def test_points_in_poly():
fence = [
(50.863862, 4.678861),
(50.863613, 4.678992),
(50.863613, 4.678625),
(50.863809, 4.678590),
(50.863862, 4.678861),
]
assert Polygonal.points_in_poly(Polygonal.random_coordinates((50.863743, 4.678677), 0.000110, 200), fence) == False
def test_random_coordinate_3d():
r = 1
x = "x <- c("
y = "y <- c("
z = "z <- c("
for i in range(1, 2000):
p = Polygonal.random_coordinate_3d(r)
x += str(p[0]) + ",\n"
y += str(p[1]) + ",\n"
z += str(p[2]) + ",\n"
x = x[0 : len(x) - 2] + ");"
y = y[0 : len(y) - 2] + ");"
z = z[0 : len(y) - 2] + ");"
graph = "par(pty='s');plot3d(x,y,z,pch='.');"
f = open("sphere.r", "w")
f.write(x)
f.write(y)
f.write(z)
f.write(graph)
f.close()
def test_point_in_poly():
pointX = 46.27007
pointY = 5.188
fence = [
(46.270088180220725, 5.184173583984375),
(46.322274857040256, 5.33111572265625),
(46.323223245368716, 5.42449951171875),
(46.283376780187226, 5.447845458984375),
(46.249199583637726, 5.384674072265625),
]
assert Polygonal.point_in_poly(pointX, pointY, fence) == True
def test_bla():
center = (50.863862, 4.678861)
r = 0.000001
n = 400
points = Polygonal.random_coordinates(center, r, n)
x_vector = "x <- c("
y_vector = "y <- c("
for x, y in points:
x_vector += str(x) + ",\n"
y_vector += str(y) + ",\n"
print x_vector
print y_vector
def run(self):
"""Executes the geo-fencing behaviour, returning a message either (halt, do_nothing)."""
if self.vehicle.mode.name != "BRAKE" and self.vehicle.mode.name != "ALT_HOLD" and self.vehicle.mode.name != "LAND" and self.vehicle.mode.name != "RTL":
gps_precision_in_decimal_degrees = Polygonal.centimetersToDecimalDegrees(self.vehicle.gps_0.eph)
probable_drone_locations = Polygonal.random_coordinates((self.vehicle.location.lat, self.vehicle.location.lon), gps_precision_in_decimal_degrees, self.precision)
# Adaptive fence, predicts the location of the drone according to its velocity, after 1 second
if self.adaptive_fence:
def add_velocity(x): return (x[0] + self.vehicle.velocity[0], x[1] + self.vehicle.velocity[1])
probable_drone_locations = map(add_velocity, probable_drone_locations)
if Polygonal.points_in_poly(probable_drone_locations, self.fence) is False:
print "Broke circular fence."
print self.vehicle.location
print gps_precision_in_decimal_degrees
return SafeBehaviour.SafeBehaviour.halt
if self.vehicle.location.alt >= self.maximum_altitude or self.vehicle.location.alt <= self.minimum_altitude:
print "Broke altitude geo-fence."
print self.vehicle.location
print gps_precision_in_decimal_degrees
return SafeBehaviour.SafeBehaviour.halt
return SafeBehaviour.SafeBehaviour.do_nothing
# class BrakeCommand:
# def __call__(self):
# self.vehicle.mode = VehicleMode("BRAKE")
# self.vehicle.flush()
#
#
# class NullCommand:
# def __call__(self):
# pass
def test_random_coordinate():
r = 1
x = "x <- c("
y = "y <- c("
for i in range(1, 2000):
p = Polygonal.random_coordinate(r)
x += str(p[0]) + ",\n"
y += str(p[1]) + ",\n"
x = x[0 : len(x) - 2] + ");"
y = y[0 : len(y) - 2] + ");"
f = open("circle.txt", "w")
f.write(x)
f.write(y)
f.close()
def test_from_flight1():
lat = 50.863831
lon = 4.6788333
assert Polygonal.point_in_poly(lat, lon, fence) == True
def test_cm_to_dd_big1():
cm = 111.32
assert abs(0.00001 - Polygonal.centimetersToDecimalDegrees(cm)) < 0.0000001
def test_point_outside():
pointX = 50.863777
pointY = 4.679216
assert Polygonal.point_in_poly(pointX, pointY, fence) == False
