maverick_web::server_fqdn": "dev.maverick.one",
+    // "maverick_web::maverick_api": true,
+    // "maverick_web::maverick_api::rosdistro": "kinetic",
+    "maverick_web::maverick_web": true,
+    "maverick_web::maverick_web::active": true,
+    // "maverick_web::maverick_web::auth_message": "Restricted Access",
+    // "maverick_web::maverick_web::auth_file": "/srv/maverick/data/web/.htpasswd",
+    "maverick_web::nginx::www_root": "/var/www/html",
+    "maverick_web::nginx::downloads": true,
+    "maverick_web::nginx::downloads_dir": "/var/www/html/maverick/downloads",
+    "maverick_web::codeserver": false,
+    "maverick_web::codeserver::active": false,
+    "maverick_web::codeserver::password": "boseheadphonesaresilver",
+
+    "maverick_web::janus::active": false,
+
+    "maverick_dev::apsitl_dev::api_devmode": true,
+    "maverick_dev::apsitl_dev::api_debug": true,
+    "maverick_dev::apsitl_dev::override": true,
+
+    // "maverick_ros::ros1::installtype": "source",
+    // "maverick_ros::ros1::distribution": "melodic",
+    // "maverick_ros::ros2::installtype": "source",
+    // "maverick_ros::ros2::distribution": "dashing",
+
+    // Add classes here
+    "classes": [
+            // "sample_sitl_swarm",
+            "api_py3"
+            // "jenkins"
+            // "maverick_network" // CAUTION: Read what this does before enabling: https://goodrobots.github.io/maverick/#/modules-network
+    ]
+}

maverick_api/modules/base/apiserver/__init__.py

@@ -18,6 +18,7 @@
 
 
 from maverick_api.modules.base.tornadoql.tornadoql import TornadoQL
+from maverick_api.modules.base.database import MavDatabase
 
 from maverick_api.modules import (
     generate_schema,
@@ -35,11 +36,10 @@ class ApiServer(object):
     def __init__(self):
         self.exit = False
         self.server = None
-        self.mavros_connection = None
-        self.mavlink_connection = None
+        self.database = None
 
-        signal.signal(signal.SIGINT, self.exit_gracefully)
-        signal.signal(signal.SIGTERM, self.exit_gracefully)
+        signal.signal(signal.SIGINT, self.handle_signal)
+        signal.signal(signal.SIGTERM, self.handle_signal)
 
     def initialize(self):
         loop = tornado.ioloop.IOLoop.current()
@@ -61,6 +61,7 @@ def initialize(self):
             sys.exit(0)
 
         start_all_modules()
+        self.database = MavDatabase()
         ssl_options = self.get_ssl_options()
 
         application = TornadoQL()
@@ -128,17 +129,25 @@ def serve(self):
         tornado.ioloop.IOLoop.current().start()
         # this function blocks at this point until the server
         #  is asked to exit via request_stop()
-        application_log.info("Maverick API server has stopped")
+        self.exit_gracefully()
 
     def request_stop(self):
         # TODO: close all websocket connections (required?)
+        self.exit = True
         ioloop = tornado.ioloop.IOLoop.current()
         ioloop.add_callback(ioloop.stop)
         application_log.info("Stopping Maverick API server")
 
-    def exit_gracefully(self, signum, frame):
-        """called on sigterm"""
-        self.exit = True
+    def exit_gracefully(self):
+        ioloop = tornado.ioloop.IOLoop.current()
         stop_all_modules()
         stop_all_schema()
-        self.request_stop()
+        if self.database:
+            ioloop.run_sync(self.database.shutdown)
+        ioloop.close()
+        application_log.info("Maverick API server has stopped")
+
+    def handle_signal(self, signum, frame):
+        """called on sigterm"""
+        ioloop = tornado.ioloop.IOLoop.current()
+        ioloop.add_callback_from_signal(self.request_stop)

maverick_api/modules/base/database/__init__.py

@@ -1,5 +1,11 @@
 import logging
+
+# from pathlib import Path
 from tornado.options import options
+import tornado.ioloop
+from tortoise import Tortoise
+
+# from maverick_api.modules.base.util import functions
 
 application_log = logging.getLogger("tornado.application")
 
@@ -10,12 +16,16 @@ class MavDatabase(object):
     def __init__(self):
         self.backend = options.database_backend
         application_log.info(f"Database backend seleceted: {self.backend}")
+        ioloop = tornado.ioloop.IOLoop.current()
+        ioloop.run_sync(self.init)
+
+    async def init(self):
+        # Here we create a SQLite DB using file "db.sqlite3"
+        #  also specify the app name of "models"
+        #  which contain models from "app.models"
+        await Tortoise.init(db_url="sqlite://db.sqlite3", modules={"models": []})
+        # Generate the schema
+        await Tortoise.generate_schemas()
 
-        if self.backend == "tinydb":  # lightweight non-async json storage
-            import tinydb  # noqa: F401
-        elif self.backend == "mongo":  # async access to mongo database
-            import motor  # noqa: F401
-        elif self.backend == "sqlite":  # async access to sqlite3 database
-            import aiosqlite  # noqa: F401
-        else:
-            pass
+    async def shutdown(self):
+        await Tortoise.close_connections()