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 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 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 get(self, request):
kml = Kml(name='LIVE Data')
MovingObstacle.live_kml(kml, timedelta(seconds=5))
UasTelemetry.live_kml(kml, timedelta(seconds=5))
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=update.kml'
response['Content-Length'] = str(len(response.content))
return response
def get(self, request):
kml = Kml(name='LIVE Data')
MovingObstacle.live_kml(kml, timedelta(seconds=5))
UasTelemetry.live_kml(kml, timedelta(seconds=5))
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=update.kml'
response['Content-Length'] = str(len(response.content))
return response
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 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 test_contains_pos(self):
"""Tests the inside obstacle method."""
# Form the test obstacle
obst = MovingObstacle()
obst.sphere_radius = TESTDATA_MOVOBST_CONTAINSPOS_OBJ[2]
# Run test points against obstacle
test_data = [(TESTDATA_MOVOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_MOVOBST_CONTAINSPOS_OUTSIDE, False)]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
self.assertEqual(
obst.contains_pos(TESTDATA_MOVOBST_CONTAINSPOS_OBJ[0],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[1],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[3],
apos), cur_contains)
def test_contains_pos(self):
"""Tests the inside obstacle method."""
# Form the test obstacle
obst = MovingObstacle()
obst.sphere_radius = TESTDATA_MOVOBST_CONTAINSPOS_OBJ[2]
# Run test points against obstacle
test_data = [
(TESTDATA_MOVOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_MOVOBST_CONTAINSPOS_OUTSIDE, False)
]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.gps_position = gpos
apos.altitude_msl = alt
self.assertEqual(
obst.contains_pos(TESTDATA_MOVOBST_CONTAINSPOS_OBJ[0],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[1],
TESTDATA_MOVOBST_CONTAINSPOS_OBJ[3],
apos), cur_contains)
def test_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."""
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 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_get_waypoint_travel_time_invalid_inputs(self):
"""Tests proper invalid input handling."""
obstacle = MovingObstacle()
obstacle.speed_avg = 1
self.assertIsNone(obstacle.get_waypoint_travel_time(None, 1, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time([], 1, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time([None], 1, 1))
self.assertIsNone(
obstacle.get_waypoint_travel_time([None, None], None, 1))
self.assertIsNone(
obstacle.get_waypoint_travel_time([None, None], 1, None))
self.assertIsNone(
obstacle.get_waypoint_travel_time([None, None], -1, 0))
self.assertIsNone(
obstacle.get_waypoint_travel_time([None, None], 0, -1))
self.assertIsNone(obstacle.get_waypoint_travel_time([None, None], 2,
0))
self.assertIsNone(obstacle.get_waypoint_travel_time([None, None], 0,
2))
obstacle.speed_avg = 0
self.assertIsNone(obstacle.get_waypoint_travel_time([None, None], 0,
1))
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 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_get_waypoint_travel_time_invalid_inputs(self):
"""Tests proper invalid input handling."""
obstacle = MovingObstacle()
obstacle.speed_avg = 1
self.assertIsNone(obstacle.get_waypoint_travel_time(None, 1, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time([], 1, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time([None], 1, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], None, 1))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], 1, None))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], -1, 0))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], 0, -1))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], 2, 0))
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], 0, 2))
obstacle.speed_avg = 0
self.assertIsNone(obstacle.get_waypoint_travel_time(
[None, None], 0, 1))
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)
