def live_kml(cls, kml, timespan, resolution=100):
"""
Appends kml nodes describing current paths of the obstacles
Args:
kml: A simpleKML Container to which the obstacle data will be added
timespan: A timedelta to look backwards in time
resolution: integer number of milliseconds between obstacle positions
Returns:
None
"""
def track(obstacle, span, dt):
curr = timezone.now()
last = curr - span
time = curr
while time >= last:
yield obstacle.get_position(time)
time -= dt
for obstacle in MovingObstacle.objects.all():
dt = timedelta(milliseconds=resolution)
linestring = kml.newlinestring(name="Obstacle")
coords = []
for pos in track(obstacle, timespan, dt):
# Longitude, Latitude, Altitude
coord = (pos[1], pos[0], units.feet_to_meters(pos[2]))
coords.append(coord)
linestring.coords = coords
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.red
linestring.style.polystyle.color = Color.changealphaint(
100, Color.red)
def kml(self, kml):
"""
Appends kml nodes describing this flyzone.
Args:
kml: A simpleKML Container to which the fly zone will be added
"""
zone_name = 'Fly Zone {}'.format(self.pk)
pol = kml.newpolygon(name=zone_name)
fly_zone = []
flyzone_num = 1
for point in self.boundary_pts.all():
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude, point.position.altitude_msl)
fly_zone.append(coord)
# Add boundary marker
wp = kml.newpoint(name=str(flyzone_num), coords=[coord])
wp.description = str(point)
wp.visibility = False
flyzone_num += 1
fly_zone.append(fly_zone[0])
pol.outerboundaryis = fly_zone
# Search Area Style
pol.style.linestyle.color = Color.red
pol.style.linestyle.width = 3
pol.style.polystyle.color = Color.changealphaint(50, Color.green)
def kml(self, kml):
"""
Appends kml nodes describing this flyzone.
Args:
kml: A simpleKML Container to which the fly zone will be added
"""
zone_name = 'Fly Zone {}'.format(self.pk)
pol = kml.newpolygon(name=zone_name)
fly_zone = []
flyzone_num = 1
for point in self.boundary_pts.all():
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(point.position.altitude_msl))
fly_zone.append(coord)
# Add boundary marker
wp = kml.newpoint(name=str(flyzone_num), coords=[coord])
wp.description = str(point)
wp.visibility = False
flyzone_num += 1
fly_zone.append(fly_zone[0])
pol.outerboundaryis = fly_zone
# Search Area Style
pol.style.linestyle.color = Color.red
pol.style.linestyle.width = 3
pol.style.polystyle.color = Color.changealphaint(50, Color.green)
def live_kml(cls, kml, timespan, resolution=100):
"""
Appends kml nodes describing current paths of the obstacles
Args:
kml: A simpleKML Container to which the obstacle data will be added
timespan: A timedelta to look backwards in time
resolution: integer number of milliseconds between obstacle positions
Returns:
None
"""
def track(obstacle, span, dt):
curr = timezone.now()
last = curr - span
time = curr
while time >= last:
yield obstacle.get_position(time)
time -= dt
for obstacle in MovingObstacle.objects.all():
dt = timedelta(milliseconds=resolution)
linestring = kml.newlinestring(name="Obstacle")
coords = []
for pos in track(obstacle, timespan, dt):
# Longitude, Latitude, Altitude
coord = (pos[1], pos[0], pos[2])
coords.append(coord)
linestring.coords = coords
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.red
linestring.style.polystyle.color = Color.changealphaint(100,
Color.red)
def fly_zone_kml(fly_zone, kml):
"""
Appends kml nodes describing the flyzone.
Args:
fly_zone: The FlyZone for which to add KML
kml: A simpleKML Container to which the fly zone will be added
"""
zone_name = 'Fly Zone {}'.format(fly_zone.pk)
pol = kml.newpolygon(name=zone_name)
fly_zone_points = []
for point in fly_zone.boundary_pts.order_by('order'):
coord = (point.longitude, point.latitude,
units.feet_to_meters(point.altitude_msl))
fly_zone_points.append(coord)
fly_zone_points.append(fly_zone_points[0])
pol.outerboundaryis = fly_zone_points
pol.style.linestyle.color = Color.red
pol.style.linestyle.width = 3
pol.style.polystyle.color = Color.changealphaint(50, Color.green)
def kml(self, kml):
"""
Appends kml nodes describing this flyzone.
Args:
kml: A simpleKML Container to which the fly zone will be added
"""
zone_name = 'Fly Zone {}'.format(self.pk)
pol = kml.newpolygon(name=zone_name)
fly_zone = []
for point in self.boundary_pts.order_by('order'):
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(point.position.altitude_msl))
fly_zone.append(coord)
fly_zone.append(fly_zone[0])
pol.outerboundaryis = fly_zone
pol.style.linestyle.color = Color.red
pol.style.linestyle.width = 3
pol.style.polystyle.color = Color.changealphaint(50, Color.green)
def live_kml(cls, kml, timespan):
users = User.objects.all()
for user in users:
period_logs = UasTelemetry.by_user(user)\
.filter(timestamp__gt=timezone.now() - timespan)
if len(period_logs) < 1:
continue
linestring = kml.newlinestring(name=user.username)
coords = []
for entry in period_logs:
pos = entry.uas_position.gps_position
# Spatial Coordinates
coord = (pos.longitude, pos.latitude,
units.feet_to_meters(entry.uas_position.altitude_msl))
coords.append(coord)
linestring.coords = coords
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.blue
linestring.style.polystyle.color = Color.changealphaint(
100, Color.blue)
def live_kml(cls, kml, timespan):
users = User.objects.all()
for user in users:
period_logs = UasTelemetry.by_user(user)\
.filter(timestamp__gt=timezone.now() - timespan)
if len(period_logs) < 1:
continue
linestring = kml.newlinestring(name=user.username)
coords = []
for entry in period_logs:
pos = entry.uas_position.gps_position
# Spatial Coordinates
coord = (pos.longitude, pos.latitude,
units.feet_to_meters(entry.uas_position.altitude_msl))
coords.append(coord)
linestring.coords = coords
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.blue
linestring.style.polystyle.color = Color.changealphaint(100,
Color.blue)
def kml(self, kml):
"""
Appends kml nodes describing this mission configurations.
Args:
kml: A simpleKML Container to which the mission data will be added
"""
mission_name = "Mission {}".format(self.pk)
kml_folder = kml.newfolder(name=mission_name)
# Static Points
locations = {
"Home Position": self.home_pos,
"Emergent LKP": self.emergent_last_known_pos,
"Off Axis": self.off_axis_target_pos,
"SRIC": self.sric_pos,
"IR Primary": self.ir_primary_target_pos,
"IR Secondary": self.ir_secondary_target_pos,
"Air Drop": self.air_drop_pos,
}
for key, point in locations.iteritems():
gps = (point.longitude, point.latitude)
wp = kml_folder.newpoint(name=key, coords=[gps])
wp.description = str(point)
# Waypoints
waypoints_folder = kml_folder.newfolder(name="Waypoints")
linestring = waypoints_folder.newlinestring(name="Waypoints")
waypoints = []
waypoint_num = 1
for waypoint in self.mission_waypoints.all():
gps = waypoint.position.gps_position
coord = (gps.longitude, gps.latitude, waypoint.position.altitude_msl)
waypoints.append(coord)
# Add waypoint marker
wp = waypoints_folder.newpoint(name=str(waypoint_num), coords=[coord])
wp.description = str(waypoint)
wp.altitudemode = AltitudeMode.absolute
wp.extrude = 1
wp.visibility = False
waypoint_num += 1
linestring.coords = waypoints
# Waypoints Style
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.black
linestring.style.polystyle.color = Color.changealphaint(100, Color.green)
# Search Area
search_area_folder = kml_folder.newfolder(name="Search Area")
search_area = []
search_area_num = 1
for point in self.search_grid_points.all():
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude, point.position.altitude_msl)
search_area.append(coord)
# Add boundary marker
wp = search_area_folder.newpoint(name=str(search_area_num), coords=[coord])
wp.description = str(point)
wp.visibility = False
search_area_num += 1
if search_area:
# Create search area polygon.
pol = search_area_folder.newpolygon(name="Search Area")
search_area.append(search_area[0])
pol.outerboundaryis = search_area
# Search Area Style.
pol.style.linestyle.color = Color.black
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.blue)
# Stationary Obstacles
stationary_obstacles_folder = kml_folder.newfolder(name="Stationary Obstacles")
def kml(self, kml, kml_doc):
"""
Appends kml nodes describing this mission configurations.
Args:
kml: A simpleKML Container to which the mission data will be added
kml_doc: The simpleKML Document to which schemas will be added
"""
mission_name = 'Mission {}'.format(self.pk)
kml_folder = kml.newfolder(name=mission_name)
# Static Points
locations = {
'Home Position': self.home_pos,
'Emergent LKP': self.emergent_last_known_pos,
'Off Axis': self.off_axis_odlc_pos,
'Air Drop': self.air_drop_pos,
}
for key, point in locations.iteritems():
gps = (point.longitude, point.latitude)
wp = kml_folder.newpoint(name=key, coords=[gps])
wp.description = str(point)
# Waypoints
waypoints_folder = kml_folder.newfolder(name='Waypoints')
linestring = waypoints_folder.newlinestring(name='Waypoints')
waypoints = []
waypoint_num = 1
for waypoint in self.mission_waypoints.order_by('order'):
gps = waypoint.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(waypoint.position.altitude_msl))
waypoints.append(coord)
# Add waypoint marker
wp = waypoints_folder.newpoint(name=str(waypoint_num),
coords=[coord])
wp.description = str(waypoint)
wp.altitudemode = AltitudeMode.absolute
wp.extrude = 1
wp.visibility = False
waypoint_num += 1
linestring.coords = waypoints
# Waypoints Style
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.black
linestring.style.polystyle.color = Color.changealphaint(
100, Color.green)
# Search Area
search_area_folder = kml_folder.newfolder(name='Search Area')
search_area = []
search_area_num = 1
for point in self.search_grid_points.order_by('order'):
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(point.position.altitude_msl))
search_area.append(coord)
# Add boundary marker
wp = search_area_folder.newpoint(name=str(search_area_num),
coords=[coord])
wp.description = str(point)
wp.visibility = False
search_area_num += 1
if search_area:
# Create search area polygon.
pol = search_area_folder.newpolygon(name='Search Area')
search_area.append(search_area[0])
pol.outerboundaryis = search_area
# Search Area Style.
pol.style.linestyle.color = Color.black
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.blue)
# Stationary Obstacles.
stationary_obstacles_folder = kml_folder.newfolder(
name='Stationary Obstacles')
# TODO: Implement
# Moving Obstacles.
users = User.objects.all()
moving_obstacle_periods = []
for user in users:
moving_obstacle_periods.extend(TakeoffOrLandingEvent.flights(user))
moving_obstacles_folder = kml_folder.newfolder(name='Moving Obstacles')
for obstacle in self.moving_obstacles.all():
obstacle.kml(moving_obstacle_periods, moving_obstacles_folder,
kml_doc)
def mission_kml(mission, kml, kml_doc):
"""
Appends kml nodes describing the mission.
Args:
mission: The mission to add to the KML.
kml: A simpleKML Container to which the mission data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
The KML folder for the mission data.
"""
mission_name = 'Mission {}'.format(mission.pk)
kml_folder = kml.newfolder(name=mission_name)
# Transform from WGS84 to UTM at home position.
wgs_to_utm = pyproj.transformer.Transformer.from_proj(
distance.proj_wgs84,
distance.proj_utm(mission.home_pos.latitude,
mission.home_pos.longitude))
# Transform from WGS84 to Web Mercator.
wgs_to_web_mercator = pyproj.transformer.Transformer.from_proj(
distance.proj_wgs84, distance.proj_web_mercator)
# Flight boundaries.
fly_zone_folder = kml_folder.newfolder(name='Fly Zones')
for flyzone in mission.fly_zones.all():
fly_zone_kml(flyzone, fly_zone_folder)
# Static points.
locations = [
('Home', mission.home_pos, KML_HOME_ICON),
('Emergent LKP', mission.emergent_last_known_pos, KML_ODLC_ICON),
('Off Axis', mission.off_axis_odlc_pos, KML_ODLC_ICON),
('Air Drop', mission.air_drop_pos, KML_DROP_ICON),
('Map Center', mission.map_center_pos, KML_MAP_CENTER_ICON),
]
for key, point, icon in locations:
gps = (point.longitude, point.latitude)
p = kml_folder.newpoint(name=key, coords=[gps])
p.iconstyle.icon.href = icon
p.description = str(point)
# ODLCs.
oldc_folder = kml_folder.newfolder(name='ODLCs')
for odlc in mission.odlcs.select_related().all():
name = 'ODLC %d' % odlc.pk
gps = (odlc.location.longitude, odlc.location.latitude)
p = oldc_folder.newpoint(name=name, coords=[gps])
p.iconstyle.icon.href = KML_ODLC_ICON
p.description = name
# Waypoints
waypoints_folder = kml_folder.newfolder(name='Waypoints')
linestring = waypoints_folder.newlinestring(name='Waypoints')
waypoints = []
for i, waypoint in enumerate(mission.mission_waypoints.order_by('order')):
coord = (waypoint.longitude, waypoint.latitude,
units.feet_to_meters(waypoint.altitude_msl))
waypoints.append(coord)
# Add waypoint marker
p = waypoints_folder.newpoint(name='Waypoint %d' % (i + 1),
coords=[coord])
p.iconstyle.icon.href = KML_WAYPOINT_ICON
p.description = str(waypoint)
p.altitudemode = AltitudeMode.absolute
p.extrude = 1
linestring.coords = waypoints
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.green
linestring.style.polystyle.color = Color.changealphaint(100, Color.green)
# Search Area
search_area = []
for point in mission.search_grid_points.order_by('order'):
coord = (point.longitude, point.latitude,
units.feet_to_meters(point.altitude_msl))
search_area.append(coord)
if search_area:
search_area.append(search_area[0])
pol = kml_folder.newpolygon(name='Search Area')
pol.outerboundaryis = search_area
pol.style.linestyle.color = Color.blue
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.blue)
# Map Area
map_x, map_y = wgs_to_web_mercator.transform(
mission.map_center_pos.longitude, mission.map_center_pos.latitude)
map_height = units.feet_to_meters(mission.map_height_ft)
map_width = (map_height * 16) / 9
map_points = [
(map_x - map_width / 2, map_y - map_height / 2),
(map_x + map_width / 2, map_y - map_height / 2),
(map_x + map_width / 2, map_y + map_height / 2),
(map_x - map_width / 2, map_y + map_height / 2),
(map_x - map_width / 2, map_y - map_height / 2),
]
map_points = [
wgs_to_web_mercator.transform(
px, py, direction=pyproj.enums.TransformDirection.INVERSE)
for (px, py) in map_points
]
map_points = [(x, y, 0) for (x, y) in map_points]
map_pol = kml_folder.newpolygon(name='Map')
map_pol.outerboundaryis = map_points
map_pol.style.linestyle.color = Color.green
map_pol.style.linestyle.width = 2
map_pol.style.polystyle.color = Color.changealphaint(50, Color.green)
# Stationary Obstacles.
stationary_obstacles_folder = kml_folder.newfolder(
name='Stationary Obstacles')
for obst in mission.stationary_obstacles.all():
cx, cy = wgs_to_utm.transform(obst.longitude, obst.latitude)
rm = units.feet_to_meters(obst.cylinder_radius)
hm = units.feet_to_meters(obst.cylinder_height)
obst_points = []
for angle in np.linspace(0, 2 * math.pi, num=KML_OBST_NUM_POINTS):
px = cx + rm * math.cos(angle)
py = cy + rm * math.sin(angle)
lon, lat = wgs_to_utm.transform(
px, py, direction=pyproj.enums.TransformDirection.INVERSE)
obst_points.append((lon, lat, hm))
pol = stationary_obstacles_folder.newpolygon(name='Obstacle %d' %
obst.pk)
pol.outerboundaryis = obst_points
pol.altitudemode = AltitudeMode.absolute
pol.extrude = 1
pol.style.linestyle.color = Color.yellow
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.yellow)
return kml_folder
def mission_kml(mission, kml, kml_doc):
"""
Appends kml nodes describing the mission.
Args:
mission: The mission to add to the KML.
kml: A simpleKML Container to which the mission data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
The KML folder for the mission data.
"""
mission_name = 'Mission {}'.format(mission.pk)
kml_folder = kml.newfolder(name=mission_name)
# Flight boundaries.
fly_zone_folder = kml_folder.newfolder(name='Fly Zones')
for flyzone in mission.fly_zones.all():
fly_zone_kml(flyzone, fly_zone_folder)
# Static points.
locations = [
('Home', mission.home_pos, KML_HOME_ICON),
('Emergent LKP', mission.emergent_last_known_pos, KML_ODLC_ICON),
('Off Axis', mission.off_axis_odlc_pos, KML_ODLC_ICON),
('Air Drop', mission.air_drop_pos, KML_DROP_ICON),
]
for key, point, icon in locations:
gps = (point.longitude, point.latitude)
p = kml_folder.newpoint(name=key, coords=[gps])
p.iconstyle.icon.href = icon
p.description = str(point)
# ODLCs.
oldc_folder = kml_folder.newfolder(name='ODLCs')
for odlc in mission.odlcs.all():
name = 'ODLC %d' % odlc.pk
gps = (odlc.location.longitude, odlc.location.latitude)
p = oldc_folder.newpoint(name=name, coords=[gps])
p.iconstyle.icon.href = KML_ODLC_ICON
p.description = name
# Waypoints
waypoints_folder = kml_folder.newfolder(name='Waypoints')
linestring = waypoints_folder.newlinestring(name='Waypoints')
waypoints = []
for i, waypoint in enumerate(mission.mission_waypoints.order_by('order')):
gps = waypoint.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(waypoint.position.altitude_msl))
waypoints.append(coord)
# Add waypoint marker
p = waypoints_folder.newpoint(name='Waypoint %d' % (i + 1),
coords=[coord])
p.iconstyle.icon.href = KML_WAYPOINT_ICON
p.description = str(waypoint)
p.altitudemode = AltitudeMode.absolute
p.extrude = 1
linestring.coords = waypoints
linestring.altitudemode = AltitudeMode.absolute
linestring.extrude = 1
linestring.style.linestyle.color = Color.green
linestring.style.polystyle.color = Color.changealphaint(100, Color.green)
# Search Area
search_area = []
for point in mission.search_grid_points.order_by('order'):
gps = point.position.gps_position
coord = (gps.longitude, gps.latitude,
units.feet_to_meters(point.position.altitude_msl))
search_area.append(coord)
if search_area:
search_area.append(search_area[0])
pol = kml_folder.newpolygon(name='Search Area')
pol.outerboundaryis = search_area
pol.style.linestyle.color = Color.blue
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.blue)
# Stationary Obstacles.
stationary_obstacles_folder = kml_folder.newfolder(
name='Stationary Obstacles')
for obst in mission.stationary_obstacles.all():
gpos = obst.gps_position
zone, north = distance.utm_zone(gpos.latitude, gpos.longitude)
proj = distance.proj_utm(zone, north)
cx, cy = proj(gpos.longitude, gpos.latitude)
rm = units.feet_to_meters(obst.cylinder_radius)
hm = units.feet_to_meters(obst.cylinder_height)
obst_points = []
for angle in np.linspace(0, 2 * math.pi, num=KML_OBST_NUM_POINTS):
px = cx + rm * math.cos(angle)
py = cy + rm * math.sin(angle)
lon, lat = proj(px, py, inverse=True)
obst_points.append((lon, lat, hm))
pol = stationary_obstacles_folder.newpolygon(name='Obstacle %d' %
obst.pk)
pol.outerboundaryis = obst_points
pol.altitudemode = AltitudeMode.absolute
pol.extrude = 1
pol.style.linestyle.color = Color.yellow
pol.style.linestyle.width = 2
pol.style.polystyle.color = Color.changealphaint(50, Color.yellow)
return kml_folder