def test_contains_pos(self):
"""Tests the inside obstacle method."""
# (lat, lon, rad, height)
TESTDATA_STATOBST_CONTAINSPOS_OBJ = (-76, 38, 100, 200)
# (lat, lon, alt)
TESTDATA_STATOBST_CONTAINSPOS_INSIDE = [
(-76, 38, 0),
(-76, 38, -1),
(-76, 38, 200),
(-76.0002, 38, 100),
(-76, 38.0003, 100)
] # yapf: disable
TESTDATA_STATOBST_CONTAINSPOS_OUTSIDE = [
(-76, 38, 201),
(-76.0003, 38, 100),
(-76, 38.004, 100)
] # yapf: disable
# Form the test obstacle
pos = GpsPosition(latitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[0],
longitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[1])
pos.save()
obst = StationaryObstacle(
gps_position=pos,
cylinder_radius=TESTDATA_STATOBST_CONTAINSPOS_OBJ[2],
cylinder_height=TESTDATA_STATOBST_CONTAINSPOS_OBJ[3])
# Run test points against obstacle
test_data = [(TESTDATA_STATOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_STATOBST_CONTAINSPOS_OUTSIDE, False)]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
self.assertEqual(obst.contains_pos(apos), cur_contains)
def test_clean(self):
"""Tests model validation."""
obst = StationaryObstacle(latitude=0,
longitude=0,
cylinder_radius=30,
cylinder_height=10)
obst.full_clean()
def test_clean(self):
"""Tests model validation."""
pos = GpsPosition(latitude=0, longitude=0)
pos.save()
obst = StationaryObstacle(gps_position=pos,
cylinder_radius=30,
cylinder_height=10)
obst.full_clean()
def test_unicode(self):
"""Tests the unicode method executes."""
pos = GpsPosition(latitude=100, longitude=200)
pos.save()
obst = StationaryObstacle(
gps_position=pos, cylinder_radius=10, cylinder_height=100)
obst.save()
self.assertTrue(obst.__unicode__())
def test_unicode(self):
"""Tests the unicode method executes."""
pos = GpsPosition(latitude=100, longitude=200)
pos.save()
obst = StationaryObstacle(gps_position=pos,
cylinder_radius=10,
cylinder_height=100)
obst.save()
self.assertTrue(obst.__unicode__())
def test_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
TESTDATA_STATOBST_EVALCOLLISION = (
# Cylinder position
(-76, 38, 100, 100),
# Inside positions
[(-76, 38, 50),
(-76, 38, 0),
(-76, 38, 100),
(-76.0001, 38.0001, 0),
(-76.0001, 38.0001, 100)],
# Outside positions
[(-76.001, 38, 50),
(-76, 38.002, 150),
(-76, 38, 150),
(-76, 38, 101)]
) # yapf: disable
(cyl_details, inside_pos,
outside_pos) = TESTDATA_STATOBST_EVALCOLLISION
(cyl_lat, cyl_lon, cyl_height, cyl_rad) = cyl_details
gpos = GpsPosition(latitude=cyl_lat, longitude=cyl_lon)
gpos.save()
obst = StationaryObstacle(gps_position=gpos,
cylinder_radius=cyl_rad,
cylinder_height=cyl_height)
obst.save()
inside_logs = []
outside_logs = []
logs_to_create = [(inside_pos, inside_logs),
(outside_pos, outside_logs)]
for (positions, log_list) in logs_to_create:
log_list += self.create_uas_logs(self.user, positions)
# Assert collisions correctly evaluated
collisions = [(inside_logs, True), (outside_logs, False)]
for (log_list, inside) in collisions:
self.assertEqual(obst.evaluate_collision_with_uas(log_list),
inside)
for log in log_list:
self.assertEqual(obst.evaluate_collision_with_uas([log]),
inside)
# Regression test past failed case.
pos = GpsPosition(latitude=45.4342114, longitude=-71.8538153)
pos.save()
obst = StationaryObstacle(gps_position=pos,
cylinder_radius=10.0,
cylinder_height=1300.0)
logs = self.create_uas_logs(self.user, [
(45.433839, -71.8523434, 770.013137988),
(45.4338393, -71.8523446, 769.881926415),
])
self.assertFalse(obst.evaluate_collision_with_uas(logs))
def test_determine_interpolated_collision(self):
utm = distance.proj_utm(zone=18, north=True)
(olat, olon, orad, oheight) = TESTDATA_STATOBST_INTERP_OBS
pos = GpsPosition(latitude=olat, longitude=olon)
pos.save()
obst = StationaryObstacle(gps_position=pos,
cylinder_radius=orad,
cylinder_height=oheight)
for (inside, uas_details) in TESTDATA_STATOBST_INTERP_TELEM:
logs = self.create_uas_logs(self.user, uas_details)
self.assertEqual(
obst.determine_interpolated_collision(logs[0], logs[1], utm),
inside)
def setUp(self):
"""Populates an active mission to test a cached view."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
self.pos = pos
obst = StationaryObstacle()
obst.gps_position = pos
obst.cylinder_radius = 10
obst.cylinder_height = 10
obst.save()
self.obst = obst
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_odlc_pos = pos
config.air_drop_pos = pos
config.save()
self.config = config
config.stationary_obstacles.add(obst)
config.save()
self.login_url = reverse('auvsi_suas:login')
self.obst_url = reverse('auvsi_suas:obstacles')
self.clear_cache_url = reverse('auvsi_suas:clear_cache')
def create_stationary_obstacle(self, lat, lon, radius, height):
"""Create a new StationaryObstacle model.
Args:
lat: Latitude of centroid
lon: Longitude of centroid
radius: Cylinder radius
height: Cylinder height
Returns:
Saved StationaryObstacle
"""
gps = GpsPosition(latitude=lat, longitude=lon)
gps.save()
obstacle = StationaryObstacle(
gps_position=gps, cylinder_radius=radius, cylinder_height=height)
obstacle.save()
return obstacle
def create_stationary_obstacle(self, lat, lon, radius, height):
"""Create a new StationaryObstacle model.
Args:
lat: Latitude of centroid
lon: Longitude of centroid
radius: Cylinder radius
height: Cylinder height
Returns:
Saved StationaryObstacle
"""
gps = GpsPosition(latitude=lat, longitude=lon)
gps.save()
obstacle = StationaryObstacle(gps_position=gps,
cylinder_radius=radius,
cylinder_height=height)
obstacle.save()
return obstacle
def test_contains_pos(self):
"""Tests the inside obstacle method."""
# Form the test obstacle
pos = GpsPosition(latitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[0],
longitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[1])
pos.save()
obst = StationaryObstacle(
gps_position=pos,
cylinder_radius=TESTDATA_STATOBST_CONTAINSPOS_OBJ[2],
cylinder_height=TESTDATA_STATOBST_CONTAINSPOS_OBJ[3])
# Run test points against obstacle
test_data = [
(TESTDATA_STATOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_STATOBST_CONTAINSPOS_OUTSIDE, False)
]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
self.assertEqual(obst.contains_pos(apos), cur_contains)
def setUp(self):
"""Populates an active mission to test a cached view."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
self.pos = pos
obst = StationaryObstacle()
obst.gps_position = pos
obst.cylinder_radius = 10
obst.cylinder_height = 10
obst.save()
self.obst = obst
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
self.config = config
config.stationary_obstacles.add(obst)
config.save()
self.login_url = reverse('auvsi_suas:login')
self.obst_url = reverse('auvsi_suas:obstacles')
self.clear_cache_url = reverse('auvsi_suas:clear_cache')
def test_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
# Create testing data
(cyl_details, inside_pos,
outside_pos) = TESTDATA_STATOBST_EVALCOLLISION
(cyl_lat, cyl_lon, cyl_height, cyl_rad) = cyl_details
gpos = GpsPosition(latitude=cyl_lat, longitude=cyl_lon)
gpos.save()
obst = StationaryObstacle(gps_position=gpos,
cylinder_radius=cyl_rad,
cylinder_height=cyl_height)
obst.save()
inside_logs = []
outside_logs = []
logs_to_create = [(inside_pos, inside_logs),
(outside_pos, outside_logs)]
for (positions, log_list) in logs_to_create:
log_list += self.create_uas_logs(self.user, positions)
# Assert collisions correctly evaluated
collisions = [(inside_logs, True), (outside_logs, False)]
for (log_list, inside) in collisions:
self.assertEqual(obst.evaluate_collision_with_uas(log_list),
inside)
for log in log_list:
self.assertEqual(obst.evaluate_collision_with_uas([log]),
inside)
def test_json(self):
"""Tests the JSON serialization method."""
TEST_LAT = 100.10
TEST_LONG = 200.20
TEST_RADIUS = 150.50
TEST_HEIGHT = 75.30
gpos = GpsPosition(latitude=TEST_LAT, longitude=TEST_LONG)
gpos.save()
obstacle = StationaryObstacle(gps_position=gpos,
cylinder_radius=TEST_RADIUS,
cylinder_height=TEST_HEIGHT)
json_data = obstacle.json()
self.assertTrue('latitude' in json_data)
self.assertEqual(json_data['latitude'], TEST_LAT)
self.assertTrue('longitude' in json_data)
self.assertEqual(json_data['longitude'], TEST_LONG)
self.assertTrue('cylinder_radius' in json_data)
self.assertEqual(json_data['cylinder_radius'], TEST_RADIUS)
self.assertTrue('cylinder_height' in json_data)
self.assertEqual(json_data['cylinder_height'], TEST_HEIGHT)
def test_json(self):
"""Tests the JSON serialization method."""
TEST_LAT = 100.10
TEST_LONG = 200.20
TEST_RADIUS = 150.50
TEST_HEIGHT = 75.30
gpos = GpsPosition(latitude=TEST_LAT, longitude=TEST_LONG)
gpos.save()
obstacle = StationaryObstacle(gps_position=gpos,
cylinder_radius=TEST_RADIUS,
cylinder_height=TEST_HEIGHT)
json_data = obstacle.json()
self.assertTrue('latitude' in json_data)
self.assertEqual(json_data['latitude'], TEST_LAT)
self.assertTrue('longitude' in json_data)
self.assertEqual(json_data['longitude'], TEST_LONG)
self.assertTrue('cylinder_radius' in json_data)
self.assertEqual(json_data['cylinder_radius'], TEST_RADIUS)
self.assertTrue('cylinder_height' in json_data)
self.assertEqual(json_data['cylinder_height'], TEST_HEIGHT)
def test_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
# Create testing data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
(cyl_details, inside_pos,
outside_pos) = TESTDATA_STATOBST_EVALCOLLISION
(cyl_lat, cyl_lon, cyl_height, cyl_rad) = cyl_details
gpos = GpsPosition(latitude=cyl_lat, longitude=cyl_lon)
gpos.save()
obst = StationaryObstacle(gps_position=gpos,
cylinder_radius=cyl_rad,
cylinder_height=cyl_height)
obst.save()
inside_logs = []
outside_logs = []
logs_to_create = [
(inside_pos, inside_logs), (outside_pos, outside_logs)
]
for (positions, log_list) in logs_to_create:
for (lat, lon, alt) in positions:
gpos = GpsPosition(latitude=lat, longitude=lon)
gpos.save()
apos = AerialPosition(gps_position=gpos, altitude_msl=alt)
apos.save()
log = UasTelemetry(user=user, uas_position=apos, uas_heading=0)
log.save()
log_list.append(log)
# Assert collisions correctly evaluated
collisions = [(inside_logs, True), (outside_logs, False)]
for (log_list, inside) in collisions:
self.assertEqual(
obst.evaluate_collision_with_uas(log_list), inside)
for log in log_list:
self.assertEqual(
obst.evaluate_collision_with_uas([log]), inside)
def create_sample_mission(superuser):
"""Creates a sample mission.
Args:
superuser: A superuser account to create mission under.
Returns:
MissionConfig for the created mission.
"""
mission = MissionConfig()
gpos = GpsPosition(latitude=38.145103, longitude=-76.427856)
gpos.save()
mission.home_pos = gpos
gpos = GpsPosition(latitude=38.145111, longitude=-76.427861)
gpos.save()
mission.emergent_last_known_pos = gpos
gpos = GpsPosition(latitude=38.145111, longitude=-76.427861)
gpos.save()
mission.off_axis_odlc_pos = gpos
gpos = GpsPosition(latitude=38.1458416666667, longitude=-76.426375)
gpos.save()
mission.air_drop_pos = gpos
# All foreign keys must be defined before the first save.
# All many-to-many must be defined after the first save.
mission.save()
bounds = FlyZone(altitude_msl_min=100, altitude_msl_max=750)
bounds.save()
# yapf: disable
pts = [(38.1462694444444, -76.4281638888889),
(38.1516250000000, -76.4286833333333),
(38.1518888888889, -76.4314666666667),
(38.1505944444444, -76.4353611111111),
(38.1475666666667, -76.4323416666667),
(38.1446666666667, -76.4329472222222),
(38.1432555555556, -76.4347666666667),
(38.1404638888889, -76.4326361111111),
(38.1407194444444, -76.4260138888889),
(38.1437611111111, -76.4212055555556),
(38.1473472222222, -76.4232111111111),
(38.1461305555556, -76.4266527777778)]
# yapf: enable
for ix, (lat, lon) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=0,
order=ix + 1)
wpt.save()
bounds.boundary_pts.add(wpt)
bounds.save()
mission.fly_zones.add(bounds)
# yapf: disable
pts = [(38.146689, -76.426475, 150,
750), (38.142914, -76.430297, 300,
300), (38.149504, -76.433110, 100,
750), (38.148711, -76.429061, 300, 750),
(38.144203, -76.426155, 50, 400), (38.146003, -76.430733, 225, 500)]
# yapf: enable
for lat, lon, radius, height in pts:
obst = StationaryObstacle(latitude=lat,
longitude=lon,
cylinder_radius=radius,
cylinder_height=height)
obst.save()
mission.stationary_obstacles.add(obst)
# yapf: disable
pts = [(38.1446916666667, -76.4279944444445, 200),
(38.1461944444444, -76.4237138888889, 300),
(38.1438972222222, -76.4225500000000, 400),
(38.1417722222222, -76.4251083333333, 400),
(38.1453500000000, -76.4286750000000, 300),
(38.1508972222222, -76.4292972222222, 300),
(38.1514944444444, -76.4313833333333, 300),
(38.1505333333333, -76.4341750000000, 300),
(38.1479472222222, -76.4316055555556, 200),
(38.1443333333333, -76.4322888888889, 200),
(38.1433166666667, -76.4337111111111, 300),
(38.1410944444444, -76.4321555555556, 400),
(38.1415777777778, -76.4252472222222, 400),
(38.1446083333333, -76.4282527777778, 200)]
# yapf: enable
for ix, (lat, lon, alt) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=alt,
order=ix + 1)
wpt.save()
mission.mission_waypoints.add(wpt)
# yapf: disable
pts = [(38.1444444444444, -76.4280916666667),
(38.1459444444444, -76.4237944444445),
(38.1439305555556, -76.4227444444444),
(38.1417138888889, -76.4253805555556),
(38.1412111111111, -76.4322361111111),
(38.1431055555556, -76.4335972222222),
(38.1441805555556, -76.4320111111111),
(38.1452611111111, -76.4289194444444),
(38.1444444444444, -76.4280916666667)]
# yapf: enable
for ix, (lat, lon) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=0,
order=ix + 1)
wpt.save()
mission.search_grid_points.add(wpt)
gpos = GpsPosition(latitude=38.143844, longitude=-76.426469)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.STAR,
shape_color=interop_api_pb2.Odlc.RED,
alphanumeric='A',
alphanumeric_color=interop_api_pb2.Odlc.WHITE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.141872, longitude=-76.426183)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NE,
shape=interop_api_pb2.Odlc.CROSS,
shape_color=interop_api_pb2.Odlc.BLUE,
alphanumeric='I',
alphanumeric_color=interop_api_pb2.Odlc.BLACK)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142828, longitude=-76.427644)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.E,
shape=interop_api_pb2.Odlc.QUARTER_CIRCLE,
shape_color=interop_api_pb2.Odlc.YELLOW,
alphanumeric='R',
alphanumeric_color=interop_api_pb2.Odlc.ORANGE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144925, longitude=-76.425100)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.SE,
shape=interop_api_pb2.Odlc.CIRCLE,
shape_color=interop_api_pb2.Odlc.BROWN,
alphanumeric='V',
alphanumeric_color=interop_api_pb2.Odlc.RED)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.146747, longitude=-76.422131)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.TRAPEZOID,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='E',
alphanumeric_color=interop_api_pb2.Odlc.GRAY)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144097, longitude=-76.431089)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.SW,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.GREEN,
alphanumeric='H',
alphanumeric_color=interop_api_pb2.Odlc.BLUE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144878, longitude=-76.423681)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.W,
shape=interop_api_pb2.Odlc.RECTANGLE,
shape_color=interop_api_pb2.Odlc.PURPLE,
alphanumeric='I',
alphanumeric_color=interop_api_pb2.Odlc.GREEN)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142819, longitude=-76.432375)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NW,
shape=interop_api_pb2.Odlc.SEMICIRCLE,
shape_color=interop_api_pb2.Odlc.ORANGE,
alphanumeric='C',
alphanumeric_color=interop_api_pb2.Odlc.YELLOW)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.141639, longitude=-76.429347)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.TRIANGLE,
shape_color=interop_api_pb2.Odlc.BLACK,
alphanumeric='L',
alphanumeric_color=interop_api_pb2.Odlc.PURPLE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142478, longitude=-76.424967)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NE,
shape=interop_api_pb2.Odlc.PENTAGON,
shape_color=interop_api_pb2.Odlc.GRAY,
alphanumeric='E',
alphanumeric_color=interop_api_pb2.Odlc.BROWN)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.143411, longitude=-76.424489)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=gpos,
description='Randy the backpacker.')
odlc.save()
mission.odlcs.add(odlc)
mission.save()
return mission
