added route for calculating which points drone should fly to. by vayer2005 · Pull Request #57 · ubcuas/gcom-2025

vayer2005 · 2024-10-19T17:49:32Z

Description

Added MappingRoute model and routes that stores the arbitrarily long list of points that the drone should go to for mapping.

Please include a summary of the changes and the related issue. Please also include relevant motivation and context. List any dependencies that are required for this change.

Added model and routes to mapping folder.

Resolves # (issue)

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Bugfix (non-breaking change which fixes an issue)
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My code follows the style guidelines of this project
I have performed a self-review of my code
I have commented my code, particularly in hard-to-understand areas
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
New and existing unit tests pass locally with my changes
Any dependent changes have been merged and published in downstream modules

afahimi · 2024-10-26T19:40:40Z

+                points = MappingRoute(
+                    points_on_route=json.dumps(final_grid), altitude=json.dumps(alt)
+                )
+                points.save()


Fine for now, but we will probably not need the grid to be saved once we've integrated your work with Kai's

afahimi · 2024-10-26T19:41:10Z

+        elif request.method == "GET":
+            # Getting most recent drone rout from MappingRoute
+            route = MappingRoute.objects.last()
+            if route is None:
+                return HttpResponse("No Drone Route Saved", status=204)
+
+            points = {
+                "points_on_route": json.loads(route.points_on_route),
+                "altitude": json.loads(route.altitude),
+            }
+
+            return JsonResponse(points, status=200)


May need to be refactored in the future according to above 😉

afahimi · 2024-10-26T19:42:20Z

+                area = area_modelled.area_of_interest
+                p1, p2, p3, p4 = area[0], area[1], area[2], area[3]
+                p1x = p1["latitude"]
+                p1y = p1["longidute"]
+                p2x = p2["latitude"]
+                p2y = p2["longidute"]
+                p3x = p3["latitude"]
+                p3y = p3["longidute"]
+                p4x = p4["latitude"]
+                p4y = p4["longidute"]
+                # required altitude (meters)
+                alt = (iw * d_focal * gsd) / sw
+
+                # Maximum X and Y distances
+                ylen1 = distance(p1x, p1y, p2x, p2y)
+                ylen2 = distance(p3x, p3y, p4x, p4y)
+                ymax = max(ylen1, ylen2)
+
+                xlen1 = distance(p1x, p1y, p4x, p4y)
+                xlen2 = distance(p2x, p2y, p3x, p3y)
+                xmax = max(xlen1, xlen2)
+
+                # Num pictures needed on X-axis and Y-axis
+                xcount = math.ceil((xmax - (o * width)) / ((1 - o) * width)) + 1
+                ycount = math.ceil((ymax - (o * height)) / ((1 - o) * height)) + 1
+
+                # Creating Mesh Grids
+                gridl = meshl(xcount, ycount, o)
+                gridr = meshr(xcount, ycount, o)


Having some basic tests for the calculations you did would be appreciated, maybe consider extracting this logic out into a helper class to facilitate that 👀

+1, also if it is resource-intensive, a celery worker should handle this

21chanas3 · 2024-10-27T08:18:06Z

please add this folder to .gitignore. also, in order to have test run by the CI, unittests should be done with django

21chanas3 · 2024-10-27T08:19:21Z

Does storing these waypoint as a json instead of an array of Waypoints offer any noticeable speedup?

21chanas3 · 2024-10-27T08:20:21Z

+    altitude = models.FloatField()
+
+    # methods
+    def save(self, **kwargs):


If this is a Singleton, please add that to the class name. Not too sure if a Singleton design pattern is necessary though, we can easily support two mapping areas that we do sequentially

21chanas3 · 2024-10-27T08:21:05Z

+                area = area_modelled.area_of_interest
+                p1, p2, p3, p4 = area[0], area[1], area[2], area[3]
+                p1x = p1["latitude"]
+                p1y = p1["longidute"]
+                p2x = p2["latitude"]
+                p2y = p2["longidute"]
+                p3x = p3["latitude"]
+                p3y = p3["longidute"]
+                p4x = p4["latitude"]
+                p4y = p4["longidute"]
+                # required altitude (meters)
+                alt = (iw * d_focal * gsd) / sw
+
+                # Maximum X and Y distances
+                ylen1 = distance(p1x, p1y, p2x, p2y)
+                ylen2 = distance(p3x, p3y, p4x, p4y)
+                ymax = max(ylen1, ylen2)
+
+                xlen1 = distance(p1x, p1y, p4x, p4y)
+                xlen2 = distance(p2x, p2y, p3x, p3y)
+                xmax = max(xlen1, xlen2)
+
+                # Num pictures needed on X-axis and Y-axis
+                xcount = math.ceil((xmax - (o * width)) / ((1 - o) * width)) + 1
+                ycount = math.ceil((ymax - (o * height)) / ((1 - o) * height)) + 1
+
+                # Creating Mesh Grids
+                gridl = meshl(xcount, ycount, o)
+                gridr = meshr(xcount, ycount, o)


+1, also if it is resource-intensive, a celery worker should handle this

21chanas3

Just some questions and housekeeping but should be good. I only checked the style and clarity, you should also wait on @afahimi to comment

21chanas3 · 2024-12-08T15:20:16Z

Please add this to .gitignore

21chanas3 · 2024-12-08T15:21:04Z

21chanas3 · 2024-12-08T15:21:12Z

+    altitude = models.FloatField()
+
+    # methods
+    def save(self, **kwargs):


21chanas3 · 2024-12-08T15:22:11Z

+    for i in range(xcount * ycount):
+        meshGrid.append(((i % xcount) + overlap) / (xcount - (1 - 2 * overlap)))


Can this be separated into a nested loop for code clarity?

21chanas3 · 2024-12-08T15:22:31Z

+    for i in range(xcount * ycount):
+        meshGrid.append(
+            (math.floor(i / xcount) + overlap) / (ycount - (1 - 2 * overlap))
+        )


Same comment as above here

Vittal Ayer and others added 7 commits October 19, 2024 10:45

added route for calculating which points drone should fly to

a0f82ba

fixed linters

3dabc02

Added migration

e066f7d

Updated poetry.lock file

5e307e9

removed extra poetry lock

77ff9d3

Trying to fix dockerfile

ac809d3

Merge remote-tracking branch 'origin/mapping_points' into mapping_points

2862c68

vayer2005 requested review from 21chanas3 and afahimi October 19, 2024 21:29

afahimi reviewed Oct 26, 2024

View reviewed changes

21chanas3 requested changes Oct 27, 2024

View reviewed changes

vayer2005 and others added 5 commits October 30, 2024 19:28

Merge branch 'main' into mapping_points

6524fe5

added tests for mapping route

189b4a2

Merge branch 'main' into mapping_points

b5373a9

fixed linters

8b5931c

Merge remote-tracking branch 'origin/mapping_points' into mapping_points

70e6a22

vayer2005 requested review from 21chanas3 and afahimi November 23, 2024 21:10

21chanas3 reviewed Dec 8, 2024

View reviewed changes

vayer2005 and others added 4 commits February 8, 2025 11:22

Merge branch 'main' into mapping_points

f4dfa26

made edits for drone routing

76032e4

docked build fix

0fed727

added waypoints and fixed docker

b8b7c6d

vayer2005 requested a review from 21chanas3 April 3, 2025 02:55

vayer2005 removed the request for review from afahimi April 15, 2025 22:06

		for i in range(xcount * ycount):
		meshGrid.append(((i % xcount) + overlap) / (xcount - (1 - 2 * overlap)))

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vayer2005 commented Oct 19, 2024 •

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