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Merge remote-tracking branch 'interuss/main' into reduce-check-custom…
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…ization
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BenjaminPelletier committed Dec 15, 2023
2 parents b72570d + 28ae6a2 commit 9a83a29
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Showing 25 changed files with 569 additions and 351 deletions.
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
from typing import Optional, Dict
from typing import Optional, Dict, List

from implicitdict import ImplicitDict

Expand All @@ -11,11 +11,13 @@
BasicFlightPlanInformation,
FlightInfo,
)
from monitoring.monitorlib.geo import LatLngPoint
from monitoring.monitorlib.geotemporal import (
Volume4DTemplateCollection,
Volume4DCollection,
)
from monitoring.monitorlib.temporal import Time, TimeDuringTest
from monitoring.monitorlib.transformations import Transformation
from uas_standards.interuss.automated_testing.scd.v1 import api as scd_api


Expand Down Expand Up @@ -51,9 +53,16 @@ class FlightInfoTemplate(ImplicitDict):
additional_information: Optional[dict]
"""Any information relevant to a particular jurisdiction or use case not described in the standard schema. The keys and values must be agreed upon between the test designers and USSs under test."""

transformations: Optional[List[Transformation]]
"""If specified, transform this flight according to these transformations in order (after all templates are resolved)."""

def resolve(self, times: Dict[TimeDuringTest, Time]) -> FlightInfo:
kwargs = {k: v for k, v in self.items()}
kwargs["basic_information"] = self.basic_information.resolve(times)
kwargs = {k: v for k, v in self.items() if k not in {"transformations"}}
basic_info = self.basic_information.resolve(times)
if "transformations" in self and self.transformations:
for xform in self.transformations:
basic_info.area = [v.transform(xform) for v in basic_info.area]
kwargs["basic_information"] = basic_info
return ImplicitDict.parse(kwargs, FlightInfo)

def to_scd_inject_request(
Expand Down
92 changes: 91 additions & 1 deletion monitoring/monitorlib/geo.py
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,12 @@
from s2sphere import LatLng
from scipy.interpolate import RectBivariateSpline as Spline
import shapely.geometry

from monitoring.monitorlib.transformations import (
Transformation,
RelativeTranslation,
AbsoluteTranslation,
)
from uas_standards.astm.f3548.v21 import api as f3548v21
from uas_standards.astm.f3411.v19 import api as f3411v19
from uas_standards.astm.f3411.v22a import api as f3411v22a
Expand Down Expand Up @@ -69,6 +75,10 @@ def from_f3411(
def to_flight_planning_api(self) -> fp_api.LatLngPoint:
return fp_api.LatLngPoint(lat=self.lat, lng=self.lng)

@staticmethod
def from_s2(p: s2sphere.LatLng) -> LatLngPoint:
return LatLngPoint(lat=p.lat().degrees, lng=p.lng().degrees)

def as_s2sphere(self) -> s2sphere.LatLng:
return s2sphere.LatLng.from_degrees(self.lat, self.lng)

Expand All @@ -89,7 +99,12 @@ def in_meters(self) -> float:


class Polygon(ImplicitDict):
vertices: List[LatLngPoint]
vertices: Optional[List[LatLngPoint]]

def vertex_average(self) -> LatLngPoint:
lat = sum(p.lat for p in self.vertices) / len(self.vertices)
lng = sum(p.lng for p in self.vertices) / len(self.vertices)
return LatLngPoint(lat=lat, lng=lng)

@staticmethod
def from_coords(coords: List[Tuple[float, float]]) -> Polygon:
Expand Down Expand Up @@ -264,6 +279,81 @@ def intersects_vol3(self, vol3_2: Volume3D) -> bool:

return footprint1.intersects(footprint2)

def transform(self, transformation: Transformation):
if (
"relative_translation" in transformation
and transformation.relative_translation
):
return self.translate_relative(transformation.relative_translation)
elif (
"absolute_translation" in transformation
and transformation.absolute_translation
):
return self.translate_absolute(transformation.absolute_translation)
raise ValueError(
f"No supported transformation defined (keys: {', '.join(transformation)})"
)

def translate_relative(self, translation: RelativeTranslation) -> Volume3D:
def offset(p0: LatLngPoint, p: LatLngPoint) -> LatLngPoint:
s2_p0 = p0.as_s2sphere()
xy = flatten(s2_p0, p.as_s2sphere())
if "meters_east" in translation and translation.meters_east:
xy = (xy[0] + translation.meters_east, xy[1])
if "meters_north" in translation and translation.meters_north:
xy = (xy[0], xy[1] + translation.meters_north)
p1 = LatLngPoint.from_s2(unflatten(s2_p0, xy))
if "degrees_east" in translation and translation.degrees_east:
p1.lng += translation.degrees_east
if "degrees_north" in translation and translation.degrees_north:
p1.lat += translation.degrees_north
return p1

kwargs = {k: v for k, v in self.items() if v is not None}
if self.outline_circle is not None:
kwargs["outline_circle"] = Circle(
center=offset(self.outline_circle.center, self.outline_circle.center),
radius=self.outline_circle.radius,
)
if self.outline_polygon is not None:
ref0 = self.outline_polygon.vertex_average()
vertices = [offset(ref0, p) for p in self.outline_polygon.vertices]
kwargs["outline_polygon"] = Polygon(vertices=vertices)
result = Volume3D(**kwargs)
if "meters_up" in translation and translation.meters_up:
if result.altitude_lower:
if result.altitude_lower.units == DistanceUnits.M:
result.altitude_lower.value += translation.meters_up
else:
raise NotImplementedError(
f"Cannot yet translate meters_up with {result.altitude_lower.units} lower altitude units"
)
if result.altitude_upper:
if result.altitude_upper.units == DistanceUnits.M:
result.altitude_upper.value += translation.meters_up
else:
raise NotImplementedError(
f"Cannot yet translate meters_up with {result.altitude_lower.units} upper altitude units"
)
return result

def translate_absolute(self, translation: AbsoluteTranslation) -> Volume3D:
new_center = LatLngPoint(
lat=translation.new_latitude, lng=translation.new_longitude
)
kwargs = {k: v for k, v in self.items() if v is not None}
if self.outline_circle is not None:
kwargs["outline_circle"] = Circle(
center=new_center, radius=self.outline_circle.radius
)
if self.outline_polygon is not None:
ref0 = self.outline_polygon.vertex_average().as_s2sphere()
xy = [flatten(ref0, p.as_s2sphere()) for p in self.outline_polygon.vertices]
ref1 = new_center.as_s2sphere()
vertices = [LatLngPoint.from_s2(unflatten(ref1, p)) for p in xy]
kwargs["outline_polygon"] = Polygon(vertices=vertices)
return Volume3D(**kwargs)

@staticmethod
def from_flight_planning_api(vol: fp_api.Volume3D) -> Volume3D:
return ImplicitDict.parse(vol, Volume3D)
Expand Down
19 changes: 17 additions & 2 deletions monitoring/monitorlib/geotemporal.py
Original file line number Diff line number Diff line change
Expand Up @@ -4,9 +4,10 @@
from datetime import datetime, timedelta
from typing import Optional, List, Tuple, Dict

import arrow
from implicitdict import ImplicitDict, StringBasedTimeDelta
import s2sphere as s2sphere

from monitoring.monitorlib.transformations import Transformation
from uas_standards.astm.f3548.v21 import api as f3548v21
from uas_standards.interuss.automated_testing.flight_planning.v1 import api as fp_api
from uas_standards.interuss.automated_testing.scd.v1 import api as interuss_scd_api
Expand Down Expand Up @@ -38,6 +39,9 @@ class Volume4DTemplate(ImplicitDict):
altitude_upper: Optional[Altitude] = None
"""The maximum altitude at which the virtual user will fly while using this volume for their flight."""

transformations: Optional[List[Transformation]] = None
"""If specified, transform this volume according to these transformations in order."""

def resolve(self, times: Dict[TimeDuringTest, Time]) -> Volume4D:
"""Resolve Volume4DTemplate into concrete Volume4D."""
# Make 3D volume
Expand Down Expand Up @@ -84,7 +88,13 @@ def resolve(self, times: Dict[TimeDuringTest, Time]) -> Volume4D:
if time_end is not None:
kwargs["time_end"] = time_end

return Volume4D(**kwargs)
result = Volume4D(**kwargs)

if self.transformations:
for xform in self.transformations:
result = result.transform(xform)

return result


class Volume4D(ImplicitDict):
Expand All @@ -102,6 +112,11 @@ def offset_time(self, dt: timedelta) -> Volume4D:
kwargs["time_end"] = self.time_end.offset(dt)
return Volume4D(**kwargs)

def transform(self, transformation: Transformation) -> Volume4D:
kwargs = {k: v for k, v in self.items() if v is not None}
kwargs["volume"] = self.volume.transform(transformation)
return Volume4D(**kwargs)

def intersects_vol4(self, vol4_2: Volume4D) -> bool:
vol4_1 = self
if vol4_1.time_end.datetime < vol4_2.time_start.datetime:
Expand Down
40 changes: 40 additions & 0 deletions monitoring/monitorlib/transformations.py
Original file line number Diff line number Diff line change
@@ -0,0 +1,40 @@
from typing import Optional

from implicitdict import ImplicitDict


class RelativeTranslation(ImplicitDict):
"""Offset a geo feature by a particular amount."""

meters_east: Optional[float]
"""Number of meters east to translate."""

meters_north: Optional[float]
"""Number of meters north to translate."""

meters_up: Optional[float]
"""Number of meters upward to translate."""

degrees_east: Optional[float]
"""Number of degrees of longitude east to translate."""

degrees_north: Optional[float]
"""Number of degrees of latitude north to translate."""


class AbsoluteTranslation(ImplicitDict):
"""Move a geo feature to a specified location."""

new_latitude: float
"""The new latitude at which the feature should be located (degrees)."""

new_longitude: float
"""The new longitude at which the feature should be located (degrees)."""


class Transformation(ImplicitDict):
"""A transformation to apply to a geotemporal feature. Exactly one field must be specified."""

relative_translation: Optional[RelativeTranslation]

absolute_translation: Optional[AbsoluteTranslation]
Original file line number Diff line number Diff line change
Expand Up @@ -80,21 +80,42 @@ v1:
resource_type: resources.flight_planning.FlightIntentsResource
specification:
file:
path: file://./test_data/che/flight_intents/conflicting_flights.yaml
path: file://./test_data/flight_intents/standard/conflicting_flights.yaml
transformations:
- relative_translation:
# Put these flight intents in the DFW area
degrees_north: 32.7181
degrees_east: -96.7587

# EGM96 geoid is 27.3 meters below the WGS84 ellipsoid at 32.7181, -96.7587
# Ground level starts at roughly 120m above the EGM96 geoid
# Therefore, ground level is at roughly 93m above the WGS84 ellipsoid
meters_up: 93

# Details of flights with invalid operational intents (used in flight intent validation scenario)
invalid_flight_intents:
resource_type: resources.flight_planning.FlightIntentsResource
specification:
intent_collection:
$ref: test_data.che.flight_intents.invalid_flight_intents
$ref: test_data.flight_intents.standard.invalid_flight_intents
transformations:
- relative_translation:
degrees_north: 32.7181
degrees_east: -96.7587
meters_up: 93

# Details of non-conflicting flights (used in data validation scenario)
non_conflicting_flights:
resource_type: resources.flight_planning.FlightIntentsResource
specification:
intent_collection:
$ref: file://../../test_data/usa/kentland/flight_intents/non_conflicting.yaml
# Note that $refs are relative to the file with the $ref (this one, in this case)
$ref: file://../../test_data/flight_intents/standard/non_conflicting.yaml
transformations:
- relative_translation:
degrees_north: 32.7181
degrees_east: -96.7587
meters_up: 93

# Location of DSS instance that can be used to verify flight planning outcomes
dss:
Expand Down
23 changes: 19 additions & 4 deletions monitoring/uss_qualifier/configurations/dev/library/resources.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -132,17 +132,27 @@ che_conflicting_flights:
resource_type: resources.flight_planning.FlightIntentsResource
specification:
file:
path: file://./test_data/che/flight_intents/conflicting_flights.yaml
path: file://./test_data/flight_intents/standard/conflicting_flights.yaml
# Note that this hash_sha512 field can be safely deleted if the content changes
hash_sha512: 26ee66a5065e555512f8b1e354334678dfe1614c6fbba4898a1541e6306341620e96de8b48e4095c7b03ab6fd58d0aeeee9e69cf367e1b7346e0c5f287460792
hash_sha512: b5432d496928aaa1876acc754e9ffa12f407809a014fa90e23f450c013fb20e2321328d48a419bc129276f7e9e26002c0fea6fec9baf3952b60daec6197de6b7
transformations:
- relative_translation:
degrees_north: 46.9748
degrees_east: 7.4774
meters_up: 605

che_invalid_flight_intents:
$content_schema: monitoring/uss_qualifier/resources/definitions/ResourceDeclaration.json
resource_type: resources.flight_planning.FlightIntentsResource
specification:
intent_collection:
# Note that $refs may use package-based paths
$ref: test_data.che.flight_intents.invalid_flight_intents
$ref: test_data.flight_intents.standard.invalid_flight_intents
transformations:
- relative_translation:
degrees_north: 46.9748
degrees_east: 7.4774
meters_up: 605

che_general_flight_auth_flights:
$content_schema: monitoring/uss_qualifier/resources/definitions/ResourceDeclaration.json
Expand All @@ -158,7 +168,12 @@ che_non_conflicting_flights:
specification:
file:
# Note that ExternalFile paths may be package-based
path: test_data.che.flight_intents.non_conflicting
path: test_data.flight_intents.standard.non_conflicting
transformations:
- relative_translation:
degrees_north: 46.9748
degrees_east: 7.4774
meters_up: 605

# ===== General flight authorization =====

Expand Down
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
from __future__ import annotations

import json
from typing import Optional, Dict
from typing import Optional, Dict, List

import arrow

Expand All @@ -10,6 +10,7 @@
FlightInfoTemplate,
)
from monitoring.monitorlib.temporal import Time, TimeDuringTest
from monitoring.monitorlib.transformations import Transformation

from monitoring.uss_qualifier.resources.files import ExternalFile
from monitoring.uss_qualifier.resources.overrides import apply_overrides
Expand Down Expand Up @@ -71,6 +72,9 @@ class FlightIntentCollection(ImplicitDict):
intents: Dict[FlightIntentID, FlightIntentCollectionElement]
"""Flight planning actions that users want to perform."""

transformations: Optional[List[Transformation]]
"""Transformations to append to all FlightInfoTemplates."""

def resolve(self) -> Dict[FlightIntentID, FlightInfoTemplate]:
"""Resolve the underlying delta flight intents."""

Expand Down Expand Up @@ -114,6 +118,16 @@ def resolve(self) -> Dict[FlightIntentID, FlightInfoTemplate]:
+ ", ".join(i_id for i_id in unprocessed_intent_ids)
)

if "transformations" in self and self.transformations:
for v in processed_intents.values():
xforms = (
v.transformations.copy()
if v.has_field_with_value("transformations")
else []
)
xforms.extend(self.transformations)
v.transformations = xforms

return processed_intents


Expand All @@ -125,3 +139,6 @@ class FlightIntentsSpecification(ImplicitDict):

file: Optional[ExternalFile]
"""Location of file to load, containing a FlightIntentCollection"""

transformations: Optional[List[Transformation]]
"""Transformations to apply to all flight intents' 4D volumes after resolution (if specified)"""
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