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 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.sric_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 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 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_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 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_toJSON(self):
"""Tests the JSON serialization model."""
TEST_LAT = 100.10
TEST_LONG = 200.20
TEST_RADIUS = 150.50
TEST_HEIGHT = 75.30
gps_position = GpsPosition()
gps_position.latitude = TEST_LAT
gps_position.longitude = TEST_LONG
obstacle = StationaryObstacle()
obstacle.gps_position = gps_position
obstacle.cylinder_radius = TEST_RADIUS
obstacle.cylinder_height = TEST_HEIGHT
json_data = obstacle.toJSON()
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 setUp(self):
"""Sets up the client, obstacle URL, obstacles, and user."""
# Setup user
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
# Setup the obstacles
for path in TESTDATA_MOVOBST_PATHS:
# Stationary obstacle
(stat_lat, stat_lon, _) = path[0]
stat_gps = GpsPosition()
stat_gps.latitude = stat_lat
stat_gps.longitude = stat_lon
stat_gps.save()
stat_obst = StationaryObstacle()
stat_obst.gps_position = stat_gps
stat_obst.cylinder_radius = 100
stat_obst.cylinder_height = 200
stat_obst.save()
# Moving obstacle
mov_obst = MovingObstacle()
mov_obst.speed_avg = 40
mov_obst.sphere_radius = 100
mov_obst.save()
for pt_id in range(len(path)):
# Obstacle waypoints
(wpt_lat, wpt_lon, wpt_alt) = path[pt_id]
gpos = GpsPosition()
gpos.latitude = wpt_lat
gpos.longitude = wpt_lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = wpt_alt
apos.gps_position = gpos
apos.save()
wpt = Waypoint()
wpt.name = 'test waypoint'
wpt.order = pt_id
wpt.position = apos
wpt.save()
mov_obst.waypoints.add(wpt)
mov_obst.save()
# Setup test objs
self.client = Client()
self.loginUrl = reverse('auvsi_suas:login')
self.obstUrl = reverse('auvsi_suas:obstacles')
def setUp(self):
"""Sets up the client, obstacle URL, obstacles, and user."""
# Setup user
self.user = User.objects.create_user(
'testuser', '*****@*****.**', 'testpass')
self.user.save()
# Setup the obstacles
for path in TESTDATA_MOVOBST_PATHS:
# Stationary obstacle
(stat_lat, stat_lon, _) = path[0]
stat_gps = GpsPosition()
stat_gps.latitude = stat_lat
stat_gps.longitude = stat_lon
stat_gps.save()
stat_obst = StationaryObstacle()
stat_obst.gps_position = stat_gps
stat_obst.cylinder_radius = 100
stat_obst.cylinder_height = 200
stat_obst.save()
# Moving obstacle
mov_obst = MovingObstacle()
mov_obst.speed_avg = 40
mov_obst.sphere_radius = 100
mov_obst.save()
for pt_id in range(len(path)):
# Obstacle waypoints
(wpt_lat, wpt_lon, wpt_alt) = path[pt_id]
gpos = GpsPosition()
gpos.latitude = wpt_lat
gpos.longitude = wpt_lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = wpt_alt
apos.gps_position = gpos
apos.save()
wpt = Waypoint()
wpt.name = 'test waypoint'
wpt.order = pt_id
wpt.position = apos
wpt.save()
mov_obst.waypoints.add(wpt)
mov_obst.save()
# Setup test objs
self.client = Client()
self.loginUrl = reverse('auvsi_suas:login')
self.obstUrl = reverse('auvsi_suas:obstacles')
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 setUp(self):
"""Populates an active mission to test a cached view."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
self.pos = pos
info = ServerInfo()
info.timestamp = datetime.datetime.now()
info.message = "Hello World"
info.save()
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.sric_pos = pos
config.ir_primary_target_pos = pos
config.ir_secondary_target_pos = pos
config.air_drop_pos = pos
config.server_info = info
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_toJSON(self):
"""Tests the JSON serialization model."""
TEST_LAT = 100.10
TEST_LONG = 200.20
TEST_RADIUS = 150.50
TEST_HEIGHT = 75.30
gps_position = GpsPosition()
gps_position.latitude = TEST_LAT
gps_position.longitude = TEST_LONG
obstacle = StationaryObstacle()
obstacle.gps_position = gps_position
obstacle.cylinder_radius = TEST_RADIUS
obstacle.cylinder_height = TEST_HEIGHT
json_data = obstacle.toJSON()
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)
