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 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_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 range(len(wpts)):
(lat, lon) = wpts[wpt_id]
wpt = Waypoint()
wpt.order = wpt_id
wpt.latitude = lat
wpt.longitude = lon
wpt.altitude_msl = 0
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_violations, exp_out_of_bounds_time, 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 log_details:
log = UasTelemetry()
log.user = user
log.latitude = lat
log.longitude = lon
log.altitude_msl = alt
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
num_violations, out_of_bounds_time = \
FlyZone.out_of_bounds(zones, uas_logs)
self.assertEqual(num_violations, exp_violations)
self.assertAlmostEqual(out_of_bounds_time.total_seconds(),
exp_out_of_bounds_time)
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."""
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_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_violations, exp_out_of_bounds_time, 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 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
num_violations, out_of_bounds_time = \
FlyZone.out_of_bounds(zones, uas_logs)
self.assertEqual(num_violations, exp_violations)
self.assertAlmostEqual(out_of_bounds_time, exp_out_of_bounds_time)
def create_sample_mission(superuser):
"""Creates a sample mission.
Args:
superuser: A superuser account to create mission under.
Returns:
MissionConfig for the created mission.
"""
mission = MissionConfig()
gpos = GpsPosition(latitude=38.145103, longitude=-76.427856)
gpos.save()
mission.home_pos = gpos
gpos = GpsPosition(latitude=38.145111, longitude=-76.427861)
gpos.save()
mission.emergent_last_known_pos = gpos
gpos = GpsPosition(latitude=38.145111, longitude=-76.427861)
gpos.save()
mission.off_axis_odlc_pos = gpos
gpos = GpsPosition(latitude=38.1458416666667, longitude=-76.426375)
gpos.save()
mission.air_drop_pos = gpos
# All foreign keys must be defined before the first save.
# All many-to-many must be defined after the first save.
mission.save()
bounds = FlyZone(altitude_msl_min=100, altitude_msl_max=750)
bounds.save()
# yapf: disable
pts = [(38.1462694444444, -76.4281638888889),
(38.1516250000000, -76.4286833333333),
(38.1518888888889, -76.4314666666667),
(38.1505944444444, -76.4353611111111),
(38.1475666666667, -76.4323416666667),
(38.1446666666667, -76.4329472222222),
(38.1432555555556, -76.4347666666667),
(38.1404638888889, -76.4326361111111),
(38.1407194444444, -76.4260138888889),
(38.1437611111111, -76.4212055555556),
(38.1473472222222, -76.4232111111111),
(38.1461305555556, -76.4266527777778)]
# yapf: enable
for ix, (lat, lon) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=0,
order=ix + 1)
wpt.save()
bounds.boundary_pts.add(wpt)
bounds.save()
mission.fly_zones.add(bounds)
# yapf: disable
pts = [(38.146689, -76.426475, 150,
750), (38.142914, -76.430297, 300,
300), (38.149504, -76.433110, 100,
750), (38.148711, -76.429061, 300, 750),
(38.144203, -76.426155, 50, 400), (38.146003, -76.430733, 225, 500)]
# yapf: enable
for lat, lon, radius, height in pts:
obst = StationaryObstacle(latitude=lat,
longitude=lon,
cylinder_radius=radius,
cylinder_height=height)
obst.save()
mission.stationary_obstacles.add(obst)
# yapf: disable
pts = [(38.1446916666667, -76.4279944444445, 200),
(38.1461944444444, -76.4237138888889, 300),
(38.1438972222222, -76.4225500000000, 400),
(38.1417722222222, -76.4251083333333, 400),
(38.1453500000000, -76.4286750000000, 300),
(38.1508972222222, -76.4292972222222, 300),
(38.1514944444444, -76.4313833333333, 300),
(38.1505333333333, -76.4341750000000, 300),
(38.1479472222222, -76.4316055555556, 200),
(38.1443333333333, -76.4322888888889, 200),
(38.1433166666667, -76.4337111111111, 300),
(38.1410944444444, -76.4321555555556, 400),
(38.1415777777778, -76.4252472222222, 400),
(38.1446083333333, -76.4282527777778, 200)]
# yapf: enable
for ix, (lat, lon, alt) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=alt,
order=ix + 1)
wpt.save()
mission.mission_waypoints.add(wpt)
# yapf: disable
pts = [(38.1444444444444, -76.4280916666667),
(38.1459444444444, -76.4237944444445),
(38.1439305555556, -76.4227444444444),
(38.1417138888889, -76.4253805555556),
(38.1412111111111, -76.4322361111111),
(38.1431055555556, -76.4335972222222),
(38.1441805555556, -76.4320111111111),
(38.1452611111111, -76.4289194444444),
(38.1444444444444, -76.4280916666667)]
# yapf: enable
for ix, (lat, lon) in enumerate(pts):
wpt = Waypoint(latitude=lat,
longitude=lon,
altitude_msl=0,
order=ix + 1)
wpt.save()
mission.search_grid_points.add(wpt)
gpos = GpsPosition(latitude=38.143844, longitude=-76.426469)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.STAR,
shape_color=interop_api_pb2.Odlc.RED,
alphanumeric='A',
alphanumeric_color=interop_api_pb2.Odlc.WHITE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.141872, longitude=-76.426183)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NE,
shape=interop_api_pb2.Odlc.CROSS,
shape_color=interop_api_pb2.Odlc.BLUE,
alphanumeric='I',
alphanumeric_color=interop_api_pb2.Odlc.BLACK)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142828, longitude=-76.427644)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.E,
shape=interop_api_pb2.Odlc.QUARTER_CIRCLE,
shape_color=interop_api_pb2.Odlc.YELLOW,
alphanumeric='R',
alphanumeric_color=interop_api_pb2.Odlc.ORANGE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144925, longitude=-76.425100)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.SE,
shape=interop_api_pb2.Odlc.CIRCLE,
shape_color=interop_api_pb2.Odlc.BROWN,
alphanumeric='V',
alphanumeric_color=interop_api_pb2.Odlc.RED)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.146747, longitude=-76.422131)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.TRAPEZOID,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='E',
alphanumeric_color=interop_api_pb2.Odlc.GRAY)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144097, longitude=-76.431089)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.SW,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.GREEN,
alphanumeric='H',
alphanumeric_color=interop_api_pb2.Odlc.BLUE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.144878, longitude=-76.423681)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.W,
shape=interop_api_pb2.Odlc.RECTANGLE,
shape_color=interop_api_pb2.Odlc.PURPLE,
alphanumeric='I',
alphanumeric_color=interop_api_pb2.Odlc.GREEN)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142819, longitude=-76.432375)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NW,
shape=interop_api_pb2.Odlc.SEMICIRCLE,
shape_color=interop_api_pb2.Odlc.ORANGE,
alphanumeric='C',
alphanumeric_color=interop_api_pb2.Odlc.YELLOW)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.141639, longitude=-76.429347)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.TRIANGLE,
shape_color=interop_api_pb2.Odlc.BLACK,
alphanumeric='L',
alphanumeric_color=interop_api_pb2.Odlc.PURPLE)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.142478, longitude=-76.424967)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=gpos,
orientation=interop_api_pb2.Odlc.NE,
shape=interop_api_pb2.Odlc.PENTAGON,
shape_color=interop_api_pb2.Odlc.GRAY,
alphanumeric='E',
alphanumeric_color=interop_api_pb2.Odlc.BROWN)
odlc.save()
mission.odlcs.add(odlc)
gpos = GpsPosition(latitude=38.143411, longitude=-76.424489)
gpos.save()
odlc = Odlc(mission=mission,
user=superuser,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=gpos,
description='Randy the backpacker.')
odlc.save()
mission.odlcs.add(odlc)
mission.save()
return mission
