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Everything works!
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‎.github/workflows/build-containers.yml‎

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name: Build Containers
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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jobs:
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build-environment-service:
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name: Build Environment Service
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build Docker image
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run: docker build -t uav-flight-optimizer/environment-service:test ./environment_service
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build-routing-engine:
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name: Build Routing Engine
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build Docker image
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run: docker build -t uav-flight-optimizer/routing-engine:test ./routing_engine
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build-frontend:
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name: Build Frontend
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Build Docker image
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run: docker build -t uav-flight-optimizer/frontend:test ./frontend

‎.github/workflows/test-pathfinding.yml‎

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name: Test Pathfinding
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on:
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push:
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branches: [main]
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pull_request:
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branches: [main]
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jobs:
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test-go:
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name: Go Environment Service Tests
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Set up Go
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uses: actions/setup-go@v5
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with:
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go-version: '1.21'
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- name: Run Go tests
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working-directory: ./environment_service
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run: go test ./... -v -race
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test-python:
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name: Python Routing Engine Tests
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- name: Set up Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.11'
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- name: Install dependencies
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working-directory: ./routing_engine
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run: |
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python -m pip install --upgrade pip
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pip install -r requirements.txt
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- name: Run pathfinding tests
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working-directory: ./routing_engine
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run: python -m pytest tests/ -v --tb=short

‎.gitignore‎

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# Dependencies
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node_modules/
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__pycache__/
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*.pyc
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.pytest_cache/
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*.egg-info/
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# Build outputs
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frontend/build/
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dist/
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*.exe
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# Environment
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.env
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.env.local
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.env.*.local
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# IDE
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.vscode/
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.idea/
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*.swp
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*.swo
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# OS
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.DS_Store
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Thumbs.db
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# Docker
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*.log

‎Makefile‎

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.PHONY: build run stop test test-go test-python clean
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# Build all containers
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build:
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docker-compose build
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# Run the full stack locally
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run:
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docker-compose up --build -d
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# Stop all services
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stop:
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docker-compose down
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# Run all tests
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test: test-go test-python
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# Run Go tests for environment service
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test-go:
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cd environment_service && go test ./... -v
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# Run Python tests for routing engine
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test-python:
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cd routing_engine && python -m pytest tests/ -v
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# Deploy to Kubernetes
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deploy:
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kubectl apply -f k8s/
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# Remove Kubernetes deployment
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undeploy:
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kubectl delete -f k8s/
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# Clean build artifacts
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clean:
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docker-compose down -v --rmi local
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cd frontend && rm -rf node_modules build
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cd routing_engine && rm -rf __pycache__ .pytest_cache

‎docker-compose.yml‎

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version: '3.8'
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services:
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environment-service:
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build: ./environment_service
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ports:
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- "8081:8081"
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environment:
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- PORT=8081
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healthcheck:
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test: ["CMD", "wget", "-q", "--spider", "http://localhost:8081/health"]
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interval: 10s
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timeout: 5s
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retries: 3
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networks:
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- uav-net
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routing-engine:
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build: ./routing_engine
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ports:
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- "8000:8000"
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environment:
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- ENVIRONMENT_SERVICE_URL=http://environment-service:8081
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depends_on:
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environment-service:
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condition: service_healthy
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healthcheck:
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test: ["CMD", "python", "-c", "import urllib.request; urllib.request.urlopen('http://localhost:8000/health')"]
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interval: 10s
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timeout: 5s
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retries: 3
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networks:
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- uav-net
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frontend:
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build: ./frontend
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ports:
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- "3000:3000"
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environment:
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- REACT_APP_API_URL=http://localhost:8000
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- REACT_APP_MAPBOX_TOKEN=${MAPBOX_TOKEN:-pk.placeholder}
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depends_on:
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routing-engine:
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condition: service_healthy
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networks:
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- uav-net
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redis:
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image: redis:7-alpine
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ports:
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- "6379:6379"
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volumes:
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- redis-data:/data
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healthcheck:
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test: ["CMD", "redis-cli", "ping"]
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interval: 10s
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timeout: 5s
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retries: 3
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networks:
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- uav-net
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networks:
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uav-net:
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driver: bridge
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volumes:
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redis-data:

‎environment_service/Dockerfile‎

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FROM golang:1.21-alpine AS builder
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WORKDIR /app
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COPY go.mod go.sum ./
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RUN go mod download
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COPY . .
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RUN CGO_ENABLED=0 GOOS=linux go build -o /environment-service ./cmd/api
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FROM alpine:3.19
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RUN apk --no-cache add ca-certificates
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WORKDIR /app
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COPY --from=builder /environment-service .
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EXPOSE 8081
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CMD ["./environment-service"]

‎environment_service/cmd/api/main.go‎

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package main
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import (
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"encoding/json"
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"fmt"
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"log"
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"net/http"
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"os"
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"strconv"
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"github.com/gorilla/mux"
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"github.com/mtepenner/uav-flight-optimizer/environment_service/internal/airspace"
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"github.com/mtepenner/uav-flight-optimizer/environment_service/internal/topography"
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"github.com/mtepenner/uav-flight-optimizer/environment_service/internal/weather"
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)
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func main() {
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port := os.Getenv("PORT")
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if port == "" {
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port = "8081"
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}
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windService := weather.NewWindVectorService()
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elevationService := topography.NewElevationService()
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geofenceService := airspace.NewGeofenceService()
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r := mux.NewRouter()
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// Health check
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r.HandleFunc("/health", func(w http.ResponseWriter, r *http.Request) {
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w.Header().Set("Content-Type", "application/json")
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json.NewEncoder(w).Encode(map[string]string{"status": "healthy"})
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}).Methods("GET")
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// Wind vectors endpoint
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r.HandleFunc("/api/v1/wind", func(w http.ResponseWriter, r *http.Request) {
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lat, _ := strconv.ParseFloat(r.URL.Query().Get("lat"), 64)
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lon, _ := strconv.ParseFloat(r.URL.Query().Get("lon"), 64)
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alt, _ := strconv.ParseFloat(r.URL.Query().Get("alt"), 64)
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radius, _ := strconv.ParseFloat(r.URL.Query().Get("radius"), 64)
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if radius == 0 {
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radius = 10.0
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}
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grid := windService.GetWindGrid(lat, lon, alt, radius)
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w.Header().Set("Content-Type", "application/json")
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json.NewEncoder(w).Encode(grid)
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}).Methods("GET")
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// Elevation endpoint
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r.HandleFunc("/api/v1/elevation", func(w http.ResponseWriter, r *http.Request) {
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lat, _ := strconv.ParseFloat(r.URL.Query().Get("lat"), 64)
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lon, _ := strconv.ParseFloat(r.URL.Query().Get("lon"), 64)
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radius, _ := strconv.ParseFloat(r.URL.Query().Get("radius"), 64)
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resolution, _ := strconv.ParseFloat(r.URL.Query().Get("resolution"), 64)
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if resolution == 0 {
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resolution = 30.0
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}
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if radius == 0 {
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radius = 10.0
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}
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grid := elevationService.GetElevationGrid(lat, lon, radius, resolution)
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w.Header().Set("Content-Type", "application/json")
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json.NewEncoder(w).Encode(grid)
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}).Methods("GET")
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// Geofence endpoint
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r.HandleFunc("/api/v1/geofences", func(w http.ResponseWriter, r *http.Request) {
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lat, _ := strconv.ParseFloat(r.URL.Query().Get("lat"), 64)
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lon, _ := strconv.ParseFloat(r.URL.Query().Get("lon"), 64)
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radius, _ := strconv.ParseFloat(r.URL.Query().Get("radius"), 64)
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if radius == 0 {
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radius = 50.0
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}
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zones := geofenceService.GetGeofences(lat, lon, radius)
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w.Header().Set("Content-Type", "application/json")
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json.NewEncoder(w).Encode(zones)
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}).Methods("GET")
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// Combined environment data for a bounding box
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r.HandleFunc("/api/v1/environment", func(w http.ResponseWriter, r *http.Request) {
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lat, _ := strconv.ParseFloat(r.URL.Query().Get("lat"), 64)
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lon, _ := strconv.ParseFloat(r.URL.Query().Get("lon"), 64)
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alt, _ := strconv.ParseFloat(r.URL.Query().Get("alt"), 64)
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radius, _ := strconv.ParseFloat(r.URL.Query().Get("radius"), 64)
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if radius == 0 {
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radius = 10.0
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}
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if alt == 0 {
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alt = 100.0
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}
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result := map[string]interface{}{
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"wind_grid": windService.GetWindGrid(lat, lon, alt, radius),
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"elevation_grid": elevationService.GetElevationGrid(lat, lon, radius, 30.0),
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"geofences": geofenceService.GetGeofences(lat, lon, radius),
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}
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w.Header().Set("Content-Type", "application/json")
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json.NewEncoder(w).Encode(result)
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}).Methods("GET")
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// CORS middleware
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handler := corsMiddleware(r)
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log.Printf("Environment Service starting on port %s", port)
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if err := http.ListenAndServe(fmt.Sprintf(":%s", port), handler); err != nil {
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log.Fatalf("Failed to start server: %v", err)
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}
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}
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func corsMiddleware(next http.Handler) http.Handler {
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return http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) {
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w.Header().Set("Access-Control-Allow-Origin", "*")
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w.Header().Set("Access-Control-Allow-Methods", "GET, POST, OPTIONS")
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w.Header().Set("Access-Control-Allow-Headers", "Content-Type, Authorization")
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if r.Method == "OPTIONS" {
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w.WriteHeader(http.StatusOK)
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return
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}
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next.ServeHTTP(w, r)
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})
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}

‎environment_service/go.mod‎

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module github.com/mtepenner/uav-flight-optimizer/environment_service
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go 1.21
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require (
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github.com/gorilla/mux v1.8.1
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google.golang.org/grpc v1.62.1
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google.golang.org/protobuf v1.33.0
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)
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require (
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golang.org/x/net v0.22.0 // indirect
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golang.org/x/sys v0.18.0 // indirect
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golang.org/x/text v0.14.0 // indirect
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google.golang.org/genproto/googleapis/rpc v0.0.0-20240311173647-c811ad7063a7 // indirect
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)

‎environment_service/go.sum‎

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github.com/gorilla/mux v1.8.1 h1:TuMoUvkRETdXqU+OBfcEMlNt4+pV+EaKDtbDIB3Bvhs=
2+
github.com/gorilla/mux v1.8.1/go.mod h1:AKf9I4AEqPTmMytcMc0KkNouC66V3BtZ4qD5fmWSiMQ=
3+
golang.org/x/net v0.22.0 h1:9sGLhx7iRIHEiX0oAJ3MRZMUCElJgy7Br1nO+AMN3Tc=
4+
golang.org/x/net v0.22.0/go.mod h1:JKghWKKOSdJwpW2GEx0Ja7fmaKnMsbu+MWVZTokSYmg=
5+
golang.org/x/sys v0.18.0 h1:DBdB3niSjOA/O0blCZBHDefyWNYveAYMNF1Wum0DYQ4=
6+
golang.org/x/sys v0.18.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
7+
golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
8+
golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
9+
google.golang.org/genproto/googleapis/rpc v0.0.0-20240311173647-c811ad7063a7 h1:8IjnO/TaOxw5MgL1LP/B0gMKHfaHI5SPkDMCaRUYiEo=
10+
google.golang.org/genproto/googleapis/rpc v0.0.0-20240311173647-c811ad7063a7/go.mod h1:WtryC6hu0hhx87FDGxWCDptyssuo68sk10vYjF+T9fY=
11+
google.golang.org/grpc v1.62.1 h1:B4n+nfKzOICUXMgyrNd19h/I9oH0L1pizfk1d4zSgTk=
12+
google.golang.org/grpc v1.62.1/go.mod h1:IWTG0VlJLCh1SkC58F7np9ka9mx/WNkjl4PGJaiq+QE=
13+
google.golang.org/protobuf v1.33.0 h1:uNO2rsAINq/JlFpSdYEKIZ0uKD/R9cpdv0T+yoGwGmI=
14+
google.golang.org/protobuf v1.33.0/go.mod h1:c6P6GXX6sHbq/GpV6MGZEdwhWPcYBgnhAHhKbcUYpos=

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