Software repository named common
- 1 Overview
- 2 Software
- 2.1 Setup
- 2.2 Usage
- 2.3 Development
- 2.3.1 Data exchange structs
- 2.3.2 camera
- 2.3.3 kml
- 2.3.4 mavlink
- 2.3.5 qr
- 2.3.6 image_encoding
- 2.3.7 network
Overview
Audience: Software members.
The repository named common contains cross subteam code used across multiple repositories.
Repository:
GitHub - UWARG/common: Common code for WARG repositories
Software
Setup
Follow the instructions: Autonomy Workflow Software
Install packages: pip install -r requirements.txt
Usage
Add this repository as a submodule.
Install submodule packages:
pip install -r [path to submodule]/requirements.txt
Use the modules under each subdirectory as a normal Python import.
Development
Activate the environment:
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:
cd camera
python -m test_camera
Every nth image is saved as image0.png , image1.png , etc. They can be deleted after the test.
kml
Converts a list of waypoints to KML file for visualization (e.g. Google Earth, Google Maps).
Testing:
cd 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:
python -m test_flight_controller
qr
QR scanning and text output.
Testing:
Unit tests:
Camera to QR integration:
Attach a camera and prepare a QR code to be shown, then test the software:
The text output should be as expected.
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:
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:
Integration test with image_encoding: