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Overview
Audience: Software members.
The repository named common contains cross - subteam code used across multiple repositories.
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https://github.com/UWARG/common
Software
Setup
Follow the instructions: Autonomy Workflow Software
Install packages: pip install -r requirements.txt
Usage
Add this repository as a submodule.
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Use the modules under each subdirectory as a normal Python import.
Development
Activate the environment: Python Repository
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Data exchange structs
Spatial coordinate classes:
Spatial coordinate classes are organized along the following axes:
Coordinate system
Altitude
Name
Coordinate system | Altitude | Name | Class | Expected user |
|---|---|---|---|---|
Local | No | No | LocationLocal (NE) | Airside |
Local | No | Yes | NamedLocationLocal | - |
Local | Yes | No | PositionLocal (NED) | Airside |
Local | Yes | Yes | NamedPositionLocal | - |
Global | No | No | LocationGlobal (WGS84) | Airside |
Global | No | Yes | NamedLocationGlobal | Pathing |
Global | Yes | No | PositionGlobal (WGS84 with alt - sea level) | Airside |
Global | Yes | Yes | NamedPositionGlobal | - |
GlobalRelativeAltitude | Yes | No | PositionGlobalRelativeAltitude (WGS84 with alt - relative to home location) | - |
GlobalRelativeAltitude | Yes | Yes | NamedPositionGlobalRelativeAltitude | Pathing |
Orientation:
Orientation is for all coordinate systems.
camera
Python serialization and deserialization for Autonomy.
Testing:
Attach a camera, then test the software:
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Every nth image is saved as image0.png , image1.png , etc. They can be deleted after the test.
comms
Testing:
Attach 2 USBTTL devices and wire them together, then test the software.
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kml
Converts a list of waypoints to KML file for visualization (e.g. Google Earth, Google Maps).
Testing:
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cd comms
python -m test_tx |
Asynchronous:
In a terminal:
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cd comms
python receive |
In another terminal:
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cd comms
python transmit |
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kml
pytest |
mavlink
Connection to drone using the MAVLink protocol. This module uses WGS 84 only.
Testing:
Start Mission Planner simulation with MAVLink forwarding: Mission Planner Simulated Ardupilot
Remember the home location.
Create a mission with a few waypoints and start the mission.
Run and make sure the home location matches:
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python -m test_flight_controller |
qr
QR scanning and text output.
Testing:
Unit tests:
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cd qr pytest |
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The text output should be as expected.
Setup
Follow the instructions: Python Repository
Install packages: pip install -r requirements.txt
image_encoding
Encode and decode images from numpy array to jpeg (raw bytes). See Profile Encode Repository and Formats for more details on why jpeg was chosen.
Testing:
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cd image_encoding
python -m test_image_encode_decode |
There will be a result.jpg in the image_encode directory after the test to ensure that the images look similar.
network
TCP and UDP socket tools to send data across a network (private networks).
Testing:
Unit test:
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cd network
pytest |
Integration test with image_encoding:
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pytest (tests the whole repository)
OR
pytest test_send_image.py (tests only this integration test) |