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 setUp(self):
"""Populates an active mission to test a cached view."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
self.pos = pos
obst = StationaryObstacle()
obst.gps_position = pos
obst.cylinder_radius = 10
obst.cylinder_height = 10
obst.save()
self.obst = obst
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
self.config = config
config.stationary_obstacles.add(obst)
config.save()
self.login_url = reverse('auvsi_suas:login')
self.obst_url = reverse('auvsi_suas:obstacles')
self.clear_cache_url = reverse('auvsi_suas:clear_cache')
def create_uas_logs(self, user, entries):
"""Create a list of uas telemetry logs.
Args:
user: User to create logs for.
entries: List of (lat, lon, alt) tuples for each entry.
Returns:
List of UasTelemetry objects
"""
ret = []
for (lat, lon, alt) in entries:
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()
ret.append(log)
return ret
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 create_logs(self,
user,
num=10,
start=None,
delta=None,
altitude=100,
heading=90):
if start is None:
start = timezone.now()
if delta is None:
delta = datetime.timedelta(seconds=1)
logs = []
for i in xrange(num):
gps = GpsPosition(latitude=38 + 0.001 * i,
longitude=-78 + 0.001 * i)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=altitude)
pos.save()
log = UasTelemetry(user=user,
uas_position=pos,
uas_heading=heading)
log.save()
log.timestamp = start + i * delta
log.save()
logs.append(log)
return logs
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))
def test_put_one(self):
"""PUT update one field without affecting others."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test target')
t.save()
data = {'shape': 'circle'}
response = self.client.put(
targets_id_url(args=[t.pk]),
data=json.dumps(data))
self.assertEqual(200, response.status_code)
t.refresh_from_db()
t.location.refresh_from_db()
self.assertEqual(self.user, t.user)
self.assertEqual(TargetType.standard, t.target_type)
self.assertEqual(38, t.location.latitude)
self.assertEqual(-76, t.location.longitude)
self.assertEqual(Orientation.s, t.orientation)
self.assertEqual(Shape.circle, t.shape)
self.assertEqual(Color.white, t.background_color)
self.assertEqual('ABC', t.alphanumeric)
self.assertEqual(Color.black, t.alphanumeric_color)
self.assertEqual('Test target', t.description)
def test_duplicate_unequal(self):
"""Tests the duplicate function for nonequal positions."""
gps1 = GpsPosition(latitude=0, longitude=0)
gps2 = GpsPosition(latitude=1, longitude=0)
gps3 = GpsPosition(latitude=0, longitude=1)
self.assertFalse(gps1.duplicate(gps2))
self.assertFalse(gps1.duplicate(gps3))
def setUp(self):
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
# Create an active mission.
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
# Add a couple of stationary obstacles
obst = self.create_stationary_obstacle(lat=38.142233,
lon=-76.434082,
radius=300,
height=500)
config.stationary_obstacles.add(obst)
obst = self.create_stationary_obstacle(lat=38.442233,
lon=-76.834082,
radius=100,
height=750)
config.stationary_obstacles.add(obst)
# And a couple of moving obstacles
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.142233, -76.434082, 300),
(38.141878, -76.425198, 700),
])
config.moving_obstacles.add(obst)
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.145405, -76.428310, 100),
(38.146582, -76.424099, 200),
(38.144662, -76.427634, 300),
(38.147729, -76.419185, 200),
(38.147573, -76.420832, 100),
(38.148522, -76.419507, 750),
])
config.moving_obstacles.add(obst)
config.save()
# Login
response = self.client.post(login_url, {
'username': '******',
'password': '******'
})
self.assertEqual(200, response.status_code)
def test_unicode(self):
"""Tests the unicode method executes."""
gps = GpsPosition(latitude=10, longitude=100)
gps.save()
pos = AerialPosition(gps_position=gps, altitude_msl=100)
pos.save()
pos.__unicode__()
def test_unicode(self):
"""Tests the unicode method executes."""
pos = GpsPosition(latitude=100, longitude=200)
pos.save()
obst = StationaryObstacle(gps_position=pos,
cylinder_radius=10,
cylinder_height=100)
obst.save()
self.assertTrue(obst.__unicode__())
def test_similar_classifications(self):
"""Tests similar classification counts are computed correctly."""
# Test equal standard targets.
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t1 = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test target',
autonomous=True)
t1.save()
t2 = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test other target',
autonomous=True)
t2.save()
self.assertAlmostEqual(1.0, t1.similar_classifications(t2))
# Test unequal standard targets.
t1.alphanumeric = 'DEF'
t1.alphanumeric_color = Color.blue
t1.save()
self.assertAlmostEqual(3.0 / 5.0, t1.similar_classifications(t2))
t1.shape = Shape.circle
t1.background_color = Color.orange
t1.save()
self.assertAlmostEqual(1.0 / 5.0, t1.similar_classifications(t2))
# Test different types.
t1.target_type = TargetType.off_axis
t1.save()
self.assertAlmostEqual(0, t1.similar_classifications(t2))
# Test off_axis is same as standard.
t2.target_type = TargetType.off_axis
t2.alphanumeric = 'DEF'
t2.save()
self.assertAlmostEqual(2.0 / 5.0, t1.similar_classifications(t2))
# Test emergent type is always 1.
t1.target_type = TargetType.emergent
t1.save()
t2.target_type = TargetType.emergent
t2.save()
self.assertAlmostEqual(1.0, t1.similar_classifications(t2))
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 create_log_element(self, lat, lon, alt, user, log_time):
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
apos.save()
log = UasTelemetry(user=user, uas_position=apos, uas_heading=100, )
log.save()
log.timestamp = log_time
log.save()
return log
def create_log_element(self, timestamp, user, lat, lon, alt, heading):
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
apos.save()
log = UasTelemetry(timestamp=timezone.now(),
user=user,
uas_position=apos,
uas_heading=heading)
log.save()
return log
def test_contains_pos(self):
"""Tests the contains_pos method."""
for (zone, test_pos) in self.testdata_containspos:
for ((lat, lon, alt), inside) in test_pos:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = gpos
self.assertEqual(zone.contains_pos(apos), inside)
def test_put_invalid_json(self):
"""PUT request body must be valid JSON."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user, target_type=TargetType.standard, location=l)
t.save()
response = self.client.put(
targets_id_url(args=[t.pk]),
data="latitude=76",
content_type='multipart/form-data')
self.assertEqual(400, response.status_code)
def test_put_partial_clear_location(self):
"""PUT can't clear location with only one of lat/lon."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user, target_type=TargetType.standard, location=l)
t.save()
data = {'latitude': None}
response = self.client.put(
targets_id_url(args=[t.pk]),
data=json.dumps(data))
self.assertEqual(400, response.status_code)
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
return config
def test_json(self):
"""Test target JSON."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test target',
autonomous=True)
t.save()
d = t.json()
self.assertIn('id', d)
self.assertEqual(self.user.pk, d['user'])
self.assertEqual('standard', d['type'])
self.assertEqual(38, d['latitude'])
self.assertEqual(-76, d['longitude'])
self.assertEqual('s', d['orientation'])
self.assertEqual('square', d['shape'])
self.assertEqual('white', d['background_color'])
self.assertEqual('ABC', d['alphanumeric'])
self.assertEqual('black', d['alphanumeric_color'])
self.assertEqual('Test target', d['description'])
self.assertEqual(True, d['autonomous'])
self.assertNotIn('thumbnail_approved', d)
d = t.json(is_superuser=True)
self.assertIn('description_approved', d)
self.assertIn('thumbnail_approved', d)
t.description_approved = True
t.thumbnail_approved = True
t.actionable_override = True
t.save()
d = t.json(is_superuser=True)
self.assertEqual(True, d['description_approved'])
self.assertEqual(None, d['thumbnail'])
self.assertEqual(True, d['thumbnail_approved'])
self.assertEqual(True, d['actionable_override'])
def setUp(self):
"""Setup a single active mission to test live kml with."""
super(TestGenerateLiveKMLNoFixture, self).setUp()
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.air_drop_pos = pos
config.save()
self.config = config
def test_contains_many_pos(self):
"""Tests the contains_many_pos method."""
for (zone, test_pos) in self.testdata_containspos:
aerial_pos_list = []
expected_results = []
for ((lat, lon, alt), inside) in test_pos:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = gpos
aerial_pos_list.append(apos)
expected_results.append(inside)
self.assertEqual(
zone.contains_many_pos(aerial_pos_list), expected_results)
def test_put_clear_location(self):
"""PUT clear location by clearing lat and lon."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user, target_type=TargetType.standard, location=l)
t.save()
data = {'latitude': None, 'longitude': None}
response = self.client.put(
targets_id_url(args=[t.pk]),
data=json.dumps(data))
self.assertEqual(200, response.status_code)
t.refresh_from_db()
self.assertEqual(None, t.location)
def post(self, request):
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Request body is not valid JSON.')
# Target type is required.
if 'type' not in data:
return HttpResponseBadRequest('Target type required.')
latitude = data.get('latitude')
longitude = data.get('longitude')
# Require zero or both of latitude and longitude.
if (latitude is not None and longitude is None) or \
(latitude is None and longitude is not None):
return HttpResponseBadRequest(
'Either none or both of latitude and longitude required.')
try:
data = normalize_data(data)
except ValueError as e:
return HttpResponseBadRequest(str(e))
l = None
if latitude is not None and longitude is not None:
l = GpsPosition(latitude=data['latitude'],
longitude=data['longitude'])
l.save()
# Use the dictionary get() method to default non-existent values to None.
t = Target(user=request.user,
target_type=data['type'],
location=l,
orientation=data.get('orientation'),
shape=data.get('shape'),
background_color=data.get('background_color'),
alphanumeric=data.get('alphanumeric', ''),
alphanumeric_color=data.get('alphanumeric_color'),
description=data.get('description', ''),
autonomous=data.get('autonomous', False))
t.save()
return JsonResponse(
t.json(is_superuser=request.user.is_superuser),
status=201)
def test_put_update_location(self):
"""PUT updating location only requires one of lat/lon."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user, target_type=TargetType.standard, location=l)
t.save()
data = {'latitude': 39}
response = self.client.put(
targets_id_url(args=[t.pk]),
data=json.dumps(data))
self.assertEqual(200, response.status_code)
t.refresh_from_db()
t.location.refresh_from_db()
self.assertEqual(39, t.location.latitude)
self.assertEqual(-76, t.location.longitude)
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
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 create_stationary_obstacle(self, lat, lon, radius, height):
"""Create a new StationaryObstacle model.
Args:
lat: Latitude of centroid
lon: Longitude of centroid
radius: Cylinder radius
height: Cylinder height
Returns:
Saved StationaryObstacle
"""
gps = GpsPosition(latitude=lat, longitude=lon)
gps.save()
obstacle = StationaryObstacle(gps_position=gps,
cylinder_radius=radius,
cylinder_height=height)
obstacle.save()
return obstacle
def test_valid(self):
"""Test creating a valid target."""
with open(os.path.join(settings.BASE_DIR,
'auvsi_suas/fixtures/testdata/S.jpg')) as f:
thumb = SimpleUploadedFile('thumb.jpg', f.read())
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Target(user=self.user,
target_type=TargetType.standard,
location=l,
orientation=Orientation.s,
shape=Shape.square,
background_color=Color.white,
alphanumeric='ABC',
alphanumeric_color=Color.black,
description='Test target',
thumbnail=thumb)
t.save()
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__())
def test_put_clear_shape(self):
"""PUT clear a field with None."""
l = GpsPosition(latitude=38, longitude=-76)
l.save()
t = Odlc(mission=self.mission,
user=self.user,
odlc_type=interop_api_pb2.Odlc.STANDARD,
location=l,
orientation=interop_api_pb2.Odlc.S,
shape=interop_api_pb2.Odlc.SQUARE,
shape_color=interop_api_pb2.Odlc.WHITE,
alphanumeric='ABC',
alphanumeric_color=interop_api_pb2.Odlc.BLACK,
description='Test odlc')
t.save()
updated = {
'mission': self.mission.pk,
'type': 'STANDARD',
}
response = self.client.put(odlcs_id_url(args=[t.pk]),
data=json.dumps(updated))
self.assertEqual(200, response.status_code)
t.refresh_from_db()
self.assertEqual(self.user, t.user)
self.assertEqual(interop_api_pb2.Odlc.STANDARD, t.odlc_type)
self.assertIsNone(t.location)
self.assertIsNone(t.orientation)
self.assertIsNone(t.shape)
self.assertIsNone(t.shape_color)
self.assertEqual('', t.alphanumeric)
self.assertIsNone(t.alphanumeric_color)
self.assertEqual('', t.description)
def evaluate_inputs(self, io_list):
for (lon1, lat1, alt1, lon2, lat2, alt2, dist) in io_list:
gps1 = GpsPosition(latitude=lat1, longitude=lon1)
gps1.save()
gps2 = GpsPosition(latitude=lat2, longitude=lon2)
gps2.save()
pos1 = AerialPosition(gps_position=gps1, altitude_msl=alt1)
pos1.save()
pos2 = AerialPosition(gps_position=gps2, altitude_msl=alt2)
pos2.save()
wpt1 = Waypoint(position=pos1)
wpt2 = Waypoint(position=pos2)
self.assertDistanceEqual(wpt1, wpt2, dist)
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 test_contains_pos(self):
"""Tests the inside obstacle method."""
# Form the test obstacle
pos = GpsPosition(latitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[0],
longitude=TESTDATA_STATOBST_CONTAINSPOS_OBJ[1])
pos.save()
obst = StationaryObstacle(
gps_position=pos,
cylinder_radius=TESTDATA_STATOBST_CONTAINSPOS_OBJ[2],
cylinder_height=TESTDATA_STATOBST_CONTAINSPOS_OBJ[3])
# Run test points against obstacle
test_data = [(TESTDATA_STATOBST_CONTAINSPOS_INSIDE, True),
(TESTDATA_STATOBST_CONTAINSPOS_OUTSIDE, False)]
for (cur_data, cur_contains) in test_data:
for (lat, lon, alt) in cur_data:
pos = GpsPosition(latitude=lat, longitude=lon)
pos.save()
apos = AerialPosition(gps_position=pos, altitude_msl=alt)
self.assertEqual(obst.contains_pos(apos), cur_contains)
def setUp(self):
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
# Create an active mission.
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_odlc_pos = pos
config.air_drop_pos = pos
config.save()
# Add a couple of stationary obstacles
obst = self.create_stationary_obstacle(
lat=38.142233, lon=-76.434082, radius=300, height=500)
config.stationary_obstacles.add(obst)
obst = self.create_stationary_obstacle(
lat=38.442233, lon=-76.834082, radius=100, height=750)
config.stationary_obstacles.add(obst)
# And a couple of moving obstacles
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.142233, -76.434082, 300),
(38.141878, -76.425198, 700),
])
config.moving_obstacles.add(obst)
obst = self.create_moving_obstacle([
# (lat, lon, alt)
(38.145405, -76.428310, 100),
(38.146582, -76.424099, 200),
(38.144662, -76.427634, 300),
(38.147729, -76.419185, 200),
(38.147573, -76.420832, 100),
(38.148522, -76.419507, 750),
])
config.moving_obstacles.add(obst)
config.save()
# Login
response = self.client.post(
login_url, {'username': '******',
'password': '******'})
self.assertEqual(200, response.status_code)
def test_contains_pos(self):
"""Tests the contains_pos method."""
for (zone, test_pos) in self.testdata_containspos:
for ((lat, lon, alt), inside) in test_pos:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = gpos
self.assertEqual(zone.contains_pos(apos), inside)
def test_evaluate_collision_with_uas(self):
"""Tests the collision with UAS method."""
# Create testing data
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
user.save()
(cyl_details, inside_pos,
outside_pos) = TESTDATA_STATOBST_EVALCOLLISION
(cyl_lat, cyl_lon, cyl_height, cyl_rad) = cyl_details
gpos = GpsPosition(latitude=cyl_lat, longitude=cyl_lon)
gpos.save()
obst = StationaryObstacle(gps_position=gpos,
cylinder_radius=cyl_rad,
cylinder_height=cyl_height)
obst.save()
inside_logs = []
outside_logs = []
logs_to_create = [
(inside_pos, inside_logs), (outside_pos, outside_logs)
]
for (positions, log_list) in logs_to_create:
for (lat, lon, alt) in positions:
gpos = GpsPosition(latitude=lat, longitude=lon)
gpos.save()
apos = AerialPosition(gps_position=gpos, altitude_msl=alt)
apos.save()
log = UasTelemetry(user=user, uas_position=apos, uas_heading=0)
log.save()
log_list.append(log)
# Assert collisions correctly evaluated
collisions = [(inside_logs, True), (outside_logs, False)]
for (log_list, inside) in collisions:
self.assertEqual(
obst.evaluate_collision_with_uas(log_list), inside)
for log in log_list:
self.assertEqual(
obst.evaluate_collision_with_uas([log]), inside)
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_odlc_pos = pos
config.air_drop_pos = pos
return config
def setUp(self):
super(TestTakeoffOrLandingEventModel, self).setUp()
# Mission
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 100
pos.save()
apos = AerialPosition()
apos.latitude = 10
apos.longitude = 100
apos.altitude_msl = 1000
apos.save()
wpt = Waypoint()
wpt.latitude = 10
wpt.longitude = 100
wpt.altitude_msl = 1000
wpt.order = 10
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()
# Mission 2
self.mission2 = MissionConfig()
self.mission2.home_pos = pos
self.mission2.lost_comms_pos = pos
self.mission2.emergent_last_known_pos = pos
self.mission2.off_axis_odlc_pos = pos
self.mission2.map_center_pos = pos
self.mission2.map_height_ft = 1
self.mission2.air_drop_pos = pos
self.mission2.ugv_drive_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)
def setUp(self):
"""Setup a single mission to test live kml with."""
super(TestGenerateLiveKMLNoFixture, self).setUp()
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.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()
self.config = config
def test_contains_many_pos(self):
"""Tests the contains_many_pos method."""
for (zone, test_pos) in self.testdata_containspos:
aerial_pos_list = []
expected_results = []
for ((lat, lon, alt), inside) in test_pos:
gpos = GpsPosition()
gpos.latitude = lat
gpos.longitude = lon
gpos.save()
apos = AerialPosition()
apos.altitude_msl = alt
apos.gps_position = gpos
aerial_pos_list.append(apos)
expected_results.append(inside)
self.assertEqual(zone.contains_many_pos(aerial_pos_list),
expected_results)
def setUp(self):
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()
config = MissionConfig()
config.home_pos = pos
config.lost_comms_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_odlc_pos = pos
config.map_center_pos = pos
config.map_height_ft = 1
config.air_drop_pos = pos
config.ugv_drive_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,
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()
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
def setUp(self):
# 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 = 0
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()
# Mission 2
self.mission2 = MissionConfig()
self.mission2.home_pos = pos
self.mission2.lost_comms_pos = pos
self.mission2.emergent_last_known_pos = pos
self.mission2.off_axis_odlc_pos = pos
self.mission2.map_center_pos = pos
self.mission2.map_height_ft = 1
self.mission2.air_drop_pos = pos
self.mission2.ugv_drive_pos = pos
self.mission2.save()
self.mission2.mission_waypoints.add(wpt)
self.mission2.search_grid_points.add(wpt)
self.mission2.save()
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
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_delivery_accuracy_ft=8,
operational_excellence_percent=9)
self.feedback.save()
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."""
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__())
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."""
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__())
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)
from auvsi_suas.models.gps_position import GpsPosition from auvsi_suas.models.mission_config import MissionConfig # Print all mission objects. print MissionConfig.objects.all() # Create and save a GPS position. gpos = GpsPosition(latitudel=38.145335, longitude=-76.427512) gpos.save()
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 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 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_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
waypoints = self.waypoints_from_data([
(38, -76, 100),
(39, -77, 200),
(40, -78, 0),
])
# Only first is valid.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 37, -75, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1, score_ratio=0,
closest_for_mission_ft=170),
WaypointEvaluation(id=2, score_ratio=0, closest_for_mission_ft=600)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# First and last are valid.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1, score_ratio=0,
closest_for_mission_ft=170),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Only hit the first waypoint on run one, hit all on run two.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 40, -78, 600, 0),
(2, 37, -75, 40, 0),
# Run two:
(3, 38, -76, 140, 0),
(4, 39, -77, 180, 0),
(5, 40, -78, 40, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all on run one, only hit the first waypoint on run two.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
# Run two:
(3, 38, -76, 140, 0),
(4, 40, -78, 600, 0),
(5, 37, -75, 40, 0)
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Keep flying after hitting all waypoints.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 40, 0),
(3, 30.1, -78.1, 100, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Hit all in first run, but second is higher scoring.
logs = self.create_uas_logs([
(0, 38, -76, 140, 0),
(1, 39, -77, 180, 0),
(2, 40, -78, 60, 0),
# Run two:
(3, 38, -76, 100, 0),
(4, 39, -77, 200, 0),
(5, 40, -78, 110, 0)
])
expect = [
WaypointEvaluation(id=0,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=1,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=2, score_ratio=0, closest_for_mission_ft=60)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Restart waypoint path in the middle, use path in between points.
waypoints = self.waypoints_from_data([
(38, -76, 100),
(39, -77, 200),
(40, -78, 0),
])
logs = self.create_uas_logs([
(0, 38, -76, 140, 0), # Use
(1, 39, -77, 180, 0), # Use
# Restart:
(2, 38, -76, 70, 0),
(3, 39, -77, 150, 0),
(4, 40, -78, 10, 0), # Use
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=30),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
# Sanity check waypoint scoring with interpolation.
waypoints = self.waypoints_from_data([
(38, -76, 70),
(38, -76, 110),
])
logs = self.create_uas_logs([
(0, 38, -76, 0, 0),
(1, 38, -76, 200, 0),
])
expect = [
WaypointEvaluation(id=0,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10),
WaypointEvaluation(id=1,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)
]
self.assertSatisfiedWaypoints(
expect, UasTelemetry.satisfied_waypoints(gpos, waypoints, logs))
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
# Create mission config
gpos = GpsPosition()
gpos.latitude = 10
gpos.longitude = 10
gpos.save()
# Create waypoints for testing.
waypoints = self.waypoints_from_data([(38, -76, 100), (39, -77, 200), (
40, -78, 0)])
# Create UAS telemetry logs
# Only first is valid.
entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0,
closest_for_mission_ft=460785.17),
WaypointEvaluation(id=2,
score_ratio=0)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0,
closest_for_mission_ft=460785.03),
WaypointEvaluation(id=2,
score_ratio=0)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
logs = self.create_uas_logs(self.user, entries)
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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 = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
logs = self.create_uas_logs(self.user, entries)
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Keep flying after hitting all waypoints.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40),
(30.1, -78.1, 100)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40),
WaypointEvaluation(id=1,
score_ratio=0.8,
closest_for_scored_approach_ft=20,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.6,
closest_for_scored_approach_ft=40,
closest_for_mission_ft=40)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, 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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=1,
score_ratio=1,
closest_for_scored_approach_ft=0,
closest_for_mission_ft=0),
WaypointEvaluation(id=2,
score_ratio=0,
closest_for_mission_ft=60)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
# Restart waypoint path in the middle.
waypoints = self.waypoints_from_data([(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)]
logs = self.create_uas_logs(self.user, entries)
expect = [WaypointEvaluation(id=0,
score_ratio=0.7,
closest_for_scored_approach_ft=30,
closest_for_mission_ft=30),
WaypointEvaluation(id=1,
score_ratio=0.5,
closest_for_scored_approach_ft=50,
closest_for_mission_ft=20),
WaypointEvaluation(id=2,
score_ratio=0.9,
closest_for_scored_approach_ft=10,
closest_for_mission_ft=10)]
self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
gpos, waypoints, logs))
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 post(self, request):
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Request body is not valid JSON.')
# Must be a json dictionary.
if not isinstance(data, dict):
return HttpResponseBadRequest('Request body not a JSON dict.')
# Odlc type is required.
if 'type' not in data:
return HttpResponseBadRequest('Odlc type required.')
# Team id can only be specified if superuser.
user = request.user
if 'team_id' in data:
if request.user.is_superuser:
user = User.objects.get(username=data['team_id'])
else:
return HttpResponseForbidden(
'Non-admin users cannot send team_id')
latitude = data.get('latitude')
longitude = data.get('longitude')
# Require zero or both of latitude and longitude.
if (latitude is not None and longitude is None) or \
(latitude is None and longitude is not None):
return HttpResponseBadRequest(
'Either none or both of latitude and longitude required.')
# Cannot submit JSON with actionable_override if not superuser.
if 'actionable_override' in data and not request.user.is_superuser:
return HttpResponseForbidden(
'Non-admin users cannot submit actionable override.')
try:
data = normalize_data(data)
except ValueError as e:
return HttpResponseBadRequest(str(e))
l = None
if latitude is not None and longitude is not None:
l = GpsPosition(latitude=data['latitude'],
longitude=data['longitude'])
l.save()
# Use the dictionary get() method to default non-existent values to None.
t = Odlc(user=user,
odlc_type=data['type'],
location=l,
orientation=data.get('orientation'),
shape=data.get('shape'),
background_color=data.get('background_color'),
alphanumeric=data.get('alphanumeric', ''),
alphanumeric_color=data.get('alphanumeric_color'),
description=data.get('description', ''),
autonomous=data.get('autonomous', False),
actionable_override=data.get('actionable_override', False))
t.save()
return JsonResponse(t.json(is_superuser=request.user.is_superuser),
status=201)
def put(self, request, pk):
try:
odlc = find_odlc(request, int(pk))
except Odlc.DoesNotExist:
return HttpResponseNotFound('Odlc %s not found' % pk)
except ValueError as e:
return HttpResponseForbidden(str(e))
try:
data = json.loads(request.body)
except ValueError:
return HttpResponseBadRequest('Request body is not valid JSON.')
# Must be a json dictionary.
if not isinstance(data, dict):
return HttpResponseBadRequest('Request body not a JSON dict.')
# Cannot submit JSON with actionable_override if not superuser.
if 'actionable_override' in data and not request.user.is_superuser:
return HttpResponseForbidden(
'Non-admin users cannot submit actionable override.')
try:
data = normalize_data(data)
except ValueError as e:
return HttpResponseBadRequest(str(e))
# We update any of the included values, except id and user
if 'type' in data:
odlc.odlc_type = data['type']
if 'orientation' in data:
odlc.orientation = data['orientation']
if 'shape' in data:
odlc.shape = data['shape']
if 'background_color' in data:
odlc.background_color = data['background_color']
if 'alphanumeric' in data:
odlc.alphanumeric = data['alphanumeric']
if 'alphanumeric_color' in data:
odlc.alphanumeric_color = data['alphanumeric_color']
if 'description' in data:
odlc.description = data['description']
if 'autonomous' in data:
odlc.autonomous = data['autonomous']
if 'actionable_override' in data:
odlc.actionable_override = data['actionable_override']
# Location is special because it is in a GpsPosition model
# If lat/lon exist and are None, the user wants to clear them.
# If they exist and are not None, the user wants to update/add them.
# If they don't exist, the user wants to leave them alone.
clear_lat = False
clear_lon = False
update_lat = False
update_lon = False
if 'latitude' in data:
if data['latitude'] is None:
clear_lat = True
else:
update_lat = True
if 'longitude' in data:
if data['longitude'] is None:
clear_lon = True
else:
update_lon = True
if (clear_lat and not clear_lon) or (not clear_lat and clear_lon):
# Location must be cleared entirely, we can't clear just lat or
# just lon.
return HttpResponseBadRequest(
'Only none or both of latitude and longitude can be cleared.')
if clear_lat and clear_lon:
odlc.location = None
elif update_lat or update_lon:
if odlc.location is not None:
# We can directly update individual components
if update_lat:
odlc.location.latitude = data['latitude']
if update_lon:
odlc.location.longitude = data['longitude']
odlc.location.save()
else:
# We need a new GpsPosition, this requires both lat and lon
if not update_lat or not update_lon:
return HttpResponseBadRequest(
'Either none or both of latitude and longitude required.'
)
l = GpsPosition(latitude=data['latitude'],
longitude=data['longitude'])
l.save()
odlc.location = l
odlc.description_approved = None
if not request.user.is_superuser:
odlc.update_last_modified()
odlc.save()
return JsonResponse(odlc.json(is_superuser=request.user.is_superuser))
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))