def get(self, request):
kml = Kml(name='AUVSI SUAS LIVE Flight Data')
kml_mission = kml.newfolder(name='Missions')
(mission, err) = active_mission()
if err:
return err
MissionConfig.kml_all(kml_mission, [mission])
kml_flyzone = kml.newfolder(name='Fly Zones')
FlyZone.kml_all(kml_flyzone)
parameters = '?sessionid={}'.format(request.COOKIES['sessionid'])
uri = request.build_absolute_uri(
'/auvsi_admin/update.kml') + parameters
netlink = kml.newnetworklink(name="Live Data")
netlink.link.href = uri
netlink.link.refreshmode = RefreshMode.oninterval
netlink.link.refreshinterval = 0.5
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'
] = 'attachment; filename=%s.kml' % 'live'
response['Content-Length'] = str(len(response.content))
return response
def get(self, request):
kml = Kml(name='AUVSI SUAS LIVE Flight Data')
kml_mission = kml.newfolder(name='Missions')
(mission, err) = active_mission()
if err:
return err
MissionConfig.kml_all(kml_mission, [mission])
kml_flyzone = kml.newfolder(name='Fly Zones')
FlyZone.kml_all(kml_flyzone)
parameters = '?sessionid={}'.format(request.COOKIES['sessionid'])
uri = request.build_absolute_uri(
'/auvsi_admin/update.kml') + parameters
netlink = kml.newnetworklink(name="Live Data")
netlink.link.href = uri
netlink.link.refreshmode = RefreshMode.oninterval
netlink.link.refreshinterval = 0.5
response = HttpResponse(kml.kml())
response['Content-Type'] = 'application/vnd.google-earth.kml+xml'
response['Content-Disposition'] = 'attachment; filename=live.kml'
response['Content-Length'] = str(len(response.content))
return response
def setUp(self):
"""Sets up the client, server info URL, and user."""
cache.clear()
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
response = self.client.post(login_url, {
'username': '******',
'password': '******',
})
self.assertEqual(200, response.status_code)
self.info = ServerInfo()
self.info.team_msg = 'test message'
self.info.save()
gpos = GpsPosition(latitude=0, longitude=0)
gpos.save()
self.mission = MissionConfig()
self.mission.is_active = True
self.mission.home_pos = gpos
self.mission.emergent_last_known_pos = gpos
self.mission.off_axis_target_pos = gpos
self.mission.sric_pos = gpos
self.mission.air_drop_pos = gpos
self.mission.server_info = self.info
self.mission.save()
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.sric_pos = pos
config.air_drop_pos = pos
config.save()
self.config = config
def test_toKML(self):
"""Test Generation of kml for all mission data"""
kml = Kml()
MissionConfig.kml_all(kml=kml)
data = kml.kml()
names = [
'Off Axis',
'SRIC',
'Home Position',
'Air Drop',
'Emergent LKP',
'Search Area',
'Waypoints',
]
for name in names:
tag = '<name>{}</name>'.format(name)
err = 'tag "{}" not found in {}'.format(tag, data)
self.assertIn(tag, data, err)
def test_toKML(self):
"""Test Generation of kml for all mission data"""
kml = Kml()
MissionConfig.kml_all(kml=kml)
data = kml.kml()
names = [
'Off Axis',
'SRIC',
'Home Position',
'Air Drop',
'Emergent LKP',
'Search Area',
'Waypoints',
]
for name in names:
tag = '<name>{}</name>'.format(name)
err = 'tag "{}" not found in {}'.format(tag, data)
self.assertIn(tag, data, err)
def get(self, request):
kml = Kml(name='AUVSI SUAS Flight Data')
kml_teams = kml.newfolder(name='Teams')
kml_mission = kml.newfolder(name='Missions')
users = User.objects.all()
for user in users:
# Ignore admins
if user.is_superuser:
continue
UasTelemetry.kml(user=user,
logs=UasTelemetry.by_user(user),
kml=kml_teams,
kml_doc=kml.document)
MissionConfig.kml_all(kml_mission)
kml_flyzone = kml.newfolder(name='Fly Zones')
FlyZone.kml_all(kml_flyzone)
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 get(self, request):
kml = Kml(name='AUVSI SUAS Flight Data')
kml_teams = kml.newfolder(name='Teams')
kml_mission = kml.newfolder(name='Missions')
users = User.objects.all()
for user in users:
# Ignore admins
if user.is_superuser:
continue
UasTelemetry.kml(user=user,
logs=UasTelemetry.by_user(user),
kml=kml_teams,
kml_doc=kml.document)
MissionConfig.kml_all(kml_mission)
kml_flyzone = kml.newfolder(name='Fly Zones')
FlyZone.kml_all(kml_flyzone)
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 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.sric_pos = pos
config.air_drop_pos = pos
return config
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
info = ServerInfo()
info.timestamp = datetime.datetime.now()
info.message = "Hello World"
info.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.sric_pos = pos
config.ir_primary_target_pos = pos
config.ir_secondary_target_pos = pos
config.air_drop_pos = pos
config.server_info = info
return config
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()
info = ServerInfo()
info.timestamp = timezone.now()
info.message = "Hello World"
info.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.sric_pos = pos
config.air_drop_pos = pos
config.server_info = info
config.save()
self.config = config
def create_config(self):
"""Creates a dummy config for testing."""
pos = GpsPosition()
pos.latitude = 10
pos.longitude = 10
pos.save()
info = ServerInfo()
info.timestamp = datetime.datetime.now()
info.message = "Hello World"
info.save()
config = MissionConfig()
config.is_active = False
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.sric_pos = pos
config.air_drop_pos = pos
config.server_info = info
return config
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.sric_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 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.sric_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 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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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."""
data = TESTDATA_MISSIONCONFIG_EVALWAYPOINTS
(waypoint_details, uas_log_details, exp_satisfied) = data
# 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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
config.save()
# Create waypoints for config
for wpt_id in xrange(len(waypoint_details)):
(lat, lon, alt) = waypoint_details[wpt_id]
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 = wpt_id
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
uas_logs = []
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
for (lat, lon, alt) in uas_log_details:
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()
uas_logs.append(log)
# Assert correct satisfied waypoints
wpts_satisfied = config.satisfied_waypoints(uas_logs)
self.assertEqual(wpts_satisfied, exp_satisfied)
def test_satisfied_waypoints(self):
"""Tests the evaluation of waypoints method."""
data = TESTDATA_MISSIONCONFIG_EVALWAYPOINTS
(waypoint_details, uas_log_details, exp_satisfied) = data
# 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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
config.save()
# Create waypoints for config
for wpt_id in xrange(len(waypoint_details)):
(lat, lon, alt) = waypoint_details[wpt_id]
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 = wpt_id
wpt.save()
config.mission_waypoints.add(wpt)
config.save()
# Create UAS telemetry logs
uas_logs = []
user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
for (lat, lon, alt) in uas_log_details:
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()
uas_logs.append(log)
# Assert correct satisfied waypoints
wpts_satisfied = config.satisfied_waypoints(uas_logs)
self.assertEqual(wpts_satisfied, exp_satisfied)
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()
info = ServerInfo()
info.timestamp = timezone.now()
info.message = "Hello World"
info.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.sric_pos = pos
config.air_drop_pos = pos
config.server_info = info
config.save()
self.config = config
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.sric_pos = pos
config.air_drop_pos = pos
config.server_info = self.info
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
class TestServerInfoView(TestCase):
"""Tests the server_info view."""
def setUp(self):
"""Sets up the client, server info URL, and user."""
cache.clear()
self.user = User.objects.create_user('testuser', '*****@*****.**',
'testpass')
self.user.save()
response = self.client.post(login_url, {
'username': '******',
'password': '******',
})
self.assertEqual(200, response.status_code)
self.info = ServerInfo()
self.info.team_msg = 'test message'
self.info.save()
gpos = GpsPosition(latitude=0, longitude=0)
gpos.save()
self.mission = MissionConfig()
self.mission.is_active = True
self.mission.home_pos = gpos
self.mission.emergent_last_known_pos = gpos
self.mission.off_axis_target_pos = gpos
self.mission.sric_pos = gpos
self.mission.air_drop_pos = gpos
self.mission.server_info = self.info
self.mission.save()
def test_invalid_request(self):
"""Tests an invalid request by mis-specifying parameters."""
response = self.client.post(info_url)
self.assertEqual(405, response.status_code)
def test_no_active_mission(self):
"""Tests that no active mission returns 500."""
self.mission.is_active = False
self.mission.save()
response = self.client.get(info_url)
self.assertEqual(500, response.status_code)
def test_correct_log_and_response(self):
"""Tests that access is logged and returns valid response."""
response = self.client.get(info_url)
self.assertEqual(200, response.status_code)
self.assertEqual(len(ServerInfoAccessLog.objects.all()), 1)
access_log = ServerInfoAccessLog.objects.all()[0]
self.assertEqual(access_log.user, self.user)
json_data = json.loads(response.content)
self.assertTrue('message' in json_data)
self.assertTrue('message_timestamp' in json_data)
self.assertTrue('server_time' in json_data)
def test_loadtest(self):
"""Tests the max load the view can handle."""
if not settings.TEST_ENABLE_LOADTEST:
return
total_ops = 0
start_t = time.clock()
while time.clock() - start_t < settings.TEST_LOADTEST_TIME:
self.client.get(info_url)
total_ops += 1
end_t = time.clock()
total_t = end_t - start_t
op_rate = total_ops / total_t
print 'Server Info Rate (%f)' % op_rate
self.assertGreaterEqual(op_rate,
settings.TEST_LOADTEST_INTEROP_MIN_RATE)
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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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 = (1, 1)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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.sric_pos = gpos
config.air_drop_pos = gpos
config.server_info = self.info
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 = (1, 1)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(expect, config.satisfied_waypoints(logs))
# Hit all.
entries = [(38, -76, 140), (39, -77, 180), (40, -78, 40)]
expect = (3, 3)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(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)
logs = self.create_uas_logs(user, entries)
self.assertEqual(expect, config.satisfied_waypoints(logs))
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
info = ServerInfo()
info.timestamp = datetime.datetime.now()
info.message = "Hello World"
info.save()
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.sric_pos = pos
config.ir_primary_target_pos = pos
config.ir_secondary_target_pos = pos
config.air_drop_pos = pos
config.server_info = info
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 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()
info = ServerInfo()
info.timestamp = datetime.datetime.now()
info.message = "Hello World"
info.save()
config = MissionConfig()
config.is_active = True
config.home_pos = pos
config.emergent_last_known_pos = pos
config.off_axis_target_pos = pos
config.sric_pos = pos
config.air_drop_pos = pos
config.server_info = info
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."""
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.sric_pos = pos
config.air_drop_pos = pos
config.server_info = self.info
config.save()
config.mission_waypoints.add(wpt)
config.search_grid_points.add(wpt)
config.save()
self.assertTrue(config.__unicode__())
