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 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_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 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 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.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()
self.now = timezone.now()
def setUp(self):
"""Sets up the tests."""
super(TestOdlc, self).setUp()
self.user = User.objects.create_user('user', '*****@*****.**',
'pass')
# Mission
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.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()
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.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()
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.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()
# 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 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]
wpt = Waypoint()
wpt.order = waypoint_id
wpt.latitude = lat
wpt.longitude = lon
wpt.altitude_msl = 0
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 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_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 waypoints_from_data(self, waypoints_data):
"""Converts tuples of lat/lon/alt to a waypoint."""
waypoints = []
for i, waypoint in enumerate(waypoints_data):
(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()
waypoints.append(wpt)
return waypoints
def waypoints_from_data(self, waypoints_data):
"""Converts tuples of lat/lon/alt to a waypoint."""
waypoints = []
for i, waypoint in enumerate(waypoints_data):
(lat, lon, alt) = waypoint
wpt = Waypoint()
wpt.order = i
wpt.latitude = lat
wpt.longitude = lon
wpt.altitude_msl = alt
wpt.save()
waypoints.append(wpt)
return waypoints
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_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 setUp(self):
super(TestTakeoffOrLandingEventModel, self).setUp()
# 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()
# 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()
self.ten_minutes = datetime.timedelta(minutes=10)
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 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:
log = self.create_log(lat, lon, alt, user, log_time)
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 setUp(self):
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()
config = MissionConfig()
config.home_pos = pos
config.lost_comms_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_odlc_pos = pos
config.map_center_pos = pos
config.map_height_ft = 1
config.air_drop_pos = pos
config.ugv_drive_pos = pos
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
user = User.objects.create_user('user', '*****@*****.**', 'pass')
self.feedback = MissionJudgeFeedback(
mission=config,
user=user,
flight_time=datetime.timedelta(seconds=1),
post_process_time=datetime.timedelta(seconds=2),
used_timeout=True,
min_auto_flight_time=True,
safety_pilot_takeovers=3,
out_of_bounds=6,
unsafe_out_of_bounds=7,
things_fell_off_uas=False,
crashed=False,
air_drop_accuracy=interop_admin_api_pb2.MissionJudgeFeedback.
WITHIN_05_FT,
ugv_drove_to_location=False,
operational_excellence_percent=9)
self.feedback.save()
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):
# 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()
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
def waypoints_from_data(self, waypoints_data):
"""Converts tuples of lat/lon/alt to a waypoint."""
waypoints = []
for i, waypoint in enumerate(waypoints_data):
(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()
waypoints.append(wpt)
return waypoints
def setUp(self):
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_odlc_pos = pos
config.air_drop_pos = pos
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
user = User.objects.create_user('user', '*****@*****.**', 'pass')
self.feedback = MissionJudgeFeedback(
mission=config,
user=user,
flight_time=datetime.timedelta(seconds=1),
post_process_time=datetime.timedelta(seconds=2),
used_timeout=True,
min_auto_flight_time=True,
safety_pilot_takeovers=3,
waypoints_captured=5,
out_of_bounds=6,
unsafe_out_of_bounds=7,
things_fell_off_uas=False,
crashed=False,
air_delivery_accuracy_ft=8,
operational_excellence_percent=9)
self.feedback.save()
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_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 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')
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_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 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 evaluate_inputs(self, io_list):
for (lon1, lat1, alt1, lon2, lat2, alt2, dist) in io_list:
wpt1 = Waypoint(latitude=lat1, longitude=lon1, altitude_msl=alt1)
wpt2 = Waypoint(latitude=lat2, longitude=lon2, altitude_msl=alt2)
self.assertDistanceEqual(wpt1, wpt2, dist)
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')
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_interpolated_collision(self):
# Get test data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
utm = distance.proj_utm(zone=18, north=True)
(obst_rad, obst_speed, obst_pos, log_details) = TESTDATA_MOVOBST_INTERP
# 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()
for (inside, log_list) in log_details:
logs = []
for i in range(len(log_list)):
lat, lon, alt = log_list[i]
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()
if i == 0:
log.timestamp = timezone.now().replace(year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
if i > 0:
log.timestamp = (logs[i - 1].timestamp +
datetime.timedelta(seconds=1))
logs.append(log)
self.assertEqual(
obst.determine_interpolated_collision(logs[0], logs[1], utm),
inside)
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_interpolated_collision(self):
# Get test data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
utm = distance.proj_utm(zone=18, north=True)
(obst_rad, obst_speed, obst_pos, log_details) = TESTDATA_MOVOBST_INTERP
# 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()
for (inside, log_list) in log_details:
logs = []
for i in range(len(log_list)):
lat, lon, alt = log_list[i]
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()
if i == 0:
log.timestamp = timezone.now().replace(year=1970,
month=1,
day=1,
hour=0,
minute=0,
second=0,
microsecond=0)
if i > 0:
log.timestamp = (
logs[i - 1].timestamp + datetime.timedelta(seconds=1))
logs.append(log)
self.assertEqual(
obst.determine_interpolated_collision(logs[0], logs[1], utm),
inside)
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 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 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 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)
