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_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 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()
telem = UasTelemetry(user=self.user2, uas_position=pos, uas_heading=90)
telem.save()
telem.timestamp = self.timestamp
telem.save()
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 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 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)
log.save()
log.timestamp = start + i * delta
log.save()
logs.append(log)
return 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_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)
