def put(self, request, pk):
"""PUT allows updating status."""
try:
user = User.objects.get(pk=int(pk))
except User.DoesNotExist:
return HttpResponseBadRequest('Unknown team %s' % pk)
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Invalid JSON: %s' % request.body)
# Potential events to update.
takeoff_event = None
clock_event = None
# Update whether UAS is in air.
if 'in_air' in data:
in_air = data['in_air']
if not isinstance(in_air, bool):
return HttpResponseBadRequest('in_air must be boolean')
currently_in_air = TakeoffOrLandingEvent.user_in_air(user)
# New event only necessary if changing status
if currently_in_air != in_air:
takeoff_event = TakeoffOrLandingEvent(user=user,
uas_in_air=in_air)
# Request was valid. Save updates.
if takeoff_event:
takeoff_event.save()
if clock_event:
clock_event.save()
return HttpResponse(json.dumps(user_json(user)),
content_type="application/json")
def put(self, request, pk):
"""PUT allows updating status."""
try:
user = User.objects.get(pk=int(pk))
except User.DoesNotExist:
return HttpResponseBadRequest('Unknown team %s' % pk)
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Invalid JSON: %s' % request.body)
# Potential events to update.
takeoff_event = None
clock_event = None
# Update whether UAS is in air.
if 'in_air' in data:
in_air = data['in_air']
if not isinstance(in_air, bool):
return HttpResponseBadRequest('in_air must be boolean')
currently_in_air = TakeoffOrLandingEvent.user_in_air(user)
# New event only necessary if changing status
if currently_in_air != in_air:
takeoff_event = TakeoffOrLandingEvent(
user=user, uas_in_air=in_air)
# Update whether UAS in on clock or timeout.
if 'on_clock' in data or 'on_timeout' in data:
currently_on_clock = MissionClockEvent.user_on_clock(user)
currently_on_timeout = MissionClockEvent.user_on_timeout(user)
on_clock = data.get('on_clock', currently_on_clock)
on_timeout = data.get('on_timeout', currently_on_timeout)
if (not isinstance(on_clock, bool) or
not isinstance(on_timeout, bool)):
return HttpResponseBadRequest(
'on_clock and on_timeout must be boolean.')
if on_clock and on_timeout:
return HttpResponseBadRequest(
'Cannot be on mission clock and on timeout.')
# New event only necessary if changing status
if (on_clock != currently_on_clock or
on_timeout != currently_on_timeout):
clock_event = MissionClockEvent(
user=user,
team_on_clock=on_clock,
team_on_timeout=on_timeout)
# Request was valid. Save updates.
if takeoff_event:
takeoff_event.save()
if clock_event:
clock_event.save()
return HttpResponse(
json.dumps(user_json(user)), content_type="application/json")
def put(self, request, pk):
"""PUT allows updating status."""
try:
user = User.objects.get(pk=int(pk))
except User.DoesNotExist:
return HttpResponseBadRequest('Unknown team %s' % pk)
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Invalid JSON: %s' % request.body)
# Potential events to update.
takeoff_event = None
clock_event = None
# Update whether UAS is in air.
if 'in_air' in data:
in_air = data['in_air']
if not isinstance(in_air, bool):
return HttpResponseBadRequest('in_air must be boolean')
currently_in_air = TakeoffOrLandingEvent.user_in_air(user)
# New event only necessary if changing status
if currently_in_air != in_air:
takeoff_event = TakeoffOrLandingEvent(user=user,
uas_in_air=in_air)
# Update whether UAS in on clock or timeout.
if 'on_clock' in data or 'on_timeout' in data:
currently_on_clock = MissionClockEvent.user_on_clock(user)
currently_on_timeout = MissionClockEvent.user_on_timeout(user)
on_clock = data.get('on_clock', currently_on_clock)
on_timeout = data.get('on_timeout', currently_on_timeout)
if (not isinstance(on_clock, bool) or
not isinstance(on_timeout, bool)):
return HttpResponseBadRequest(
'on_clock and on_timeout must be boolean.')
if on_clock and on_timeout:
return HttpResponseBadRequest(
'Cannot be on mission clock and on timeout.')
# New event only necessary if changing status
if (on_clock != currently_on_clock or
on_timeout != currently_on_timeout):
clock_event = MissionClockEvent(user=user,
team_on_clock=on_clock,
team_on_timeout=on_timeout)
# Request was valid. Save updates.
if takeoff_event:
takeoff_event.save()
if clock_event:
clock_event.save()
return HttpResponse(
json.dumps(user_json(user)),
content_type="application/json")
def test_kml_simple(self):
coordinates = [
(-76.0, 38.0, 0.0),
(-76.0, 38.0, 10.0),
(-76.0, 38.0, 20.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 100.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 60.0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
for coord in coordinates:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
kml = Kml()
UasTelemetry.kml(user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml)
for coord in coordinates:
tag = self.coord_format.format(coord[1], coord[0],
units.feet_to_meters(coord[2]))
self.assertTrue(tag in kml.kml())
def get(self, request):
kml = Kml(name='AUVSI SUAS Flight Data')
kml_missions = kml.newfolder(name='Missions')
users = User.objects.all()
for mission in MissionConfig.objects.all():
kml_mission = mission_kml(mission, kml_missions, kml.document)
kml_flights = kml_mission.newfolder(name='Flights')
for user in users:
if user.is_superuser:
continue
flights = TakeoffOrLandingEvent.flights(mission, user)
if not flights:
continue
uas_telemetry_kml(
user=user,
flights=flights,
logs=UasTelemetry.by_user(user),
kml=kml_flights,
kml_doc=kml.document)
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=mission.kml'
response['Content-Length'] = str(len(response.content))
return response
def __init__(self, submitted_objects, real_objects):
"""Creates an evaluation of submitted objects against real objects.
Args:
submitted_objects: List of submitted Odlc objects, all from
the same user.
real_objects: List of real objects made by judges.
Raises:
AssertionError: not all submitted objects are from the same user.
"""
self.submitted_objects = submitted_objects
self.real_objects = real_objects
if self.submitted_objects:
self.user = self.submitted_objects[0].user
for t in self.submitted_objects:
if t.user != self.user:
raise AssertionError(
"All submitted objects must be from the same user")
self.flights = TakeoffOrLandingEvent.flights(self.user)
self.matches = self.match_odlcs(submitted_objects, real_objects)
self.unmatched = self.find_unmatched(submitted_objects, real_objects,
self.matches)
def actionable_submission(self, flights=None):
"""Checks if Odlc meets Actionable Intelligence submission criteria.
A object is "actionable" if one of the following conditions is met:
(a) If it was submitted over interop and last updated during the
aircraft's first flight.
(b) If the object was submitted via USB, the object's
actionable_override flag was set by an admin.
Args:
flights: Optional memoized flights for this object's user. If
omitted, the flights will be looked up.
Returns:
True if object may be considered an "actionable" submission.
"""
if flights is None:
flights = TakeoffOrLandingEvent.flights(self.user)
actionable = False
if len(flights) > 0:
flight = flights[0]
if flight.within(self.creation_time) and \
flight.within(self.last_modified_time):
actionable = True
return self.actionable_override or actionable
def test_user_in_air_second_flight(self):
"""In-air during second flight."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + self.ten_minutes, False)
self.create_event(self.year2001, True)
self.assertTrue(TakeoffOrLandingEvent.user_in_air(self.user1))
def test_user_in_air_second_flight(self):
"""In-air during second flight."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + self.ten_minutes, False)
self.create_event(self.year2001, True)
self.assertTrue(TakeoffOrLandingEvent.user_in_air(self.user1))
def create_event(self, time, uas_in_air):
"""Create a TakeoffOrLandingEvent for test user."""
event = TakeoffOrLandingEvent(user=self.user1, uas_in_air=uas_in_air)
event.save()
event.timestamp = time
event.save()
return event
def test_user_in_air_time(self):
"""In-air base time check."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + 2 * self.ten_minutes, False)
time = self.year2000 + self.ten_minutes
self.assertTrue(TakeoffOrLandingEvent.user_in_air(self.user1,
time=time))
def generate_feedback(mission_config, user, team_eval):
"""Generates mission feedback for the given team and mission.
Args:
mission_config: The mission to evaluate the team against.
user: The team user object for which to evaluate and provide feedback.
team_eval: The team evaluation to fill.
"""
feedback = team_eval.feedback
# Find the user's flights.
flight_periods = TakeoffOrLandingEvent.flights(mission_config, user)
for period in flight_periods:
if period.duration() is None:
team_eval.warnings.append('Infinite flight period.')
uas_period_logs = [
UasTelemetry.dedupe(logs)
for logs in UasTelemetry.by_time_period(user, flight_periods)
]
uas_logs = list(itertools.chain.from_iterable(uas_period_logs))
if not uas_logs:
team_eval.warnings.append('No UAS telemetry logs.')
# Determine interop telemetry rates.
telem_max, telem_avg = UasTelemetry.rates(
user, flight_periods, time_period_logs=uas_period_logs)
if telem_max:
feedback.uas_telemetry_time_max_sec = telem_max
if telem_avg:
feedback.uas_telemetry_time_avg_sec = telem_avg
# Determine if the uas hit the waypoints.
feedback.waypoints.extend(
UasTelemetry.satisfied_waypoints(
mission_config.home_pos,
mission_config.mission_waypoints.order_by('order'), uas_logs))
# Evaluate the object detections.
user_odlcs = Odlc.objects.filter(user=user).filter(
mission=mission_config.pk).all()
evaluator = OdlcEvaluator(user_odlcs,
mission_config.odlcs.all(), flight_periods)
feedback.odlc.CopyFrom(evaluator.evaluate())
# Determine collisions with stationary.
for obst in mission_config.stationary_obstacles.all():
obst_eval = feedback.stationary_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
# Add judge feedback.
try:
judge_feedback = MissionJudgeFeedback.objects.get(
mission=mission_config.pk, user=user.pk)
feedback.judge.CopyFrom(judge_feedback.proto())
except MissionJudgeFeedback.DoesNotExist:
team_eval.warnings.append('No MissionJudgeFeedback for team.')
def test_user_in_air_time(self):
"""In-air base time check."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + 2 * self.ten_minutes, False)
time = self.year2000 + self.ten_minutes
self.assertTrue(
TakeoffOrLandingEvent.user_in_air(self.user1, time=time))
def user_json(user):
"""Generate JSON-style dict for user."""
telemetry = UasTelemetry.last_for_user(user)
return {
'name': user.username,
'id': user.pk,
'in_air': TakeoffOrLandingEvent.user_in_air(user),
'telemetry': telemetry.json() if telemetry else None
}
def kml(cls, user, logs, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given.
Args:
user: A Django User to get username from
logs: A list of UasTelemetry elements
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
kml_folder = kml.newfolder(name=user.username)
flights = TakeoffOrLandingEvent.flights(user)
if len(flights) == 0:
return
logs = UasTelemetry.dedupe(UasTelemetry.filter_bad(logs))
for i, flight in enumerate(flights):
name = '%s Flight %d' % (user.username, i + 1)
flight_logs = filter(lambda x: flight.within(x.timestamp), logs)
coords = []
angles = []
when = []
for entry in 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)
# Time Elements
time = entry.timestamp.strftime(KML_DATETIME_FORMAT)
when.append(time)
# Degrees heading, tilt, and roll
angle = (entry.uas_heading, 0.0, 0.0)
angles.append(angle)
# Create a new track in the folder
trk = kml_folder.newgxtrack(name=name)
trk.altitudemode = AltitudeMode.absolute
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.newgxangle(angles)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.blue
trk.iconstyle.icon.href = KML_PLANE_ICON
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()
# user1 is on mission
event = MissionClockEvent(user=self.user1,
team_on_clock=True,
team_on_timeout=False)
event.save()
# user1 is flying
event = TakeoffOrLandingEvent(user=self.user1, uas_in_air=True)
event.save()
# user2 has landed
event = TakeoffOrLandingEvent(user=self.user2, uas_in_air=True)
event.save()
event = TakeoffOrLandingEvent(user=self.user2, 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()
def user_json(user):
"""Generate JSON-style dict for user."""
telemetry = UasTelemetry.last_for_user(user)
return {
'name': user.username,
'id': user.pk,
'on_clock': MissionClockEvent.user_on_clock(user),
'on_timeout': MissionClockEvent.user_on_timeout(user),
'in_air': TakeoffOrLandingEvent.user_in_air(user),
'telemetry': telemetry.json() if telemetry else None
}
def create_event(self, time, uas_in_air, mission=None):
"""Create a TakeoffOrLandingEvent for test user."""
if mission is None:
mission = self.mission
event = TakeoffOrLandingEvent(
user=self.user1, mission=mission, uas_in_air=uas_in_air)
event.save()
event.timestamp = time
event.save()
return event
def create_event(self, time, uas_in_air):
"""Create a TakeoffOrLandingEvent for test user."""
event = TakeoffOrLandingEvent(user=self.user1, uas_in_air=uas_in_air)
event.save()
event.timestamp = time
event.save()
return event
def test_kml_simple(self):
coordinates = [
(-76.0, 38.0, 0.0),
(-76.0, 38.0, 10.0),
(-76.0, 38.0, 20.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 100.0),
(-76.0, 38.0, 30.0),
(-76.0, 38.0, 60.0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
for coord in coordinates:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
kml = Kml()
UasTelemetry.kml(user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml)
for coord in coordinates:
tag = self.coord_format.format(coord[1], coord[0],
units.feet_to_meters(coord[2]))
self.assertTrue(tag in kml.kml())
def team_proto(user):
"""Generate TeamStatus proto for team."""
team_status_proto = interop_admin_api_pb2.TeamStatus()
team_status_proto.team = user.username
team_status_proto.in_air = TakeoffOrLandingEvent.user_in_air(user)
telemetry = UasTelemetry.last_for_user(user)
if telemetry is not None:
apos = telemetry.uas_position
gpos = apos.gps_position
telemetry_proto = team_status_proto.telemetry
telemetry_proto.latitude = gpos.latitude
telemetry_proto.longitude = gpos.longitude
telemetry_proto.altitude = apos.altitude_msl
telemetry_proto.heading = telemetry.uas_heading
team_status_proto.telemetry_timestamp = telemetry.timestamp.isoformat()
return team_status_proto
def team_proto(user):
"""Generate TeamStatus proto for team."""
team_status_proto = interop_admin_api_pb2.TeamStatus()
team_status_proto.id = user.pk
team_status_proto.team.username = user.username
team_status_proto.team.name = user.first_name
team_status_proto.team.university = user.last_name
team_status_proto.in_air = TakeoffOrLandingEvent.user_in_air(user)
telemetry = UasTelemetry.last_for_user(user)
if telemetry is not None:
telemetry_proto = team_status_proto.telemetry
telemetry_proto.latitude = telemetry.latitude
telemetry_proto.longitude = telemetry.longitude
telemetry_proto.altitude = telemetry.altitude_msl
telemetry_proto.heading = telemetry.uas_heading
team_status_proto.telemetry_timestamp = telemetry.timestamp.isoformat()
return team_status_proto
def evaluate_teams(mission_config, users=None):
"""Evaluates the teams (non admin users) of the competition.
Args:
mission_config: The mission to evaluate users against.
users: Optional list of users to eval. If None will evaluate all.
Returns:
A auvsi_suas.proto.MultiUserMissionEvaluation.
"""
# Start a results map from user to MissionEvaluation.
mission_eval = interop_admin_api_pb2.MultiUserMissionEvaluation()
# If not provided, eval all users.
if users is None:
users = User.objects.all()
logger.info('Starting team evaluations.')
for user in sorted(users, key=lambda u: u.username):
# Ignore admins.
if user.is_superuser:
continue
# Ignore users with no flights for mission.
if not TakeoffOrLandingEvent.flights(mission_config, user):
logger.info('Skipping user with no flights: %s' % user.username)
continue
# Start the evaluation data structure.
logger.info('Evaluation starting for user: %s.' % user.username)
team_eval = mission_eval.teams.add()
team_eval.team = user.username
# Generate feedback.
generate_feedback(mission_config, user, team_eval)
# Generate score from feedback.
score_team(team_eval)
return mission_eval
def kml(cls, user, logs, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given.
Args:
user: A Django User to get username from
logs: A list of UasTelemetry elements
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
# KML Compliant Datetime Formatter
kml_datetime_format = "%Y-%m-%dT%H:%M:%S.%fZ"
icon = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
threshold = 1 # Degrees
kml_folder = kml.newfolder(name=user.username)
flights = TakeoffOrLandingEvent.flights(user)
if len(flights) == 0:
return
logs = filter(lambda log: cls._is_bad_position(log, threshold), logs)
for i, flight in enumerate(flights):
label = 'Flight {}'.format(i + 1) # Flights are one-indexed
kml_flight = kml_folder.newfolder(name=label)
flight_logs = filter(lambda x: flight.within(x.timestamp), logs)
if len(flight_logs) < 2:
continue
coords = []
angles = []
when = []
for entry in flight_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)
# Time Elements
time = entry.timestamp.strftime(kml_datetime_format)
when.append(time)
# Degrees heading, tilt, and roll
angle = (entry.uas_heading, 0.0, 0.0)
angles.append(angle)
# Create a new track in the folder
trk = kml_flight.newgxtrack(name='Flight Path')
trk.altitudemode = AltitudeMode.absolute
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.newgxangle(angles)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.blue
trk.iconstyle.icon.href = icon
for obstacle in MovingObstacle.objects.all():
obstacle.kml(path=flight_logs, kml=kml_flight, kml_doc=kml_doc)
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()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
# A odlc worth full points.
self.submit1 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Submit test odlc 1',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit1.save()
self.real1 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real odlc 1')
self.real1.save()
# A odlc worth less than full points.
self.submit2 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.circle,
background_color=Color.white,
# alphanumeric set below
alphanumeric_color=Color.black,
description='Submit test odlc 2',
autonomous=False,
thumbnail_approved=True)
self.submit2.save()
self.real2 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l2,
orientation=Orientation.s,
shape=Shape.triangle,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real test odlc 2')
self.real2.save()
# A odlc worth no points, so unmatched.
self.submit3 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l4,
orientation=Orientation.nw,
shape=Shape.pentagon,
background_color=Color.gray,
alphanumeric='XYZ',
alphanumeric_color=Color.orange,
description='Incorrect description',
autonomous=False,
thumbnail_approved=True)
self.submit3.save()
self.real3 = Odlc(
user=self.user,
odlc_type=OdlcType.standard,
orientation=Orientation.e,
shape=Shape.semicircle,
background_color=Color.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(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Test odlc 4',
autonomous=False,
thumbnail_approved=False)
self.submit4.save()
self.real4 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Test odlc 4')
self.real4.save()
# A odlc without location worth fewer points.
self.submit5 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test odlc 5',
autonomous=False,
thumbnail_approved=True)
self.submit5.save()
self.real5 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test odlc 5')
self.real5.save()
# Emergent odlc with correct description.
self.submit6 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Submit test odlc 6',
description_approved=True,
autonomous=True,
thumbnail_approved=True)
self.submit6.save()
self.real6 = Odlc(user=self.user,
odlc_type=OdlcType.emergent,
location=l1,
description='Real odlc 1',
description_approved=True)
self.real6.save()
event = TakeoffOrLandingEvent(user=self.user, 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 = Color.yellow
self.submit3.update_last_modified()
self.submit3.save()
# Unused but not unmatched odlc.
self.submit7 = Odlc(user=self.user,
odlc_type=OdlcType.standard,
location=l4,
alphanumeric_color=Color.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
]
def test_user_in_air_after_landing(self):
"""Not in-air after landing."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + self.ten_minutes, False)
self.assertFalse(TakeoffOrLandingEvent.user_in_air(self.user1))
def test_user_in_air_before_landing(self):
"""In-air before landing."""
self.create_event(self.year2000, True)
self.assertTrue(TakeoffOrLandingEvent.user_in_air(self.user1))
def test_user_in_air_no_logs(self):
"""Not in-air without logs."""
self.assertFalse(TakeoffOrLandingEvent.user_in_air(self.user1))
def setUp(self):
"""Setup the test case."""
super(TestTargetEvaluator, 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()
event = MissionClockEvent(user=self.user,
team_on_clock=True,
team_on_timeout=False)
event.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
# A target worth full points.
self.submit1 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Submit test target 1',
autonomous=True,
thumbnail_approved=True)
self.submit1.save()
self.real1 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real target 1')
self.real1.save()
event = MissionClockEvent(user=self.user,
team_on_clock=False,
team_on_timeout=False)
event.save()
# A target worth less than full points.
self.submit2 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.circle,
background_color=Color.white,
# alphanumeric set below
alphanumeric_color=Color.black,
description='Submit test target 2',
autonomous=False,
thumbnail_approved=True)
self.submit2.save()
self.real2 = Target(user=self.user,
target_type=TargetType.standard,
location=l2,
orientation=Orientation.s,
shape=Shape.triangle,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Real test target 2')
self.real2.save()
# A target worth no points, so unmatched.
self.submit3 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.nw,
shape=Shape.pentagon,
background_color=Color.gray,
alphanumeric='XYZ',
alphanumeric_color=Color.orange,
description='Incorrect description',
autonomous=False,
thumbnail_approved=True)
self.submit3.save()
self.real3 = Target(user=self.user,
target_type=TargetType.standard,
orientation=Orientation.e,
shape=Shape.semicircle,
background_color=Color.yellow,
alphanumeric='LMN',
# alphanumeric_color set below
location=l3,
description='Test target 3')
self.real3.save()
# Targets without approved image may still match.
self.submit4 = Target(user=self.user,
target_type=TargetType.emergent,
location=l1,
description='Test target 4',
autonomous=False,
thumbnail_approved=False)
self.submit4.save()
self.real4 = Target(user=self.user,
target_type=TargetType.emergent,
location=l1,
description='Test target 4')
self.real4.save()
# A target without location worth fewer points.
self.submit5 = Target(user=self.user,
target_type=TargetType.standard,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test target 5',
autonomous=False,
thumbnail_approved=True)
self.submit5.save()
self.real5 = Target(user=self.user,
target_type=TargetType.standard,
location=l1,
orientation=Orientation.n,
shape=Shape.trapezoid,
background_color=Color.purple,
alphanumeric='PQR',
alphanumeric_color=Color.blue,
description='Test target 5')
self.real5.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
event.save()
# submit2 updated after landing.
self.submit2.alphanumeric = 'ABC'
self.submit2.save()
self.submit3.alphanumeric_color = Color.yellow
self.submit3.save()
self.submitted_targets = [self.submit5, self.submit4, self.submit3,
self.submit2, self.submit1]
self.real_targets = [self.real1, self.real2, self.real3, self.real4,
self.real5]
self.real_matched_targets = [self.real1, self.real2, self.real4,
self.real5]
def test_unicode(self):
"""Tests the unicode method executes."""
log = TakeoffOrLandingEvent(user=self.user1, uas_in_air=True)
log.save()
self.assertIsNotNone(log.__unicode__())
def generate_feedback(mission_config, user, team_eval):
"""Generates mission feedback for the given team and mission.
Args:
mission_config: The mission to evaluate the team against.
user: The team user object for which to evaluate and provide feedback.
team_eval: The team evaluation to fill.
"""
feedback = team_eval.feedback
# Calculate the total mission clock time.
missions = MissionClockEvent.missions(user)
mission_clock_time = datetime.timedelta(seconds=0)
for mission in missions:
duration = mission.duration()
if duration is None:
team_eval.warnings.append('Infinite mission clock.')
else:
mission_clock_time += duration
feedback.mission_clock_time_sec = mission_clock_time.total_seconds()
# Calculate total time in air.
flight_periods = TakeoffOrLandingEvent.flights(user)
if flight_periods:
flight_time = reduce(lambda x, y: x + y, [p.duration()
for p in flight_periods])
feedback.flight_time_sec = flight_time.total_seconds()
else:
feedback.flight_time_sec = 0
# Find the user's flights.
for period in flight_periods:
if period.duration() is None:
team_eval.warnings.append('Infinite flight period.')
uas_period_logs = [
UasTelemetry.dedupe(logs)
for logs in UasTelemetry.by_time_period(user, flight_periods)
]
uas_logs = list(itertools.chain.from_iterable(uas_period_logs))
if not uas_logs:
team_eval.warnings.append('No UAS telemetry logs.')
# Determine interop telemetry rates.
telem_max, telem_avg = UasTelemetry.rates(user,
flight_periods,
time_period_logs=uas_period_logs)
if telem_max:
feedback.uas_telemetry_time_max_sec = telem_max
if telem_avg:
feedback.uas_telemetry_time_avg_sec = telem_avg
# Determine if the uas went out of bounds. This must be done for
# each period individually so time between periods isn't counted as
# out of bounds time. Note that this calculates reported time out
# of bounds, not actual or possible time spent out of bounds.
out_of_bounds = datetime.timedelta(seconds=0)
feedback.boundary_violations = 0
for logs in uas_period_logs:
bv, bt = FlyZone.out_of_bounds(mission_config.fly_zones.all(), logs)
feedback.boundary_violations += bv
out_of_bounds += bt
feedback.out_of_bounds_time_sec = out_of_bounds.total_seconds()
# Determine if the uas hit the waypoints.
feedback.waypoints.extend(UasTelemetry.satisfied_waypoints(
mission_config.home_pos, mission_config.mission_waypoints.order_by(
'order'), uas_logs))
# Evaluate the targets.
user_targets = Target.objects.filter(user=user).all()
evaluator = TargetEvaluator(user_targets, mission_config.targets.all())
feedback.target.CopyFrom(evaluator.evaluate())
# Determine collisions with stationary and moving obstacles.
for obst in mission_config.stationary_obstacles.all():
obst_eval = feedback.stationary_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
for obst in mission_config.moving_obstacles.all():
obst_eval = feedback.moving_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
# Add judge feedback.
try:
judge_feedback = MissionJudgeFeedback.objects.get(
mission=mission_config.pk,
user=user.pk)
feedback.judge.CopyFrom(judge_feedback.proto())
except MissionJudgeFeedback.DoesNotExist:
team_eval.warnings.append('No MissionJudgeFeedback for team.')
# Sanity check mission time.
judge_mission_clock = (
feedback.judge.flight_time_sec + feedback.judge.post_process_time_sec)
if abs(feedback.mission_clock_time_sec - judge_mission_clock) > 30:
team_eval.warnings.append(
'Mission clock differs between interop and judge.')
def kml(cls, user, logs, kml, kml_doc):
"""
Appends kml nodes describing the given user's flight as described
by the log array given.
Args:
user: A Django User to get username from
logs: A list of UasTelemetry elements
kml: A simpleKML Container to which the flight data will be added
kml_doc: The simpleKML Document to which schemas will be added
Returns:
None
"""
# KML Compliant Datetime Formatter
kml_datetime_format = "%Y-%m-%dT%H:%M:%S.%fZ"
icon = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
kml_folder = kml.newfolder(name=user.username)
flights = TakeoffOrLandingEvent.flights(user)
if len(flights) == 0:
return
logs = UasTelemetry.dedupe(UasTelemetry.filter_bad(logs))
for i, flight in enumerate(flights):
label = 'Flight {}'.format(i + 1) # Flights are one-indexed
kml_flight = kml_folder.newfolder(name=label)
flight_logs = filter(lambda x: flight.within(x.timestamp), logs)
if len(flight_logs) < 2:
continue
coords = []
angles = []
when = []
for entry in flight_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)
# Time Elements
time = entry.timestamp.strftime(kml_datetime_format)
when.append(time)
# Degrees heading, tilt, and roll
angle = (entry.uas_heading, 0.0, 0.0)
angles.append(angle)
# Create a new track in the folder
trk = kml_flight.newgxtrack(name='Flight Path')
trk.altitudemode = AltitudeMode.absolute
# Append flight data
trk.newwhen(when)
trk.newgxcoord(coords)
trk.newgxangle(angles)
# Set styling
trk.extrude = 1 # Extend path to ground
trk.style.linestyle.width = 2
trk.style.linestyle.color = Color.blue
trk.iconstyle.icon.href = icon
def simulate_team_mission(test, mission, superuser, user):
"""Simulates a team's mission demonstration.
Args:
test: The test case.
mission: The mission to simulate for.
superuser: The superuser for admin actions.
user: The user for the team.
"""
total_telem = 100
waypoints_hit = len(mission.mission_waypoints.all())
odlcs_correct = len(mission.odlcs.all())
odlcs_incorrect = 1
c = Client()
c.force_login(user)
# Send telemetry during flight.
TakeoffOrLandingEvent(user=user, mission=mission, uas_in_air=True).save()
for i in range(total_telem):
simulate_telemetry(test,
client=c,
mission=mission,
hit_waypoint=i < waypoints_hit)
TakeoffOrLandingEvent(user=user, mission=mission, uas_in_air=False).save()
# Submit ODLCs.
for _ in range(odlcs_correct):
simulate_odlc(test, c, mission, actual=True)
for _ in range(odlcs_incorrect):
simulate_odlc(test, c, mission, actual=False)
# Judge feedback submitted.
feedback = MissionJudgeFeedback()
feedback.mission = mission
feedback.user = user
feedback.flight_time = datetime.timedelta(seconds=1)
feedback.post_process_time = datetime.timedelta(seconds=1)
feedback.used_timeout = False
feedback.min_auto_flight_time = True
feedback.safety_pilot_takeovers = 1
feedback.waypoints_captured = len(mission.mission_waypoints.all()) / 2
feedback.out_of_bounds = 1
feedback.unsafe_out_of_bounds = 0
feedback.things_fell_off_uas = 0
feedback.crashed = False
feedback.air_drop_accuracy = interop_admin_api_pb2.MissionJudgeFeedback.WITHIN_25_FT
feedback.ugv_drove_to_location = True
feedback.operational_excellence_percent = 90
feedback.save()
# ODLCs thumbnails reviewed.
c = Client()
c.force_login(superuser)
review_data = json.loads(c.get(odlcs_review_url).content)
for odlc_review in review_data:
pk = int(odlc_review['odlc']['id'])
review = interop_admin_api_pb2.OldcReview()
review.odlc.id = pk
review.thumbnail_approved = True
review.description_approved = True
r = client.put(odlc_review_id_url(args=[pk]),
data=json_format.MessageToJson(review),
content_type='application/json')
test.assertEqual(r.status_code, 200, r.content)
def test_user_in_air_before_landing(self):
"""In-air before landing."""
self.create_event(self.year2000, True)
self.assertTrue(TakeoffOrLandingEvent.user_in_air(self.user1))
def test_user_in_air_after_landing(self):
"""Not in-air after landing."""
self.create_event(self.year2000, True)
self.create_event(self.year2000 + self.ten_minutes, False)
self.assertFalse(TakeoffOrLandingEvent.user_in_air(self.user1))
def evaluate_periods(self, expected):
"""Check actual periods against expected."""
periods = TakeoffOrLandingEvent.flights(self.user1)
self.assertSequenceEqual(expected, periods)
def test_user_in_air_no_logs(self):
"""Not in-air without logs."""
self.assertFalse(TakeoffOrLandingEvent.user_in_air(self.user1))
def test_kml_filter(self):
coordinates = [
(0, -76.0, 38.0, 0.0, 0),
(1, -76.0, 38.0, 10.0, 0),
(2, -76.0, 38.0, 20.0, 0),
(3, -76.0, 38.0, 30.0, 0),
(4, -76.0, 38.0, 100.0, 0),
(5, -76.0, 38.0, 30.0, 0),
(6, -76.0, 38.0, 60.0, 0),
]
filtered_out = [
(7, 0.1, 0.001, 100, 0),
(8, 0.0, 0.0, 0, 0),
]
# Create Coordinates
start = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
start.save()
start.timestamp = self.now
start.save()
for coord in coordinates:
self.create_log_element(*coord)
for coord in filtered_out:
self.create_log_element(*coord)
end = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
end.save()
end.timestamp = self.now + datetime.timedelta(seconds=6.5)
end.save()
kml = Kml()
UasTelemetry.kml(
user=self.user,
logs=UasTelemetry.by_user(self.user),
kml=kml,
kml_doc=kml)
for filtered in filtered_out:
tag = self.coord_format.format(filtered[2], filtered[1],
units.feet_to_meters(filtered[3]))
self.assertTrue(tag not in kml.kml())
for coord in coordinates:
tag = self.coord_format.format(coord[2], coord[1],
units.feet_to_meters(coord[3]))
self.assertTrue(tag in kml.kml())
def create_data(self):
"""Create a basic sample dataset."""
self.user1 = User.objects.create_user('user1', '*****@*****.**',
'testpass')
self.user1.save()
self.user2 = User.objects.create_user('user2', '*****@*****.**',
'testpass')
self.user2.save()
# Mission
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
wpt = Waypoint()
wpt.order = 10
wpt.latitude = 10
wpt.longitude = 100
wpt.altitude_msl = 1000
wpt.save()
self.mission = MissionConfig()
self.mission.home_pos = pos
self.mission.lost_comms_pos = pos
self.mission.emergent_last_known_pos = pos
self.mission.off_axis_odlc_pos = pos
self.mission.map_center_pos = pos
self.mission.map_height_ft = 1
self.mission.air_drop_pos = pos
self.mission.ugv_drive_pos = pos
self.mission.save()
self.mission.mission_waypoints.add(wpt)
self.mission.search_grid_points.add(wpt)
self.mission.save()
# user1 is flying
event = TakeoffOrLandingEvent(user=self.user1,
mission=self.mission,
uas_in_air=True)
event.save()
# user2 has landed
event = TakeoffOrLandingEvent(user=self.user2,
mission=self.mission,
uas_in_air=True)
event.save()
event = TakeoffOrLandingEvent(user=self.user2,
mission=self.mission,
uas_in_air=False)
event.save()
# user2 is active
self.timestamp = timezone.now()
self.telem = UasTelemetry(user=self.user2,
latitude=38.6462,
longitude=-76.2452,
altitude_msl=0,
uas_heading=90)
self.telem.save()
self.telem.timestamp = dateutil.parser.parse(
u'2016-10-01T00:00:00.0+00:00')
self.telem.save()
def test_actionable_submission(self):
"""Tests actionable_submission correctly filters submissions."""
# t1 created and updated before take off.
t1 = Target(user=self.user, target_type=TargetType.standard)
t1.save()
t1.alphanumeric = 'A'
t1.save()
# t2 created before take off and updated in flight.
t2 = Target(user=self.user, target_type=TargetType.standard)
t2.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
t2.alphanumeric = 'A'
t2.save()
# t3 created and updated in flight.
t3 = Target(user=self.user, target_type=TargetType.standard)
t3.save()
t3.alphanumeric = 'A'
t3.save()
# t4 created in flight and updated after landing.
t4 = Target(user=self.user, target_type=TargetType.standard)
t4.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
event.save()
t4.alphanumeric = 'A'
t4.save()
# t5 created and updated after landing.
t5 = Target(user=self.user, target_type=TargetType.standard)
t5.save()
t5.alphanumeric = 'A'
t5.save()
# t6 created and updated in second flight.
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=True)
event.save()
t6 = Target(user=self.user, target_type=TargetType.standard)
t6.save()
t6.alphanumeric = 'A'
t6.save()
event = TakeoffOrLandingEvent(user=self.user, uas_in_air=False)
event.save()
self.assertFalse(t1.actionable_submission())
self.assertFalse(t2.actionable_submission())
self.assertTrue(t3.actionable_submission())
self.assertFalse(t4.actionable_submission())
self.assertFalse(t5.actionable_submission())
self.assertFalse(t6.actionable_submission())
def evaluate_periods(self, expected):
"""Check actual periods against expected."""
periods = TakeoffOrLandingEvent.flights(self.user1)
self.assertSequenceEqual(expected, periods)
def generate_feedback(mission_config, user, team_eval):
"""Generates mission feedback for the given team and mission.
Args:
mission_config: The mission to evaluate the team against.
user: The team user object for which to evaluate and provide feedback.
team_eval: The team evaluation to fill.
"""
feedback = team_eval.feedback
# Calculate the total mission clock time.
missions = MissionClockEvent.missions(user)
mission_clock_time = datetime.timedelta(seconds=0)
for mission in missions:
duration = mission.duration()
if duration is None:
team_eval.warnings.append('Infinite mission clock.')
else:
mission_clock_time += duration
feedback.mission_clock_time_sec = mission_clock_time.total_seconds()
# Calculate total time in air.
flight_periods = TakeoffOrLandingEvent.flights(user)
if flight_periods:
flight_time = reduce(lambda x, y: x + y,
[p.duration() for p in flight_periods])
feedback.flight_time_sec = flight_time.total_seconds()
else:
feedback.flight_time_sec = 0
# Find the user's flights.
for period in flight_periods:
if period.duration() is None:
team_eval.warnings.append('Infinite flight period.')
uas_period_logs = [
UasTelemetry.dedupe(logs)
for logs in UasTelemetry.by_time_period(user, flight_periods)
]
uas_logs = list(itertools.chain.from_iterable(uas_period_logs))
if not uas_logs:
team_eval.warnings.append('No UAS telemetry logs.')
# Determine interop telemetry rates.
telem_max, telem_avg = UasTelemetry.rates(user,
flight_periods,
time_period_logs=uas_period_logs)
if telem_max:
feedback.uas_telemetry_time_max_sec = telem_max
if telem_avg:
feedback.uas_telemetry_time_avg_sec = telem_avg
# Determine if the uas went out of bounds. This must be done for
# each period individually so time between periods isn't counted as
# out of bounds time. Note that this calculates reported time out
# of bounds, not actual or possible time spent out of bounds.
out_of_bounds = datetime.timedelta(seconds=0)
feedback.boundary_violations = 0
for logs in uas_period_logs:
bv, bt = FlyZone.out_of_bounds(mission_config.fly_zones.all(), logs)
feedback.boundary_violations += bv
out_of_bounds += bt
feedback.out_of_bounds_time_sec = out_of_bounds.total_seconds()
# Determine if the uas hit the waypoints.
feedback.waypoints.extend(
UasTelemetry.satisfied_waypoints(
mission_config.home_pos,
mission_config.mission_waypoints.order_by('order'), uas_logs))
# Evaluate the object detections.
user_odlcs = Odlc.objects.filter(user=user).all()
evaluator = OdlcEvaluator(user_odlcs, mission_config.odlcs.all())
feedback.odlc.CopyFrom(evaluator.evaluate())
# Determine collisions with stationary and moving obstacles.
for obst in mission_config.stationary_obstacles.all():
obst_eval = feedback.stationary_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
for obst in mission_config.moving_obstacles.all():
obst_eval = feedback.moving_obstacles.add()
obst_eval.id = obst.pk
obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
# Add judge feedback.
try:
judge_feedback = MissionJudgeFeedback.objects.get(
mission=mission_config.pk, user=user.pk)
feedback.judge.CopyFrom(judge_feedback.proto())
except MissionJudgeFeedback.DoesNotExist:
team_eval.warnings.append('No MissionJudgeFeedback for team.')
# Sanity check mission time.
judge_mission_clock = (feedback.judge.flight_time_sec +
feedback.judge.post_process_time_sec)
if abs(feedback.mission_clock_time_sec - judge_mission_clock) > 30:
team_eval.warnings.append(
'Mission clock differs between interop and judge.')
def test_unicode(self):
"""Tests the unicode method executes."""
log = TakeoffOrLandingEvent(user=self.user1, uas_in_air=True)
log.save()
self.assertIsNotNone(log.__unicode__())
