def create_moving_obstacle(self, waypoints):
"""Create a new MovingObstacle model.
Args:
waypoints: List of (lat, lon, alt) tuples
Returns:
Saved MovingObstacle
"""
obstacle = MovingObstacle(speed_avg=40, sphere_radius=100)
obstacle.save()
for num, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
gps = GpsPosition(latitude=lat, longitude=lon)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=alt)
pos.save()
waypoint = Waypoint(order=num, position=pos)
waypoint.save()
obstacle.waypoints.add(waypoint)
obstacle.save()
return obstacle
def setUp(self):
"""Creates test data."""
# Form test set for contains position
self.testdata_containspos = []
for test_data in TESTDATA_FLYZONE_CONTAINSPOS:
# Create the FlyZone
zone = FlyZone()
zone.altitude_msl_min = test_data['min_alt']
zone.altitude_msl_max = test_data['max_alt']
zone.save()
for waypoint_id in range(len(test_data['waypoints'])):
(lat, lon) = test_data['waypoints'][waypoint_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = 0
apos.save()
wpt = Waypoint()
wpt.order = waypoint_id
wpt.position = apos
wpt.save()
zone.boundary_pts.add(wpt)
# Form test set
test_pos = []
for pos in test_data['inside_pos']:
test_pos.append((pos, True))
for pos in test_data['outside_pos']:
test_pos.append((pos, False))
# Store
self.testdata_containspos.append((zone, test_pos))
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.sric_pos = pos
config.air_drop_pos = pos
config.server_info = self.info
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
def test_get_waypoint_travel_time(self):
"""Tests travel time calc."""
test_spds = [1, 10, 100, 500]
for (lon2, lat2, lon1, lat1, dist_km) in TESTDATA_COMPETITION_DIST:
dist_ft = units.kilometers_to_feet(dist_km)
for speed in test_spds:
speed_fps = units.knots_to_feet_per_second(speed)
time = dist_ft / speed_fps
gpos1 = GpsPosition()
gpos1.latitude = lat1
gpos1.longitude = lon1
gpos1.save()
apos1 = AerialPosition()
apos1.gps_position = gpos1
apos1.altitude_msl = 0
apos1.save()
wpt1 = Waypoint()
wpt1.position = apos1
gpos2 = GpsPosition()
gpos2.latitude = lat2
gpos2.longitude = lon2
gpos2.save()
apos2 = AerialPosition()
apos2.gps_position = gpos2
apos2.altitude_msl = 0
apos2.save()
wpt2 = Waypoint()
wpt2.position = apos2
waypoints = [wpt1, wpt2]
obstacle = MovingObstacle()
obstacle.speed_avg = speed
self.assertTrue(self.eval_travel_time(
obstacle.get_waypoint_travel_time(waypoints, 0, 1), time))
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
data = TESTDATA_MISSIONCONFIG_EVALWAYPOINTS
(waypoint_details, uas_log_details, exp_satisfied) = data
# 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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
config.save()
# Create waypoints for config
for wpt_id in xrange(len(waypoint_details)):
(lat, lon, alt) = waypoint_details[wpt_id]
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 = wpt_id
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
uas_logs = []
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
for (lat, lon, alt) in uas_log_details:
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()
uas_logs.append(log)
# Assert correct satisfied waypoints
wpts_satisfied = config.satisfied_waypoints(uas_logs)
self.assertEqual(wpts_satisfied, exp_satisfied)
def create_moving_obstacle(self, waypoints):
"""Create a new MovingObstacle model.
Args:
waypoints: List of (lat, lon, alt) tuples
Returns:
Saved MovingObstacle
"""
obstacle = MovingObstacle(speed_avg=40, sphere_radius=100)
obstacle.save()
for num, waypoint in enumerate(waypoints):
(lat, lon, alt) = waypoint
gps = GpsPosition(latitude=lat, longitude=lon)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=alt)
pos.save()
waypoint = Waypoint(order=num, position=pos)
waypoint.save()
obstacle.waypoints.add(waypoint)
obstacle.save()
return obstacle
def setUp(self):
"""Create the obstacles for testing."""
# Obstacle with no waypoints
obst_no_wpt = MovingObstacle()
obst_no_wpt.speed_avg = 1
obst_no_wpt.sphere_radius = 1
obst_no_wpt.save()
self.obst_no_wpt = obst_no_wpt
# Obstacle with single waypoint
self.single_wpt_lat = 40
self.single_wpt_lon = 76
self.single_wpt_alt = 100
obst_single_wpt = MovingObstacle()
obst_single_wpt.speed_avg = 1
obst_single_wpt.sphere_radius = 1
obst_single_wpt.save()
single_gpos = GpsPosition()
single_gpos.latitude = self.single_wpt_lat
single_gpos.longitude = self.single_wpt_lon
single_gpos.save()
single_apos = AerialPosition()
single_apos.gps_position = single_gpos
single_apos.altitude_msl = self.single_wpt_alt
single_apos.save()
single_wpt = Waypoint()
single_wpt.position = single_apos
single_wpt.order = 1
single_wpt.save()
obst_single_wpt.waypoints.add(single_wpt)
self.obst_single_wpt = obst_single_wpt
# Obstacles with predefined path
self.obstacles = []
for path in TESTDATA_MOVOBST_PATHS:
cur_obst = MovingObstacle()
cur_obst.speed_avg = 68
cur_obst.sphere_radius = 10
cur_obst.save()
for pt_id in range(len(path)):
(lat, lon, alt) = path[pt_id]
cur_gpos = GpsPosition()
cur_gpos.latitude = lat
cur_gpos.longitude = lon
cur_gpos.save()
cur_apos = AerialPosition()
cur_apos.gps_position = cur_gpos
cur_apos.altitude_msl = alt
cur_apos.save()
cur_wpt = Waypoint()
cur_wpt.position = cur_apos
cur_wpt.order = pt_id
cur_wpt.save()
cur_obst.waypoints.add(cur_wpt)
cur_obst.save()
self.obstacles.append(cur_obst)
def test_unicode(self):
"""Tests the unicode method executes."""
gps = GpsPosition(latitude=10, longitude=100)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=100)
pos.save()
wpt = Waypoint(position=pos, order=10)
wpt.save()
wpt.__unicode__()
def evaluate_inputs(self, io_list):
for (lon1, lat1, alt1, lon2, lat2, alt2, dist) in io_list:
gps1 = GpsPosition(latitude=lat1, longitude=lon1)
gps1.save()
gps2 = GpsPosition(latitude=lat2, longitude=lon2)
gps2.save()
pos1 = AerialPosition(gps_position=gps1, altitude_msl=alt1)
pos1.save()
pos2 = AerialPosition(gps_position=gps2, altitude_msl=alt2)
pos2.save()
wpt1 = Waypoint(position=pos1)
wpt2 = Waypoint(position=pos2)
self.assertDistanceEqual(wpt1, wpt2, dist)
def test_unicode(self):
"""Tests the unicode method executes."""
zone = FlyZone()
zone.altitude_msl_min = 1
zone.altitude_msl_max = 2
zone.save()
for _ in range(3):
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()
zone.boundary_pts.add(wpt)
self.assertTrue(zone.__unicode__())
def test_unicode(self):
"""Tests the unicode method executes."""
obst = MovingObstacle()
obst.speed_avg = 10
obst.sphere_radius = 100
obst.save()
for _ in range(3):
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()
obst.waypoints.add(wpt)
self.assertTrue(obst.__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.sric_pos = pos
config.air_drop_pos = pos
config.server_info = self.info
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."""
data = TESTDATA_MISSIONCONFIG_EVALWAYPOINTS
(waypoint_details, uas_log_details, exp_satisfied) = data
# 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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
config.save()
# Create waypoints for config
for wpt_id in xrange(len(waypoint_details)):
(lat, lon, alt) = waypoint_details[wpt_id]
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 = wpt_id
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
uas_logs = []
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
for (lat, lon, alt) in uas_log_details:
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()
uas_logs.append(log)
# Assert correct satisfied waypoints
wpts_satisfied = config.satisfied_waypoints(uas_logs)
self.assertEqual(wpts_satisfied, exp_satisfied)
def setUp(self):
"""Creates test data."""
# Form test set for contains position
self.testdata_containspos = []
for test_data in TESTDATA_FLYZONE_CONTAINSPOS:
# Create the FlyZone
zone = FlyZone()
zone.altitude_msl_min = test_data['min_alt']
zone.altitude_msl_max = test_data['max_alt']
zone.save()
for waypoint_id in range(len(test_data['waypoints'])):
(lat, lon) = test_data['waypoints'][waypoint_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = 0
apos.save()
wpt = Waypoint()
wpt.order = waypoint_id
wpt.position = apos
wpt.save()
zone.boundary_pts.add(wpt)
# Form test set
test_pos = []
for pos in test_data['inside_pos']:
test_pos.append((pos, True))
for pos in test_data['outside_pos']:
test_pos.append((pos, False))
# Store
self.testdata_containspos.append((zone, test_pos))
def test_getWaypointTravelTime(self):
"""Tests travel time calc."""
test_spds = [1, 10, 100, 500]
for (lon2, lat2, lon1, lat1, dist_km) in TESTDATA_COMPETITION_DIST:
dist_ft = kilometersToFeet(dist_km)
for speed in test_spds:
speed_fps = knotsToFeetPerSecond(speed)
time = dist_ft / speed_fps
wpt1 = Waypoint()
apos1 = AerialPosition()
gpos1 = GpsPosition()
gpos1.latitude = lat1
gpos1.longitude = lon1
apos1.gps_position = gpos1
apos1.altitude_msl = 0
wpt1.position = apos1
wpt2 = Waypoint()
apos2 = AerialPosition()
gpos2 = GpsPosition()
gpos2.latitude = lat2
gpos2.longitude = lon2
apos2.gps_position = gpos2
apos2.altitude_msl = 0
wpt2.position = apos2
waypoints = [wpt1, wpt2]
obstacle = MovingObstacle()
obstacle.speed_avg = speed
self.assertTrue(
self.eval_travel_time(
obstacle.getWaypointTravelTime(waypoints, 0, 1), time))
def test_unicode(self):
"""Tests the unicode method executes."""
gps = GpsPosition(latitude=10, longitude=100)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=100)
pos.save()
wpt = Waypoint(position=pos, order=10)
wpt.save()
wpt.__unicode__()
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_unicode(self):
"""Tests the unicode method executes."""
obst = MovingObstacle()
obst.speed_avg = 10
obst.sphere_radius = 100
obst.save()
for _ in range(3):
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()
obst.waypoints.add(wpt)
self.assertTrue(obst.__unicode__())
def test_unicode(self):
"""Tests the unicode method executes."""
zone = FlyZone()
zone.altitude_msl_min = 1
zone.altitude_msl_max = 2
zone.save()
for _ in range(3):
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()
zone.boundary_pts.add(wpt)
self.assertTrue(zone.__unicode__())
def test_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
# Get test data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
testdata = TESTDATA_MOVOBST_EVALCOLLISION
(obst_rad, obst_speed, obst_pos, log_details) = testdata
# Create the obstacle
obst = MovingObstacle()
obst.speed_avg = obst_speed
obst.sphere_radius = obst_rad
obst.save()
for pos_id in xrange(len(obst_pos)):
(lat, lon, alt) = obst_pos[pos_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
wpt = Waypoint()
wpt.order = pos_id
wpt.position = apos
wpt.save()
obst.waypoints.add(wpt)
obst.save()
# Create sets of logs
epoch = timezone.now().replace(year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
inside_logs = []
outside_logs = []
for (time_sec, inside_pos, outside_pos) in log_details:
log_time = epoch + datetime.timedelta(seconds=time_sec)
logs_pos = [(inside_pos, inside_logs), (outside_pos, outside_logs)]
for (positions, log_list) in logs_pos:
for (lat, lon, alt) in positions:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
log.timestamp = log_time
log.save()
log_list.append(log)
# Assert the obstacle correctly computes collisions
log_collisions = [(True, inside_logs), (False, outside_logs)]
for (inside, logs) in log_collisions:
self.assertEqual(obst.evaluate_collision_with_uas(logs), inside)
for log in logs:
self.assertEqual(obst.evaluate_collision_with_uas([log]),
inside)
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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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 = (1, 1)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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 setUp(self):
"""Create the obstacles for testing."""
# Obstacle with no waypoints
obst_no_wpt = MovingObstacle()
obst_no_wpt.speed_avg = 1
obst_no_wpt.sphere_radius = 1
obst_no_wpt.save()
self.obst_no_wpt = obst_no_wpt
# Obstacle with single waypoint
self.single_wpt_lat = 40
self.single_wpt_lon = 76
self.single_wpt_alt = 100
obst_single_wpt = MovingObstacle()
obst_single_wpt.speed_avg = 1
obst_single_wpt.sphere_radius = 1
obst_single_wpt.save()
single_gpos = GpsPosition()
single_gpos.latitude = self.single_wpt_lat
single_gpos.longitude = self.single_wpt_lon
single_gpos.save()
single_apos = AerialPosition()
single_apos.gps_position = single_gpos
single_apos.altitude_msl = self.single_wpt_alt
single_apos.save()
single_wpt = Waypoint()
single_wpt.position = single_apos
single_wpt.name = 'Waypoint'
single_wpt.order = 1
single_wpt.save()
obst_single_wpt.waypoints.add(single_wpt)
self.obst_single_wpt = obst_single_wpt
# Obstacles with predefined path
self.obstacles = list()
for path in TESTDATA_MOVOBST_PATHS:
cur_obst = MovingObstacle()
cur_obst.name = 'MovingObstacle'
cur_obst.speed_avg = 68
cur_obst.sphere_radius = 10
cur_obst.save()
for pt_id in range(len(path)):
(lat, lon, alt) = path[pt_id]
cur_gpos = GpsPosition()
cur_gpos.latitude = lat
cur_gpos.longitude = lon
cur_gpos.save()
cur_apos = AerialPosition()
cur_apos.gps_position = cur_gpos
cur_apos.altitude_msl = alt
cur_apos.save()
cur_wpt = Waypoint()
cur_wpt.position = cur_apos
cur_wpt.name = 'Waypoint'
cur_wpt.order = pt_id
cur_wpt.save()
cur_obst.waypoints.add(cur_wpt)
cur_obst.save()
self.obstacles.append(cur_obst)
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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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 = (1, 1)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
# Get test data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
testdata = TESTDATA_MOVOBST_EVALCOLLISION
(obst_rad, obst_speed, obst_pos, log_details) = testdata
# Create the obstacle
obst = MovingObstacle()
obst.speed_avg = obst_speed
obst.sphere_radius = obst_rad
obst.save()
for pos_id in xrange(len(obst_pos)):
(lat, lon, alt) = obst_pos[pos_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
wpt = Waypoint()
wpt.order = pos_id
wpt.position = apos
wpt.save()
obst.waypoints.add(wpt)
obst.save()
# Create sets of logs
epoch = timezone.now().replace(year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
inside_logs = []
outside_logs = []
for (time_sec, inside_pos, outside_pos) in log_details:
log_time = epoch + datetime.timedelta(seconds=time_sec)
logs_pos = [(inside_pos, inside_logs), (outside_pos, outside_logs)]
for (positions, log_list) in logs_pos:
for (lat, lon, alt) in positions:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
log.timestamp = log_time
log.save()
log_list.append(log)
# Assert the obstacle correctly computes collisions
log_collisions = [(True, inside_logs), (False, outside_logs)]
for (inside, logs) in log_collisions:
self.assertEqual(obst.evaluate_collision_with_uas(logs), inside)
for log in logs:
self.assertEqual(obst.evaluate_collision_with_uas([log]),
inside)
def test_out_of_bounds(self):
"""Tests the UAS out of bounds method."""
(zone_details, uas_details) = TESTDATA_FLYZONE_EVALBOUNDS
# Create FlyZone objects
zones = []
for (alt_min, alt_max, wpts) in zone_details:
zone = FlyZone()
zone.altitude_msl_min = alt_min
zone.altitude_msl_max = alt_max
zone.save()
for wpt_id in xrange(len(wpts)):
(lat, lon) = wpts[wpt_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = 0
apos.save()
wpt = Waypoint()
wpt.order = wpt_id
wpt.position = apos
wpt.save()
zone.boundary_pts.add(wpt)
zone.save()
zones.append(zone)
# For each user, validate time out of bounds
user_id = 0
epoch = timezone.now().replace(year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
for exp_out_of_bounds_time, uas_log_details in uas_details:
# Create the logs
user = User.objects.create_user('testuser%d' % user_id,
'*****@*****.**', 'testpass')
user_id += 1
uas_logs = []
for (lat, lon, alt, timestamp) in uas_log_details:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
log.timestamp = epoch + datetime.timedelta(seconds=timestamp)
log.save()
uas_logs.append(log)
# Assert out of bounds time matches expected
out_of_bounds_time = FlyZone.out_of_bounds(zones, uas_logs)
self.assertAlmostEqual(out_of_bounds_time, exp_out_of_bounds_time)
def test_out_of_bounds(self):
"""Tests the UAS out of bounds method."""
(zone_details, uas_details) = TESTDATA_FLYZONE_EVALBOUNDS
# Create FlyZone objects
zones = []
for (alt_min, alt_max, wpts) in zone_details:
zone = FlyZone()
zone.altitude_msl_min = alt_min
zone.altitude_msl_max = alt_max
zone.save()
for wpt_id in xrange(len(wpts)):
(lat, lon) = wpts[wpt_id]
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = 0
apos.save()
wpt = Waypoint()
wpt.order = wpt_id
wpt.position = apos
wpt.save()
zone.boundary_pts.add(wpt)
zone.save()
zones.append(zone)
# For each user, validate time out of bounds
user_id = 0
epoch = timezone.now().replace(
year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
for exp_out_of_bounds_time, uas_log_details in uas_details:
# Create the logs
user = User.objects.create_user('testuser%d' % user_id,
'*****@*****.**', 'testpass')
user_id += 1
uas_logs = []
for (lat, lon, alt, timestamp) in uas_log_details:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
apos.save()
log = UasTelemetry()
log.user = user
log.uas_position = apos
log.uas_heading = 0
log.save()
log.timestamp = epoch + datetime.timedelta(seconds=timestamp)
log.save()
uas_logs.append(log)
# Assert out of bounds time matches expected
out_of_bounds_time = FlyZone.out_of_bounds(zones, uas_logs)
self.assertAlmostEqual(out_of_bounds_time, exp_out_of_bounds_time)
