Python UasTelemetry.satisfied_waypoints方法代码示例

# 需要导入模块: from auvsi_suas.models.uas_telemetry import UasTelemetry [as 别名]
# 或者: from auvsi_suas.models.uas_telemetry.UasTelemetry import satisfied_waypoints [as 别名]
def generate_feedback(mission_config, user, team_eval):
    """Generates mission feedback for the given team and mission.

    Args:
        mission_config: The mission to evaluate the team against.
        user: The team user object for which to evaluate and provide feedback.
        team_eval: The team evaluation to fill.
    """
    feedback = team_eval.feedback

    # Calculate the total mission clock time.
    missions = MissionClockEvent.missions(user)
    mission_clock_time = datetime.timedelta(seconds=0)
    for mission in missions:
        duration = mission.duration()
        if duration is None:
            team_eval.warnings.append('Infinite mission clock.')
        else:
            mission_clock_time += duration
    feedback.mission_clock_time_sec = mission_clock_time.total_seconds()

    # Calculate total time in air.
    flight_periods = TakeoffOrLandingEvent.flights(user)
    if flight_periods:
        flight_time = reduce(lambda x, y: x + y, [p.duration()
                                                  for p in flight_periods])
        feedback.flight_time_sec = flight_time.total_seconds()
    else:
        feedback.flight_time_sec = 0
    # Find the user's flights.
    for period in flight_periods:
        if period.duration() is None:
            team_eval.warnings.append('Infinite flight period.')
    uas_period_logs = [
        UasTelemetry.dedupe(logs)
        for logs in UasTelemetry.by_time_period(user, flight_periods)
    ]
    uas_logs = list(itertools.chain.from_iterable(uas_period_logs))
    if not uas_logs:
        team_eval.warnings.append('No UAS telemetry logs.')

    # Determine interop telemetry rates.
    telem_max, telem_avg = UasTelemetry.rates(user,
                                              flight_periods,
                                              time_period_logs=uas_period_logs)
    if telem_max:
        feedback.uas_telemetry_time_max_sec = telem_max
    if telem_avg:
        feedback.uas_telemetry_time_avg_sec = telem_avg

    # Determine if the uas went out of bounds. This must be done for
    # each period individually so time between periods isn't counted as
    # out of bounds time. Note that this calculates reported time out
    # of bounds, not actual or possible time spent out of bounds.
    out_of_bounds = datetime.timedelta(seconds=0)
    feedback.boundary_violations = 0
    for logs in uas_period_logs:
        bv, bt = FlyZone.out_of_bounds(mission_config.fly_zones.all(), logs)
        feedback.boundary_violations += bv
        out_of_bounds += bt
    feedback.out_of_bounds_time_sec = out_of_bounds.total_seconds()

    # Determine if the uas hit the waypoints.
    feedback.waypoints.extend(UasTelemetry.satisfied_waypoints(
        mission_config.home_pos, mission_config.mission_waypoints.order_by(
            'order'), uas_logs))

    # Evaluate the targets.
    user_targets = Target.objects.filter(user=user).all()
    evaluator = TargetEvaluator(user_targets, mission_config.targets.all())
    feedback.target.CopyFrom(evaluator.evaluate())

    # Determine collisions with stationary and moving obstacles.
    for obst in mission_config.stationary_obstacles.all():
        obst_eval = feedback.stationary_obstacles.add()
        obst_eval.id = obst.pk
        obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)
    for obst in mission_config.moving_obstacles.all():
        obst_eval = feedback.moving_obstacles.add()
        obst_eval.id = obst.pk
        obst_eval.hit = obst.evaluate_collision_with_uas(uas_logs)

    # Add judge feedback.
    try:
        judge_feedback = MissionJudgeFeedback.objects.get(
            mission=mission_config.pk,
            user=user.pk)
        feedback.judge.CopyFrom(judge_feedback.proto())
    except MissionJudgeFeedback.DoesNotExist:
        team_eval.warnings.append('No MissionJudgeFeedback for team.')

    # Sanity check mission time.
    judge_mission_clock = (
        feedback.judge.flight_time_sec + feedback.judge.post_process_time_sec)
    if abs(feedback.mission_clock_time_sec - judge_mission_clock) > 30:
        team_eval.warnings.append(
            'Mission clock differs between interop and judge.')

# 需要导入模块: from auvsi_suas.models.uas_telemetry import UasTelemetry [as 别名]
# 或者: from auvsi_suas.models.uas_telemetry.UasTelemetry import satisfied_waypoints [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()

        # 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,
                                     closest_for_mission_ft=600)]
        self.assertSatisfiedWaypoints(expect, UasTelemetry.satisfied_waypoints(
            gpos, waypoints, logs))

        # First and last are valid.
        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=0.6,
                                     closest_for_scored_approach_ft=40,
                                     closest_for_mission_ft=40)]
        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,
#.........这里部分代码省略.........