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))
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))
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') def assertSatisfiedWaypoints(expect, got): """Assert two satisfied_waypoints return values are equal.""" self.assertEqual(expect[0], got[0]) self.assertEqual(expect[1], got[1]) for k in expect[2].keys(): self.assertIn(k, got[2]) self.assertAlmostEqual(expect[2][k], got[2][k], delta=0.1) for k in got[2].keys(): self.assertIn(k, expect[2]) # Only first is valid. entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)] expect = (1, 1, {0: 40, 1: 460785.17}) logs = self.create_uas_logs(user, entries) 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 = (1, 1, {0: 40, 1: 460785.03}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Hit all. entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)] expect = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Hit all, but don't stay within waypoint track. entries = [(38, -76, 140), (39, -77, 180), (41, -78, 40), (40, -78, 40)] expect = (3, 2, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Remain on the waypoint track only on the second run. entries = [(38, -76, 140), (39, -77, 180), (41, -78, 40), (40, -78, 40), # Run two: (38, -76, 140), (39, -77, 180), (40, -78, 40)] expect = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Miss last target by a sane distance. entries = [(38, -76, 140), (39, -77, 180), (40, -78, 60)] expect = (2, 2, {0: 40, 1: 20, 2: 60}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_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() 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') def assertSatisfiedWaypoints(expect, got): """Assert two satisfied_waypoints return values are equal.""" self.assertEqual(expect[0], got[0]) self.assertEqual(expect[1], got[1]) for k in expect[2].keys(): self.assertIn(k, got[2]) self.assertAlmostEqual(expect[2][k], got[2][k], delta=0.1) for k in got[2].keys(): self.assertIn(k, expect[2]) # Only first is valid. entries = [(38, -76, 140), (40, -78, 600), (37, -75, 40)] expect = (1, 1, {0: 40, 1: 460785.17}) logs = self.create_uas_logs(user, entries) 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 = (1, 1, {0: 40, 1: 460785.03}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Hit all. entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)] expect = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Hit all, but don't stay within waypoint track. entries = [(38, -76, 140), (39, -77, 180), (41, -78, 40), (40, -78, 40)] expect = (3, 2, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Remain on the waypoint track only on the second run. entries = [ (38, -76, 140), (39, -77, 180), (41, -78, 40), (40, -78, 40), # Run two: (38, -76, 140), (39, -77, 180), (40, -78, 40) ] expect = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) 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 = (3, 3, {0: 40, 1: 20, 2: 40}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs)) # Miss last target by a sane distance. entries = [(38, -76, 140), (39, -77, 180), (40, -78, 60)] expect = (2, 2, {0: 40, 1: 20, 2: 60}) logs = self.create_uas_logs(user, entries) assertSatisfiedWaypoints(expect, config.satisfied_waypoints(logs))