def setUp(self):
# 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 = 0
wpt.save()
self.mission = MissionConfig()
self.mission.home_pos = pos
self.mission.lost_comms_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.map_center_pos = pos
self.mission.map_height_ft = 1
self.mission.air_drop_pos = pos
self.mission.ugv_drive_pos = pos
self.mission.save()
self.mission.mission_waypoints.add(wpt)
self.mission.search_grid_points.add(wpt)
self.mission.save()
# Mission 2
self.mission2 = MissionConfig()
self.mission2.home_pos = pos
self.mission2.lost_comms_pos = pos
self.mission2.emergent_last_known_pos = pos
self.mission2.off_axis_odlc_pos = pos
self.mission2.map_center_pos = pos
self.mission2.map_height_ft = 1
self.mission2.air_drop_pos = pos
self.mission2.ugv_drive_pos = pos
self.mission2.save()
self.mission2.mission_waypoints.add(wpt)
self.mission2.search_grid_points.add(wpt)
self.mission2.save()
def test_valid(self):
"""Test creating a valid odlc."""
with open(
os.path.join(settings.BASE_DIR,
'auvsi_suas/fixtures/testdata/S.jpg'), 'rb') as f:
thumb = SimpleUploadedFile('thumb.jpg', f.read())
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
background_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Test odlc',
thumbnail=thumb)
t.save()
def test_valid(self):
"""Test creating a valid odlc."""
with open(
os.path.join(settings.BASE_DIR,
'auvsi_suas/fixtures/testdata/S.jpg')) as f:
thumb = SimpleUploadedFile('thumb.jpg', f.read())
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test odlc',
thumbnail=thumb)
t.save()
def test_contains_pos(self):
"""Tests the inside obstacle method."""
# Form the test obstacle
obst = MovingObstacle()
obst.sphere_radius = TESTDATA_MOVOBST_CONTAINSPOS_OBJ[2]
# Run test points against obstacle
test_data = [(TESTDATA_MOVOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_MOVOBST_CONTAINSPOS_OUTSIDE, False)]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
self.assertEqual(
obst.contains_pos(TESTDATA_MOVOBST_CONTAINSPOS_OBJ[0],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[1],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[3],
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_unicode(self):
"""Test unicode conversion."""
with open(os.path.join(settings.BASE_DIR,
'auvsi_suas/fixtures/testdata/S.jpg')) as f:
thumb = SimpleUploadedFile('thumb.jpg', f.read())
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test target',
thumbnail=thumb)
t.save()
self.assertTrue(t.__unicode__())
def setUp(self):
super(TestTakeoffOrLandingEventModel, self).setUp()
# Mission
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()
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()
# Mission 2
self.mission2 = MissionConfig()
self.mission2.home_pos = pos
self.mission2.emergent_last_known_pos = pos
self.mission2.off_axis_odlc_pos = pos
self.mission2.air_drop_pos = pos
self.mission2.save()
self.mission2.mission_waypoints.add(wpt)
self.mission2.search_grid_points.add(wpt)
self.mission2.save()
self.ten_minutes = datetime.timedelta(minutes=10)
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
def test_put_clear_shape(self):
"""PUT clear a field with None."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Odlc(
mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
background_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Test odlc')
t.save()
updated = {
'mission': self.mission.pk,
'type': 'STANDARD',
}
response = self.client.put(
odlcs_id_url(args=[t.pk]), data=json.dumps(updated))
self.assertEqual(200, response.status_code)
t.refresh_from_db()
self.assertEqual(self.user, t.user)
self.assertEqual(interop_api_pb2.Odlc.STANDARD, t.odlc_type)
self.assertIsNone(t.location)
self.assertIsNone(t.orientation)
self.assertIsNone(t.shape)
self.assertIsNone(t.background_color)
self.assertEqual('', t.alphanumeric)
self.assertIsNone(t.alphanumeric_color)
self.assertEqual('', t.description)
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()
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_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.air_drop_pos = pos
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
def setUp(self):
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
# Mission
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
apos = AerialPosition()
apos.latitude = 10
apos.longitude = 100
apos.altitude_msl = 1000
apos.save()
wpt = Waypoint()
wpt.latitude = 10
wpt.longitude = 100
wpt.altitude_msl = 1000
wpt.order = 10
wpt.save()
self.mission = MissionConfig()
self.mission.home_pos = pos
self.mission.lost_comms_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.map_center_pos = pos
self.mission.map_height_ft = 1
self.mission.air_drop_pos = pos
self.mission.ugv_drive_pos = pos
self.mission.save()
self.mission.mission_waypoints.add(wpt)
self.mission.search_grid_points.add(wpt)
self.mission.save()
self.now = timezone.now()
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
# Create waypoints for testing.
waypoints = self.waypoints_from_data([(38, -76, 100), (39, -77, 200), (
40, -78, 0)])
# Create UAS telemetry logs
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0,
closest_for_mission_ft=460785.17),
WaypointEvaluation(id=2,
score_ratio=0)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0,
closest_for_mission_ft=460785.03),
WaypointEvaluation(id=2,
score_ratio=0)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
logs = self.create_uas_logs(self.user, entries)
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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 = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
logs = self.create_uas_logs(self.user, entries)
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Hit all in first run, but second is higher scoring.
entries = [(38, -76, 140),
(39, -77, 180),
(40, -78, 60),
# Run two:
(38, -76, 100),
(39, -77, 200),
(40, -78, 110)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=1,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=2,
score_ratio=0,
closest_for_mission_ft=60)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Restart waypoint path in the middle.
waypoints = self.waypoints_from_data([(38, -76, 100), (39, -77, 200), (
40, -78, 0)])
entries = [(38, -76, 140),
(39, -77, 180),
# Restart:
(38, -76, 70),
(39, -77, 150),
(40, -78, 10)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.7,
closest_for_scored_approach_ft=30,
closest_for_mission_ft=30),
WaypointEvaluation(id=1,
score_ratio=0.5,
closest_for_scored_approach_ft=50,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)
from auvsi_suas.models.gps_position import GpsPosition from auvsi_suas.models.mission_config import MissionConfig # Print all mission objects. print MissionConfig.objects.all() # Create and save a GPS position. gpos = GpsPosition(latitudel=38.145335, longitude=-76.427512) gpos.save()
def test_similar_orientation(self):
"""Test similar orientations are computed correctly."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t1 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test odlc',
description_approved=True,
autonomous=True)
t1.save()
t2 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test other odlc',
description_approved=False,
autonomous=True)
t2.save()
# Requires exact same orientation.
for alpha in ['A', 'a']:
t1.alphanumeric = alpha
t1.orientation = Orientation.s
t2.orientation = Orientation.s
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = Orientation.n
self.assertFalse(t1.similar_orientation(t2))
t2.orientation = Orientation.e
self.assertFalse(t1.similar_orientation(t2))
# Accepts rotation.
for alpha in ['I', 'H', '8']:
t1.alphanumeric = alpha
t1.orientation = Orientation.s
t2.orientation = Orientation.s
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = Orientation.n
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = Orientation.e
self.assertFalse(t1.similar_orientation(t2))
# Accepts any.
for alpha in ['O', 'o', '0']:
t1.alphanumeric = alpha
t1.orientation = Orientation.s
t2.orientation = Orientation.s
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = Orientation.n
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = Orientation.e
self.assertTrue(t1.similar_orientation(t2))
def post(self, request):
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Request body is not valid JSON.')
# Must be a json dictionary.
if not isinstance(data, dict):
return HttpResponseBadRequest('Request body not a JSON dict.')
# Odlc type is required.
if 'type' not in data:
return HttpResponseBadRequest('Odlc type required.')
# Team id can only be specified if superuser.
user = request.user
if 'team_id' in data:
if request.user.is_superuser:
user = User.objects.get(username=data['team_id'])
else:
return HttpResponseForbidden(
'Non-admin users cannot send team_id')
latitude = data.get('latitude')
longitude = data.get('longitude')
# Require zero or both of latitude and longitude.
if (latitude is not None and longitude is None) or \
(latitude is None and longitude is not None):
return HttpResponseBadRequest(
'Either none or both of latitude and longitude required.')
# Cannot submit JSON with actionable_override if not superuser.
if 'actionable_override' in data and not request.user.is_superuser:
return HttpResponseForbidden(
'Non-admin users cannot submit actionable override.')
try:
data = normalize_data(data)
except ValueError as e:
return HttpResponseBadRequest(str(e))
l = None
if latitude is not None and longitude is not None:
l = GpsPosition(latitude=data['latitude'],
longitude=data['longitude'])
l.save()
# Use the dictionary get() method to default non-existent values to None.
t = Odlc(user=user,
odlc_type=data['type'],
location=l,
orientation=data.get('orientation'),
shape=data.get('shape'),
background_color=data.get('background_color'),
alphanumeric=data.get('alphanumeric', ''),
alphanumeric_color=data.get('alphanumeric_color'),
description=data.get('description', ''),
autonomous=data.get('autonomous', False),
actionable_override=data.get('actionable_override', False))
t.save()
return JsonResponse(t.json(is_superuser=request.user.is_superuser),
status=201)
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
waypoints = self.waypoints_from_data([
(38, -76, 100),
(39, -77, 200),
(40, -78, 0),
])
# Only first is valid.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 37, -75, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1, score_ratio=0,
closest_for_mission_ft=170),
WaypointEvaluation(id=2, score_ratio=0, closest_for_mission_ft=600)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# First and last are valid.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1, score_ratio=0,
closest_for_mission_ft=170),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Only hit the first waypoint on run one, hit all on run two.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 37, -75, 40, 0),
# Run two:
(3, 38, -76, 140, 0),
(4, 39, -77, 180, 0),
(5, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all on run one, only hit the first waypoint on run two.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
# Run two:
(3, 38, -76, 140, 0),
(4, 40, -78, 600, 0),
(5, 37, -75, 40, 0)
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Keep flying after hitting all waypoints.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
(3, 30.1, -78.1, 100, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all in first run, but second is higher scoring.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 60, 0),
# Run two:
(3, 38, -76, 100, 0),
(4, 39, -77, 200, 0),
(5, 40, -78, 110, 0)
])
expect = [
WaypointEvaluation(id=0,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=1,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=2, score_ratio=0, closest_for_mission_ft=60)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Restart waypoint path in the middle, use path in between points.
waypoints = self.waypoints_from_data([
(38, -76, 100),
(39, -77, 200),
(40, -78, 0),
])
logs = self.create_uas_logs([
(0, 38, -76, 140, 0), # Use
(1, 39, -77, 180, 0), # Use
# Restart:
(2, 38, -76, 70, 0),
(3, 39, -77, 150, 0),
(4, 40, -78, 10, 0), # Use
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=30),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Sanity check waypoint scoring with interpolation.
waypoints = self.waypoints_from_data([
(38, -76, 70),
(38, -76, 110),
])
logs = self.create_uas_logs([
(0, 38, -76, 0, 0),
(1, 38, -76, 200, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10),
WaypointEvaluation(id=1,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
def test_duplicate_equal(self):
"""Tests the duplicate function for equal positiions."""
gps1 = GpsPosition(latitude=1, longitude=1)
gps2 = GpsPosition(latitude=1, longitude=1)
self.assertTrue(gps1.duplicate(gps2))
def test_similar_orientation(self):
"""Test similar orientations are computed correctly."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t1 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Test odlc',
description_approved=True,
autonomous=True)
t1.save()
t2 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Test other odlc',
description_approved=False,
autonomous=True)
t2.save()
# Requires exact same orientation.
for alpha in ['A', 'a']:
t1.alphanumeric = alpha
t1.orientation = interop_api_pb2.Odlc.S
t2.orientation = interop_api_pb2.Odlc.S
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.N
self.assertFalse(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.E
self.assertFalse(t1.similar_orientation(t2))
# Accepts rotation.
for alpha in ['I', 'H', '8']:
t1.alphanumeric = alpha
t1.orientation = interop_api_pb2.Odlc.S
t2.orientation = interop_api_pb2.Odlc.S
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.N
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.E
self.assertFalse(t1.similar_orientation(t2))
# Accepts any.
for alpha in ['O', 'o', '0']:
t1.alphanumeric = alpha
t1.orientation = interop_api_pb2.Odlc.S
t2.orientation = interop_api_pb2.Odlc.S
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.N
self.assertTrue(t1.similar_orientation(t2))
t2.orientation = interop_api_pb2.Odlc.E
self.assertTrue(t1.similar_orientation(t2))
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
def setUp(self):
"""Setup the test case."""
super(TestOdlcEvaluator, self).setUp()
self.maxDiff = None
self.user = User.objects.create_user('user', '*****@*****.**',
'pass')
l1 = GpsPosition(latitude=38, longitude=-76)
l1.save()
l2 = GpsPosition(latitude=38.0003, longitude=-76)
l2.save()
l3 = GpsPosition(latitude=-38, longitude=76)
l3.save()
l4 = GpsPosition(latitude=0, longitude=0)
l4.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.lost_comms_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.map_center_pos = pos
self.mission.map_height_ft = 1
self.mission.air_drop_pos = pos
self.mission.ugv_drive_pos = pos
self.mission.save()
self.mission.mission_waypoints.add(wpt)
self.mission.search_grid_points.add(wpt)
self.mission.save()
event = TakeoffOrLandingEvent(user=self.user,
mission=self.mission,
uas_in_air=True)
event.save()
# A odlc worth full points.
self.submit1 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l1,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Submit test odlc 1',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit1.save()
self.real1 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l1,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Real odlc 1')
self.real1.save()
# A odlc worth less than full points.
self.submit2 = Odlc(
mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l1,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.CIRCLE,
shape_color=interop_api_pb2.Odlc.WHITE,
# alphanumeric set below
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Submit test odlc 2',
autonomous=False,
thumbnail_approved=True)
self.submit2.save()
self.real2 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l2,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.TRIANGLE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Real test odlc 2')
self.real2.save()
# A odlc worth no points, so unmatched.
self.submit3 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l4,
orientation=interop_api_pb2.Odlc.NW,
shape=interop_api_pb2.Odlc.PENTAGON,
shape_color=interop_api_pb2.Odlc.GRAY,
alphanumeric='XYZ',
alphanumeric_color=interop_api_pb2.Odlc.ORANGE,
description='Incorrect description',
autonomous=False,
thumbnail_approved=True)
self.submit3.save()
self.real3 = Odlc(
mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
orientation=interop_api_pb2.Odlc.E,
shape=interop_api_pb2.Odlc.SEMICIRCLE,
shape_color=interop_api_pb2.Odlc.YELLOW,
alphanumeric='LMN',
# alphanumeric_color set below
location=l3,
description='Test odlc 3')
self.real3.save()
# Odlcs without approved image has no match value.
self.submit4 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=l1,
description='Test odlc 4',
autonomous=False,
thumbnail_approved=False)
self.submit4.save()
self.real4 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=l1,
description='Test odlc 4')
self.real4.save()
# A odlc without location worth fewer points.
self.submit5 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.TRAPEZOID,
shape_color=interop_api_pb2.Odlc.PURPLE,
alphanumeric='PQR',
alphanumeric_color=interop_api_pb2.Odlc.BLUE,
description='Test odlc 5',
autonomous=False,
thumbnail_approved=True)
self.submit5.save()
self.real5 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l1,
orientation=interop_api_pb2.Odlc.N,
shape=interop_api_pb2.Odlc.TRAPEZOID,
shape_color=interop_api_pb2.Odlc.PURPLE,
alphanumeric='PQR',
alphanumeric_color=interop_api_pb2.Odlc.BLUE,
description='Test odlc 5')
self.real5.save()
# Emergent odlc with correct description.
self.submit6 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=l1,
description='Submit test odlc 6',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit6.save()
self.real6 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.EMERGENT,
location=l1,
description='Real odlc 1',
description_approved=True)
self.real6.save()
event = TakeoffOrLandingEvent(user=self.user,
mission=self.mission,
uas_in_air=False)
event.save()
# submit2 updated after landing.
self.submit2.alphanumeric = 'ABC'
self.submit2.update_last_modified()
self.submit2.save()
self.submit2.update_last_modified()
self.submit3.alphanumeric_color = interop_api_pb2.Odlc.YELLOW
self.submit3.update_last_modified()
self.submit3.save()
# Unused but not unmatched odlc.
self.submit7 = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l4,
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Submit unused test odlc 1',
autonomous=False,
thumbnail_approved=True)
self.submit7.save()
self.submitted_odlcs = [
self.submit7, self.submit6, self.submit5, self.submit4,
self.submit3, self.submit2, self.submit1
]
self.real_odlcs = [
self.real1, self.real2, self.real3, self.real4, self.real5,
self.real6
]
self.flights = TakeoffOrLandingEvent.flights(self.mission, self.user)
def test_similar_classifications_ratio(self):
"""Tests similar classification ratios are computed correctly."""
# Test equal standard odlcs.
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t1 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test odlc',
description_approved=True,
autonomous=True)
t1.save()
t2 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test other odlc',
description_approved=False,
autonomous=True)
t2.save()
self.assertAlmostEqual(1.0, t1.similar_classifications_ratio(t2))
# Test unequal standard odlcs.
t1.alphanumeric = 'DEF'
t1.alphanumeric_color = Color.blue
t1.save()
self.assertAlmostEqual(3.0 / 5.0, t1.similar_classifications_ratio(t2))
t1.shape = Shape.circle
t1.background_color = Color.orange
t1.save()
self.assertAlmostEqual(1.0 / 5.0, t1.similar_classifications_ratio(t2))
# Test different types.
t1.odlc_type = OdlcType.off_axis
t1.save()
self.assertAlmostEqual(0, t1.similar_classifications_ratio(t2))
# Test off_axis is same as standard.
t2.odlc_type = OdlcType.off_axis
t2.alphanumeric = 'DEF'
t2.save()
self.assertAlmostEqual(2.0 / 5.0, t1.similar_classifications_ratio(t2))
# Test emergent type based on description approval.
t1.odlc_type = OdlcType.emergent
t1.save()
t2.odlc_type = OdlcType.emergent
t2.save()
self.assertAlmostEqual(0.0, t1.similar_classifications_ratio(t2))
t2.description_approved = True
t2.save()
self.assertAlmostEqual(1.0, t1.similar_classifications_ratio(t2))
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.air_drop_pos = gpos
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 = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.17})
logs = self.create_uas_logs(user, entries)
self.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 = ({0: 40}, {0: 0.6, 1: 0.0, 2: 0.0}, {0: 40, 1: 460785.03})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.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 = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.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 = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.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 = ({0: 40, 1: 20, 2: 40},
{0: 0.6, 1: 0.8, 2: 0.6},
{0: 40, 1: 20, 2: 40}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Hit all in first run, but second is higher scoring.
entries = [
(38, -76, 140),
(39, -77, 180),
(40, -78, 60),
# Run two:
(38, -76, 100),
(39, -77, 200),
(40, -78, 110)
]
expect = ({0: 0, 1: 0}, {0: 1, 1: 1, 2: 0}, {0: 0, 1: 0, 2: 60})
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))
# Restart waypoint path in the middle.
waypoints = [(38, -76, 100), (39, -77, 200), (40, -78, 0)]
entries = [
(38, -76, 140),
(39, -77, 180),
# Restart:
(38, -76, 70),
(39, -77, 150),
(40, -78, 10)
]
expect = ({0: 30, 1: 50, 2: 10},
{0: 0.7, 1: 0.5, 2: 0.9},
{0: 30, 1: 20, 2: 10}) # yapf: disable
logs = self.create_uas_logs(user, entries)
self.assertSatisfiedWaypoints(expect, config.satisfied_waypoints(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()
# 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.lost_comms_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.map_center_pos = pos
self.mission.map_height_ft = 1
self.mission.air_drop_pos = pos
self.mission.ugv_drive_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 post(self, request):
"""Posts the UAS position with a POST request.
User must send a POST request with the following paramters:
latitude: A latitude in decimal degrees.
longitude: A logitude in decimal degrees.
altitude_msl: An MSL altitude in decimal feet.
uas_heading: The UAS (true north) heading in decimal degrees.
"""
try:
# Get the parameters
latitude = float(request.POST['latitude'])
longitude = float(request.POST['longitude'])
altitude_msl = float(request.POST['altitude_msl'])
uas_heading = float(request.POST['uas_heading'])
except KeyError:
# Failed to get POST parameters
logger.warning(
'User did not specify all params for uas telemetry request.')
logger.debug(request)
return HttpResponseBadRequest(
'Posting UAS position must contain POST parameters "latitude", '
'"longitude", "altitude_msl", and "uas_heading".')
except ValueError:
# Failed to convert parameters
logger.warning(
'User specified a param which could not converted to an ' +
'appropriate type.')
logger.debug(request)
return HttpResponseBadRequest(
'Failed to convert provided POST parameters to correct form.')
else:
# Check the values make sense
if latitude < -90 or latitude > 90:
logger.warning('User specified latitude out of valid range.')
logger.debug(request)
return HttpResponseBadRequest(
'Must provide latitude between -90 and 90 degrees.')
if longitude < -180 or longitude > 180:
logger.warning('User specified longitude out of valid range.')
logger.debug(request)
return HttpResponseBadRequest(
'Must provide longitude between -180 and 180 degrees.')
if uas_heading < 0 or uas_heading > 360:
logger.warning('User specified altitude out of valid range.')
logger.debug(request)
return HttpResponseBadRequest(
'Must provide heading between 0 and 360 degrees.')
# Store telemetry
logger.info('User uploaded telemetry: %s' % request.user.username)
gpos = GpsPosition(latitude=latitude, longitude=longitude)
gpos.save()
apos = AerialPosition(gps_position=gpos, altitude_msl=altitude_msl)
apos.save()
telemetry = UasTelemetry(
user=request.user, uas_position=apos, uas_heading=uas_heading)
telemetry.save()
return HttpResponse('UAS Telemetry Successfully Posted.')
def setUp(self):
"""Setup the test case."""
super(TestTargetEvaluator, self).setUp()
self.maxDiff = None
self.user = User.objects.create_user('user', '*****@*****.**',
'pass')
l1 = GpsPosition(latitude=38, longitude=-76)
l1.save()
l2 = GpsPosition(latitude=38.0003, longitude=-76)
l2.save()
l3 = GpsPosition(latitude=-38, longitude=76)
l3.save()
event = MissionClockEvent(user=self.user,
team_on_clock=True,
team_on_timeout=False)
event.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
# A target worth full points.
self.submit1 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Submit test target 1',
autonomous=True,
thumbnail_approved=True)
self.submit1.save()
self.real1 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real target 1')
self.real1.save()
event = MissionClockEvent(user=self.user,
team_on_clock=False,
team_on_timeout=False)
event.save()
# A target worth less than full points.
self.submit2 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.circle,
background_color=Color.white,
# alphanumeric set below
alphanumeric_color=Color.black,
description='Submit test target 2',
autonomous=False,
thumbnail_approved=True)
self.submit2.save()
self.real2 = Target(user=self.user,
target_type=TargetType.standard,
location=l2,
orientation=Orientation.s,
shape=Shape.triangle,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real test target 2')
self.real2.save()
# A target worth no points, so unmatched.
self.submit3 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.nw,
shape=Shape.pentagon,
background_color=Color.gray,
alphanumeric='XYZ',
alphanumeric_color=Color.orange,
description='Incorrect description',
autonomous=False,
thumbnail_approved=True)
self.submit3.save()
self.real3 = Target(user=self.user,
target_type=TargetType.standard,
orientation=Orientation.e,
shape=Shape.semicircle,
background_color=Color.yellow,
alphanumeric='LMN',
# alphanumeric_color set below
location=l3,
description='Test target 3')
self.real3.save()
# Targets without approved image may still match.
self.submit4 = Target(user=self.user,
target_type=TargetType.emergent,
location=l1,
description='Test target 4',
autonomous=False,
thumbnail_approved=False)
self.submit4.save()
self.real4 = Target(user=self.user,
target_type=TargetType.emergent,
location=l1,
description='Test target 4')
self.real4.save()
# A target without location worth fewer points.
self.submit5 = Target(user=self.user,
target_type=TargetType.standard,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test target 5',
autonomous=False,
thumbnail_approved=True)
self.submit5.save()
self.real5 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test target 5')
self.real5.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
event.save()
# submit2 updated after landing.
self.submit2.alphanumeric = 'ABC'
self.submit2.save()
self.submit3.alphanumeric_color = Color.yellow
self.submit3.save()
self.submitted_targets = [self.submit5, self.submit4, self.submit3,
self.submit2, self.submit1]
self.real_targets = [self.real1, self.real2, self.real3, self.real4,
self.real5]
self.real_matched_targets = [self.real1, self.real2, self.real4,
self.real5]
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.total_seconds(),
exp_out_of_bounds_time)
def put(self, request, pk):
try:
odlc = find_odlc(request, int(pk))
except Odlc.DoesNotExist:
return HttpResponseNotFound('Odlc %s not found' % pk)
except ValueError as e:
return HttpResponseForbidden(str(e))
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Request body is not valid JSON.')
# Must be a json dictionary.
if not isinstance(data, dict):
return HttpResponseBadRequest('Request body not a JSON dict.')
# Cannot submit JSON with actionable_override if not superuser.
if 'actionable_override' in data and not request.user.is_superuser:
return HttpResponseForbidden(
'Non-admin users cannot submit actionable override.')
try:
data = normalize_data(data)
except ValueError as e:
return HttpResponseBadRequest(str(e))
# We update any of the included values, except id and user
if 'type' in data:
odlc.odlc_type = data['type']
if 'orientation' in data:
odlc.orientation = data['orientation']
if 'shape' in data:
odlc.shape = data['shape']
if 'background_color' in data:
odlc.background_color = data['background_color']
if 'alphanumeric' in data:
odlc.alphanumeric = data['alphanumeric']
if 'alphanumeric_color' in data:
odlc.alphanumeric_color = data['alphanumeric_color']
if 'description' in data:
odlc.description = data['description']
if 'autonomous' in data:
odlc.autonomous = data['autonomous']
if 'actionable_override' in data:
odlc.actionable_override = data['actionable_override']
# Location is special because it is in a GpsPosition model
# If lat/lon exist and are None, the user wants to clear them.
# If they exist and are not None, the user wants to update/add them.
# If they don't exist, the user wants to leave them alone.
clear_lat = False
clear_lon = False
update_lat = False
update_lon = False
if 'latitude' in data:
if data['latitude'] is None:
clear_lat = True
else:
update_lat = True
if 'longitude' in data:
if data['longitude'] is None:
clear_lon = True
else:
update_lon = True
if (clear_lat and not clear_lon) or (not clear_lat and clear_lon):
# Location must be cleared entirely, we can't clear just lat or
# just lon.
return HttpResponseBadRequest(
'Only none or both of latitude and longitude can be cleared.')
if clear_lat and clear_lon:
odlc.location = None
elif update_lat or update_lon:
if odlc.location is not None:
# We can directly update individual components
if update_lat:
odlc.location.latitude = data['latitude']
if update_lon:
odlc.location.longitude = data['longitude']
odlc.location.save()
else:
# We need a new GpsPosition, this requires both lat and lon
if not update_lat or not update_lon:
return HttpResponseBadRequest(
'Either none or both of latitude and longitude required.'
)
l = GpsPosition(latitude=data['latitude'],
longitude=data['longitude'])
l.save()
odlc.location = l
odlc.description_approved = None
if not request.user.is_superuser:
odlc.update_last_modified()
odlc.save()
return JsonResponse(odlc.json(is_superuser=request.user.is_superuser))
def setUp(self):
"""Setup the test case."""
super(TestOdlcEvaluator, self).setUp()
self.maxDiff = None
self.user = User.objects.create_user('user', '*****@*****.**',
'pass')
l1 = GpsPosition(latitude=38, longitude=-76)
l1.save()
l2 = GpsPosition(latitude=38.0003, longitude=-76)
l2.save()
l3 = GpsPosition(latitude=-38, longitude=76)
l3.save()
l4 = GpsPosition(latitude=0, longitude=0)
l4.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
# A odlc worth full points.
self.submit1 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Submit test odlc 1',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit1.save()
self.real1 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real odlc 1')
self.real1.save()
# A odlc worth less than full points.
self.submit2 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.circle,
background_color=Color.white,
# alphanumeric set below
alphanumeric_color=Color.black,
description='Submit test odlc 2',
autonomous=False,
thumbnail_approved=True)
self.submit2.save()
self.real2 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l2,
orientation=Orientation.s,
shape=Shape.triangle,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real test odlc 2')
self.real2.save()
# A odlc worth no points, so unmatched.
self.submit3 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l4,
orientation=Orientation.nw,
shape=Shape.pentagon,
background_color=Color.gray,
alphanumeric='XYZ',
alphanumeric_color=Color.orange,
description='Incorrect description',
autonomous=False,
thumbnail_approved=True)
self.submit3.save()
self.real3 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
orientation=Orientation.e,
shape=Shape.semicircle,
background_color=Color.yellow,
alphanumeric='LMN',
# alphanumeric_color set below
location=l3,
description='Test odlc 3')
self.real3.save()
# Odlcs without approved image has no match value.
self.submit4 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Test odlc 4',
autonomous=False,
thumbnail_approved=False)
self.submit4.save()
self.real4 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Test odlc 4')
self.real4.save()
# A odlc without location worth fewer points.
self.submit5 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test odlc 5',
autonomous=False,
thumbnail_approved=True)
self.submit5.save()
self.real5 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test odlc 5')
self.real5.save()
# Emergent odlc with correct description.
self.submit6 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Submit test odlc 6',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit6.save()
self.real6 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Real odlc 1',
description_approved=True)
self.real6.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
event.save()
# submit2 updated after landing.
self.submit2.alphanumeric = 'ABC'
self.submit2.update_last_modified()
self.submit2.save()
self.submit2.update_last_modified()
self.submit3.alphanumeric_color = Color.yellow
self.submit3.update_last_modified()
self.submit3.save()
# Unused but not unmatched odlc.
self.submit7 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l4,
alphanumeric_color=Color.black,
description='Submit unused test odlc 1',
autonomous=False,
thumbnail_approved=True)
self.submit7.save()
self.submitted_odlcs = [
self.submit7, self.submit6, self.submit5, self.submit4,
self.submit3, self.submit2, self.submit1
]
self.real_odlcs = [
self.real1, self.real2, self.real3, self.real4, self.real5,
self.real6
]
