Python AerialPosition.gps_position方法代码示例

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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))

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
    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', '[email protected]',
                                        '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)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
    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.name = 'Waypoint'
        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 = list()
        for path in TESTDATA_MOVOBST_PATHS:
            cur_obst = MovingObstacle()
            cur_obst.name = '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.name = 'Waypoint'
                cur_wpt.order = pt_id
                cur_wpt.save()
                cur_obst.waypoints.add(cur_wpt)
            cur_obst.save()
            self.obstacles.append(cur_obst)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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))

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
    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

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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__())

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
def postUasPosition(request):
    """Posts the UAS position with a POST request.

    User must send a POST request with the following paramters:
    latitude: A latitude in decimal degrees.
    longitude: A logitude in decimal degrees.
    altitude_msl: An MSL altitude in decimal feet.
    uas_heading: The UAS heading in decimal degrees. (0=north, 90=east)
    """
    # Validate user is logged in to make request
    if not request.user.is_authenticated():
        return HttpResponseBadRequest('User not logged in. Login required.')
    # Validate user made a POST request
    if request.method != 'POST':
        return HttpResponseBadRequest('Request must be POST request.')

    try:
        # Get the parameters
        latitude = float(request.POST['latitude'])
        longitude = float(request.POST['longitude'])
        altitude_msl = float(request.POST['altitude_msl'])
        uas_heading = float(request.POST['uas_heading'])
    except KeyError:
        # Failed to get POST parameters
        return HttpResponseBadRequest(
                'Posting UAS position must contain POST parameters "latitude", '
                '"longitude", "altitude_msl", and "uas_heading".')
    except ValueError:
        # Failed to convert parameters
        return HttpResponseBadRequest(
                'Failed to convert provided POST parameters to correct form.')
    else:
        # Check the values make sense
        if latitude < -90 or latitude > 90:
            return HttpResponseBadRequest(
                    'Must provide latitude between -90 and 90 degrees.')
        if longitude < -180 or longitude > 180:
            return HttpResponseBadRequest(
                    'Must provide longitude between -180 and 180 degrees.')
        if uas_heading < 0 or uas_heading > 360:
            return HttpResponseBadRequest(
                    'Must provide heading between 0 and 360 degrees.')

        # Store telemetry
        gps_position = GpsPosition()
        gps_position.latitude = latitude
        gps_position.longitude = longitude
        gps_position.save()
        aerial_position = AerialPosition()
        aerial_position.gps_position = gps_position
        aerial_position.altitude_msl = altitude_msl
        aerial_position.save()
        uas_telemetry = UasTelemetry()
        uas_telemetry.user = request.user
        uas_telemetry.uas_position = aerial_position
        uas_telemetry.uas_heading = uas_heading
        uas_telemetry.save()

        return HttpResponse('UAS Telemetry Successfully Posted.')

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 def eval_distanceTo_input(self, lon1, lat1, alt1, lon2, lat2, alt2,
         dist_actual):
     """Evaluates the distanceTo calc with the given inputs."""
     pos1 = AerialPosition()
     pos1.gps_position = GpsPosition()
     pos1.gps_position.latitude = lat1
     pos1.gps_position.longitude = lon1
     pos1.altitude_msl = alt1
     pos2 = AerialPosition()
     pos2.gps_position = GpsPosition()
     pos2.gps_position.latitude = lat2
     pos2.gps_position.longitude = lon2
     pos2.altitude_msl = alt2
     dist12 = pos1.distanceTo(pos2)
     dist21 = pos2.distanceTo(pos1)
     dist_actual_ft = kilometersToFeet(dist_actual)
     diffdist12 = abs(dist12 - dist_actual_ft)
     diffdist21 = abs(dist21 - dist_actual_ft)
     dist_thresh = 10.0
     return diffdist12 <= dist_thresh and diffdist21 <= dist_thresh

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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__())

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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__())

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
 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)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
    def test_evaluate_collision_with_uas(self):
        """Tests the collision with UAS method."""
        # Get test data
        user = User.objects.create_user('testuser', '[email protected]',
                                        'testpass')
        user.save()
        testdata = TESTDATA_MOVOBST_EVALCOLLISION
        (obst_rad, obst_speed, obst_pos, log_details) = testdata
        # Create the obstacle
        obst = MovingObstacle()
        obst.speed_avg = obst_speed
        obst.sphere_radius = obst_rad
        obst.save()
        for pos_id in xrange(len(obst_pos)):
            (lat, lon, alt) = obst_pos[pos_id]
            gpos = GpsPosition()
            gpos.latitude = lat
            gpos.longitude = lon
            gpos.save()
            apos = AerialPosition()
            apos.gps_position = gpos
            apos.altitude_msl = alt
            apos.save()
            wpt = Waypoint()
            wpt.order = pos_id
            wpt.position = apos
            wpt.save()
            obst.waypoints.add(wpt)
        obst.save()
        # Create sets of logs
        epoch = timezone.now().replace(year=1970,
                                       month=1,
                                       day=1,
                                       hour=0,
                                       minute=0,
                                       second=0,
                                       microsecond=0)
        inside_logs = []
        outside_logs = []
        for (time_sec, inside_pos, outside_pos) in log_details:
            log_time = epoch + datetime.timedelta(seconds=time_sec)
            logs_pos = [(inside_pos, inside_logs), (outside_pos, outside_logs)]
            for (positions, log_list) in logs_pos:
                for (lat, lon, alt) in positions:
                    gpos = GpsPosition()
                    gpos.latitude = lat
                    gpos.longitude = lon
                    gpos.save()
                    apos = AerialPosition()
                    apos.gps_position = gpos
                    apos.altitude_msl = alt
                    apos.save()
                    log = UasTelemetry()
                    log.user = user
                    log.uas_position = apos
                    log.uas_heading = 0
                    log.save()
                    log.timestamp = log_time
                    log.save()
                    log_list.append(log)

        # Assert the obstacle correctly computes collisions
        log_collisions = [(True, inside_logs), (False, outside_logs)]
        for (inside, logs) in log_collisions:
            self.assertEqual(obst.evaluate_collision_with_uas(logs), inside)
            for log in logs:
                self.assertEqual(obst.evaluate_collision_with_uas([log]),
                                 inside)

# 需要导入模块: from auvsi_suas.models import AerialPosition [as 别名]
# 或者: from auvsi_suas.models.AerialPosition import gps_position [as 别名]
    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', '[email protected]',
                                        '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),
#.........这里部分代码省略.........