コード例 #1
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 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))
コード例 #2
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 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))
コード例 #3
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    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)
コード例 #4
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    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)
コード例 #5
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 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))
コード例 #6
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ファイル: fly_zone_test.py プロジェクト: auvsi-suas/interop
 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))
コード例 #7
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    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.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()

        self.now = timezone.now()
コード例 #8
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    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()
        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()
コード例 #9
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 def setUp(self):
     # 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()
コード例 #10
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    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)
コード例 #11
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 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
コード例 #12
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    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_drop_accuracy=interop_admin_api_pb2.MissionJudgeFeedback.
            WITHIN_05_FT,
            ugv_drove_to_location=False,
            operational_excellence_percent=9)
        self.feedback.save()
コード例 #13
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 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
コード例 #14
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ファイル: fly_zone_test.py プロジェクト: auvsi-suas/interop
 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__())
コード例 #15
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 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__())
コード例 #16
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 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__())
コード例 #17
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 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__())
コード例 #18
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    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)
コード例 #19
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 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__())
コード例 #20
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 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__())
コード例 #21
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ファイル: fly_zone_test.py プロジェクト: auvsi-suas/interop
    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)
コード例 #22
0
    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()
        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()

        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,
                            background_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,
                          background_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,
            background_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,
                          background_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,
                            background_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,
            background_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,
                            background_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,
                          background_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)
コード例 #23
0
    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)
コード例 #24
0
ファイル: mission_config_test.py プロジェクト: aksh98/interop
    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))
コード例 #25
0
    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()
        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()

        # 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()

        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()
コード例 #26
0
    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))
コード例 #27
0
    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))
コード例 #28
0
    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))
コード例 #29
0
    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)
コード例 #30
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    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)
コード例 #31
0
    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)