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 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 setUp(self):
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
# Create an active mission.
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
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()
# Add a couple of stationary obstacles
obst = self.create_stationary_obstacle(lat=38.142233,
lon=-76.434082,
radius=300,
height=500)
config.stationary_obstacles.add(obst)
obst = self.create_stationary_obstacle(lat=38.442233,
lon=-76.834082,
radius=100,
height=750)
config.stationary_obstacles.add(obst)
# And a couple of moving obstacles
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.142233, -76.434082, 300),
(38.141878, -76.425198, 700),
])
config.moving_obstacles.add(obst)
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.145405, -76.428310, 100),
(38.146582, -76.424099, 200),
(38.144662, -76.427634, 300),
(38.147729, -76.419185, 200),
(38.147573, -76.420832, 100),
(38.148522, -76.419507, 750),
])
config.moving_obstacles.add(obst)
config.save()
# Login
response = self.client.post(login_url, {
'username': '******',
'password': '******'
})
self.assertEqual(200, response.status_code)
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
return config
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
return config
def setUp(self):
"""Setup a single active mission to test live kml with."""
super(TestGenerateLiveKMLNoFixture, self).setUp()
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
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
def setUp(self):
"""Setup a single active mission to test live kml with."""
super(TestGenerateLiveKMLNoFixture, self).setUp()
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
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
def test_unicode(self):
"""Tests the unicode method executes."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
apos = AerialPosition()
apos.altitude_msl = 1000
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = 10
wpt.save()
config = MissionConfig()
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
def test_unicode(self):
"""Tests the unicode method executes."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
apos = AerialPosition()
apos.altitude_msl = 1000
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = 10
wpt.save()
config = MissionConfig()
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
config = MissionConfig()
config.home_pos = gpos
config.emergent_last_known_pos = gpos
config.off_axis_target_pos = gpos
config.air_drop_pos = gpos
config.save()
# Create waypoints for config
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
for i, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = i
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
expect = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.17})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# First and last are valid, but missed second, so third doesn't count.
entries = [(38, -76, 140), (40, -78, 600), (40, -78, 40)]
expect = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.03})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Only hit the first waypoint on run one, hit all on run two.
entries = [
(38, -76, 140),
(40, -78, 600),
(37, -75, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)
]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all on run one, only hit the first waypoint on run two.
entries = [
(38, -76, 140),
(39, -77, 180),
(40, -78, 40),
# Run two:
(38, -76, 140),
(40, -78, 600),
(37, -75, 40)
]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all in first run, but second is higher scoring.
entries = [
(38, -76, 140),
(39, -77, 180),
(40, -78, 60),
# Run two:
(38, -76, 100),
(39, -77, 200),
(40, -78, 110)
]
expect = ({0: 0, 1: 0}, {0: 1, 1: 1, 2: 0}, {0: 0, 1: 0, 2: 60})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Restart waypoint path in the middle.
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
entries = [
(38, -76, 140),
(39, -77, 180),
# Restart:
(38, -76, 70),
(39, -77, 150),
(40, -78, 10)
]
expect = ({0: 30, 1: 50, 2: 10},
{0: 0.7, 1: 0.5, 2: 0.9},
{0: 30, 1: 20, 2: 10}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
config = MissionConfig()
config.home_pos = gpos
config.emergent_last_known_pos = gpos
config.off_axis_target_pos = gpos
config.air_drop_pos = gpos
config.save()
# Create waypoints for config
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
for i, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = i
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
def assertSatisfiedWaypoints(expect, got):
"""Assert two satisfied_waypoints return values are equal."""
self.assertEqual(expect[0], got[0])
self.assertEqual(expect[1], got[1])
for k in expect[2].keys():
self.assertIn(k, got[2])
self.assertAlmostEqual(expect[2][k], got[2][k], delta=0.1)
for k in got[2].keys():
self.assertIn(k, expect[2])
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
expect = (1, 1, {0: 40, 1: 460785.17})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# First and last are valid, but missed second, so third doesn't count.
entries = [(38, -76, 140), (40, -78, 600), (40, -78, 40)]
expect = (1, 1, {0: 40, 1: 460785.03})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all, but don't stay within waypoint track.
entries = [(38, -76, 140), (39, -77, 180), (41, -78, 40),
(40, -78, 40)]
expect = (3, 2, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Only hit the first waypoint on run one, hit all on run two.
entries = [(38, -76, 140),
(40, -78, 600),
(37, -75, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all on run one, only hit the first waypoint on run two.
entries = [(38, -76, 140),
(39, -77, 180),
(40, -78, 40),
# Run two:
(38, -76, 140),
(40, -78, 600),
(37, -75, 40)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Remain on the waypoint track only on the second run.
entries = [(38, -76, 140),
(39, -77, 180),
(41, -78, 40),
(40, -78, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Miss last target by a sane distance.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 60)]
expect = (2, 2, {0: 40, 1: 20, 2: 60})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
config = MissionConfig()
config.home_pos = gpos
config.emergent_last_known_pos = gpos
config.off_axis_target_pos = gpos
config.air_drop_pos = gpos
config.save()
# Create waypoints for config
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
for i, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = i
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
expect = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.17})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# First and last are valid, but missed second, so third doesn't count.
entries = [(38, -76, 140), (40, -78, 600), (40, -78, 40)]
expect = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.03})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Only hit the first waypoint on run one, hit all on run two.
entries = [(38, -76, 140),
(40, -78, 600),
(37, -75, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all on run one, only hit the first waypoint on run two.
entries = [(38, -76, 140),
(39, -77, 180),
(40, -78, 40),
# Run two:
(38, -76, 140),
(40, -78, 600),
(37, -75, 40)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all in first run, but second is higher scoring.
entries = [(38, -76, 140),
(39, -77, 180),
(40, -78, 60),
# Run two:
(38, -76, 100),
(39, -77, 200),
(40, -78, 110)]
expect = ({0: 0, 1: 0}, {0: 1, 1: 1, 2: 0}, {0: 0, 1: 0, 2: 60})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Restart waypoint path in the middle.
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
entries = [(38, -76, 140),
(39, -77, 180),
# Restart:
(38, -76, 70),
(39, -77, 150),
(40, -78, 10)]
expect = ({0: 30, 1: 50, 2: 10},
{0: 0.7, 1: 0.5, 2: 0.9},
{0: 30, 1: 20, 2: 10}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
config = MissionConfig()
config.home_pos = gpos
config.emergent_last_known_pos = gpos
config.off_axis_target_pos = gpos
config.air_drop_pos = gpos
config.save()
# Create waypoints for config
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
for i, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
wpt = Waypoint()
wpt.position = apos
wpt.order = i
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
def assertSatisfiedWaypoints(expect, got):
"""Assert two satisfied_waypoints return values are equal."""
self.assertEqual(expect[0], got[0])
self.assertEqual(expect[1], got[1])
for k in expect[2].keys():
self.assertIn(k, got[2])
self.assertAlmostEqual(expect[2][k], got[2][k], delta=0.1)
for k in got[2].keys():
self.assertIn(k, expect[2])
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
expect = (1, 1, {0: 40, 1: 460785.17})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# First and last are valid, but missed second, so third doesn't count.
entries = [(38, -76, 140), (40, -78, 600), (40, -78, 40)]
expect = (1, 1, {0: 40, 1: 460785.03})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all, but don't stay within waypoint track.
entries = [(38, -76, 140), (39, -77, 180), (41, -78, 40),
(40, -78, 40)]
expect = (3, 2, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Only hit the first waypoint on run one, hit all on run two.
entries = [
(38, -76, 140),
(40, -78, 600),
(37, -75, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)
]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all on run one, only hit the first waypoint on run two.
entries = [
(38, -76, 140),
(39, -77, 180),
(40, -78, 40),
# Run two:
(38, -76, 140),
(40, -78, 600),
(37, -75, 40)
]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Remain on the waypoint track only on the second run.
entries = [
(38, -76, 140),
(39, -77, 180),
(41, -78, 40),
(40, -78, 40),
# Run two:
(38, -76, 140),
(39, -77, 180),
(40, -78, 40)
]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
expect = (3, 3, {0: 40, 1: 20, 2: 40})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Miss last target by a sane distance.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 60)]
expect = (2, 2, {0: 40, 1: 20, 2: 60})
logs = self.create_uas_logs(user, entries)
assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
