def uas_telemetry_kml(user, flight_logs, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given.
Args:
user: A Django User to get username from
flight_logs: A sequence of UasTelemetry logs per flight period.
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
# Lazily create folder iff there is data.
kml_folder = None
for i, logs in enumerate(flight_logs):
name = '%s Flight %d' % (user.username, i + 1)
logs = UasTelemetry.dedupe(UasTelemetry.filter_bad(logs))
coords = []
angles = []
when = []
for entry in logs:
# Spatial Coordinates
coord = (entry.longitude, entry.latitude,
units.feet_to_meters(entry.altitude_msl))
coords.append(coord)
# Time Elements
time = entry.timestamp.strftime(KML_DATETIME_FORMAT)
when.append(time)
# Degrees heading, tilt, and roll
angle = (entry.uas_heading, 0.0, 0.0)
angles.append(angle)
# Ignore tracks with no data.
if not coords or not angles or not when:
continue
# Start folder if not done so already.
if not kml_folder:
kml_folder = kml.newfolder(name=user.username)
# Create a new track in the folder
trk = kml_folder.newgxtrack(name=name)
trk.altitudemode = AltitudeMode.absolute
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.newgxangle(angles)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.blue
trk.iconstyle.icon.href = KML_PLANE_ICON
def test_kml_simple(self):
coordinates = [
(0, -76.0, 38.0, 0.0, 0),
(1, -76.0, 38.0, 10.0, 0),
(2, -76.0, 38.0, 20.0, 0),
(3, -76.0, 38.0, 30.0, 0),
(4, -76.0, 38.0, 100.0, 0),
(5, -76.0, 38.0, 30.0, 0),
(6, -76.0, 38.0, 60.0, 0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
start.timestamp = self.now
start.save()
for coord in coordinates:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
end.timestamp = self.now + datetime.timedelta(seconds=7)
end.save()
kml = Kml()
UasTelemetry.kml(
user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml.document)
for coord in coordinates:
tag = self.coord_format.format(coord[2], coord[1],
units.feet_to_meters(coord[3]))
self.assertTrue(tag in kml.kml())
def test_kml_empty(self):
kml = Kml()
UasTelemetry.kml(
user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml.document)
def test_closest_interpolated_distance(self):
utm = distance.proj_utm(zone=18, north=True)
# Test velocity filter.
waypoint = self.waypoints_from_data([(38, -76, 100)])[0]
entries = [(38, -76, 140), (40, -78, 600)]
logs = self.create_uas_logs(self.user, entries)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(40.0, d, delta=3)
# Test telemetry rate filter.
waypoint = self.waypoints_from_data([(38.145147, -76.427583, 100)])[0]
entries = [(38.145148, -76.427645, 100), (38.145144, -76.427400, 100)]
logs = self.create_uas_logs(self.user, entries)
logs[1].timestamp = logs[0].timestamp + datetime.timedelta(seconds=2)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(17.792, d, delta=3)
# Test interpolation (waypoint is halfway between telemetry logs).
waypoint = self.waypoints_from_data([(38.145146, -76.427522, 80)])[0]
entries = [(38.145148, -76.427645, 100), (38.145144, -76.427400, 100)]
logs = self.create_uas_logs(self.user, entries)
logs[1].timestamp = logs[0].timestamp + datetime.timedelta(seconds=1)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(20.0, d, delta=3)
def test_kml_simple(self):
coordinates = [
(-76.0, 38.0, 0.0),
(-76.0, 38.0, 10.0),
(-76.0, 38.0, 20.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 100.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 60.0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
for coord in coordinates:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
kml = Kml()
UasTelemetry.kml(user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml)
for coord in coordinates:
tag = self.coord_format.format(coord[1], coord[0],
units.feet_to_meters(coord[2]))
self.assertTrue(tag in kml.kml())
def create_uas_logs(self, user, entries):
"""Create a list of uas telemetry logs.
Args:
user: User to create logs for.
entries: List of (lat, lon, alt) tuples for each entry.
Returns:
List of UasTelemetry objects
"""
ret = []
for i in range(len(entries)):
lat, lon, alt = entries[i]
log = UasTelemetry()
log.user = user
log.latitude = lat
log.longitude = lon
log.altitude_msl = alt
log.uas_heading = 0
if i > 0:
log.timetamp = ret[i - 1].timestamp + timedelta(seconds=1)
log.save()
ret.append(log)
return ret
def test_closest_interpolated_distance(self):
utm = distance.proj_utm(zone=18, north=True)
# Test velocity filter.
waypoint = self.waypoints_from_data([(38, -76, 100)])[0]
entries = [(38, -76, 140), (40, -78, 600)]
logs = self.create_uas_logs(self.user, entries)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(40.0, d, delta=3)
# Test telemetry rate filter.
waypoint = self.waypoints_from_data([(38.145147, -76.427583, 100)])[0]
entries = [(38.145148, -76.427645, 100), (38.145144, -76.427400, 100)]
logs = self.create_uas_logs(self.user, entries)
logs[1].timestamp = logs[0].timestamp + datetime.timedelta(seconds=2)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(17.792, d, delta=3)
# Test interpolation (waypoint is halfway between telemetry logs).
waypoint = self.waypoints_from_data([(38.145146, -76.427522, 80)])[0]
entries = [(38.145148, -76.427645, 100), (38.145144, -76.427400, 100)]
logs = self.create_uas_logs(self.user, entries)
logs[1].timestamp = logs[0].timestamp + datetime.timedelta(seconds=1)
d = UasTelemetry.closest_interpolated_distance(logs[0], logs[1],
waypoint, utm)
self.assertAlmostEqual(20.0, d, delta=3)
def test_kml_simple(self):
coordinates = [
(-76.0, 38.0, 0.0),
(-76.0, 38.0, 10.0),
(-76.0, 38.0, 20.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 100.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 60.0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
for coord in coordinates:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
kml = Kml()
UasTelemetry.kml(user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml)
for coord in coordinates:
tag = self.coord_format.format(coord[1], coord[0],
units.feet_to_meters(coord[2]))
self.assertTrue(tag in kml.kml())
def create_data(self):
"""Create a basic sample dataset."""
self.user1 = User.objects.create_user('user1', '*****@*****.**',
'testpass')
self.user1.save()
self.user2 = User.objects.create_user('user2', '*****@*****.**',
'testpass')
self.user2.save()
# Mission
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
wpt = Waypoint()
wpt.order = 10
wpt.latitude = 10
wpt.longitude = 100
wpt.altitude_msl = 1000
wpt.save()
self.mission = MissionConfig()
self.mission.home_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.air_drop_pos = pos
self.mission.save()
self.mission.mission_waypoints.add(wpt)
self.mission.search_grid_points.add(wpt)
self.mission.save()
# user1 is flying
event = TakeoffOrLandingEvent(user=self.user1,
mission=self.mission,
uas_in_air=True)
event.save()
# user2 has landed
event = TakeoffOrLandingEvent(user=self.user2,
mission=self.mission,
uas_in_air=True)
event.save()
event = TakeoffOrLandingEvent(user=self.user2,
mission=self.mission,
uas_in_air=False)
event.save()
# user2 is active
self.timestamp = timezone.now()
self.telem = UasTelemetry(user=self.user2,
latitude=38.6462,
longitude=-76.2452,
altitude_msl=0,
uas_heading=90)
self.telem.save()
self.telem.timestamp = dateutil.parser.parse(
u'2016-10-01T00:00:00.0+00:00')
self.telem.save()
def generate_feedback(mission_config, user, team_eval):
"""Generates mission feedback for the given team and mission.
Args:
mission_config: The mission to evaluate the team against.
user: The team user object for which to evaluate and provide feedback.
team_eval: The team evaluation to fill.
"""
feedback = team_eval.feedback
# Find the user's flights.
flight_periods = TakeoffOrLandingEvent.flights(mission_config, user)
for period in flight_periods:
if period.duration() is None:
team_eval.warnings.append('Infinite flight period.')
uas_period_logs = [
UasTelemetry.dedupe(logs)
for logs in UasTelemetry.by_time_period(user, flight_periods)
]
uas_logs = list(itertools.chain.from_iterable(uas_period_logs))
if not uas_logs:
team_eval.warnings.append('No UAS telemetry logs.')
# Determine interop telemetry rates.
telem_max, telem_avg = UasTelemetry.rates(
user, flight_periods, time_period_logs=uas_period_logs)
if telem_max:
feedback.uas_telemetry_time_max_sec = telem_max
if telem_avg:
feedback.uas_telemetry_time_avg_sec = telem_avg
# Determine if the uas hit the waypoints.
feedback.waypoints.extend(
UasTelemetry.satisfied_waypoints(
mission_config.home_pos,
mission_config.mission_waypoints.order_by('order'), uas_logs))
# Evaluate the object detections.
user_odlcs = Odlc.objects.filter(user=user).filter(
mission=mission_config.pk).all()
evaluator = OdlcEvaluator(user_odlcs,
mission_config.odlcs.all(), flight_periods)
feedback.odlc.CopyFrom(evaluator.evaluate())
# Determine collisions with stationary.
for obst in mission_config.stationary_obstacles.all():
obst_eval = feedback.stationary_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
# Add judge feedback.
try:
judge_feedback = MissionJudgeFeedback.objects.get(
mission=mission_config.pk, user=user.pk)
feedback.judge.CopyFrom(judge_feedback.proto())
except MissionJudgeFeedback.DoesNotExist:
team_eval.warnings.append('No MissionJudgeFeedback for team.')
def test_basic_access(self):
start = timezone.now() - datetime.timedelta(seconds=10)
logs = self.create_logs(self.user1, start=start)
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(logs[-1], log)
results = UasTelemetry.by_user(self.user1)
self.assertSequenceEqual(logs, results)
def get(self, request):
kml = Kml(name='LIVE Data')
UasTelemetry.live_kml(kml, timedelta(seconds=5))
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=update.kml'
response['Content-Length'] = str(len(response.content))
return response
def test_basic_access(self):
start = timezone.now() - datetime.timedelta(seconds=10)
logs = self.create_logs(self.user1, start=start)
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(logs[-1], log)
results = UasTelemetry.by_user(self.user1)
self.assertSequenceEqual(logs, results)
def get(self, request):
kml = Kml(name='LIVE Data')
MovingObstacle.live_kml(kml, timedelta(seconds=5))
UasTelemetry.live_kml(kml, timedelta(seconds=5))
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=update.kml'
response['Content-Length'] = str(len(response.content))
return response
def create_log_element(self, timestamp, user, lat, lon, alt, heading):
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
apos.save()
log = UasTelemetry(timestamp=timezone.now(),
user=user,
uas_position=apos,
uas_heading=heading)
log.save()
return log
def create_log_element(self, timestamp, user, lat, lon, alt, heading):
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
apos.save()
log = UasTelemetry(timestamp=timezone.now(),
user=user,
uas_position=apos,
uas_heading=heading)
log.save()
return log
def test_no_data(self):
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(None, log)
logs = UasTelemetry.by_user(self.user1)
self.assertEqual(len(logs), 0)
logs = UasTelemetry.by_time_period(self.user1, [])
self.assertSequenceEqual([], logs)
log_rates = UasTelemetry.rates(self.user1, [])
self.assertTupleEqual(log_rates, (None, None))
def test_no_data(self):
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(None, log)
logs = UasTelemetry.by_user(self.user1)
self.assertEqual(len(logs), 0)
logs = UasTelemetry.by_time_period(self.user1, [])
self.assertSequenceEqual([], logs)
log_rates = UasTelemetry.rates(self.user1, [])
self.assertTupleEqual(log_rates, (None, None))
def uas_telemetry_kml(user, flights, logs, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given.
Args:
user: A Django User to get username from
flights: List of flight periods
logs: A list of UasTelemetry elements
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
kml_folder = kml.newfolder(name=user.username)
logs = UasTelemetry.dedupe(UasTelemetry.filter_bad(logs))
for i, flight in enumerate(flights):
name = '%s Flight %d' % (user.username, i + 1)
flight_logs = filter(lambda x: flight.within(x.timestamp), logs)
coords = []
angles = []
when = []
for entry in logs:
pos = entry.uas_position.gps_position
# Spatial Coordinates
coord = (pos.longitude, pos.latitude,
units.feet_to_meters(entry.uas_position.altitude_msl))
coords.append(coord)
# Time Elements
time = entry.timestamp.strftime(KML_DATETIME_FORMAT)
when.append(time)
# Degrees heading, tilt, and roll
angle = (entry.uas_heading, 0.0, 0.0)
angles.append(angle)
# Create a new track in the folder
trk = kml_folder.newgxtrack(name=name)
trk.altitudemode = AltitudeMode.absolute
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.newgxangle(angles)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.blue
trk.iconstyle.icon.href = KML_PLANE_ICON
def test_multi_user(self):
# Intersperse logs from two users
logs = []
for _ in xrange(10):
logs += self.create_logs(self.user1, num=1)
self.create_logs(self.user2, num=1)
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(logs[-1], log)
results = UasTelemetry.by_user(self.user1)
self.assertSequenceEqual(logs, results)
def test_multi_user(self):
# Intersperse logs from two users
logs = []
for _ in xrange(10):
logs += self.create_logs(self.user1, num=1)
self.create_logs(self.user2, num=1)
log = UasTelemetry.last_for_user(self.user1)
self.assertEqual(logs[-1], log)
results = UasTelemetry.by_user(self.user1)
self.assertSequenceEqual(logs, results)
def test_last_for_user_time_restrict(self):
start = timezone.now()
delta = datetime.timedelta(seconds=1)
logs = self.create_logs(self.user1, num=10, start=start, delta=delta)
log = UasTelemetry.last_for_user(self.user1,
start_time=start,
end_time=start + delta * 3)
self.assertEqual(logs[2], log)
log = UasTelemetry.last_for_user(self.user1,
start_time=start + delta * 11)
self.assertIsNone(log)
log = UasTelemetry.last_for_user(self.user1, end_time=start - delta)
self.assertIsNone(log)
def test_last_for_user_time_restrict(self):
start = timezone.now()
delta = datetime.timedelta(seconds=1)
logs = self.create_logs(self.user1, num=10, start=start, delta=delta)
log = UasTelemetry.last_for_user(self.user1,
start_time=start,
end_time=start + delta * 3)
self.assertEqual(logs[2], log)
log = UasTelemetry.last_for_user(self.user1,
start_time=start + delta * 11)
self.assertIsNone(log)
log = UasTelemetry.last_for_user(self.user1, end_time=start - delta)
self.assertIsNone(log)
def test_open_end(self):
"""Logs (2003, inf)"""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2003, None),
])
self.assertSequenceEqual([self.year2003_logs], self.to_lists(results))
def test_open_start(self):
"""Logs (-inf, 2001)"""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(None, self.year2001),
])
self.assertSequenceEqual([self.year2000_logs], self.to_lists(results))
def test_non_intersecting_period(self):
"""No logs matched."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2001, self.year2002),
])
self.assertSequenceEqual([[]], self.to_lists(results))
def test_full_range(self):
"""All logs from (-inf, inf)."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(None, None)
])
self.assertSequenceEqual([self.logs], self.to_lists(results))
def test_single_period(self):
"""Single set of logs accessible."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2000, self.year2001)
])
self.assertSequenceEqual([self.year2000_logs], self.to_lists(results))
def test_duplicates(self):
orig = [
self.log1, self.log1, self.log2, self.log3, self.log3, self.log4,
self.log4
]
expect = [self.log1, self.log2, self.log3, self.log4]
self.assertSequenceEqual(list(UasTelemetry.dedupe(orig)), expect)
def test_non_intersecting_period(self):
"""No logs matched."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2001, self.year2002),
])
self.assertSequenceEqual([[]], self.to_lists(results))
def test_open_start(self):
"""Logs (-inf, 2001)"""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(None, self.year2001),
])
self.assertSequenceEqual([self.year2000_logs], self.to_lists(results))
def test_open_end(self):
"""Logs (2003, inf)"""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2003, None),
])
self.assertSequenceEqual([self.year2003_logs], self.to_lists(results))
def get(self, request):
kml = Kml(name='AUVSI SUAS Flight Data')
kml_missions = kml.newfolder(name='Missions')
users = User.objects.all()
for mission in MissionConfig.objects.all():
kml_mission = mission_kml(mission, kml_missions, kml.document)
kml_flights = kml_mission.newfolder(name='Flights')
for user in users:
if user.is_superuser:
continue
flights = TakeoffOrLandingEvent.flights(mission, user)
if not flights:
continue
uas_telemetry_kml(
user=user,
flights=flights,
logs=UasTelemetry.by_user(user),
kml=kml_flights,
kml_doc=kml.document)
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=mission.kml'
response['Content-Length'] = str(len(response.content))
return response
def test_by_user_time_restrict(self):
start = timezone.now()
delta = datetime.timedelta(seconds=1)
expect_logs = self.create_logs(self.user1,
num=10,
start=start,
delta=delta)
logs = UasTelemetry.by_user(self.user1,
start_time=start,
end_time=start + delta * 10)
self.assertSequenceEqual(expect_logs, logs)
logs = UasTelemetry.by_user(self.user1, start_time=start + delta * 11)
self.assertSequenceEqual([], logs)
logs = UasTelemetry.by_user(self.user1, end_time=start)
self.assertSequenceEqual([], logs)
def test_infinite_period(self):
"""Can't calculate a rate for an infinite (unbounded) period."""
delta = datetime.timedelta(seconds=1)
logs = self.create_logs(self.user1, delta=delta)
period = TimePeriod(None, None)
self.assertSequenceEqual((None, None),
UasTelemetry.rates(self.user1, [period]))
def test_no_logs(self):
"""Test behavior when no logs are present."""
delta = datetime.timedelta(seconds=10)
self.assertSequenceEqual(
(10, 10),
UasTelemetry.rates(
self.user1,
[TimePeriod(self.year2000, self.year2000 + delta)]))
def test_by_user_time_restrict(self):
start = timezone.now()
delta = datetime.timedelta(seconds=1)
expect_logs = self.create_logs(self.user1,
num=10,
start=start,
delta=delta)
logs = UasTelemetry.by_user(self.user1,
start_time=start,
end_time=start + delta * 10)
self.assertSequenceEqual(expect_logs, logs)
logs = UasTelemetry.by_user(self.user1, start_time=start + delta * 11)
self.assertSequenceEqual([], logs)
logs = UasTelemetry.by_user(self.user1, end_time=start)
self.assertSequenceEqual([], logs)
def post(self, request):
"""Posts the UAS position with a POST request."""
telemetry_proto = interop_api_pb2.Telemetry()
try:
json_format.Parse(request.body, telemetry_proto)
except Exception as e:
return HttpResponseBadRequest(
'Failed to parse request. Error: %s' % str(e))
if (not telemetry_proto.HasField('latitude') or
not telemetry_proto.HasField('longitude') or
not telemetry_proto.HasField('altitude') or
not telemetry_proto.HasField('heading')):
return HttpResponseBadRequest('Request missing fields.')
# Check the values make sense.
if telemetry_proto.latitude < -90 or telemetry_proto.latitude > 90:
return HttpResponseBadRequest('Latitude out of range [-90, 90]: %f'
% telemetry_proto.latitude)
if telemetry_proto.longitude < -180 or telemetry_proto.longitude > 180:
return HttpResponseBadRequest(
'Longitude out of range [-180, 180]: %f' %
telemetry_proto.longitude)
if telemetry_proto.altitude < -1500 or telemetry_proto.altitude > 330000:
return HttpResponseBadRequest(
'Altitude out of range [-1500, 330000]: %f' %
telemetry_proto.altitude)
if telemetry_proto.heading < 0 or telemetry_proto.heading > 360:
return HttpResponseBadRequest(
'Heading out of range [0, 360]: %f' % telemetry_proto.heading)
# Store telemetry.
gpos = GpsPosition(
latitude=telemetry_proto.latitude,
longitude=telemetry_proto.longitude)
gpos.save()
apos = AerialPosition(
gps_position=gpos, altitude_msl=telemetry_proto.altitude)
apos.save()
telemetry = UasTelemetry(
user=request.user,
uas_position=apos,
uas_heading=telemetry_proto.heading)
telemetry.save()
return HttpResponse('UAS Telemetry Successfully Posted.')
def create_uas_logs(self, user, entries):
"""Create a list of uas telemetry logs.
Args:
user: User to create logs for.
entries: List of (lat, lon, alt) tuples for each entry.
Returns:
List of UasTelemetry objects
"""
ret = []
for (lat, lon, alt) in entries:
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
ret.append(log)
return ret
def create_logs(self,
user,
num=10,
start=None,
delta=None,
altitude=100,
heading=90):
if start is None:
start = timezone.now()
if delta is None:
delta = datetime.timedelta(seconds=1)
logs = []
for i in xrange(num):
gps = GpsPosition(
latitude=38 + 0.001 * i, longitude=-78 + 0.001 * i)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=altitude)
pos.save()
log = UasTelemetry(
user=user, uas_position=pos, uas_heading=heading)
log.save()
log.timestamp = start + i * delta
log.save()
logs.append(log)
return logs
def test_one_intersecting_period(self):
"""Only one period matches logs."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2001, self.year2002),
TimePeriod(self.year2003, self.year2004),
])
self.assertSequenceEqual(
[[], self.year2003_logs], self.to_lists(results))
def test_both_periods(self):
"""Both sets of logs, accesses individually."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2000, self.year2001),
TimePeriod(self.year2003, self.year2004),
])
self.assertSequenceEqual(
[self.year2000_logs, self.year2003_logs], self.to_lists(results))
def test_both_periods(self):
"""Both sets of logs, accesses individually."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2000, self.year2001),
TimePeriod(self.year2003, self.year2004),
])
self.assertSequenceEqual([self.year2000_logs, self.year2003_logs],
self.to_lists(results))
def test_one_intersecting_period(self):
"""Only one period matches logs."""
results = UasTelemetry.by_time_period(self.user1, [
TimePeriod(self.year2001, self.year2002),
TimePeriod(self.year2003, self.year2004),
])
self.assertSequenceEqual([[], self.year2003_logs],
self.to_lists(results))
def test_ignore_start_end(self):
"""When start and end are None, only times between logs are compared."""
delta = datetime.timedelta(seconds=1)
logs = self.create_logs(self.user1, delta=delta)
period = TimePeriod(None, None)
rates = UasTelemetry.rates(self.user1, [period])
self.assertSequenceEqual((1, 1), rates)
def test_constant_rate(self):
"""Rates computed correctly."""
delta = datetime.timedelta(seconds=1)
logs = self.create_logs(self.user1, delta=delta)
period = self.consistent_period(logs, delta)
rates = UasTelemetry.rates(self.user1, [period])
self.assertSequenceEqual((1, 1), rates)
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 user_json(user):
"""Generate JSON-style dict for user."""
telemetry = UasTelemetry.last_for_user(user)
return {
'name': user.username,
'id': user.pk,
'on_clock': MissionClockEvent.user_on_clock(user),
'on_timeout': MissionClockEvent.user_on_timeout(user),
'in_air': TakeoffOrLandingEvent.user_in_air(user),
'telemetry': telemetry.json() if telemetry else None
}
def create_logs(self,
user,
num=10,
start=None,
delta=None,
altitude=100,
heading=90):
if start is None:
start = timezone.now()
if delta is None:
delta = datetime.timedelta(seconds=1)
logs = []
for i in xrange(num):
gps = GpsPosition(latitude=38 + 0.001 * i,
longitude=-78 + 0.001 * i)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=altitude)
pos.save()
log = UasTelemetry(user=user,
uas_position=pos,
uas_heading=heading)
log.save()
log.timestamp = start + i * delta
log.save()
logs.append(log)
return logs
def create_uas_logs(self, user, entries):
"""Create a list of uas telemetry logs.
Args:
user: User to create logs for.
entries: List of (lat, lon, alt) tuples for each entry.
Returns:
List of UasTelemetry objects
"""
ret = []
for (lat, lon, alt) in entries:
pos = GpsPosition()
pos.latitude = lat
pos.longitude = lon
pos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = pos
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
ret.append(log)
return ret
def get(self, request):
kml = Kml(name='AUVSI SUAS Flight Data')
kml_teams = kml.newfolder(name='Teams')
kml_mission = kml.newfolder(name='Missions')
users = User.objects.all()
for user in users:
# Ignore admins
if user.is_superuser:
continue
UasTelemetry.kml(user=user,
logs=UasTelemetry.by_user(user),
kml=kml_teams,
kml_doc=kml.document)
MissionConfig.kml_all(kml_mission)
kml_flyzone = kml.newfolder(name='Fly Zones')
FlyZone.kml_all(kml_flyzone)
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=mission.kml'
response['Content-Length'] = str(len(response.content))
return response
def test_provided_logs(self):
"""Rates computed with provided logs."""
delta = datetime.timedelta(seconds=1)
used_logs = self.create_logs(self.user1, delta=delta)
unused_logs = self.create_logs(self.user1, delta=delta)
period = self.consistent_period(used_logs, delta)
rates = UasTelemetry.rates(self.user1,
[period],
time_period_logs=[used_logs])
self.assertSequenceEqual((1, 1), rates)
def create_log_element(self, lat, lon, alt, user, log_time):
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
apos.save()
log = UasTelemetry(user=user, uas_position=apos, uas_heading=100, )
log.save()
log.timestamp = log_time
log.save()
return log
def test_kml(self):
"""
Tests the generation of kml data
The correct number of elements are generated
The meta-data tag is present
"""
array_field_tag = '<gx:SimpleArrayField name="proximity" type="float">'
coordinates = [
(-76.0, 38.0, 0.0),
(-76.0, 38.0, 10.0),
(-76.0, 38.0, 20.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 100.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 60.0),
]
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
# Create Coordinates
start_time = timezone.now()
next_time = start_time
end_time = start_time
for coord in coordinates:
self.create_log_element(*coord, user=user, log_time=next_time)
end_time = next_time
next_time += datetime.timedelta(seconds=1)
# Calculate expected number of data tags
time_delta = end_time - start_time
ms_elapsed = time_delta.total_seconds() * 1000
kml_output_resolution = 100 # milliseconds
samples_expected = int(ms_elapsed / kml_output_resolution)
for cur_obst in self.obstacles:
kml = Kml()
kml_mission = kml.newfolder(name='SubFolder')
cur_obst.kml(path=UasTelemetry.by_user(user),
kml=kml_mission,
kml_doc=kml.document)
result_kml = kml.kml()
self.assertEqual(samples_expected, result_kml.count('<gx:value>'))
self.assertIn(array_field_tag, result_kml)
def test_multiple_periods(self):
"""Multiple periods are combined without introducing errors."""
delta = datetime.timedelta(seconds=1)
logs = [
self.create_logs(self.user1,
start=self.year2000,
delta=delta),
self.create_logs(self.user1,
start=self.year2001,
delta=delta),
]
periods = [self.consistent_period(l, delta) for l in logs]
rates = UasTelemetry.rates(self.user1, periods)
self.assertSequenceEqual((1, 1), rates)
def create_data(self):
"""Create a basic sample dataset."""
self.user1 = User.objects.create_user('user1', '*****@*****.**',
'testpass')
self.user1.save()
self.user2 = User.objects.create_user('user2', '*****@*****.**',
'testpass')
self.user2.save()
# user1 is on mission
event = MissionClockEvent(user=self.user1,
team_on_clock=True,
team_on_timeout=False)
event.save()
# user1 is flying
event = TakeoffOrLandingEvent(user=self.user1, uas_in_air=True)
event.save()
# user2 has landed
event = TakeoffOrLandingEvent(user=self.user2, uas_in_air=True)
event.save()
event = TakeoffOrLandingEvent(user=self.user2, uas_in_air=False)
event.save()
# user2 is active
self.timestamp = timezone.now()
gps = GpsPosition(latitude=38.6462, longitude=-76.2452)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=0)
pos.save()
self.telem = UasTelemetry(user=self.user2,
uas_position=pos,
uas_heading=90)
self.telem.save()
self.telem.timestamp = dateutil.parser.parse(
u'2016-10-01T00:00:00.0+00:00')
self.telem.save()
def test_different_deltas(self):
"""Sets of logs are combined for overall rates."""
delta = datetime.timedelta(seconds=1)
logs = [
self.create_logs(self.user1,
num=1000,
start=self.year2000,
delta=delta),
self.create_logs(self.user1,
num=1000,
start=self.year2001,
delta=delta / 2),
]
periods = [self.consistent_period(l, delta) for l in logs]
rates = UasTelemetry.rates(self.user1, periods)
self.assertAlmostEqual(1.0, rates[0]) # max
self.assertAlmostEqual(0.75, rates[1], delta=0.001) # avg
def create_logs(self, user, num=10, start=None, delta=None):
if start is None:
start = timezone.now()
if delta is None:
delta = datetime.timedelta(seconds=1)
logs = []
for i in xrange(num):
gps_position = GpsPosition(latitude=0, longitude=0)
gps_position.save()
uas_position = AerialPosition(gps_position=gps_position,
altitude_msl=0)
uas_position.save()
log = UasTelemetry(user=user,
uas_position=uas_position,
uas_heading=0.0)
log.save()
log.timestamp = start + i * delta
log.save()
logs.append(log)
return logs
