diff --git a/.github/workflows/integration-tests.yml b/.github/workflows/integration-tests.yml new file mode 100644 index 000000000..f3be70f0d --- /dev/null +++ b/.github/workflows/integration-tests.yml @@ -0,0 +1,20 @@ +name: Integration-Tests + +on: + push: + pull_request: + workflow_dispatch: + +jobs: + integration-test: + runs-on: ubuntu-latest + timeout-minutes: 10 + steps: + - name: Checkout workspace + uses: actions/checkout@v4 + + - name: Run integration tests + uses: ./.github/actions/ + with: + script: './scripts/run-integration-tests' + run-website: 'true' diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index f252b467e..d24094643 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -52,3 +52,5 @@ jobs: uses: ./.github/actions/ with: script: './scripts/clang-tidy' + + diff --git a/scripts/build/.built_by b/scripts/build/.built_by new file mode 100644 index 000000000..06e74acb6 --- /dev/null +++ b/scripts/build/.built_by @@ -0,0 +1 @@ +colcon diff --git a/scripts/build/COLCON_IGNORE b/scripts/build/COLCON_IGNORE new file mode 100644 index 000000000..e69de29bb diff --git a/scripts/install/.colcon_install_layout b/scripts/install/.colcon_install_layout new file mode 100644 index 000000000..20b117fdd --- /dev/null +++ b/scripts/install/.colcon_install_layout @@ -0,0 +1 @@ +merged diff --git a/scripts/install/COLCON_IGNORE b/scripts/install/COLCON_IGNORE new file mode 100644 index 000000000..e69de29bb diff --git a/scripts/log/COLCON_IGNORE b/scripts/log/COLCON_IGNORE new file mode 100644 index 000000000..e69de29bb diff --git a/scripts/log/build_2025-01-11_09-55-00/logger_all.log b/scripts/log/build_2025-01-11_09-55-00/logger_all.log new file mode 100644 index 000000000..c07d2d2c1 --- /dev/null +++ b/scripts/log/build_2025-01-11_09-55-00/logger_all.log @@ -0,0 +1,2 @@ +[0.673s] DEBUG:colcon:Command line arguments: ['/usr/bin/colcon', 'build', '--packages-ignore', 'virtual_iridium', '--merge-install', '--symlink-install', '--cmake-args', '-DCMAKE_BUILD_TYPE=Debug', '-DSTATIC_ANALYSIS=OFF', '-DUNIT_TEST=ON', '--no-warn-unused-cli'] +[0.673s] DEBUG:colcon:Parsed command line arguments: Namespace(log_base=None, log_level=None, verb_name='build', build_base='build', install_base='install', merge_install=True, symlink_install=True, test_result_base=None, continue_on_error=False, executor='parallel', parallel_workers=8, event_handlers=None, ignore_user_meta=False, metas=['./colcon.meta'], base_paths=['.'], packages_ignore=['virtual_iridium'], packages_ignore_regex=None, paths=None, packages_up_to=None, packages_up_to_regex=None, packages_above=None, packages_above_and_dependencies=None, packages_above_depth=None, packages_select_by_dep=None, packages_skip_by_dep=None, packages_skip_up_to=None, packages_select_build_failed=False, packages_skip_build_finished=False, packages_select_test_failures=False, packages_skip_test_passed=False, packages_select=None, packages_skip=None, packages_select_regex=None, packages_skip_regex=None, packages_start=None, packages_end=None, cmake_args=['-DCMAKE_BUILD_TYPE=Debug', '-DSTATIC_ANALYSIS=OFF', '-DUNIT_TEST=ON', '--no-warn-unused-cli'], cmake_target=None, cmake_target_skip_unavailable=False, cmake_clean_cache=False, cmake_clean_first=False, cmake_force_configure=False, ament_cmake_args=None, catkin_cmake_args=None, catkin_skip_building_tests=False, verb_parser=, verb_extension=, main=>) diff --git a/scripts/log/latest b/scripts/log/latest new file mode 120000 index 000000000..b57d247c7 --- /dev/null +++ b/scripts/log/latest @@ -0,0 +1 @@ +latest_build \ No newline at end of file diff --git a/scripts/log/latest_build b/scripts/log/latest_build new file mode 120000 index 000000000..b7621c253 --- /dev/null +++ b/scripts/log/latest_build @@ -0,0 +1 @@ +build_2025-01-11_09-55-00 \ No newline at end of file diff --git a/scripts/run-integration-tests.sh b/scripts/run-integration-tests.sh new file mode 100755 index 000000000..096f2be64 --- /dev/null +++ b/scripts/run-integration-tests.sh @@ -0,0 +1,25 @@ +#!/bin/bash +set -e + +if [[ $LOCAL_RUN != "true" ]]; then + # give user permissions, required for GitHub Actions + sudo chown -R $(whoami):$(whoami) $ROS_WORKSPACE + + source /opt/ros/${ROS_DISTRO}/setup.bash + ./scripts/setup.sh + ./scripts/build.sh + ./scripts/run_virtual_iridium.sh + source $ROS_WORKSPACE/install/setup.bash +fi + +echo "Integration tests started" +cd $ROS_WORKSPACE/src/integration_tests + +for FILE in $ROS_WORKSPACE/src/integration_tests/testplans/*; do + if [ -f $FILE ]; then + echo "Running $FILE test plan" + ros2 run integration_tests run --ros-args -p testplan:=$FILE + fi +done + +echo "Integration tests finished" diff --git a/src/integration_tests/integration_tests/integration_test_node.py b/src/integration_tests/integration_tests/integration_test_node.py index d1fe4d888..efdb2a3bf 100644 --- a/src/integration_tests/integration_tests/integration_test_node.py +++ b/src/integration_tests/integration_tests/integration_test_node.py @@ -1,23 +1,24 @@ import builtins import functools +import json import os import signal import subprocess import sys import time import traceback +import urllib.request from dataclasses import dataclass, field -from typing import Any, Optional, Tuple, Type, TypeVar, Union +from typing import Any, Optional, Tuple, Type, Union -import rclpy -import rclpy.node -import std_msgs.msg +import custom_interfaces.msg # type: ignore +import rclpy # type: ignore +import rclpy.node # type: ignore +import std_msgs.msg # type: ignore import yaml -from rclpy.impl.rcutils_logger import RcutilsLogger +from rclpy.impl.rcutils_logger import RcutilsLogger # type: ignore from rclpy.node import MsgType, Node -import custom_interfaces.msg - MIN_SETUP_DELAY_S = 1 # Minimum 1 second delay between setting up the test and sending inputs DEFAULT_TIMEOUT_SEC = 3 # Number of seconds that the test has to run @@ -30,9 +31,13 @@ NON_ROS_PACKAGES = ["virtual_iridium", "website"] # TODO: TestMsgType needs to encompass/inherit whatever type we use for HTTP messages -HTTP_MSG_PLACEHOLDER_TYPE = TypeVar("HTTP_MSG_PLACEHOLDER_TYPE") +HTTP_MSG_PLACEHOLDER_TYPE = builtins.dict[str, Any] TestMsgType = Union[rclpy.node.MsgType, HTTP_MSG_PLACEHOLDER_TYPE] +GLOBAL_PATH_API_NAME = "globalpath" +POST_URL = "http://localhost:8081/global-path" +PULL_URL = "http://localhost:3005/api/" + def main(args=None): rclpy.init(args=args) @@ -284,7 +289,7 @@ def get_ros_dtype(dtype: str) -> Tuple[Union[builtins.type, MsgType], Type[MsgTy return ( getattr(custom_interfaces.msg, dtype)(), getattr(custom_interfaces.msg, dtype), - ) + ) # type: ignore except AttributeError: raise TypeError(f"INVALID TYPE: {dtype}") @@ -355,6 +360,24 @@ def parse_ros_data(data: dict) -> Tuple[Union[None, rclpy.node.MsgType], rclpy.n return msg, msg_type +def parse_http_data( + data: dict, +) -> Tuple[Union[None, HTTP_MSG_PLACEHOLDER_TYPE], HTTP_MSG_PLACEHOLDER_TYPE]: + """Parses + + Args: + data (dict): Stores the expected HTTP output + + Returns: + Tuple[Union[None, HTTP_MSG_PLACEHOLDER_TYPE], HTTP_MSG_PLACEHOLDER_TYPE]: _description_ + """ + + msg_type = data["dtype"] + data.pop("dtype") + + return data, msg_type + + @dataclass class IOEntry: """Represents IO data""" @@ -396,7 +419,7 @@ def __set_inputs(self, inputs: list[dict]): inputs (list[dict]): list of inputs Raises: - NotImplementedError: If an input of type HTTP is given. It's on the TODO list :) + NotImplementedError: GlobalPath messages are not yet supported KeyError: If an invalid input type is given. Valid input types are ROS and HTTP. """ for input_dict in inputs: @@ -408,7 +431,17 @@ def __set_inputs(self, inputs: list[dict]): self.__ros_inputs.append(new_input) elif input_dict["type"] == "HTTP": - raise NotImplementedError("HTTP support is a WIP") + data = input_dict["data"] + if GLOBAL_PATH_API_NAME == input_dict["name"]: + # This is a GlobalPath message + msg, msg_type = parse_http_data(data) # type: ignore + new_input = IOEntry(name=input_dict["name"], msg_type=msg_type, msg=msg) + else: + msg, msg_type = parse_ros_data(data) # type: ignore + new_input = IOEntry(name=input_dict["name"], msg_type=msg_type, msg=msg) + + self.__http_inputs.append(new_input) + else: raise KeyError(f"Invalid input type: {input_dict['type']}") @@ -431,7 +464,12 @@ def __set_expected_outputs(self, outputs: list[dict]): self.__ros_e_outputs.append(new_output) elif output["type"] == "HTTP": - raise NotImplementedError("HTTP support is a WIP") + data = output["data"] + + msg, msg_type = parse_http_data(data) # type: ignore + new_output = IOEntry(name=output["name"], msg_type=msg_type, msg=msg) + self.__http_e_outputs.append(new_output) + else: raise KeyError(f"Invalid output type: {output['type']}") @@ -585,6 +623,9 @@ def __init__(self) -> None: testplan_file = self.get_parameter("testplan").get_parameter_value().string_value + self.__http_outputs: list[dict[str, Any]] = [] + self.__web_fail = 0 + try: self.__test_inst = IntegrationTestSequence(testplan_file) try: @@ -615,13 +656,32 @@ def __init__(self) -> None: ) self.__ros_subs.append(sub) - # TODO: HTTP + self.__http_inputs: list[ROSInputEntry] = [] + self.__global_path_pub = False + for http_input in self.__test_inst.http_inputs(): + if http_input.name != GLOBAL_PATH_API_NAME: + pub = self.create_publisher( + msg_type=http_input.msg_type, + topic=http_input.name, + qos_profile=10, # change + ) + self.__http_inputs.append(ROSInputEntry(pub=pub, msg=http_input.msg)) + else: + # This is a GlobalPath message + self.__global_path_pub = self.pub_global_path(http_input.msg) + + if self.__global_path_pub: + self.get_logger().info("Published GlobalPath to database") + else: + self.__web_fail = 1 # IMPORTANT: MAKE SURE EXPECTED OUTPUTS ARE SETUP BEFORE SENDING INPUTS time.sleep(MIN_SETUP_DELAY_S) self.drive_inputs() - self.timeout = self.create_timer(self.__test_inst.timeout_sec(), self.__timeout_cb) + self.timeout = self.create_timer( + self.__test_inst.timeout_sec(), self.__timeout_cb() # type: ignore + ) except Exception as e: # At this point, the test instance has successfully started all package processes. # This except block is a failsafe to kill the processes in case anything crashes @@ -651,6 +711,83 @@ def __pub_ros(self) -> None: pub.publish(msg) self.get_logger().info(f'Published to topic: "{pub.topic}", with msg: "{msg}"') + def __pub_http(self) -> None: + """Publish to all registered ROS input topics that interact with HTTP endpoints""" + for web_input in self.__http_inputs: + pub = web_input.pub + msg = web_input.msg + pub.publish(msg) + self.get_logger().info(f'Published to topic: "{pub.topic}", with msg: "{msg}"') + + def pub_global_path(self, msg: Union[dict[str, Any], None]) -> bool: + """Publish to the GlobalPath HTTP endpoint + + Args: + msg (HTTP_MSG_PLACEHOLDER_TYPE): Message to publish + """ + data = json.dumps(msg).encode("utf8") + + try: + urllib.request.urlopen( + POST_URL, + data, + ) + return True + except urllib.error.URLError as e: + self.get_logger().error( + f"Failed to publish Global path to the remote transceiver: {e}" + ) + return False + except urllib.error.HTTPError as e: + self.get_logger().error( + f"Failed to publish Global path to the remote transceiver: {e}" + ) + return False + + def http_evaluate(self, http_outputs: list[dict[str, Any]]) -> int: + + num_fail = 0 + + for count, http_e_output in enumerate(self.__test_inst.http_expected_outputs()): + topic = http_e_output.name + data = http_outputs[count] + + if data != http_e_output.msg: + self._logger.error( + f"HTTP output from {topic} does not match expected output: {data}" + ) + num_fail += 1 + + return num_fail + + def get_http_outputs(self) -> int: + + num_fail = 0 + + for e_http_output in self.__test_inst.http_expected_outputs(): + topic = e_http_output.name + try: + contents = urllib.request.urlopen(PULL_URL + topic) + except urllib.error.HTTPError as e: + self._logger.error(f"HTTPError: {e}") + return False + + data_dict = json.load(contents) + try: + data = (data_dict["data"])[0] + except IndexError: + self._logger.error(f"No data found for {topic}") + return False + + data.pop( + "timestamp" + ) # Remove timestamp from data as it is not relevant for comparison + self.__http_outputs.append(data) + + num_fail = self.http_evaluate(self.__http_outputs) + + return num_fail + def __timeout_cb(self) -> None: """Callback for when the test times out. Stops all test processes, evaluates correctness, and exits @@ -658,7 +795,7 @@ def __timeout_cb(self) -> None: self.__test_inst.finish() # Stop tests num_fail, num_warn = self.__monitor.evaluate(self.get_logger()) - + num_fail += self.__web_fail + self.get_http_outputs() if num_warn > 0: self.get_logger().warn( ( @@ -680,6 +817,7 @@ def drive_inputs(self) -> None: """Drive all registered test inputs""" self.__pub_ros() # TODO: add HTTP + self.__pub_http() if __name__ == "__main__": diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..3839a51f2 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 116.06287986144417 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -71.17534753076386 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: -17.64576238088648 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -178.01711926383473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: 72.6403832245355 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: 7.470621589879187 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -88.10951960066818 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: -118.90356007735456 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: -74.7408561768739 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 143.73188102589296 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: 13.0785079803116 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 122.61151903455539 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 74.27356939398769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -58.50380405116621 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -4.918933363497587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: 40.52879145746891 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 52.93838743457428 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -92.74191837210925 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: -106.81585079814978 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 24.225406975970145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 131.34793834918565 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 105.87814422041748 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -43.38394065707982 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: 75.78363896596377 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: -101.66720074713481 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -39.86327397849206 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 66.33174771921205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -168.26063882781628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -163.35587904253174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 104.06963183136855 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 116.06287986144417 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -71.17534753076386 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: -17.64576238088648 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -178.01711926383473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: 72.6403832245355 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: 7.470621589879187 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -88.10951960066818 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: -118.90356007735456 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: -74.7408561768739 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 143.73188102589296 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: 13.0785079803116 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 122.61151903455539 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 74.27356939398769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -58.50380405116621 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -4.918933363497587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: 40.52879145746891 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 52.93838743457428 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -92.74191837210925 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: -106.81585079814978 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 24.225406975970145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 131.34793834918565 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 105.87814422041748 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -43.38394065707982 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: 75.78363896596377 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: -101.66720074713481 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -39.86327397849206 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 66.33174771921205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -168.26063882781628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -163.35587904253174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 104.06963183136855 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..2fa0c82df --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -28 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 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lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 126 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -28 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 126 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..a8974ba5c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..37b30d86d --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 19.549684580270792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -69.21094856292986 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: -145.58000257387062 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -52.29560355149653 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: -50.900757737373056 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: 84.05220448906942 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -93.17909752264404 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: 135.5922597402129 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: 137.25000136645696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 123.5430118721568 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: -71.9914900483979 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 59.100231982645965 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 58.518879544606335 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -52.36978990087094 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -154.399708543769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: -153.11680901961523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: -15.720356639839196 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: 2.3057749551250595 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 139.61634003939838 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 40.763915392324606 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 147.4315175758892 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: -41.195616818702405 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -106.68301342038959 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: 67.80570247715647 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: -99.24882651333932 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -13.388245752641268 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 152.22441042066208 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -135.10170635647242 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -82.90208216103008 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: -153.81023706181787 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 19.549684580270792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -69.21094856292986 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: -145.58000257387062 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -52.29560355149653 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: -50.900757737373056 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: 84.05220448906942 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -93.17909752264404 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: 135.5922597402129 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: 137.25000136645696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 123.5430118721568 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: -71.9914900483979 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 59.100231982645965 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 58.518879544606335 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -52.36978990087094 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -154.399708543769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: -153.11680901961523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: -15.720356639839196 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: 2.3057749551250595 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 139.61634003939838 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 40.763915392324606 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 147.4315175758892 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: -41.195616818702405 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -106.68301342038959 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: 67.80570247715647 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: -99.24882651333932 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -13.388245752641268 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 152.22441042066208 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -135.10170635647242 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -82.90208216103008 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: -153.81023706181787 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..773b0b245 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -2 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -2 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..a8974ba5c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..4b93d8b69 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 121.55809192224274 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -82.14784070863094 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: 94.97724300349705 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -69.86581293237792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: 67.32609550256842 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: -32.173754061678125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: 131.77424463026574 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: 158.23410116301432 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: 126.58025842553974 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 41.50907602537572 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: -53.357088083473386 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 117.03307335247337 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 38.9331922374387 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -14.152121979898482 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -152.69269607162485 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: -36.275753136490096 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 48.66260366659617 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -35.74256946924746 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 14.692054618922754 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 48.09102028281177 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 157.11431242897146 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 33.00670012817491 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: 131.38766394820698 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: -135.06757007974701 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: 112.78987028554656 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -145.78372583698467 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 16.481147031359313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -24.65840773461437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -67.34255121198198 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 156.51170523853182 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 121.55809192224274 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -82.14784070863094 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: 94.97724300349705 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: -69.86581293237792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: 67.32609550256842 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: -32.173754061678125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: 131.77424463026574 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: 158.23410116301432 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: 126.58025842553974 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 41.50907602537572 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: -53.357088083473386 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 117.03307335247337 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: 38.9331922374387 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -14.152121979898482 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -152.69269607162485 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: -36.275753136490096 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 48.66260366659617 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -35.74256946924746 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 14.692054618922754 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: 48.09102028281177 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 157.11431242897146 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 33.00670012817491 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: 131.38766394820698 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: -135.06757007974701 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: 112.78987028554656 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -145.78372583698467 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: 16.481147031359313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: -24.65840773461437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: -67.34255121198198 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 156.51170523853182 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..a2b2c91f3 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 49 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 103 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -109 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 49 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 103 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -109 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..a8974ba5c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..779b08a88 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 1.4609593839707884 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -179.20452109969426 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: 115.8574879702054 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: 139.3717535218443 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: -5.467462133298795 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: -80.35356874881316 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -122.78230359655052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: -107.04454434382221 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: -49.57423781488174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 5.888471750640804 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: 167.78843286361678 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 2.7761233674266066 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: -154.68367193413494 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -58.084842884209166 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -23.471049215170666 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: 136.3117894510052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 102.3926269800678 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -52.95927969906673 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 2.2283165518196313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: -47.81257352467654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 114.36518483359191 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 7.163516519752079 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -84.64707678736949 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: -98.1785877215596 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: 142.4090920707992 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -105.27421716342919 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: -65.203315492326 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: 7.1535855297400985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: 79.82065255503693 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 97.1166194120907 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 1.4609593839707884 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.57311529566738 + lon: -125.24765753295085 + headingDegrees: 178.0 + speedKmph: 7.0 + rot: -179.20452109969426 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.14648856122213 + lon: -124.56496857296953 + headingDegrees: 33.0 + speedKmph: 0.0 + rot: 115.8574879702054 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.460478648157704 + lon: -125.13289150254302 + headingDegrees: 275.0 + speedKmph: 0.0 + rot: 139.3717535218443 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.906845738250354 + lon: -124.68009066623256 + headingDegrees: 82.0 + speedKmph: 15.0 + rot: -5.467462133298795 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.18352535432236 + lon: -124.35908765324045 + headingDegrees: 9.0 + speedKmph: 8.0 + rot: -80.35356874881316 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.509678910612216 + lon: -124.71992162347318 + headingDegrees: 78.0 + speedKmph: 6.0 + rot: -122.78230359655052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.5164134766584 + lon: -124.59903638392628 + headingDegrees: 158.0 + speedKmph: 7.0 + rot: -107.04454434382221 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.6610511707211 + lon: -124.7700961617359 + headingDegrees: 78.0 + speedKmph: 7.0 + rot: -49.57423781488174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.618295754536 + lon: -124.3751400130934 + headingDegrees: 302.0 + speedKmph: 8.0 + rot: 5.888471750640804 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.45495016044448 + lon: -124.68179483877347 + headingDegrees: 358.0 + speedKmph: 13.0 + rot: 167.78843286361678 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.11783644273227 + lon: -124.49750158984929 + headingDegrees: 260.0 + speedKmph: 11.0 + rot: 2.7761233674266066 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.362149797306216 + lon: -124.92830580697543 + headingDegrees: 299.0 + speedKmph: 10.0 + rot: -154.68367193413494 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.28578482932685 + lon: -124.9991064891701 + headingDegrees: 318.0 + speedKmph: 13.0 + rot: -58.084842884209166 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.18363342625423 + lon: -124.51577196451622 + headingDegrees: 12.0 + speedKmph: 3.0 + rot: -23.471049215170666 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34848473605084 + lon: -125.24444837839258 + headingDegrees: 62.0 + speedKmph: 8.0 + rot: 136.3117894510052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.547728049710344 + lon: -125.17269927256511 + headingDegrees: 135.0 + speedKmph: 7.0 + rot: 102.3926269800678 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.73904635356762 + lon: -124.73677329863713 + headingDegrees: 188.0 + speedKmph: 6.0 + rot: -52.95927969906673 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.12676681107224 + lon: -125.17467366126981 + headingDegrees: 15.0 + speedKmph: 11.0 + rot: 2.2283165518196313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.75047750569519 + lon: -124.83993728669918 + headingDegrees: 142.0 + speedKmph: 2.0 + rot: -47.81257352467654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.54624764604642 + lon: -124.20840438780192 + headingDegrees: 278.0 + speedKmph: 8.0 + rot: 114.36518483359191 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.230589903667095 + lon: -124.69328748895164 + headingDegrees: 185.0 + speedKmph: 15.0 + rot: 7.163516519752079 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.940815793206426 + lon: -124.7767424220235 + headingDegrees: 97.0 + speedKmph: 8.0 + rot: -84.64707678736949 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.47648500918056 + lon: -125.40758533494669 + headingDegrees: 282.0 + speedKmph: 13.0 + rot: -98.1785877215596 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.25904273931113 + lon: -124.61631294200224 + headingDegrees: 292.0 + speedKmph: 8.0 + rot: 142.4090920707992 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.5857088077203 + lon: -124.39932124841845 + headingDegrees: 20.0 + speedKmph: 13.0 + rot: -105.27421716342919 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.394141613868996 + lon: -124.565511045911 + headingDegrees: 182.0 + speedKmph: 7.0 + rot: -65.203315492326 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.21315956433256 + lon: -124.68582455039865 + headingDegrees: 194.0 + speedKmph: 9.0 + rot: 7.1535855297400985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.398751576265816 + lon: -124.8875253604767 + headingDegrees: 10.0 + speedKmph: 3.0 + rot: 79.82065255503693 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.648315806948254 + lon: -125.30765308764265 + headingDegrees: 310.0 + speedKmph: 12.0 + rot: 97.1166194120907 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..d984f4611 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -31 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 107 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 51 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -31 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 107 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..a8974ba5c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random1_goal-southwest_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..2cd8848ea --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: -49.743775696317186 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 60.45247178873086 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -39.04470963307884 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 162.1803307980037 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 9.92969165087203 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 114.3518025980552 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: 131.89385259629302 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: 37.19741424827555 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: -2.7871657057815753 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -164.95789425878124 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -176.67977199655076 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -10.490057167707135 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: -57.17237925721987 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: -110.38382518629984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 113.07566149382814 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -106.43121409057552 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: 14.087737436873084 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -11.270638617784385 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -70.90093990288422 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: 175.86559301300161 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 110.31780144865019 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: 113.67435759987251 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: 23.70008115257872 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: -125.77210685959123 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -68.25629525758382 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -164.0359994997228 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: 152.94294074536123 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -79.60807584023836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -152.3661838756836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: 108.00064609514538 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: -49.743775696317186 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 60.45247178873086 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -39.04470963307884 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 162.1803307980037 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 9.92969165087203 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 114.3518025980552 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: 131.89385259629302 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: 37.19741424827555 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: -2.7871657057815753 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -164.95789425878124 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -176.67977199655076 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -10.490057167707135 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: -57.17237925721987 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: -110.38382518629984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 113.07566149382814 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -106.43121409057552 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: 14.087737436873084 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -11.270638617784385 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -70.90093990288422 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: 175.86559301300161 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 110.31780144865019 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: 113.67435759987251 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: 23.70008115257872 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: -125.77210685959123 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -68.25629525758382 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -164.0359994997228 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: 152.94294074536123 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -79.60807584023836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -152.3661838756836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: 108.00064609514538 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..249edf66b --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..ca84cdbab --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..276ac8964 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: -22.03093175098013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 156.48793196316188 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -175.92715597023567 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 48.93345804104689 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 51.25832114447584 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 55.85074347956356 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: 56.567440813682396 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: 71.84885710717569 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: 77.80497709850044 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 25.561998700649383 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -78.08819507060605 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 16.009750978802174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: 175.94496829579606 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: 109.89790881472663 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 126.68165400976267 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -132.84755928644677 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: -165.07746793666774 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -51.1895710528417 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: 50.85170580848961 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: -172.75843070631657 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 167.0791622886984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: -99.84010499030913 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: -55.91871719946025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: -94.35555086512639 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -70.63556338705644 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: 17.10680562632865 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: -17.396536128728798 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -73.3054500283241 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -111.585798479498 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: 97.70454626842587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: -22.03093175098013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 156.48793196316188 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -175.92715597023567 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 48.93345804104689 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 51.25832114447584 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 55.85074347956356 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: 56.567440813682396 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: 71.84885710717569 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: 77.80497709850044 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 25.561998700649383 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -78.08819507060605 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 16.009750978802174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: 175.94496829579606 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: 109.89790881472663 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 126.68165400976267 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -132.84755928644677 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: -165.07746793666774 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -51.1895710528417 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: 50.85170580848961 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: -172.75843070631657 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 167.0791622886984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: -99.84010499030913 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: -55.91871719946025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: -94.35555086512639 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -70.63556338705644 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: 17.10680562632865 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: -17.396536128728798 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -73.3054500283241 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -111.585798479498 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: 97.70454626842587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..d0ac4210d --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 16 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 16 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..ca84cdbab --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..53847ba39 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: 173.10294110706667 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: -104.24002950748215 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -133.20211601530315 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 161.3558499874514 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 88.56340247956655 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: -122.38912132062906 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: -73.95771159343587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: -25.569968664780617 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: -82.19090723706442 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 130.95457323281954 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -89.23303849049104 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 42.84249903517971 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: -109.22244583266593 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: 56.97091319573502 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 25.13842121777583 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: 140.1267774812846 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: -31.171501673774344 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: 109.11426218381382 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -45.38726833387085 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: 101.97551371991949 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: -11.372540494483047 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: 55.863117408910455 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: -161.03245329855838 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: 176.43356097881144 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -43.00158620539813 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -2.34216411603623 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: -165.20744592134665 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -65.52288910549007 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: 60.16966005700078 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: -57.856527522550095 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: 173.10294110706667 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: -104.24002950748215 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -133.20211601530315 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 161.3558499874514 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: 88.56340247956655 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: -122.38912132062906 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: -73.95771159343587 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: -25.569968664780617 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: -82.19090723706442 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 130.95457323281954 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: -89.23303849049104 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 42.84249903517971 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: -109.22244583266593 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: 56.97091319573502 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: 25.13842121777583 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: 140.1267774812846 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: -31.171501673774344 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: 109.11426218381382 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -45.38726833387085 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: 101.97551371991949 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: -11.372540494483047 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: 55.863117408910455 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: -161.03245329855838 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: 176.43356097881144 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -43.00158620539813 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -2.34216411603623 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: -165.20744592134665 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -65.52288910549007 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: 60.16966005700078 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: -57.856527522550095 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..b9e889ac0 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -96 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -96 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..ca84cdbab --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..dbdfea957 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: 76.48004818166527 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 89.69089888103736 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -124.37277204484633 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 73.74878492329955 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: -81.7169928244427 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 48.37585512441814 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: -147.7703403053194 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: -5.541002289898671 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: 175.89238498694135 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -17.942734685032008 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: 107.53400994099513 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -2.485690521751792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: 47.70919252597989 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: -111.45822077398043 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: -123.13669552328805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -85.92216957767756 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: 56.94001669011436 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -122.40151931074664 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -114.87995164090268 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: -40.67581645270988 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 30.26831608234096 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: -84.10376294777038 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: 40.83638879512628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: 22.087213302507877 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -67.67447851164381 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -145.47961077120564 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: 161.71499000968612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -91.06823335257003 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -11.234847994043548 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: -31.02726937845145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.34466788365575 + lon: -124.98262441708803 + headingDegrees: 85.0 + speedKmph: 8.0 + rot: 76.48004818166527 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.52374935036434 + lon: -124.85749961243438 + headingDegrees: 225.0 + speedKmph: 1.0 + rot: 89.69089888103736 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.058801833927184 + lon: -124.6720328042949 + headingDegrees: 93.0 + speedKmph: 3.0 + rot: -124.37277204484633 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.67857163621956 + lon: -124.4259853981998 + headingDegrees: 301.0 + speedKmph: 7.0 + rot: 73.74878492329955 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.484802108229275 + lon: -125.19292205687523 + headingDegrees: 229.0 + speedKmph: 13.0 + rot: -81.7169928244427 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.20541883569058 + lon: -125.08583344594157 + headingDegrees: 242.0 + speedKmph: 1.0 + rot: 48.37585512441814 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.110268756003514 + lon: -124.69739687767283 + headingDegrees: 108.0 + speedKmph: 0.0 + rot: -147.7703403053194 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.79230135894477 + lon: -125.03677995827755 + headingDegrees: 259.0 + speedKmph: 14.0 + rot: -5.541002289898671 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.70753230139577 + lon: -124.93400534617449 + headingDegrees: 142.0 + speedKmph: 12.0 + rot: 175.89238498694135 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.520413307859535 + lon: -124.65424795295158 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -17.942734685032008 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.40740079958999 + lon: -124.37529031195008 + headingDegrees: 348.0 + speedKmph: 6.0 + rot: 107.53400994099513 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.33800174178507 + lon: -124.9466983514742 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -2.485690521751792 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.79258647621828 + lon: -125.00871880918022 + headingDegrees: 210.0 + speedKmph: 14.0 + rot: 47.70919252597989 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.665036799018445 + lon: -124.39576017143933 + headingDegrees: 309.0 + speedKmph: 15.0 + rot: -111.45822077398043 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.123745136018876 + lon: -125.05984100972792 + headingDegrees: 310.0 + speedKmph: 15.0 + rot: -123.13669552328805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.15488243992691 + lon: -125.06247192339418 + headingDegrees: 257.0 + speedKmph: 3.0 + rot: -85.92216957767756 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.89521111560801 + lon: -124.83143312104818 + headingDegrees: 102.0 + speedKmph: 1.0 + rot: 56.94001669011436 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.621852541672745 + lon: -124.54621513260163 + headingDegrees: 31.0 + speedKmph: 12.0 + rot: -122.40151931074664 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.891802105161176 + lon: -124.6416278010997 + headingDegrees: 106.0 + speedKmph: 12.0 + rot: -114.87995164090268 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.33345037254924 + lon: -124.3517364098488 + headingDegrees: 221.0 + speedKmph: 0.0 + rot: -40.67581645270988 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.75089037284379 + lon: -124.79848410736072 + headingDegrees: 318.0 + speedKmph: 15.0 + rot: 30.26831608234096 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.78252966944804 + lon: -124.71696441876416 + headingDegrees: 111.0 + speedKmph: 1.0 + rot: -84.10376294777038 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.66585750733315 + lon: -124.4283252353363 + headingDegrees: 71.0 + speedKmph: 6.0 + rot: 40.83638879512628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.6660711746621 + lon: -124.86069686118178 + headingDegrees: 15.0 + speedKmph: 13.0 + rot: 22.087213302507877 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.267592563445625 + lon: -124.8420360221907 + headingDegrees: 323.0 + speedKmph: 6.0 + rot: -67.67447851164381 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.30171989842075 + lon: -125.07653115130958 + headingDegrees: 232.0 + speedKmph: 9.0 + rot: -145.47961077120564 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.4618201640397 + lon: -125.11857593810696 + headingDegrees: 339.0 + speedKmph: 8.0 + rot: 161.71499000968612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.06394616916037 + lon: -124.89144776775925 + headingDegrees: 85.0 + speedKmph: 4.0 + rot: -91.06823335257003 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.31112293763158 + lon: -124.9568632457069 + headingDegrees: 197.0 + speedKmph: 0.0 + rot: -11.234847994043548 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.785419757638365 + lon: -124.632977161236 + headingDegrees: 7.0 + speedKmph: 9.0 + rot: -31.02726937845145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..a338000c4 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34466788365575 + longitude: + dtype: float32 + val: -124.98262441708803 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.52374935036434 + longitude: + dtype: float32 + val: -124.85749961243438 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 225.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.058801833927184 + longitude: + dtype: float32 + val: -124.6720328042949 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 93.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.67857163621956 + longitude: + dtype: float32 + val: -124.4259853981998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 301.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.484802108229275 + longitude: + dtype: float32 + val: -125.19292205687523 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 229.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.20541883569058 + longitude: + dtype: float32 + val: -125.08583344594157 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 242.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.110268756003514 + longitude: + dtype: float32 + val: -124.69739687767283 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 108.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79230135894477 + longitude: + dtype: float32 + val: -125.03677995827755 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 259.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.70753230139577 + longitude: + dtype: float32 + val: -124.93400534617449 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.520413307859535 + longitude: + dtype: float32 + val: -124.65424795295158 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.40740079958999 + longitude: + dtype: float32 + val: -124.37529031195008 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 348.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33800174178507 + longitude: + dtype: float32 + val: -124.9466983514742 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.79258647621828 + longitude: + dtype: float32 + val: -125.00871880918022 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 210.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.665036799018445 + longitude: + dtype: float32 + val: -124.39576017143933 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 309.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.123745136018876 + longitude: + dtype: float32 + val: -125.05984100972792 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.15488243992691 + longitude: + dtype: float32 + val: -125.06247192339418 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 257.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.89521111560801 + longitude: + dtype: float32 + val: -124.83143312104818 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 102.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.621852541672745 + longitude: + dtype: float32 + val: -124.54621513260163 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 31.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.891802105161176 + longitude: + dtype: float32 + val: -124.6416278010997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 106.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -101 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.33345037254924 + longitude: + dtype: float32 + val: -124.3517364098488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 221.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75089037284379 + longitude: + dtype: float32 + val: -124.79848410736072 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.78252966944804 + longitude: + dtype: float32 + val: -124.71696441876416 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.66585750733315 + longitude: + dtype: float32 + val: -124.4283252353363 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 71.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6660711746621 + longitude: + dtype: float32 + val: -124.86069686118178 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.267592563445625 + longitude: + dtype: float32 + val: -124.8420360221907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30171989842075 + longitude: + dtype: float32 + val: -125.07653115130958 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4618201640397 + longitude: + dtype: float32 + val: -125.11857593810696 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 339.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.06394616916037 + longitude: + dtype: float32 + val: -124.89144776775925 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.31112293763158 + longitude: + dtype: float32 + val: -124.9568632457069 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 197.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.785419757638365 + longitude: + dtype: float32 + val: -124.632977161236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 7.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..ca84cdbab --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random2_goal-southwest_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80175186895805 + longitude: + dtype: float32 + val: -131.99232000114253 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..180602d7e --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: -104.76657679803107 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 62.0181267129916 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -136.73296799351743 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: -14.95165950093201 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 35.30723615296259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: 99.64330203256458 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -84.70919102487055 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: -67.82989854580164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: 8.781471599841723 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 10.101781472787735 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: 109.09433666153745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 22.590394107824125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: -127.82557614160214 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: 158.6574608570515 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 10.923421509074473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 8.697924503941067 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 162.03484322372196 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: -173.58526141158077 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 150.95345816469177 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: -120.97885698282346 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 41.12839544676922 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: 143.98058576701857 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: -102.56649686180413 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: -120.32270734915261 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 53.874612530079645 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 164.51738358716898 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -125.73514707308328 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -34.332704648700286 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -142.88000807154665 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 134.97828887165787 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: -104.76657679803107 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 62.0181267129916 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -136.73296799351743 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: -14.95165950093201 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 35.30723615296259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: 99.64330203256458 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -84.70919102487055 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: -67.82989854580164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: 8.781471599841723 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 10.101781472787735 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: 109.09433666153745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 22.590394107824125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: -127.82557614160214 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: 158.6574608570515 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 10.923421509074473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 8.697924503941067 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 162.03484322372196 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: -173.58526141158077 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 150.95345816469177 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: -120.97885698282346 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 41.12839544676922 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: 143.98058576701857 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: -102.56649686180413 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: -120.32270734915261 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 53.874612530079645 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 164.51738358716898 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -125.73514707308328 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -34.332704648700286 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -142.88000807154665 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 134.97828887165787 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..9b953f587 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -31 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -103 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -29 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -31 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -103 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..70bd7a433 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..4cc6957d1 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: 13.246012656471152 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 169.31910716525618 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -50.2430971640419 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 171.97637726387808 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: -88.403685629841 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: 162.50190662081712 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: 36.04621281364447 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: 42.30469041352757 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: -101.85777557653996 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 56.427936196659346 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: -132.30500794923947 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: -43.79996109842904 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: 146.39369462863357 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: 0.6566119464527844 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: -145.24117536080365 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 63.361389196735985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 129.76546162495504 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 4.734372408759469 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: -83.25102876526492 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: -175.81976802222266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: -106.70429428505453 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: -150.12546872075802 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: -122.53146586643612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 97.84541812768197 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 127.3096698216994 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: -19.840479884614496 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: 2.2759865537181554 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -118.56583114043269 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -116.52018065395372 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 155.92804811602093 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: 13.246012656471152 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 169.31910716525618 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -50.2430971640419 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 171.97637726387808 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: -88.403685629841 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: 162.50190662081712 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: 36.04621281364447 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: 42.30469041352757 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: -101.85777557653996 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 56.427936196659346 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: -132.30500794923947 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: -43.79996109842904 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: 146.39369462863357 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: 0.6566119464527844 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: -145.24117536080365 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 63.361389196735985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 129.76546162495504 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 4.734372408759469 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: -83.25102876526492 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: -175.81976802222266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: -106.70429428505453 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: -150.12546872075802 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: -122.53146586643612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 97.84541812768197 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 127.3096698216994 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: -19.840479884614496 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: 2.2759865537181554 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -118.56583114043269 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -116.52018065395372 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 155.92804811602093 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..151d329cb --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 124 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 124 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 82 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 17 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..70bd7a433 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..0722db0fb --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: -78.02419871485628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 167.92055121268754 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -167.03720671349237 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 146.36793692184477 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 139.24953008032895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: -87.78295294153367 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -132.21401841542564 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: 30.97177711656559 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: -35.73821584760401 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 53.30956049761204 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: 71.4412048989416 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 102.59292264878786 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: -54.64727800750039 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: -148.8587574465794 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 89.88734973538243 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: -166.46168101304642 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 41.58060576739183 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 122.16911556097551 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 145.47784404756266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: 72.26553650981805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 31.642602023132724 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: 20.919553323807634 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: 49.318536458651124 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 133.43628300797582 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 123.24340851214674 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 81.14834058602418 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -132.31290150131952 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: 79.86148314965072 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: 2.6221753682356734 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: -76.80219070499642 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: -78.02419871485628 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 167.92055121268754 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: -167.03720671349237 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 146.36793692184477 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 139.24953008032895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: -87.78295294153367 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -132.21401841542564 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: 30.97177711656559 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: -35.73821584760401 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: 53.30956049761204 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: 71.4412048989416 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 102.59292264878786 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: -54.64727800750039 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: -148.8587574465794 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 89.88734973538243 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: -166.46168101304642 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 41.58060576739183 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 122.16911556097551 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 145.47784404756266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: 72.26553650981805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 31.642602023132724 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: 20.919553323807634 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: 49.318536458651124 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 133.43628300797582 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: 123.24340851214674 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 81.14834058602418 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -132.31290150131952 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: 79.86148314965072 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: 2.6221753682356734 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: -76.80219070499642 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..85d6ca0d1 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -124 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 34 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 85 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -124 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 34 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 85 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 26 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..70bd7a433 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..15831c1b9 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: 15.429271175791968 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 167.36142406716846 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: 175.47320635488205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 113.22493152949295 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 59.04764723495174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: -70.44111779767573 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -99.77878942239109 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: -106.37883905644671 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: 99.47002931830434 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: -145.50261324952837 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: -71.36812955344101 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 20.654769595609366 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: 82.64448943120397 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: -153.75167720689998 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 169.83893232703127 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 23.494380715929026 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 66.611750635769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 78.54178696332394 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 10.294276746441568 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: 8.27941949978927 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 79.858551650435 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: -140.170716080259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: 138.73936313251983 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 177.6210291926999 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: -77.68751520813531 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 125.55662376540164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -156.85878881517934 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -94.30714733980855 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -2.5203893519260987 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 17.167495537207145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.84614837021345 + lon: -124.99129393598717 + headingDegrees: 224.0 + speedKmph: 11.0 + rot: 15.429271175791968 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.446941396234564 + lon: -124.7831593162085 + headingDegrees: 267.0 + speedKmph: 14.0 + rot: 167.36142406716846 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.81611086251569 + lon: -124.39710208705276 + headingDegrees: 340.0 + speedKmph: 10.0 + rot: 175.47320635488205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.25948036059645 + lon: -124.98351733100814 + headingDegrees: 169.0 + speedKmph: 3.0 + rot: 113.22493152949295 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63234092390178 + lon: -124.91522829643036 + headingDegrees: 4.0 + speedKmph: 3.0 + rot: 59.04764723495174 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.73616514254308 + lon: -124.37300902111477 + headingDegrees: 276.0 + speedKmph: 2.0 + rot: -70.44111779767573 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.53119750241081 + lon: -124.84874351853566 + headingDegrees: 222.0 + speedKmph: 2.0 + rot: -99.77878942239109 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.8113588506951 + lon: -125.28967196625729 + headingDegrees: 75.0 + speedKmph: 3.0 + rot: -106.37883905644671 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.38542753877871 + lon: -125.15201553978719 + headingDegrees: 104.0 + speedKmph: 15.0 + rot: 99.47002931830434 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.81689936479167 + lon: -124.90178423013806 + headingDegrees: 73.0 + speedKmph: 15.0 + rot: -145.50261324952837 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.59695599219763 + lon: -124.55586406244821 + headingDegrees: 322.0 + speedKmph: 4.0 + rot: -71.36812955344101 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.37064577038315 + lon: -124.94619255484724 + headingDegrees: 52.0 + speedKmph: 1.0 + rot: 20.654769595609366 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.43527164750087 + lon: -124.54736479466725 + headingDegrees: 1.0 + speedKmph: 10.0 + rot: 82.64448943120397 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.330276797414264 + lon: -124.76868289612058 + headingDegrees: 295.0 + speedKmph: 7.0 + rot: -153.75167720689998 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.93630497304392 + lon: -124.70692127202553 + headingDegrees: 254.0 + speedKmph: 0.0 + rot: 169.83893232703127 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.510599252739 + lon: -124.86566201744468 + headingDegrees: 270.0 + speedKmph: 13.0 + rot: 23.494380715929026 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.5433541657374 + lon: -124.78151637932989 + headingDegrees: 132.0 + speedKmph: 9.0 + rot: 66.611750635769 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.50450978210213 + lon: -124.98915151511045 + headingDegrees: 65.0 + speedKmph: 15.0 + rot: 78.54178696332394 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.388944792620705 + lon: -124.58679584539998 + headingDegrees: 335.0 + speedKmph: 15.0 + rot: 10.294276746441568 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.49989806423084 + lon: -124.92214016767443 + headingDegrees: 189.0 + speedKmph: 12.0 + rot: 8.27941949978927 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.55076546694018 + lon: -124.82634478464507 + headingDegrees: 287.0 + speedKmph: 13.0 + rot: 79.858551650435 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.75939650340381 + lon: -125.01747093611874 + headingDegrees: 32.0 + speedKmph: 5.0 + rot: -140.170716080259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.39855966881071 + lon: -124.42458517252209 + headingDegrees: 122.0 + speedKmph: 14.0 + rot: 138.73936313251983 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.54329987770262 + lon: -124.71349666001916 + headingDegrees: 114.0 + speedKmph: 2.0 + rot: 177.6210291926999 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.60290964561346 + lon: -124.75259782539672 + headingDegrees: 248.0 + speedKmph: 15.0 + rot: -77.68751520813531 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.517597914741174 + lon: -124.48961051531978 + headingDegrees: 356.0 + speedKmph: 8.0 + rot: 125.55662376540164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.30123792185382 + lon: -124.64212324419822 + headingDegrees: 214.0 + speedKmph: 13.0 + rot: -156.85878881517934 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44617145506901 + lon: -124.79677436289407 + headingDegrees: 20.0 + speedKmph: 14.0 + rot: -94.30714733980855 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.82484754840222 + lon: -124.95988778779058 + headingDegrees: 302.0 + speedKmph: 2.0 + rot: -2.5203893519260987 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.425875492635484 + lon: -124.75078368391266 + headingDegrees: 227.0 + speedKmph: 12.0 + rot: 17.167495537207145 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..767082fe6 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 3 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.84614837021345 + longitude: + dtype: float32 + val: -124.99129393598717 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 224.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.446941396234564 + longitude: + dtype: float32 + val: -124.7831593162085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 267.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81611086251569 + longitude: + dtype: float32 + val: -124.39710208705276 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 340.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25948036059645 + longitude: + dtype: float32 + val: -124.98351733100814 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 169.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 3 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63234092390178 + longitude: + dtype: float32 + val: -124.91522829643036 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 4.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73616514254308 + longitude: + dtype: float32 + val: -124.37300902111477 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.53119750241081 + longitude: + dtype: float32 + val: -124.84874351853566 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 222.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.8113588506951 + longitude: + dtype: float32 + val: -125.28967196625729 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.38542753877871 + longitude: + dtype: float32 + val: -125.15201553978719 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.81689936479167 + longitude: + dtype: float32 + val: -124.90178423013806 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 73.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59695599219763 + longitude: + dtype: float32 + val: -124.55586406244821 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 322.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37064577038315 + longitude: + dtype: float32 + val: -124.94619255484724 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 52.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43527164750087 + longitude: + dtype: float32 + val: -124.54736479466725 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 1.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.330276797414264 + longitude: + dtype: float32 + val: -124.76868289612058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 295.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.93630497304392 + longitude: + dtype: float32 + val: -124.70692127202553 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 254.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.510599252739 + longitude: + dtype: float32 + val: -124.86566201744468 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 270.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5433541657374 + longitude: + dtype: float32 + val: -124.78151637932989 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 132.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50450978210213 + longitude: + dtype: float32 + val: -124.98915151511045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 65.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.388944792620705 + longitude: + dtype: float32 + val: -124.58679584539998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 335.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49989806423084 + longitude: + dtype: float32 + val: -124.92214016767443 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 189.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55076546694018 + longitude: + dtype: float32 + val: -124.82634478464507 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75939650340381 + longitude: + dtype: float32 + val: -125.01747093611874 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 32.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39855966881071 + longitude: + dtype: float32 + val: -124.42458517252209 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 122.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54329987770262 + longitude: + dtype: float32 + val: -124.71349666001916 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 114.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60290964561346 + longitude: + dtype: float32 + val: -124.75259782539672 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 248.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.517597914741174 + longitude: + dtype: float32 + val: -124.48961051531978 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 356.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.30123792185382 + longitude: + dtype: float32 + val: -124.64212324419822 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 214.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 123 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44617145506901 + longitude: + dtype: float32 + val: -124.79677436289407 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.82484754840222 + longitude: + dtype: float32 + val: -124.95988778779058 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.425875492635484 + longitude: + dtype: float32 + val: -124.75078368391266 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 227.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..70bd7a433 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random3_goal-southwest_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80048713549034 + longitude: + dtype: float32 + val: 180.0 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..e34755c96 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: 162.78465916184388 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: 7.584979211304216 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: 35.27610541597477 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: -90.06053483435859 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: 34.6746264934618 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: -18.34133202981326 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: -155.9689733745736 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -157.73206208988287 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: 107.51675322469578 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -84.7769590974291 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -144.23490587623976 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -135.27007877741437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: 135.59946284409676 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -79.80003565856579 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 22.815860274548783 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -89.2378896217134 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 80.67553141112506 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 93.81126523908881 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: -39.90192444571505 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -72.92371016284125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: -52.3037833682926 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 35.87454654340729 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: 80.32267164831097 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: 147.02539416831956 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: -132.12324387823082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: 150.08340342348384 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -104.04924365593874 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: 55.66863559168391 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -77.91219990704259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: 156.85833160541222 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: 162.78465916184388 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: 7.584979211304216 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: 35.27610541597477 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: -90.06053483435859 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: 34.6746264934618 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: -18.34133202981326 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: -155.9689733745736 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -157.73206208988287 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: 107.51675322469578 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -84.7769590974291 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -144.23490587623976 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -135.27007877741437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: 135.59946284409676 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -79.80003565856579 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 22.815860274548783 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -89.2378896217134 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 80.67553141112506 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 93.81126523908881 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: -39.90192444571505 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -72.92371016284125 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: -52.3037833682926 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 35.87454654340729 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: 80.32267164831097 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: 147.02539416831956 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: -132.12324387823082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: 150.08340342348384 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -104.04924365593874 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: 55.66863559168391 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -77.91219990704259 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: 156.85833160541222 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..82019ad3e --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -49 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -28 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + 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dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -49 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -28 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 0 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..cb6645c09 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -113.93182384388393 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: -48.53666200365919 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: 38.43983795767025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 105.72912638140292 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -116.19522995376266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: 95.37800056580733 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 127.97452120010689 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -124.1015817066149 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: -164.82134882571907 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -161.67592681778746 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -132.91967553752684 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -160.96889081834172 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: -117.467195153109 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -38.39026838527789 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: -169.9547247371112 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -144.0826580352561 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 120.99457222656133 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 174.48489494494186 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: 110.07896275307348 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -74.2140007527612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: 74.02628654416947 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 69.5670284548784 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: 104.68617570098598 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: 108.73292565360225 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: 152.2214350627998 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: -71.45048002794205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -126.71618329606265 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: -135.97004556032908 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: 104.04824836139977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: -4.283445710057549 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -113.93182384388393 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: -48.53666200365919 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: 38.43983795767025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 105.72912638140292 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -116.19522995376266 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: 95.37800056580733 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 127.97452120010689 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -124.1015817066149 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: -164.82134882571907 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -161.67592681778746 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -132.91967553752684 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -160.96889081834172 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: -117.467195153109 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -38.39026838527789 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: -169.9547247371112 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -144.0826580352561 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 120.99457222656133 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 174.48489494494186 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: 110.07896275307348 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -74.2140007527612 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: 74.02628654416947 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 69.5670284548784 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: 104.68617570098598 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: 108.73292565360225 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: 152.2214350627998 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: -71.45048002794205 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -126.71618329606265 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: -135.97004556032908 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: 104.04824836139977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: -4.283445710057549 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..5a425c500 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -72 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 87 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 60 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 21 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -42 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 88 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..c1e2f4a83 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -66.17869452599717 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: -37.24892453900745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: -7.381457645519674 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 3.1245514201873164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -89.87101109305527 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: 31.040042278978547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 29.496125483624667 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -112.15825760989041 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: 157.80943345753627 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -98.23165681768896 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -138.5949455559487 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -77.42525846425839 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: -74.41080068642738 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -72.03111744155815 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 120.73057265012977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -121.58802094883578 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 13.967596289229164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 64.36503169306519 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: -15.961973370721381 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -29.368960265746466 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: 55.00422253819423 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 20.428487756124696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: -149.0739296056592 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: -2.226444472714462 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: 69.11371673471419 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: 174.2699149808277 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: 175.77169780840654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: 22.482163246676407 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -95.69588621819837 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: -169.7172257543547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -66.17869452599717 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: -37.24892453900745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: -7.381457645519674 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 3.1245514201873164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -89.87101109305527 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: 31.040042278978547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 29.496125483624667 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: -112.15825760989041 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: 157.80943345753627 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -98.23165681768896 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -138.5949455559487 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: -77.42525846425839 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: -74.41080068642738 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -72.03111744155815 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 120.73057265012977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -121.58802094883578 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 13.967596289229164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 64.36503169306519 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: -15.961973370721381 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: -29.368960265746466 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: 55.00422253819423 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 20.428487756124696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: -149.0739296056592 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: -2.226444472714462 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: 69.11371673471419 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: 174.2699149808277 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: 175.77169780840654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: 22.482163246676407 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -95.69588621819837 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: -169.7172257543547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..fb9569a47 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 85 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 2 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 85 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 106 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -62 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 2 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 36 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -127 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 100 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..c150baefd --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -138.45166078464516 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: 149.7549211086842 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: -24.326574404208117 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 52.578793798028585 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -20.131485378043436 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: -139.59199261785506 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 128.37570181942505 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: 89.70540686141669 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: -7.236917825534817 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -127.52787799624892 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -92.13767078364516 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: 116.59048740592698 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: 52.52719210723572 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -66.85340377635806 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 97.8203386351492 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -75.5750113758082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 14.547157841809707 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 62.77572809090722 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: 90.49676672670302 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: 165.85650164470843 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: -64.2841958171012 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 46.95117139572645 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: -41.44208492563013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: -53.824996431083136 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: -71.25024112805939 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: -71.3755900096523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -122.70958176022805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: -98.88590238217272 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -52.651223753167315 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: 122.85984937166137 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.48126855156493 + lon: -124.4351373880274 + headingDegrees: 286.0 + speedKmph: 13.0 + rot: -138.45166078464516 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.515774700921014 + lon: -125.1496068588128 + headingDegrees: 0.0 + speedKmph: 10.0 + rot: 149.7549211086842 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.55040708423394 + lon: -125.01893928648452 + headingDegrees: 134.0 + speedKmph: 12.0 + rot: -24.326574404208117 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.3927887079608 + lon: -125.15784705188014 + headingDegrees: 263.0 + speedKmph: 6.0 + rot: 52.578793798028585 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.4664178481448 + lon: -124.23379450837781 + headingDegrees: 69.0 + speedKmph: 8.0 + rot: -20.131485378043436 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.29884552006091 + lon: -124.3027035236955 + headingDegrees: 290.0 + speedKmph: 10.0 + rot: -139.59199261785506 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.14554331578707 + lon: -124.60550188720573 + headingDegrees: 33.0 + speedKmph: 12.0 + rot: 128.37570181942505 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.420167212221706 + lon: -124.35593125783112 + headingDegrees: 33.0 + speedKmph: 3.0 + rot: 89.70540686141669 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.42923429999211 + lon: -124.95557693938409 + headingDegrees: 343.0 + speedKmph: 9.0 + rot: -7.236917825534817 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.08892261841702 + lon: -124.85512351033033 + headingDegrees: 130.0 + speedKmph: 14.0 + rot: -127.52787799624892 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.87313793416265 + lon: -124.88068294750454 + headingDegrees: 232.0 + speedKmph: 11.0 + rot: -92.13767078364516 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.405668769070544 + lon: -124.39061775111199 + headingDegrees: 10.0 + speedKmph: 5.0 + rot: 116.59048740592698 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.10020150808228 + lon: -124.89463776679214 + headingDegrees: 212.0 + speedKmph: 1.0 + rot: 52.52719210723572 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.5588363561571 + lon: -124.55703775840956 + headingDegrees: 42.0 + speedKmph: 10.0 + rot: -66.85340377635806 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.58417651037747 + lon: -124.94130819462264 + headingDegrees: 174.0 + speedKmph: 2.0 + rot: 97.8203386351492 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.85771636595303 + lon: -124.74302109252491 + headingDegrees: 252.0 + speedKmph: 0.0 + rot: -75.5750113758082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.39891867341927 + lon: -124.38225271987358 + headingDegrees: 120.0 + speedKmph: 14.0 + rot: 14.547157841809707 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.59033336300247 + lon: -124.80063381994236 + headingDegrees: 136.0 + speedKmph: 6.0 + rot: 62.77572809090722 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.21965145463885 + lon: -124.48331643654957 + headingDegrees: 19.0 + speedKmph: 6.0 + rot: 90.49676672670302 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.85351947285686 + lon: -125.2190264828795 + headingDegrees: 354.0 + speedKmph: 3.0 + rot: 165.85650164470843 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.610842207133466 + lon: -125.09461173879693 + headingDegrees: 241.0 + speedKmph: 14.0 + rot: -64.2841958171012 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.43431074501861 + lon: -125.13741852006714 + headingDegrees: 287.0 + speedKmph: 8.0 + rot: 46.95117139572645 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.468286195214176 + lon: -124.27472502081105 + headingDegrees: 147.0 + speedKmph: 1.0 + rot: -41.44208492563013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.60718809945693 + lon: -124.78192776271403 + headingDegrees: 176.0 + speedKmph: 12.0 + rot: -53.824996431083136 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.49366808842013 + lon: -124.51509992770575 + headingDegrees: 44.0 + speedKmph: 9.0 + rot: -71.25024112805939 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.3783192078282 + lon: -124.68750254047488 + headingDegrees: 163.0 + speedKmph: 14.0 + rot: -71.3755900096523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.348398948830884 + lon: -124.76315885494485 + headingDegrees: 317.0 + speedKmph: 9.0 + rot: -122.70958176022805 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.432021544367856 + lon: -124.52092210308673 + headingDegrees: 172.0 + speedKmph: 2.0 + rot: -98.88590238217272 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.809470660326866 + lon: -124.8824934907722 + headingDegrees: 290.0 + speedKmph: 5.0 + rot: -52.651223753167315 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.37744965742431 + lon: -124.40771781352117 + headingDegrees: 333.0 + speedKmph: 6.0 + rot: 122.85984937166137 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..4198d4591 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -67 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -16 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: 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HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -3 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48126855156493 + longitude: + dtype: float32 + val: -124.4351373880274 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 286.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.515774700921014 + longitude: + dtype: float32 + val: -125.1496068588128 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.55040708423394 + longitude: + dtype: float32 + val: -125.01893928648452 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 134.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3927887079608 + longitude: + dtype: float32 + val: -125.15784705188014 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 263.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.4664178481448 + longitude: + dtype: float32 + val: -124.23379450837781 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 69.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -67 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.29884552006091 + longitude: + dtype: float32 + val: -124.3027035236955 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 32 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14554331578707 + longitude: + dtype: float32 + val: -124.60550188720573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.420167212221706 + longitude: + dtype: float32 + val: -124.35593125783112 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.42923429999211 + longitude: + dtype: float32 + val: -124.95557693938409 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 343.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -10 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.08892261841702 + longitude: + dtype: float32 + val: -124.85512351033033 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 130.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.87313793416265 + longitude: + dtype: float32 + val: -124.88068294750454 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 232.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.405668769070544 + longitude: + dtype: float32 + val: -124.39061775111199 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.10020150808228 + longitude: + dtype: float32 + val: -124.89463776679214 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 212.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5588363561571 + longitude: + dtype: float32 + val: -124.55703775840956 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 42.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.58417651037747 + longitude: + dtype: float32 + val: -124.94130819462264 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 174.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -16 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85771636595303 + longitude: + dtype: float32 + val: -124.74302109252491 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 252.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.39891867341927 + longitude: + dtype: float32 + val: -124.38225271987358 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 120.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.59033336300247 + longitude: + dtype: float32 + val: -124.80063381994236 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 136.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21965145463885 + longitude: + dtype: float32 + val: -124.48331643654957 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 19.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 125 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.85351947285686 + longitude: + dtype: float32 + val: -125.2190264828795 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 354.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -33 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.610842207133466 + longitude: + dtype: float32 + val: -125.09461173879693 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 241.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.43431074501861 + longitude: + dtype: float32 + val: -125.13741852006714 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 287.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.468286195214176 + longitude: + dtype: float32 + val: -124.27472502081105 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 147.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -110 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.60718809945693 + longitude: + dtype: float32 + val: -124.78192776271403 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 176.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 22 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.49366808842013 + longitude: + dtype: float32 + val: -124.51509992770575 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 44.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.3783192078282 + longitude: + dtype: float32 + val: -124.68750254047488 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 163.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 14.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.348398948830884 + longitude: + dtype: float32 + val: -124.76315885494485 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -3 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.432021544367856 + longitude: + dtype: float32 + val: -124.52092210308673 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 172.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.809470660326866 + longitude: + dtype: float32 + val: -124.8824934907722 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 290.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.37744965742431 + longitude: + dtype: float32 + val: -124.40771781352117 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 333.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random4_goal-southwest_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..cc1c86e63 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 95.2692151181376 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: 144.3998366126179 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: -100.58611564232189 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: 36.90935566307303 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 13.199799436503895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: -172.5057302563236 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -25.911026966749034 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: 141.81949966411725 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -155.98370043731012 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: 20.04061048587633 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 149.13711509463445 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -174.1867454383019 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -138.7565354874004 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -132.16920182367943 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: -10.833270742278984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 94.28868287130791 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: 6.280150911374562 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -16.433025181038744 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 19.249820947730313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: -99.66424586319584 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -91.24104553188243 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -89.956641778969 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: 2.7509187601976635 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: -38.56439735438025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: -100.07504865676631 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 66.42136280423554 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 56.288199325342276 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 47.30238539718033 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -120.0348302151971 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: -92.4779163684847 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 95.2692151181376 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: 144.3998366126179 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: -100.58611564232189 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: 36.90935566307303 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 13.199799436503895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: -172.5057302563236 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -25.911026966749034 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: 141.81949966411725 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -155.98370043731012 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: 20.04061048587633 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 149.13711509463445 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -174.1867454383019 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -138.7565354874004 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -132.16920182367943 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: -10.833270742278984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 94.28868287130791 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: 6.280150911374562 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -16.433025181038744 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 19.249820947730313 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: -99.66424586319584 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -91.24104553188243 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -89.956641778969 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: 2.7509187601976635 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: -38.56439735438025 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: -100.07504865676631 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 66.42136280423554 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 56.288199325342276 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 47.30238539718033 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -120.0348302151971 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: -92.4779163684847 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..e760d42aa --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -11 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 48 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -122 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -18 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 66 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -1 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 93 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 8 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..7b1c126b4 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80104919563225 + longitude: + dtype: float32 + val: -52.94189489426017 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80104919563225 + longitude: + dtype: float32 + val: -52.94189489426017 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..bf798028d --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 73.06637559725743 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: 156.40149907671406 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: 167.5955288682614 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -37.69360776946044 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 168.35505702837912 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: -108.23855835567191 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 85.07336787283464 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: -130.6630703190178 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -127.05730869171566 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: -175.13079051123347 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 29.30285879682728 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: 98.88273070047745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -32.86588028332986 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -71.90028758794406 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: 30.864140389033395 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 179.89589201765534 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -11.932560060879098 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: 154.62245979720598 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 29.939944396907038 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: -159.06628559058277 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -111.99006471643646 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -111.27091783652723 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: -129.92908306475067 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: -73.89689447844836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 0.11082454271175379 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 9.34634754820425 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: -83.6349757154927 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 120.07513839061937 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: 116.45157868568555 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 136.31643750927742 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 73.06637559725743 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: 156.40149907671406 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: 167.5955288682614 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -37.69360776946044 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 168.35505702837912 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: -108.23855835567191 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: 85.07336787283464 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: -130.6630703190178 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -127.05730869171566 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: -175.13079051123347 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 29.30285879682728 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: 98.88273070047745 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -32.86588028332986 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -71.90028758794406 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: 30.864140389033395 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 179.89589201765534 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -11.932560060879098 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: 154.62245979720598 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 29.939944396907038 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: -159.06628559058277 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -111.99006471643646 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -111.27091783652723 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: -129.92908306475067 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: -73.89689447844836 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 0.11082454271175379 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 9.34634754820425 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: -83.6349757154927 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 120.07513839061937 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: 116.45157868568555 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 136.31643750927742 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..c74bc6806 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 67 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 109 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -71 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 68 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 113 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -74 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 50 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 67 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 38 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 109 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -121 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -73 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -53 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -61 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -57 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 81 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 104 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -108 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..2f4ff1127 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 133.9968475881363 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: -101.99732309812308 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: 140.08658280263052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -161.20137555022538 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: -0.618237821415164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: 97.96095657153455 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -85.65344184751696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: -147.9054828364468 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -167.57222516529984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: -52.113854018624735 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 146.5145359382638 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -39.04157681684035 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -137.79847977490883 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -25.51805291077352 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: 68.08140908927058 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: -68.84439992368894 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -56.59253598409654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -13.506188867921026 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 65.0540252993523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: 44.57542906875602 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: 99.78472974111912 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -45.77664288094692 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: 108.7842678411157 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: 13.047984695422116 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 76.64062236623033 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: -143.186773824733 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 95.52913718280894 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 30.206761200008913 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -95.06427932236672 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 55.79224950007412 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: 133.9968475881363 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: -101.99732309812308 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: 140.08658280263052 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -161.20137555022538 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: -0.618237821415164 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: 97.96095657153455 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -85.65344184751696 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: -147.9054828364468 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -167.57222516529984 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: -52.113854018624735 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: 146.5145359382638 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -39.04157681684035 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -137.79847977490883 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: -25.51805291077352 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: 68.08140908927058 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: -68.84439992368894 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -56.59253598409654 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -13.506188867921026 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 65.0540252993523 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: 44.57542906875602 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: 99.78472974111912 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -45.77664288094692 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: 108.7842678411157 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: 13.047984695422116 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 76.64062236623033 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: -143.186773824733 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 95.52913718280894 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: 30.206761200008913 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -95.06427932236672 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 55.79224950007412 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..02a88c68a --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -47 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -47 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -77 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 75 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 35 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -95 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 80 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -24 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -27 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -45 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -117 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..8924eed45 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,561 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: -78.0757669028478 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: -57.790815349393895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: -89.13704534659693 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -164.6792835472775 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 32.18882059228093 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: 16.99098906582347 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -142.9046429318261 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: 107.41520539058354 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -7.420010885744887 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: 4.45619097625783 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -39.79405614898437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -143.04901111693562 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -178.24268618218292 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: 102.75168709869405 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: -74.50715004698954 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 160.6070033385247 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -19.600999916454015 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -14.398848140261151 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 142.8788855548013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: 147.87047486534425 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -91.83006754446143 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -138.10197325060253 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: -169.07753134087977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: 8.168731179886379 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 148.61812299100853 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 98.3830908369207 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 100.01851385204532 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: -176.89787828515946 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -14.362787390988132 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 148.16411806433985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.61842067978617 + lon: -124.5444541422716 + headingDegrees: 85.0 + speedKmph: 1.0 + rot: -78.0757669028478 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 1 + lat: 48.629184643878574 + lon: -125.4058230885733 + headingDegrees: 24.0 + speedKmph: 6.0 + rot: -57.790815349393895 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 2 + lat: 48.45834258608675 + lon: -124.41269760208793 + headingDegrees: 276.0 + speedKmph: 3.0 + rot: -89.13704534659693 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 3 + lat: 48.61318808121673 + lon: -124.88318152592021 + headingDegrees: 62.0 + speedKmph: 1.0 + rot: -164.6792835472775 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 4 + lat: 48.63022738649405 + lon: -124.28009953085756 + headingDegrees: 299.0 + speedKmph: 12.0 + rot: 32.18882059228093 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 5 + lat: 48.71032008168071 + lon: -125.20725444108156 + headingDegrees: 111.0 + speedKmph: 10.0 + rot: 16.99098906582347 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 6 + lat: 48.36421821841841 + lon: -125.18123206856677 + headingDegrees: 317.0 + speedKmph: 1.0 + rot: -142.9046429318261 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 7 + lat: 48.69812452386202 + lon: -124.61304461233802 + headingDegrees: 182.0 + speedKmph: 2.0 + rot: 107.41520539058354 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 8 + lat: 48.41563013288296 + lon: -124.4132998685929 + headingDegrees: 337.0 + speedKmph: 13.0 + rot: -7.420010885744887 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 9 + lat: 48.73646383501497 + lon: -125.29413060266113 + headingDegrees: 328.0 + speedKmph: 9.0 + rot: 4.45619097625783 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 10 + lat: 48.239019661936624 + lon: -124.61856280272379 + headingDegrees: 183.0 + speedKmph: 6.0 + rot: -39.79405614898437 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 11 + lat: 48.86495877108123 + lon: -124.65161705663984 + headingDegrees: 58.0 + speedKmph: 4.0 + rot: -143.04901111693562 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 12 + lat: 48.35064404520543 + lon: -124.84667833634305 + headingDegrees: 16.0 + speedKmph: 10.0 + rot: -178.24268618218292 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 13 + lat: 48.652082274297584 + lon: -124.1628296309164 + headingDegrees: 170.0 + speedKmph: 5.0 + rot: 102.75168709869405 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 14 + lat: 48.451381374915385 + lon: -124.346294547324 + headingDegrees: 149.0 + speedKmph: 3.0 + rot: -74.50715004698954 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 15 + lat: 48.34105276516963 + lon: -124.89255868913573 + headingDegrees: 128.0 + speedKmph: 11.0 + rot: 160.6070033385247 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 16 + lat: 48.50868355021881 + lon: -124.7060976392906 + headingDegrees: 326.0 + speedKmph: 1.0 + rot: -19.600999916454015 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 17 + lat: 48.433839946036606 + lon: -124.6226051233039 + headingDegrees: 276.0 + speedKmph: 9.0 + rot: -14.398848140261151 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 18 + lat: 48.48284782465366 + lon: -124.87641655877394 + headingDegrees: 64.0 + speedKmph: 7.0 + rot: 142.8788855548013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 19 + lat: 48.83086703268401 + lon: -124.92394471911683 + headingDegrees: 323.0 + speedKmph: 15.0 + rot: 147.87047486534425 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 20 + lat: 48.56709528137824 + lon: -125.45533646979852 + headingDegrees: 6.0 + speedKmph: 4.0 + rot: -91.83006754446143 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 21 + lat: 48.625258212265706 + lon: -125.20704321245998 + headingDegrees: 148.0 + speedKmph: 15.0 + rot: -138.10197325060253 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 22 + lat: 48.647411848918246 + lon: -124.54402991530728 + headingDegrees: 105.0 + speedKmph: 3.0 + rot: -169.07753134087977 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 23 + lat: 48.68032137600396 + lon: -124.78694469665997 + headingDegrees: 137.0 + speedKmph: 15.0 + rot: 8.168731179886379 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 24 + lat: 48.26225472308407 + lon: -124.37677621598758 + headingDegrees: 16.0 + speedKmph: 2.0 + rot: 148.61812299100853 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 25 + lat: 48.09901576684643 + lon: -124.49526391246907 + headingDegrees: 104.0 + speedKmph: 1.0 + rot: 98.3830908369207 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 26 + lat: 48.5314454713883 + lon: -124.71791859783437 + headingDegrees: 75.0 + speedKmph: 0.0 + rot: 100.01851385204532 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 27 + lat: 48.44599106727562 + lon: -124.79584755564018 + headingDegrees: 244.0 + speedKmph: 2.0 + rot: -176.89787828515946 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 28 + lat: 48.41276965271506 + lon: -124.82574716041476 + headingDegrees: 89.0 + speedKmph: 15.0 + rot: -14.362787390988132 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' + - ID: 29 + lat: 48.05426579708035 + lon: -124.70655643357726 + headingDegrees: 279.0 + speedKmph: 6.0 + rot: 148.16411806433985 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..1b807c2f6 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -34 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 96 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61842067978617 + longitude: + dtype: float32 + val: -124.5444541422716 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 85.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.629184643878574 + longitude: + dtype: float32 + val: -125.4058230885733 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 24.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45834258608675 + longitude: + dtype: float32 + val: -124.41269760208793 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 56 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.61318808121673 + longitude: + dtype: float32 + val: -124.88318152592021 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -9 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.63022738649405 + longitude: + dtype: float32 + val: -124.28009953085756 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 86 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.71032008168071 + longitude: + dtype: float32 + val: -125.20725444108156 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 111.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.36421821841841 + longitude: + dtype: float32 + val: -125.18123206856677 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 317.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.69812452386202 + longitude: + dtype: float32 + val: -124.61304461233802 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -34 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41563013288296 + longitude: + dtype: float32 + val: -124.4132998685929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 337.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73646383501497 + longitude: + dtype: float32 + val: -125.29413060266113 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 328.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.239019661936624 + longitude: + dtype: float32 + val: -124.61856280272379 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 183.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.86495877108123 + longitude: + dtype: float32 + val: -124.65161705663984 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 58.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 114 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.35064404520543 + longitude: + dtype: float32 + val: -124.84667833634305 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -44 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.652082274297584 + longitude: + dtype: float32 + val: -124.1628296309164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 170.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 5.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 12 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.451381374915385 + longitude: + dtype: float32 + val: -124.346294547324 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 149.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34105276516963 + longitude: + dtype: float32 + val: -124.89255868913573 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 128.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -120 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.50868355021881 + longitude: + dtype: float32 + val: -124.7060976392906 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 326.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.433839946036606 + longitude: + dtype: float32 + val: -124.6226051233039 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 276.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 84 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.48284782465366 + longitude: + dtype: float32 + val: -124.87641655877394 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 64.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.83086703268401 + longitude: + dtype: float32 + val: -124.92394471911683 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 323.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -39 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.56709528137824 + longitude: + dtype: float32 + val: -125.45533646979852 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 6.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 4.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.625258212265706 + longitude: + dtype: float32 + val: -125.20704321245998 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 148.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -30 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.647411848918246 + longitude: + dtype: float32 + val: -124.54402991530728 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 105.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -115 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.68032137600396 + longitude: + dtype: float32 + val: -124.78694469665997 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 137.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -118 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.26225472308407 + longitude: + dtype: float32 + val: -124.37677621598758 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 16.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 64 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.09901576684643 + longitude: + dtype: float32 + val: -124.49526391246907 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 104.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 1.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5314454713883 + longitude: + dtype: float32 + val: -124.71791859783437 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 75.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 96 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.44599106727562 + longitude: + dtype: float32 + val: -124.79584755564018 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 244.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.41276965271506 + longitude: + dtype: float32 + val: -124.82574716041476 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 89.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.05426579708035 + longitude: + dtype: float32 + val: -124.70655643357726 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 279.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -112 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..143afdcad --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-30-random5_goal-southwest_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80187747624676 + longitude: + dtype: float32 + val: -130.48757163037124 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..e27a64706 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,57 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: 7.218545349438614 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 155.56930757038361 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: 7.218545349438614 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 155.56930757038361 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..6d8d8f2ac --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,169 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -19 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..585887dc1 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,57 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -139.09855105247362 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: -104.99934796318013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -139.09855105247362 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: -104.99934796318013 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..7c30612f1 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,169 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_http_data.yaml new file mode 100644 index 000000000..163249719 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_http_data.yaml @@ -0,0 +1,57 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -121.95383902908043 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 164.1248646583473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -121.95383902908043 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 164.1248646583473 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_ros_data.yaml new file mode 100644 index 000000000..0c8f7ea96 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/aisships_ros_data.yaml @@ -0,0 +1,169 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_http_data.yaml new file mode 100644 index 000000000..02362777a --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_http_data.yaml @@ -0,0 +1,57 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -101.25069209333073 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 5.972983382452469 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 180 + speedKmph: 10 + rot: -101.25069209333073 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' + - ID: 0 + lat: 39.85 + lon: -129.95 + headingDegrees: 0 + speedKmph: 10 + rot: 5.972983382452469 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_ros_data.yaml new file mode 100644 index 000000000..a49014a90 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/aisships_ros_data.yaml @@ -0,0 +1,169 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 180 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -13 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -129.95 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 105 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..a0032a33c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 2.615307576770391 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 2.615307576770391 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..6c025dee1 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -47 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -47 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..68b466661 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 174.56069682402136 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 174.56069682402136 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..e166a336f --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_http_data.yaml new file mode 100644 index 000000000..f9d86696d --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 142.43516131761112 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: 142.43516131761112 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_ros_data.yaml new file mode 100644 index 000000000..38b6a74a6 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 97 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_http_data.yaml new file mode 100644 index 000000000..45105da7a --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: -107.32472908528709 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130 + headingDegrees: 0 + speedKmph: 10 + rot: -107.32472908528709 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml new file mode 100644 index 000000000..33278b15b --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..a667a4164 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: 78.3522793634387 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: 78.3522793634387 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..1a466b2a7 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -23 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..ec716b4a3 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: -33.98072896277793 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: -33.98072896277793 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..b5c39ba19 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -46 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_http_data.yaml new file mode 100644 index 000000000..ede6ce6a5 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: 149.21917256644485 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: 149.21917256644485 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml new file mode 100644 index 000000000..ccfb6f0aa --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -69 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml new file mode 100644 index 000000000..c8075e582 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: -83.60307425566579 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.65 + headingDegrees: 0 + speedKmph: 20 + rot: -83.60307425566579 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml new file mode 100644 index 000000000..888b2a7ca --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.65 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 4 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..892d4683e --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: -85.54068189145534 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: -85.54068189145534 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..c23a2baba --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 20 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..e6c64166a --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: -136.78122556596082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: -136.78122556596082 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..65eff2d91 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_http_data.yaml new file mode 100644 index 000000000..d173cae7c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: 145.48314758005233 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: 145.48314758005233 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml new file mode 100644 index 000000000..721092059 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -40 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml new file mode 100644 index 000000000..96d95c3d5 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: 53.44896337601287 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.05 + headingDegrees: 0 + speedKmph: 10 + rot: 53.44896337601287 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml new file mode 100644 index 000000000..3f966026c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.05 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 5 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..982c17425 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 116.35006103228812 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 116.35006103228812 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:14' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..1f0932074 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 76 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml new file mode 100644 index 000000000..18b3abd9a --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: -133.36803417831862 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: -133.36803417831862 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:12' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml new file mode 100644 index 000000000..fa140e720 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -41 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -41 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_http_data.yaml new file mode 100644 index 000000000..570819439 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 142.86502380393176 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 142.86502380393176 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:11' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml new file mode 100644 index 000000000..90cce2466 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -90 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-south/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml new file mode 100644 index 000000000..7d770a0d6 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_http_data.yaml @@ -0,0 +1,39 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 122.89595020498547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 39.85 + lon: -130.35 + headingDegrees: 0 + speedKmph: 20 + rot: 122.89595020498547 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml new file mode 100644 index 000000000..5798a19e5 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/aisships_ros_data.yaml @@ -0,0 +1,95 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 39.85 + longitude: + dtype: float32 + val: -130.35 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 20 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 99 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_http_data.yaml new file mode 100644 index 000000000..6563f246c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_http_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_ros_data.yaml new file mode 100644 index 000000000..75acab366 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/aisships_ros_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-20degrees/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_http_data.yaml new file mode 100644 index 000000000..6563f246c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_http_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_ros_data.yaml new file mode 100644 index 000000000..75acab366 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/aisships_ros_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-70degrees/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_http_data.yaml new file mode 100644 index 000000000..6563f246c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_http_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_ros_data.yaml new file mode 100644 index 000000000..75acab366 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/aisships_ros_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-east/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_http_data.yaml new file mode 100644 index 000000000..6563f246c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_http_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_ros_data.yaml new file mode 100644 index 000000000..75acab366 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/aisships_ros_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-north/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_http_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_http_data.yaml new file mode 100644 index 000000000..6563f246c --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_http_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_ros_data.yaml new file mode 100644 index 000000000..75acab366 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/aisships_ros_data.yaml @@ -0,0 +1,21 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: [] diff --git a/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/gps_ros_data.yaml b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/gps_ros_data.yaml new file mode 100644 index 000000000..8ea8cab73 --- /dev/null +++ b/src/integration_tests/resource/Converted Data/obstacles-none_goal-south_wind-northeast/gps_ros_data.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -130.0 + longitude: + dtype: float32 + val: 225 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myAIS.json new file mode 100644 index 000000000..d5de361c1 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myAIS.json @@ -0,0 +1 @@ +[[0, 48.486730711983434, -124.2584587833453, 48.0, 13.0], [1, 48.57311529566738, -125.24765753295085, 178.0, 7.0], [2, 48.14648856122213, -124.56496857296953, 33.0, 0.0], [3, 48.460478648157704, -125.13289150254302, 275.0, 0.0], [4, 48.906845738250354, -124.68009066623256, 82.0, 15.0], [5, 48.18352535432236, -124.35908765324045, 9.0, 8.0], [6, 48.509678910612216, -124.71992162347318, 78.0, 6.0], [7, 48.5164134766584, -124.59903638392628, 158.0, 7.0], [8, 48.6610511707211, -124.7700961617359, 78.0, 7.0], [9, 48.618295754536, -124.3751400130934, 302.0, 8.0], [10, 48.45495016044448, -124.68179483877347, 358.0, 13.0], [11, 48.11783644273227, -124.49750158984929, 260.0, 11.0], [12, 48.362149797306216, -124.92830580697543, 299.0, 10.0], [13, 48.28578482932685, -124.9991064891701, 318.0, 13.0], [14, 48.18363342625423, -124.51577196451622, 12.0, 3.0], [15, 48.34848473605084, -125.24444837839258, 62.0, 8.0], [16, 48.547728049710344, -125.17269927256511, 135.0, 7.0], [17, 48.73904635356762, -124.73677329863713, 188.0, 6.0], [18, 48.12676681107224, -125.17467366126981, 15.0, 11.0], [19, 48.75047750569519, -124.83993728669918, 142.0, 2.0], [20, 48.54624764604642, -124.20840438780192, 278.0, 8.0], [21, 48.230589903667095, -124.69328748895164, 185.0, 15.0], [22, 48.940815793206426, -124.7767424220235, 97.0, 8.0], [23, 48.47648500918056, -125.40758533494669, 282.0, 13.0], [24, 48.25904273931113, -124.61631294200224, 292.0, 8.0], [25, 48.5857088077203, -124.39932124841845, 20.0, 13.0], [26, 48.394141613868996, -124.565511045911, 182.0, 7.0], [27, 48.21315956433256, -124.68582455039865, 194.0, 9.0], [28, 48.398751576265816, -124.8875253604767, 10.0, 3.0], [29, 48.648315806948254, -125.30765308764265, 310.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGPS.json new file mode 100644 index 000000000..71a3c001c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGPS.json @@ -0,0 +1 @@ +[48.49997015204464, -124.80127511028725, -123.92537339005594, 14.4] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myAIS.json new file mode 100644 index 000000000..d5de361c1 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myAIS.json @@ -0,0 +1 @@ +[[0, 48.486730711983434, -124.2584587833453, 48.0, 13.0], [1, 48.57311529566738, -125.24765753295085, 178.0, 7.0], [2, 48.14648856122213, -124.56496857296953, 33.0, 0.0], [3, 48.460478648157704, -125.13289150254302, 275.0, 0.0], [4, 48.906845738250354, -124.68009066623256, 82.0, 15.0], [5, 48.18352535432236, -124.35908765324045, 9.0, 8.0], [6, 48.509678910612216, -124.71992162347318, 78.0, 6.0], [7, 48.5164134766584, -124.59903638392628, 158.0, 7.0], [8, 48.6610511707211, -124.7700961617359, 78.0, 7.0], [9, 48.618295754536, -124.3751400130934, 302.0, 8.0], [10, 48.45495016044448, -124.68179483877347, 358.0, 13.0], [11, 48.11783644273227, -124.49750158984929, 260.0, 11.0], [12, 48.362149797306216, -124.92830580697543, 299.0, 10.0], [13, 48.28578482932685, -124.9991064891701, 318.0, 13.0], [14, 48.18363342625423, -124.51577196451622, 12.0, 3.0], [15, 48.34848473605084, -125.24444837839258, 62.0, 8.0], [16, 48.547728049710344, -125.17269927256511, 135.0, 7.0], [17, 48.73904635356762, -124.73677329863713, 188.0, 6.0], [18, 48.12676681107224, -125.17467366126981, 15.0, 11.0], [19, 48.75047750569519, -124.83993728669918, 142.0, 2.0], [20, 48.54624764604642, -124.20840438780192, 278.0, 8.0], [21, 48.230589903667095, -124.69328748895164, 185.0, 15.0], [22, 48.940815793206426, -124.7767424220235, 97.0, 8.0], [23, 48.47648500918056, -125.40758533494669, 282.0, 13.0], [24, 48.25904273931113, -124.61631294200224, 292.0, 8.0], [25, 48.5857088077203, -124.39932124841845, 20.0, 13.0], [26, 48.394141613868996, -124.565511045911, 182.0, 7.0], [27, 48.21315956433256, -124.68582455039865, 194.0, 9.0], [28, 48.398751576265816, -124.8875253604767, 10.0, 3.0], [29, 48.648315806948254, -125.30765308764265, 310.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGPS.json new file mode 100644 index 000000000..71a3c001c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGPS.json @@ -0,0 +1 @@ +[48.49997015204464, -124.80127511028725, -123.92537339005594, 14.4] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myAIS.json new file mode 100644 index 000000000..d5de361c1 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myAIS.json @@ -0,0 +1 @@ +[[0, 48.486730711983434, -124.2584587833453, 48.0, 13.0], [1, 48.57311529566738, -125.24765753295085, 178.0, 7.0], [2, 48.14648856122213, -124.56496857296953, 33.0, 0.0], [3, 48.460478648157704, -125.13289150254302, 275.0, 0.0], [4, 48.906845738250354, -124.68009066623256, 82.0, 15.0], [5, 48.18352535432236, -124.35908765324045, 9.0, 8.0], [6, 48.509678910612216, -124.71992162347318, 78.0, 6.0], [7, 48.5164134766584, -124.59903638392628, 158.0, 7.0], [8, 48.6610511707211, -124.7700961617359, 78.0, 7.0], [9, 48.618295754536, -124.3751400130934, 302.0, 8.0], [10, 48.45495016044448, -124.68179483877347, 358.0, 13.0], [11, 48.11783644273227, -124.49750158984929, 260.0, 11.0], [12, 48.362149797306216, -124.92830580697543, 299.0, 10.0], [13, 48.28578482932685, -124.9991064891701, 318.0, 13.0], [14, 48.18363342625423, -124.51577196451622, 12.0, 3.0], [15, 48.34848473605084, -125.24444837839258, 62.0, 8.0], [16, 48.547728049710344, -125.17269927256511, 135.0, 7.0], [17, 48.73904635356762, -124.73677329863713, 188.0, 6.0], [18, 48.12676681107224, -125.17467366126981, 15.0, 11.0], [19, 48.75047750569519, -124.83993728669918, 142.0, 2.0], [20, 48.54624764604642, -124.20840438780192, 278.0, 8.0], [21, 48.230589903667095, -124.69328748895164, 185.0, 15.0], [22, 48.940815793206426, -124.7767424220235, 97.0, 8.0], [23, 48.47648500918056, -125.40758533494669, 282.0, 13.0], [24, 48.25904273931113, -124.61631294200224, 292.0, 8.0], [25, 48.5857088077203, -124.39932124841845, 20.0, 13.0], [26, 48.394141613868996, -124.565511045911, 182.0, 7.0], [27, 48.21315956433256, -124.68582455039865, 194.0, 9.0], [28, 48.398751576265816, -124.8875253604767, 10.0, 3.0], [29, 48.648315806948254, -125.30765308764265, 310.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGPS.json new file mode 100644 index 000000000..71a3c001c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[48.49997015204464, -124.80127511028725, -123.92537339005594, 14.4] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myAIS.json new file mode 100644 index 000000000..d5de361c1 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myAIS.json @@ -0,0 +1 @@ +[[0, 48.486730711983434, -124.2584587833453, 48.0, 13.0], [1, 48.57311529566738, -125.24765753295085, 178.0, 7.0], [2, 48.14648856122213, -124.56496857296953, 33.0, 0.0], [3, 48.460478648157704, -125.13289150254302, 275.0, 0.0], [4, 48.906845738250354, -124.68009066623256, 82.0, 15.0], [5, 48.18352535432236, -124.35908765324045, 9.0, 8.0], [6, 48.509678910612216, -124.71992162347318, 78.0, 6.0], [7, 48.5164134766584, -124.59903638392628, 158.0, 7.0], [8, 48.6610511707211, -124.7700961617359, 78.0, 7.0], [9, 48.618295754536, -124.3751400130934, 302.0, 8.0], [10, 48.45495016044448, -124.68179483877347, 358.0, 13.0], [11, 48.11783644273227, -124.49750158984929, 260.0, 11.0], [12, 48.362149797306216, -124.92830580697543, 299.0, 10.0], [13, 48.28578482932685, -124.9991064891701, 318.0, 13.0], [14, 48.18363342625423, -124.51577196451622, 12.0, 3.0], [15, 48.34848473605084, -125.24444837839258, 62.0, 8.0], [16, 48.547728049710344, -125.17269927256511, 135.0, 7.0], [17, 48.73904635356762, -124.73677329863713, 188.0, 6.0], [18, 48.12676681107224, -125.17467366126981, 15.0, 11.0], [19, 48.75047750569519, -124.83993728669918, 142.0, 2.0], [20, 48.54624764604642, -124.20840438780192, 278.0, 8.0], [21, 48.230589903667095, -124.69328748895164, 185.0, 15.0], [22, 48.940815793206426, -124.7767424220235, 97.0, 8.0], [23, 48.47648500918056, -125.40758533494669, 282.0, 13.0], [24, 48.25904273931113, -124.61631294200224, 292.0, 8.0], [25, 48.5857088077203, -124.39932124841845, 20.0, 13.0], [26, 48.394141613868996, -124.565511045911, 182.0, 7.0], [27, 48.21315956433256, -124.68582455039865, 194.0, 9.0], [28, 48.398751576265816, -124.8875253604767, 10.0, 3.0], [29, 48.648315806948254, -125.30765308764265, 310.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGPS.json new file mode 100644 index 000000000..71a3c001c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[48.49997015204464, -124.80127511028725, -123.92537339005594, 14.4] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random1_goal-southwest_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http.yaml b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http.yaml new file mode 100644 index 000000000..61c91c0c3 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_http.yaml @@ -0,0 +1,39 @@ +data: + dtype: AIS + ships: + - ID: + - 0 + - 48.34466788365575 + - -124.98262441708803 + - 85.0 + - 8.0 + headingDegrees: + - 3 + - 48.67857163621956 + - -124.4259853981998 + - 301.0 + - 7.0 + lat: + - 1 + - 48.52374935036434 + - -124.85749961243438 + - 225.0 + - 1.0 + length: 20 + lon: + - 2 + - 48.058801833927184 + - -124.6720328042949 + - 93.0 + - 3.0 + rot: 14.679159468304533 + speedKmph: + - 4 + - 48.484802108229275 + - -125.19292205687523 + - 229.0 + - 13.0 + timestamp: '2024-07-09 23:24:25' + width: 10 +name: aisships +type: HTTP diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros.yaml b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros.yaml new file mode 100644 index 000000000..98c5df7a2 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/aisships_ros.yaml @@ -0,0 +1,55 @@ +data: + dtype: AIS + ships: + - cog: + dtype: float32 + val: + - 3 + - 48.67857163621956 + - -124.4259853981998 + - 301.0 + - 7.0 + dtype: HelperLatLon + id: + dtype: uint32 + val: + - 0 + - 48.34466788365575 + - -124.98262441708803 + - 85.0 + - 8.0 + latitude: + dtype: float32 + val: + - 1 + - 48.52374935036434 + - -124.85749961243438 + - 225.0 + - 1.0 + length: + dtype: float32 + val: 20 + longitude: + dtype: float32 + val: + - 2 + - 48.058801833927184 + - -124.6720328042949 + - 93.0 + - 3.0 + rot: + dtype: float32 + val: 53.26506157725612 + sog: + dtype: float32 + val: + - 4 + - 48.484802108229275 + - -125.19292205687523 + - 229.0 + - 13.0 + width: + dtype: float32 + val: 10 +name: aisships +type: ROS diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myAIS.json new file mode 100644 index 000000000..be3e99d75 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myAIS.json @@ -0,0 +1 @@ +[[0, 48.34466788365575, -124.98262441708803, 85.0, 8.0], [1, 48.52374935036434, -124.85749961243438, 225.0, 1.0], [2, 48.058801833927184, -124.6720328042949, 93.0, 3.0], [3, 48.67857163621956, -124.4259853981998, 301.0, 7.0], [4, 48.484802108229275, -125.19292205687523, 229.0, 13.0], [5, 48.20541883569058, -125.08583344594157, 242.0, 1.0], [6, 48.110268756003514, -124.69739687767283, 108.0, 0.0], [7, 48.79230135894477, -125.03677995827755, 259.0, 14.0], [8, 48.70753230139577, -124.93400534617449, 142.0, 12.0], [9, 48.520413307859535, -124.65424795295158, 317.0, 1.0], [10, 48.40740079958999, -124.37529031195008, 348.0, 6.0], [11, 48.33800174178507, -124.9466983514742, 183.0, 6.0], [12, 48.79258647621828, -125.00871880918022, 210.0, 14.0], [13, 48.665036799018445, -124.39576017143933, 309.0, 15.0], [14, 48.123745136018876, -125.05984100972792, 310.0, 15.0], [15, 48.15488243992691, -125.06247192339418, 257.0, 3.0], [16, 48.89521111560801, -124.83143312104818, 102.0, 1.0], [17, 48.621852541672745, -124.54621513260163, 31.0, 12.0], [18, 48.891802105161176, -124.6416278010997, 106.0, 12.0], [19, 48.33345037254924, -124.3517364098488, 221.0, 0.0], [20, 48.75089037284379, -124.79848410736072, 318.0, 15.0], [21, 48.78252966944804, -124.71696441876416, 111.0, 1.0], [22, 48.66585750733315, -124.4283252353363, 71.0, 6.0], [23, 48.6660711746621, -124.86069686118178, 15.0, 13.0], [24, 48.267592563445625, -124.8420360221907, 323.0, 6.0], [25, 48.30171989842075, -125.07653115130958, 232.0, 9.0], [26, 48.4618201640397, -125.11857593810696, 339.0, 8.0], [27, 48.06394616916037, -124.89144776775925, 85.0, 4.0], [28, 48.31112293763158, -124.9568632457069, 197.0, 0.0], [29, 48.785419757638365, -124.632977161236, 7.0, 9.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGPS.json new file mode 100644 index 000000000..fc89673a0 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGPS.json @@ -0,0 +1 @@ +[48.49962570898951, -124.80175186895805, -131.99232000114253, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myAIS.json new file mode 100644 index 000000000..be3e99d75 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myAIS.json @@ -0,0 +1 @@ +[[0, 48.34466788365575, -124.98262441708803, 85.0, 8.0], [1, 48.52374935036434, -124.85749961243438, 225.0, 1.0], [2, 48.058801833927184, -124.6720328042949, 93.0, 3.0], [3, 48.67857163621956, -124.4259853981998, 301.0, 7.0], [4, 48.484802108229275, -125.19292205687523, 229.0, 13.0], [5, 48.20541883569058, -125.08583344594157, 242.0, 1.0], [6, 48.110268756003514, -124.69739687767283, 108.0, 0.0], [7, 48.79230135894477, -125.03677995827755, 259.0, 14.0], [8, 48.70753230139577, -124.93400534617449, 142.0, 12.0], [9, 48.520413307859535, -124.65424795295158, 317.0, 1.0], [10, 48.40740079958999, -124.37529031195008, 348.0, 6.0], [11, 48.33800174178507, -124.9466983514742, 183.0, 6.0], [12, 48.79258647621828, -125.00871880918022, 210.0, 14.0], [13, 48.665036799018445, -124.39576017143933, 309.0, 15.0], [14, 48.123745136018876, -125.05984100972792, 310.0, 15.0], [15, 48.15488243992691, -125.06247192339418, 257.0, 3.0], [16, 48.89521111560801, -124.83143312104818, 102.0, 1.0], [17, 48.621852541672745, -124.54621513260163, 31.0, 12.0], [18, 48.891802105161176, -124.6416278010997, 106.0, 12.0], [19, 48.33345037254924, -124.3517364098488, 221.0, 0.0], [20, 48.75089037284379, -124.79848410736072, 318.0, 15.0], [21, 48.78252966944804, -124.71696441876416, 111.0, 1.0], [22, 48.66585750733315, -124.4283252353363, 71.0, 6.0], [23, 48.6660711746621, -124.86069686118178, 15.0, 13.0], [24, 48.267592563445625, -124.8420360221907, 323.0, 6.0], [25, 48.30171989842075, -125.07653115130958, 232.0, 9.0], [26, 48.4618201640397, -125.11857593810696, 339.0, 8.0], [27, 48.06394616916037, -124.89144776775925, 85.0, 4.0], [28, 48.31112293763158, -124.9568632457069, 197.0, 0.0], [29, 48.785419757638365, -124.632977161236, 7.0, 9.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGPS.json new file mode 100644 index 000000000..fc89673a0 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGPS.json @@ -0,0 +1 @@ +[48.49962570898951, -124.80175186895805, -131.99232000114253, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myAIS.json new file mode 100644 index 000000000..be3e99d75 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myAIS.json @@ -0,0 +1 @@ +[[0, 48.34466788365575, -124.98262441708803, 85.0, 8.0], [1, 48.52374935036434, -124.85749961243438, 225.0, 1.0], [2, 48.058801833927184, -124.6720328042949, 93.0, 3.0], [3, 48.67857163621956, -124.4259853981998, 301.0, 7.0], [4, 48.484802108229275, -125.19292205687523, 229.0, 13.0], [5, 48.20541883569058, -125.08583344594157, 242.0, 1.0], [6, 48.110268756003514, -124.69739687767283, 108.0, 0.0], [7, 48.79230135894477, -125.03677995827755, 259.0, 14.0], [8, 48.70753230139577, -124.93400534617449, 142.0, 12.0], [9, 48.520413307859535, -124.65424795295158, 317.0, 1.0], [10, 48.40740079958999, -124.37529031195008, 348.0, 6.0], [11, 48.33800174178507, -124.9466983514742, 183.0, 6.0], [12, 48.79258647621828, -125.00871880918022, 210.0, 14.0], [13, 48.665036799018445, -124.39576017143933, 309.0, 15.0], [14, 48.123745136018876, -125.05984100972792, 310.0, 15.0], [15, 48.15488243992691, -125.06247192339418, 257.0, 3.0], [16, 48.89521111560801, -124.83143312104818, 102.0, 1.0], [17, 48.621852541672745, -124.54621513260163, 31.0, 12.0], [18, 48.891802105161176, -124.6416278010997, 106.0, 12.0], [19, 48.33345037254924, -124.3517364098488, 221.0, 0.0], [20, 48.75089037284379, -124.79848410736072, 318.0, 15.0], [21, 48.78252966944804, -124.71696441876416, 111.0, 1.0], [22, 48.66585750733315, -124.4283252353363, 71.0, 6.0], [23, 48.6660711746621, -124.86069686118178, 15.0, 13.0], [24, 48.267592563445625, -124.8420360221907, 323.0, 6.0], [25, 48.30171989842075, -125.07653115130958, 232.0, 9.0], [26, 48.4618201640397, -125.11857593810696, 339.0, 8.0], [27, 48.06394616916037, -124.89144776775925, 85.0, 4.0], [28, 48.31112293763158, -124.9568632457069, 197.0, 0.0], [29, 48.785419757638365, -124.632977161236, 7.0, 9.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGPS.json new file mode 100644 index 000000000..fc89673a0 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[48.49962570898951, -124.80175186895805, -131.99232000114253, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myAIS.json new file mode 100644 index 000000000..be3e99d75 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myAIS.json @@ -0,0 +1 @@ +[[0, 48.34466788365575, -124.98262441708803, 85.0, 8.0], [1, 48.52374935036434, -124.85749961243438, 225.0, 1.0], [2, 48.058801833927184, -124.6720328042949, 93.0, 3.0], [3, 48.67857163621956, -124.4259853981998, 301.0, 7.0], [4, 48.484802108229275, -125.19292205687523, 229.0, 13.0], [5, 48.20541883569058, -125.08583344594157, 242.0, 1.0], [6, 48.110268756003514, -124.69739687767283, 108.0, 0.0], [7, 48.79230135894477, -125.03677995827755, 259.0, 14.0], [8, 48.70753230139577, -124.93400534617449, 142.0, 12.0], [9, 48.520413307859535, -124.65424795295158, 317.0, 1.0], [10, 48.40740079958999, -124.37529031195008, 348.0, 6.0], [11, 48.33800174178507, -124.9466983514742, 183.0, 6.0], [12, 48.79258647621828, -125.00871880918022, 210.0, 14.0], [13, 48.665036799018445, -124.39576017143933, 309.0, 15.0], [14, 48.123745136018876, -125.05984100972792, 310.0, 15.0], [15, 48.15488243992691, -125.06247192339418, 257.0, 3.0], [16, 48.89521111560801, -124.83143312104818, 102.0, 1.0], [17, 48.621852541672745, -124.54621513260163, 31.0, 12.0], [18, 48.891802105161176, -124.6416278010997, 106.0, 12.0], [19, 48.33345037254924, -124.3517364098488, 221.0, 0.0], [20, 48.75089037284379, -124.79848410736072, 318.0, 15.0], [21, 48.78252966944804, -124.71696441876416, 111.0, 1.0], [22, 48.66585750733315, -124.4283252353363, 71.0, 6.0], [23, 48.6660711746621, -124.86069686118178, 15.0, 13.0], [24, 48.267592563445625, -124.8420360221907, 323.0, 6.0], [25, 48.30171989842075, -125.07653115130958, 232.0, 9.0], [26, 48.4618201640397, -125.11857593810696, 339.0, 8.0], [27, 48.06394616916037, -124.89144776775925, 85.0, 4.0], [28, 48.31112293763158, -124.9568632457069, 197.0, 0.0], [29, 48.785419757638365, -124.632977161236, 7.0, 9.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGPS.json new file mode 100644 index 000000000..fc89673a0 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[48.49962570898951, -124.80175186895805, -131.99232000114253, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random2_goal-southwest_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myAIS.json new file mode 100644 index 000000000..32d951bef --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myAIS.json @@ -0,0 +1 @@ +[[0, 48.84614837021345, -124.99129393598717, 224.0, 11.0], [1, 48.446941396234564, -124.7831593162085, 267.0, 14.0], [2, 48.81611086251569, -124.39710208705276, 340.0, 10.0], [3, 48.25948036059645, -124.98351733100814, 169.0, 3.0], [4, 48.63234092390178, -124.91522829643036, 4.0, 3.0], [5, 48.73616514254308, -124.37300902111477, 276.0, 2.0], [6, 48.53119750241081, -124.84874351853566, 222.0, 2.0], [7, 48.8113588506951, -125.28967196625729, 75.0, 3.0], [8, 48.38542753877871, -125.15201553978719, 104.0, 15.0], [9, 48.81689936479167, -124.90178423013806, 73.0, 15.0], [10, 48.59695599219763, -124.55586406244821, 322.0, 4.0], [11, 48.37064577038315, -124.94619255484724, 52.0, 1.0], [12, 48.43527164750087, -124.54736479466725, 1.0, 10.0], [13, 48.330276797414264, -124.76868289612058, 295.0, 7.0], [14, 48.93630497304392, -124.70692127202553, 254.0, 0.0], [15, 48.510599252739, -124.86566201744468, 270.0, 13.0], [16, 48.5433541657374, -124.78151637932989, 132.0, 9.0], [17, 48.50450978210213, -124.98915151511045, 65.0, 15.0], [18, 48.388944792620705, -124.58679584539998, 335.0, 15.0], [19, 48.49989806423084, -124.92214016767443, 189.0, 12.0], [20, 48.55076546694018, -124.82634478464507, 287.0, 13.0], [21, 48.75939650340381, -125.01747093611874, 32.0, 5.0], [22, 48.39855966881071, -124.42458517252209, 122.0, 14.0], [23, 48.54329987770262, -124.71349666001916, 114.0, 2.0], [24, 48.60290964561346, -124.75259782539672, 248.0, 15.0], [25, 48.517597914741174, -124.48961051531978, 356.0, 8.0], [26, 48.30123792185382, -124.64212324419822, 214.0, 13.0], [27, 48.44617145506901, -124.79677436289407, 20.0, 14.0], [28, 48.82484754840222, -124.95988778779058, 302.0, 2.0], [29, 48.425875492635484, -124.75078368391266, 227.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGPS.json new file mode 100644 index 000000000..20e84a4f9 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGPS.json @@ -0,0 +1 @@ +[48.499999999885425, -124.80048713549034, 180.0, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myAIS.json new file mode 100644 index 000000000..32d951bef --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myAIS.json @@ -0,0 +1 @@ +[[0, 48.84614837021345, -124.99129393598717, 224.0, 11.0], [1, 48.446941396234564, -124.7831593162085, 267.0, 14.0], [2, 48.81611086251569, -124.39710208705276, 340.0, 10.0], [3, 48.25948036059645, -124.98351733100814, 169.0, 3.0], [4, 48.63234092390178, -124.91522829643036, 4.0, 3.0], [5, 48.73616514254308, -124.37300902111477, 276.0, 2.0], [6, 48.53119750241081, -124.84874351853566, 222.0, 2.0], [7, 48.8113588506951, -125.28967196625729, 75.0, 3.0], [8, 48.38542753877871, -125.15201553978719, 104.0, 15.0], [9, 48.81689936479167, -124.90178423013806, 73.0, 15.0], [10, 48.59695599219763, -124.55586406244821, 322.0, 4.0], [11, 48.37064577038315, -124.94619255484724, 52.0, 1.0], [12, 48.43527164750087, -124.54736479466725, 1.0, 10.0], [13, 48.330276797414264, -124.76868289612058, 295.0, 7.0], [14, 48.93630497304392, -124.70692127202553, 254.0, 0.0], [15, 48.510599252739, -124.86566201744468, 270.0, 13.0], [16, 48.5433541657374, -124.78151637932989, 132.0, 9.0], [17, 48.50450978210213, -124.98915151511045, 65.0, 15.0], [18, 48.388944792620705, -124.58679584539998, 335.0, 15.0], [19, 48.49989806423084, -124.92214016767443, 189.0, 12.0], [20, 48.55076546694018, -124.82634478464507, 287.0, 13.0], [21, 48.75939650340381, -125.01747093611874, 32.0, 5.0], [22, 48.39855966881071, -124.42458517252209, 122.0, 14.0], [23, 48.54329987770262, -124.71349666001916, 114.0, 2.0], [24, 48.60290964561346, -124.75259782539672, 248.0, 15.0], [25, 48.517597914741174, -124.48961051531978, 356.0, 8.0], [26, 48.30123792185382, -124.64212324419822, 214.0, 13.0], [27, 48.44617145506901, -124.79677436289407, 20.0, 14.0], [28, 48.82484754840222, -124.95988778779058, 302.0, 2.0], [29, 48.425875492635484, -124.75078368391266, 227.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGPS.json new file mode 100644 index 000000000..20e84a4f9 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGPS.json @@ -0,0 +1 @@ +[48.499999999885425, -124.80048713549034, 180.0, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myAIS.json new file mode 100644 index 000000000..32d951bef --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myAIS.json @@ -0,0 +1 @@ +[[0, 48.84614837021345, -124.99129393598717, 224.0, 11.0], [1, 48.446941396234564, -124.7831593162085, 267.0, 14.0], [2, 48.81611086251569, -124.39710208705276, 340.0, 10.0], [3, 48.25948036059645, -124.98351733100814, 169.0, 3.0], [4, 48.63234092390178, -124.91522829643036, 4.0, 3.0], [5, 48.73616514254308, -124.37300902111477, 276.0, 2.0], [6, 48.53119750241081, -124.84874351853566, 222.0, 2.0], [7, 48.8113588506951, -125.28967196625729, 75.0, 3.0], [8, 48.38542753877871, -125.15201553978719, 104.0, 15.0], [9, 48.81689936479167, -124.90178423013806, 73.0, 15.0], [10, 48.59695599219763, -124.55586406244821, 322.0, 4.0], [11, 48.37064577038315, -124.94619255484724, 52.0, 1.0], [12, 48.43527164750087, -124.54736479466725, 1.0, 10.0], [13, 48.330276797414264, -124.76868289612058, 295.0, 7.0], [14, 48.93630497304392, -124.70692127202553, 254.0, 0.0], [15, 48.510599252739, -124.86566201744468, 270.0, 13.0], [16, 48.5433541657374, -124.78151637932989, 132.0, 9.0], [17, 48.50450978210213, -124.98915151511045, 65.0, 15.0], [18, 48.388944792620705, -124.58679584539998, 335.0, 15.0], [19, 48.49989806423084, -124.92214016767443, 189.0, 12.0], [20, 48.55076546694018, -124.82634478464507, 287.0, 13.0], [21, 48.75939650340381, -125.01747093611874, 32.0, 5.0], [22, 48.39855966881071, -124.42458517252209, 122.0, 14.0], [23, 48.54329987770262, -124.71349666001916, 114.0, 2.0], [24, 48.60290964561346, -124.75259782539672, 248.0, 15.0], [25, 48.517597914741174, -124.48961051531978, 356.0, 8.0], [26, 48.30123792185382, -124.64212324419822, 214.0, 13.0], [27, 48.44617145506901, -124.79677436289407, 20.0, 14.0], [28, 48.82484754840222, -124.95988778779058, 302.0, 2.0], [29, 48.425875492635484, -124.75078368391266, 227.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGPS.json new file mode 100644 index 000000000..20e84a4f9 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[48.499999999885425, -124.80048713549034, 180.0, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myAIS.json new file mode 100644 index 000000000..32d951bef --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myAIS.json @@ -0,0 +1 @@ +[[0, 48.84614837021345, -124.99129393598717, 224.0, 11.0], [1, 48.446941396234564, -124.7831593162085, 267.0, 14.0], [2, 48.81611086251569, -124.39710208705276, 340.0, 10.0], [3, 48.25948036059645, -124.98351733100814, 169.0, 3.0], [4, 48.63234092390178, -124.91522829643036, 4.0, 3.0], [5, 48.73616514254308, -124.37300902111477, 276.0, 2.0], [6, 48.53119750241081, -124.84874351853566, 222.0, 2.0], [7, 48.8113588506951, -125.28967196625729, 75.0, 3.0], [8, 48.38542753877871, -125.15201553978719, 104.0, 15.0], [9, 48.81689936479167, -124.90178423013806, 73.0, 15.0], [10, 48.59695599219763, -124.55586406244821, 322.0, 4.0], [11, 48.37064577038315, -124.94619255484724, 52.0, 1.0], [12, 48.43527164750087, -124.54736479466725, 1.0, 10.0], [13, 48.330276797414264, -124.76868289612058, 295.0, 7.0], [14, 48.93630497304392, -124.70692127202553, 254.0, 0.0], [15, 48.510599252739, -124.86566201744468, 270.0, 13.0], [16, 48.5433541657374, -124.78151637932989, 132.0, 9.0], [17, 48.50450978210213, -124.98915151511045, 65.0, 15.0], [18, 48.388944792620705, -124.58679584539998, 335.0, 15.0], [19, 48.49989806423084, -124.92214016767443, 189.0, 12.0], [20, 48.55076546694018, -124.82634478464507, 287.0, 13.0], [21, 48.75939650340381, -125.01747093611874, 32.0, 5.0], [22, 48.39855966881071, -124.42458517252209, 122.0, 14.0], [23, 48.54329987770262, -124.71349666001916, 114.0, 2.0], [24, 48.60290964561346, -124.75259782539672, 248.0, 15.0], [25, 48.517597914741174, -124.48961051531978, 356.0, 8.0], [26, 48.30123792185382, -124.64212324419822, 214.0, 13.0], [27, 48.44617145506901, -124.79677436289407, 20.0, 14.0], [28, 48.82484754840222, -124.95988778779058, 302.0, 2.0], [29, 48.425875492635484, -124.75078368391266, 227.0, 12.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGPS.json new file mode 100644 index 000000000..20e84a4f9 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[48.499999999885425, -124.80048713549034, 180.0, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random3_goal-southwest_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myAIS.json new file mode 100644 index 000000000..8b63cf7aa --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myAIS.json @@ -0,0 +1 @@ +[[0, 48.48126855156493, -124.4351373880274, 286.0, 13.0], [1, 48.515774700921014, -125.1496068588128, 0.0, 10.0], [2, 48.55040708423394, -125.01893928648452, 134.0, 12.0], [3, 48.3927887079608, -125.15784705188014, 263.0, 6.0], [4, 48.4664178481448, -124.23379450837781, 69.0, 8.0], [5, 48.29884552006091, -124.3027035236955, 290.0, 10.0], [6, 48.14554331578707, -124.60550188720573, 33.0, 12.0], [7, 48.420167212221706, -124.35593125783112, 33.0, 3.0], [8, 48.42923429999211, -124.95557693938409, 343.0, 9.0], [9, 48.08892261841702, -124.85512351033033, 130.0, 14.0], [10, 48.87313793416265, -124.88068294750454, 232.0, 11.0], [11, 48.405668769070544, -124.39061775111199, 10.0, 5.0], [12, 48.10020150808228, -124.89463776679214, 212.0, 1.0], [13, 48.5588363561571, -124.55703775840956, 42.0, 10.0], [14, 48.58417651037747, -124.94130819462264, 174.0, 2.0], [15, 48.85771636595303, -124.74302109252491, 252.0, 0.0], [16, 48.39891867341927, -124.38225271987358, 120.0, 14.0], [17, 48.59033336300247, -124.80063381994236, 136.0, 6.0], [18, 48.21965145463885, -124.48331643654957, 19.0, 6.0], [19, 48.85351947285686, -125.2190264828795, 354.0, 3.0], [20, 48.610842207133466, -125.09461173879693, 241.0, 14.0], [21, 48.43431074501861, -125.13741852006714, 287.0, 8.0], [22, 48.468286195214176, -124.27472502081105, 147.0, 1.0], [23, 48.60718809945693, -124.78192776271403, 176.0, 12.0], [24, 48.49366808842013, -124.51509992770575, 44.0, 9.0], [25, 48.3783192078282, -124.68750254047488, 163.0, 14.0], [26, 48.348398948830884, -124.76315885494485, 317.0, 9.0], [27, 48.432021544367856, -124.52092210308673, 172.0, 2.0], [28, 48.809470660326866, -124.8824934907722, 290.0, 5.0], [29, 48.37744965742431, -124.40771781352117, 333.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myAIS.json new file mode 100644 index 000000000..8b63cf7aa --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myAIS.json @@ -0,0 +1 @@ +[[0, 48.48126855156493, -124.4351373880274, 286.0, 13.0], [1, 48.515774700921014, -125.1496068588128, 0.0, 10.0], [2, 48.55040708423394, -125.01893928648452, 134.0, 12.0], [3, 48.3927887079608, -125.15784705188014, 263.0, 6.0], [4, 48.4664178481448, -124.23379450837781, 69.0, 8.0], [5, 48.29884552006091, -124.3027035236955, 290.0, 10.0], [6, 48.14554331578707, -124.60550188720573, 33.0, 12.0], [7, 48.420167212221706, -124.35593125783112, 33.0, 3.0], [8, 48.42923429999211, -124.95557693938409, 343.0, 9.0], [9, 48.08892261841702, -124.85512351033033, 130.0, 14.0], [10, 48.87313793416265, -124.88068294750454, 232.0, 11.0], [11, 48.405668769070544, -124.39061775111199, 10.0, 5.0], [12, 48.10020150808228, -124.89463776679214, 212.0, 1.0], [13, 48.5588363561571, -124.55703775840956, 42.0, 10.0], [14, 48.58417651037747, -124.94130819462264, 174.0, 2.0], [15, 48.85771636595303, -124.74302109252491, 252.0, 0.0], [16, 48.39891867341927, -124.38225271987358, 120.0, 14.0], [17, 48.59033336300247, -124.80063381994236, 136.0, 6.0], [18, 48.21965145463885, -124.48331643654957, 19.0, 6.0], [19, 48.85351947285686, -125.2190264828795, 354.0, 3.0], [20, 48.610842207133466, -125.09461173879693, 241.0, 14.0], [21, 48.43431074501861, -125.13741852006714, 287.0, 8.0], [22, 48.468286195214176, -124.27472502081105, 147.0, 1.0], [23, 48.60718809945693, -124.78192776271403, 176.0, 12.0], [24, 48.49366808842013, -124.51509992770575, 44.0, 9.0], [25, 48.3783192078282, -124.68750254047488, 163.0, 14.0], [26, 48.348398948830884, -124.76315885494485, 317.0, 9.0], [27, 48.432021544367856, -124.52092210308673, 172.0, 2.0], [28, 48.809470660326866, -124.8824934907722, 290.0, 5.0], [29, 48.37744965742431, -124.40771781352117, 333.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myAIS.json new file mode 100644 index 000000000..8b63cf7aa --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myAIS.json @@ -0,0 +1 @@ +[[0, 48.48126855156493, -124.4351373880274, 286.0, 13.0], [1, 48.515774700921014, -125.1496068588128, 0.0, 10.0], [2, 48.55040708423394, -125.01893928648452, 134.0, 12.0], [3, 48.3927887079608, -125.15784705188014, 263.0, 6.0], [4, 48.4664178481448, -124.23379450837781, 69.0, 8.0], [5, 48.29884552006091, -124.3027035236955, 290.0, 10.0], [6, 48.14554331578707, -124.60550188720573, 33.0, 12.0], [7, 48.420167212221706, -124.35593125783112, 33.0, 3.0], [8, 48.42923429999211, -124.95557693938409, 343.0, 9.0], [9, 48.08892261841702, -124.85512351033033, 130.0, 14.0], [10, 48.87313793416265, -124.88068294750454, 232.0, 11.0], [11, 48.405668769070544, -124.39061775111199, 10.0, 5.0], [12, 48.10020150808228, -124.89463776679214, 212.0, 1.0], [13, 48.5588363561571, -124.55703775840956, 42.0, 10.0], [14, 48.58417651037747, -124.94130819462264, 174.0, 2.0], [15, 48.85771636595303, -124.74302109252491, 252.0, 0.0], [16, 48.39891867341927, -124.38225271987358, 120.0, 14.0], [17, 48.59033336300247, -124.80063381994236, 136.0, 6.0], [18, 48.21965145463885, -124.48331643654957, 19.0, 6.0], [19, 48.85351947285686, -125.2190264828795, 354.0, 3.0], [20, 48.610842207133466, -125.09461173879693, 241.0, 14.0], [21, 48.43431074501861, -125.13741852006714, 287.0, 8.0], [22, 48.468286195214176, -124.27472502081105, 147.0, 1.0], [23, 48.60718809945693, -124.78192776271403, 176.0, 12.0], [24, 48.49366808842013, -124.51509992770575, 44.0, 9.0], [25, 48.3783192078282, -124.68750254047488, 163.0, 14.0], [26, 48.348398948830884, -124.76315885494485, 317.0, 9.0], [27, 48.432021544367856, -124.52092210308673, 172.0, 2.0], [28, 48.809470660326866, -124.8824934907722, 290.0, 5.0], [29, 48.37744965742431, -124.40771781352117, 333.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myAIS.json new file mode 100644 index 000000000..8b63cf7aa --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myAIS.json @@ -0,0 +1 @@ +[[0, 48.48126855156493, -124.4351373880274, 286.0, 13.0], [1, 48.515774700921014, -125.1496068588128, 0.0, 10.0], [2, 48.55040708423394, -125.01893928648452, 134.0, 12.0], [3, 48.3927887079608, -125.15784705188014, 263.0, 6.0], [4, 48.4664178481448, -124.23379450837781, 69.0, 8.0], [5, 48.29884552006091, -124.3027035236955, 290.0, 10.0], [6, 48.14554331578707, -124.60550188720573, 33.0, 12.0], [7, 48.420167212221706, -124.35593125783112, 33.0, 3.0], [8, 48.42923429999211, -124.95557693938409, 343.0, 9.0], [9, 48.08892261841702, -124.85512351033033, 130.0, 14.0], [10, 48.87313793416265, -124.88068294750454, 232.0, 11.0], [11, 48.405668769070544, -124.39061775111199, 10.0, 5.0], [12, 48.10020150808228, -124.89463776679214, 212.0, 1.0], [13, 48.5588363561571, -124.55703775840956, 42.0, 10.0], [14, 48.58417651037747, -124.94130819462264, 174.0, 2.0], [15, 48.85771636595303, -124.74302109252491, 252.0, 0.0], [16, 48.39891867341927, -124.38225271987358, 120.0, 14.0], [17, 48.59033336300247, -124.80063381994236, 136.0, 6.0], [18, 48.21965145463885, -124.48331643654957, 19.0, 6.0], [19, 48.85351947285686, -125.2190264828795, 354.0, 3.0], [20, 48.610842207133466, -125.09461173879693, 241.0, 14.0], [21, 48.43431074501861, -125.13741852006714, 287.0, 8.0], [22, 48.468286195214176, -124.27472502081105, 147.0, 1.0], [23, 48.60718809945693, -124.78192776271403, 176.0, 12.0], [24, 48.49366808842013, -124.51509992770575, 44.0, 9.0], [25, 48.3783192078282, -124.68750254047488, 163.0, 14.0], [26, 48.348398948830884, -124.76315885494485, 317.0, 9.0], [27, 48.432021544367856, -124.52092210308673, 172.0, 2.0], [28, 48.809470660326866, -124.8824934907722, 290.0, 5.0], [29, 48.37744965742431, -124.40771781352117, 333.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random4_goal-southwest_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myAIS.json new file mode 100644 index 000000000..6b7da8ef5 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myAIS.json @@ -0,0 +1 @@ +[[0, 48.61842067978617, -124.5444541422716, 85.0, 1.0], [1, 48.629184643878574, -125.4058230885733, 24.0, 6.0], [2, 48.45834258608675, -124.41269760208793, 276.0, 3.0], [3, 48.61318808121673, -124.88318152592021, 62.0, 1.0], [4, 48.63022738649405, -124.28009953085756, 299.0, 12.0], [5, 48.71032008168071, -125.20725444108156, 111.0, 10.0], [6, 48.36421821841841, -125.18123206856677, 317.0, 1.0], [7, 48.69812452386202, -124.61304461233802, 182.0, 2.0], [8, 48.41563013288296, -124.4132998685929, 337.0, 13.0], [9, 48.73646383501497, -125.29413060266113, 328.0, 9.0], [10, 48.239019661936624, -124.61856280272379, 183.0, 6.0], [11, 48.86495877108123, -124.65161705663984, 58.0, 4.0], [12, 48.35064404520543, -124.84667833634305, 16.0, 10.0], [13, 48.652082274297584, -124.1628296309164, 170.0, 5.0], [14, 48.451381374915385, -124.346294547324, 149.0, 3.0], [15, 48.34105276516963, -124.89255868913573, 128.0, 11.0], [16, 48.50868355021881, -124.7060976392906, 326.0, 1.0], [17, 48.433839946036606, -124.6226051233039, 276.0, 9.0], [18, 48.48284782465366, -124.87641655877394, 64.0, 7.0], [19, 48.83086703268401, -124.92394471911683, 323.0, 15.0], [20, 48.56709528137824, -125.45533646979852, 6.0, 4.0], [21, 48.625258212265706, -125.20704321245998, 148.0, 15.0], [22, 48.647411848918246, -124.54402991530728, 105.0, 3.0], [23, 48.68032137600396, -124.78694469665997, 137.0, 15.0], [24, 48.26225472308407, -124.37677621598758, 16.0, 2.0], [25, 48.09901576684643, -124.49526391246907, 104.0, 1.0], [26, 48.5314454713883, -124.71791859783437, 75.0, 0.0], [27, 48.44599106727562, -124.79584755564018, 244.0, 2.0], [28, 48.41276965271506, -124.82574716041476, 89.0, 15.0], [29, 48.05426579708035, -124.70655643357726, 279.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGPS.json new file mode 100644 index 000000000..f2a6d7454 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGPS.json @@ -0,0 +1 @@ +[48.499827764174064, -124.80104919563225, -52.94189489426017, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myAIS.json new file mode 100644 index 000000000..6b7da8ef5 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myAIS.json @@ -0,0 +1 @@ +[[0, 48.61842067978617, -124.5444541422716, 85.0, 1.0], [1, 48.629184643878574, -125.4058230885733, 24.0, 6.0], [2, 48.45834258608675, -124.41269760208793, 276.0, 3.0], [3, 48.61318808121673, -124.88318152592021, 62.0, 1.0], [4, 48.63022738649405, -124.28009953085756, 299.0, 12.0], [5, 48.71032008168071, -125.20725444108156, 111.0, 10.0], [6, 48.36421821841841, -125.18123206856677, 317.0, 1.0], [7, 48.69812452386202, -124.61304461233802, 182.0, 2.0], [8, 48.41563013288296, -124.4132998685929, 337.0, 13.0], [9, 48.73646383501497, -125.29413060266113, 328.0, 9.0], [10, 48.239019661936624, -124.61856280272379, 183.0, 6.0], [11, 48.86495877108123, -124.65161705663984, 58.0, 4.0], [12, 48.35064404520543, -124.84667833634305, 16.0, 10.0], [13, 48.652082274297584, -124.1628296309164, 170.0, 5.0], [14, 48.451381374915385, -124.346294547324, 149.0, 3.0], [15, 48.34105276516963, -124.89255868913573, 128.0, 11.0], [16, 48.50868355021881, -124.7060976392906, 326.0, 1.0], [17, 48.433839946036606, -124.6226051233039, 276.0, 9.0], [18, 48.48284782465366, -124.87641655877394, 64.0, 7.0], [19, 48.83086703268401, -124.92394471911683, 323.0, 15.0], [20, 48.56709528137824, -125.45533646979852, 6.0, 4.0], [21, 48.625258212265706, -125.20704321245998, 148.0, 15.0], [22, 48.647411848918246, -124.54402991530728, 105.0, 3.0], [23, 48.68032137600396, -124.78694469665997, 137.0, 15.0], [24, 48.26225472308407, -124.37677621598758, 16.0, 2.0], [25, 48.09901576684643, -124.49526391246907, 104.0, 1.0], [26, 48.5314454713883, -124.71791859783437, 75.0, 0.0], [27, 48.44599106727562, -124.79584755564018, 244.0, 2.0], [28, 48.41276965271506, -124.82574716041476, 89.0, 15.0], [29, 48.05426579708035, -124.70655643357726, 279.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myAIS.json new file mode 100644 index 000000000..6b7da8ef5 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myAIS.json @@ -0,0 +1 @@ +[[0, 48.61842067978617, -124.5444541422716, 85.0, 1.0], [1, 48.629184643878574, -125.4058230885733, 24.0, 6.0], [2, 48.45834258608675, -124.41269760208793, 276.0, 3.0], [3, 48.61318808121673, -124.88318152592021, 62.0, 1.0], [4, 48.63022738649405, -124.28009953085756, 299.0, 12.0], [5, 48.71032008168071, -125.20725444108156, 111.0, 10.0], [6, 48.36421821841841, -125.18123206856677, 317.0, 1.0], [7, 48.69812452386202, -124.61304461233802, 182.0, 2.0], [8, 48.41563013288296, -124.4132998685929, 337.0, 13.0], [9, 48.73646383501497, -125.29413060266113, 328.0, 9.0], [10, 48.239019661936624, -124.61856280272379, 183.0, 6.0], [11, 48.86495877108123, -124.65161705663984, 58.0, 4.0], [12, 48.35064404520543, -124.84667833634305, 16.0, 10.0], [13, 48.652082274297584, -124.1628296309164, 170.0, 5.0], [14, 48.451381374915385, -124.346294547324, 149.0, 3.0], [15, 48.34105276516963, -124.89255868913573, 128.0, 11.0], [16, 48.50868355021881, -124.7060976392906, 326.0, 1.0], [17, 48.433839946036606, -124.6226051233039, 276.0, 9.0], [18, 48.48284782465366, -124.87641655877394, 64.0, 7.0], [19, 48.83086703268401, -124.92394471911683, 323.0, 15.0], [20, 48.56709528137824, -125.45533646979852, 6.0, 4.0], [21, 48.625258212265706, -125.20704321245998, 148.0, 15.0], [22, 48.647411848918246, -124.54402991530728, 105.0, 3.0], [23, 48.68032137600396, -124.78694469665997, 137.0, 15.0], [24, 48.26225472308407, -124.37677621598758, 16.0, 2.0], [25, 48.09901576684643, -124.49526391246907, 104.0, 1.0], [26, 48.5314454713883, -124.71791859783437, 75.0, 0.0], [27, 48.44599106727562, -124.79584755564018, 244.0, 2.0], [28, 48.41276965271506, -124.82574716041476, 89.0, 15.0], [29, 48.05426579708035, -124.70655643357726, 279.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myAIS.json new file mode 100644 index 000000000..6b7da8ef5 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myAIS.json @@ -0,0 +1 @@ +[[0, 48.61842067978617, -124.5444541422716, 85.0, 1.0], [1, 48.629184643878574, -125.4058230885733, 24.0, 6.0], [2, 48.45834258608675, -124.41269760208793, 276.0, 3.0], [3, 48.61318808121673, -124.88318152592021, 62.0, 1.0], [4, 48.63022738649405, -124.28009953085756, 299.0, 12.0], [5, 48.71032008168071, -125.20725444108156, 111.0, 10.0], [6, 48.36421821841841, -125.18123206856677, 317.0, 1.0], [7, 48.69812452386202, -124.61304461233802, 182.0, 2.0], [8, 48.41563013288296, -124.4132998685929, 337.0, 13.0], [9, 48.73646383501497, -125.29413060266113, 328.0, 9.0], [10, 48.239019661936624, -124.61856280272379, 183.0, 6.0], [11, 48.86495877108123, -124.65161705663984, 58.0, 4.0], [12, 48.35064404520543, -124.84667833634305, 16.0, 10.0], [13, 48.652082274297584, -124.1628296309164, 170.0, 5.0], [14, 48.451381374915385, -124.346294547324, 149.0, 3.0], [15, 48.34105276516963, -124.89255868913573, 128.0, 11.0], [16, 48.50868355021881, -124.7060976392906, 326.0, 1.0], [17, 48.433839946036606, -124.6226051233039, 276.0, 9.0], [18, 48.48284782465366, -124.87641655877394, 64.0, 7.0], [19, 48.83086703268401, -124.92394471911683, 323.0, 15.0], [20, 48.56709528137824, -125.45533646979852, 6.0, 4.0], [21, 48.625258212265706, -125.20704321245998, 148.0, 15.0], [22, 48.647411848918246, -124.54402991530728, 105.0, 3.0], [23, 48.68032137600396, -124.78694469665997, 137.0, 15.0], [24, 48.26225472308407, -124.37677621598758, 16.0, 2.0], [25, 48.09901576684643, -124.49526391246907, 104.0, 1.0], [26, 48.5314454713883, -124.71791859783437, 75.0, 0.0], [27, 48.44599106727562, -124.79584755564018, 244.0, 2.0], [28, 48.41276965271506, -124.82574716041476, 89.0, 15.0], [29, 48.05426579708035, -124.70655643357726, 279.0, 6.0]] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGPS.json new file mode 100644 index 000000000..f8aad0fce --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[48.49950755937734, -124.80187747624676, -130.48757163037124, 14.4] \ No newline at end of file diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGoal.json new file mode 100644 index 000000000..5dbaf4c28 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[20.0, -156.0] diff --git a/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-30-random5_goal-southwest_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..7331e12a8 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myAIS.json @@ -0,0 +1,4 @@ +[ + [0, 39.85, -130.05, 180, 10], + [0, 39.85, -129.95, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myAIS.json new file mode 100644 index 000000000..7331e12a8 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myAIS.json @@ -0,0 +1,4 @@ +[ + [0, 39.85, -130.05, 180, 10], + [0, 39.85, -129.95, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myAIS.json new file mode 100644 index 000000000..7331e12a8 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myAIS.json @@ -0,0 +1,4 @@ +[ + [0, 39.85, -130.05, 180, 10], + [0, 39.85, -129.95, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myWind.json new file mode 100644 index 000000000..0816d0a8c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-south/myWind.json @@ -0,0 +1 @@ +[1, -90] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myAIS.json new file mode 100644 index 000000000..7331e12a8 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myAIS.json @@ -0,0 +1,4 @@ +[ + [0, 39.85, -130.05, 180, 10], + [0, 39.85, -129.95, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myWind.json new file mode 100644 index 000000000..5c590dfcc --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-away_goal-south_wind-southwest/myWind.json @@ -0,0 +1 @@ +[1, 225] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..5f0971e25 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myAIS.json new file mode 100644 index 000000000..5f0971e25 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myAIS.json new file mode 100644 index 000000000..5f0971e25 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myWind.json new file mode 100644 index 000000000..0816d0a8c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-south/myWind.json @@ -0,0 +1 @@ +[1, -90] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myAIS.json new file mode 100644 index 000000000..5f0971e25 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myWind.json new file mode 100644 index 000000000..5c590dfcc --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-btwn-moving-east_goal-south_wind-southwest/myWind.json @@ -0,0 +1 @@ +[1, 225] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..6b21f89dd --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.65, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myAIS.json new file mode 100644 index 000000000..6b21f89dd --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.65, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myAIS.json new file mode 100644 index 000000000..6b21f89dd --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.65, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myWind.json new file mode 100644 index 000000000..0816d0a8c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-south/myWind.json @@ -0,0 +1 @@ +[1, -90] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myAIS.json new file mode 100644 index 000000000..6b21f89dd --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.65, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myWind.json new file mode 100644 index 000000000..5c590dfcc --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-far-west-moving-east_goal-south_wind-southwest/myWind.json @@ -0,0 +1 @@ +[1, 225] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..9930cf47f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.05, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myAIS.json new file mode 100644 index 000000000..9930cf47f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.05, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myAIS.json new file mode 100644 index 000000000..9930cf47f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.05, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myWind.json new file mode 100644 index 000000000..0816d0a8c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-south/myWind.json @@ -0,0 +1 @@ +[1, -90] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myAIS.json new file mode 100644 index 000000000..9930cf47f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.05, 0, 10] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myWind.json new file mode 100644 index 000000000..5c590dfcc --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-slight-west-moving-east_goal-south_wind-southwest/myWind.json @@ -0,0 +1 @@ +[1, 225] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..848308e2e --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.35, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myAIS.json new file mode 100644 index 000000000..848308e2e --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.35, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myWind.json new file mode 100644 index 000000000..e968e0bb7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-northwest/myWind.json @@ -0,0 +1 @@ +[1, 135] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myAIS.json new file mode 100644 index 000000000..848308e2e --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.35, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myWind.json new file mode 100644 index 000000000..0816d0a8c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-south/myWind.json @@ -0,0 +1 @@ +[1, -90] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myAIS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myAIS.json new file mode 100644 index 000000000..848308e2e --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myAIS.json @@ -0,0 +1,3 @@ +[ + [0, 39.85, -130.35, 0, 20] +] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGPS.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGoal.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myWind.json b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myWind.json new file mode 100644 index 000000000..5c590dfcc --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-currently-west-moving-east_goal-south_wind-southwest/myWind.json @@ -0,0 +1 @@ +[1, 225] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myAIS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myAIS.json new file mode 100644 index 000000000..0d4f101c7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myAIS.json @@ -0,0 +1,2 @@ +[ +] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGPS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGoal.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myWind.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myWind.json new file mode 100644 index 000000000..72d3ed54c --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-20degrees/myWind.json @@ -0,0 +1 @@ +[1, 20] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myAIS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myAIS.json new file mode 100644 index 000000000..0d4f101c7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myAIS.json @@ -0,0 +1,2 @@ +[ +] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGPS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGoal.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myWind.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myWind.json new file mode 100644 index 000000000..c82f6f562 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-70degrees/myWind.json @@ -0,0 +1 @@ +[1, 70] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myAIS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myAIS.json new file mode 100644 index 000000000..0d4f101c7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myAIS.json @@ -0,0 +1,2 @@ +[ +] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGPS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGoal.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myWind.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myWind.json new file mode 100644 index 000000000..364d7425f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-east/myWind.json @@ -0,0 +1 @@ +[1, 0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myAIS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myAIS.json new file mode 100644 index 000000000..0d4f101c7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myAIS.json @@ -0,0 +1,2 @@ +[ +] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGPS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGoal.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myWind.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myWind.json new file mode 100644 index 000000000..13ff24a6f --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-north/myWind.json @@ -0,0 +1 @@ +[1, 90] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myAIS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myAIS.json new file mode 100644 index 000000000..0d4f101c7 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myAIS.json @@ -0,0 +1,2 @@ +[ +] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGPS.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGPS.json new file mode 100644 index 000000000..857da1500 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGPS.json @@ -0,0 +1 @@ +[40.0, -130.0, 225, 10.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGoal.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGoal.json new file mode 100644 index 000000000..81a4ea0db --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myGoal.json @@ -0,0 +1 @@ +[39.75, -130.0] diff --git a/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myWind.json b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myWind.json new file mode 100644 index 000000000..93654da64 --- /dev/null +++ b/src/integration_tests/resource/Data/obstacles-none_goal-south_wind-northeast/myWind.json @@ -0,0 +1 @@ +[1, 45] diff --git a/src/integration_tests/resource/converter.py b/src/integration_tests/resource/converter.py new file mode 100644 index 000000000..2f5d6dffe --- /dev/null +++ b/src/integration_tests/resource/converter.py @@ -0,0 +1,179 @@ +import datetime +import json +import os +import random as rand +import shutil +from typing import Any, Tuple + +import yaml + +ROOT_DIR = "/workspaces/sailbot_workspace/src/integration_tests/resource/Data" +NEW_DIR = "/workspaces/sailbot_workspace/src/integration_tests/resource/Converted Data" +WIDTH = 10 +LENGTH = 20 +TIMEOUT = 3 +yaml.Dumper.ignore_aliases = lambda *args: True # type: ignore + +# Convert all the mesages in raye to ROS YAML format and JSON format + + +def ais_converter(file: str) -> Tuple[dict[str, Any], dict[str, Any]]: + http_data = {"type": "HTTP", "name": "aisships", "data": {"dtype": "AISShips", "ships": []}} + ros_data = {"type": "ROS", "name": "aisships", "data": {"dtype": "AISShips", "ships": []}} + with open(os.path.join(subdir, file)) as f: + data = json.load(f) + ships_json = [] + ships_ros = [] # type: list[dict[str, Any]] + for ship in data: + ship_json = { + "ID": ship[0], # type: ignore + "lat": ship[1], + "lon": ship[2], + "headingDegrees": ship[3], + "speedKmph": ship[4], + "rot": rand.uniform(-180, 180), + "width": WIDTH, + "length": LENGTH, + "timestamp": datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"), + } # type: dict[str, float | int | str] + + ship_ros = [ + { + "dtype": "HelperAISShip", + "id": {"dtype": "uint32", "val": ship[0]}, # type: ignore + "lat_lon": { + "dtype": "HelperLatLon", + "latitude": { + "dtype": "float32", + "val": ship[1], + }, + "longitude": { + "dtype": "float32", + "val": ship[2], + }, + }, + "cog": { + "dtype": "HelperHeading", + "heading": { + "dtype": "float32", + "val": ship[3], + }, + }, + "sog": { + "dtype": "HelperSpeed", + "speed": { + "dtype": "float32", + "val": ship[4], + }, + }, + "rot": { + "dtype": "HelperROT", + "rot": { + "dtype": "int8", + "val": int(rand.uniform(-128, 127)), + }, + }, + "width": { + "dtype": "HelperDimension", + "dimension": { + "dtype": "float32", + "val": WIDTH, + }, + }, + "length": { + "dtype": "HelperDimension", + "dimension": { + "dtype": "float32", + "val": LENGTH, + }, + }, + }, + ] + ships_json.append(ship_json) + ships_ros = ships_ros + ship_ros + http_data["data"]["ships"] = http_data["data"]["ships"] + ships_json # type: ignore + ros_data["data"]["ships"] = ros_data["data"]["ships"] + ships_ros # type: ignore + + return http_data, ros_data + + +def gps_converter(file: str) -> dict[str, Any]: + ros_data = {"type": "ROS", "name": "gps", "data": {"dtype": "GPS"}} + with open(os.path.join(subdir, file)) as f: + data = json.load(f) + + gps_ros = { + "lat_lon": { + "dtype": "HelperLatLon", + "latitude": { + "dtype": "float32", + "val": data[1], + }, + "longitude": { + "dtype": "float32", + "val": data[2], + }, + }, + "heading": { + "dtype": "HelperHeading", + "heading": { + "dtype": "float32", + "val": data[3], + }, + }, + } + + ros_data["data"].update(gps_ros) # type: ignore + + return ros_data + + +def dump_http(data: dict[str, Any], subdir_name: str, msg_type: str) -> None: + with open(os.path.join(subdir_name, msg_type + "_http_data.yaml"), "w") as f: + yaml.dump(data, f, sort_keys=False) + + +def dump_ros(data: dict[str, Any], subdir_name: str, msg_type: str) -> None: + with open(os.path.join(subdir_name, msg_type + "_ros_data.yaml"), "w") as f: + yaml.dump(data, f, sort_keys=False) + + +def add_miscellaneous(inputs_outputs: dict[str, Any]) -> dict[str, Any]: + return { + "timeout": TIMEOUT, + "required_packages": [ + {"name": "local_pathfinding", "configs": None}, + { + "name": "network_systems", + "configs": [ + "all_disable.yaml", + "example/example_en.yaml", + "mock_ais/mock_ais_en_default.yaml", + ], + }, + ], + "inputs": [inputs_outputs], + "expected_outputs": [inputs_outputs], + } + + +if __name__ == "__main__": + for subdir, dir, files in os.walk(ROOT_DIR): + subdir_name = os.path.join(NEW_DIR, subdir[len(ROOT_DIR) + 1 :]) + try: + os.makedirs(subdir_name) + except FileExistsError: + shutil.rmtree(subdir_name) + os.makedirs(subdir_name) + + for file in files: + if file == "myAIS.json": + http_data, ros_data = ais_converter(file) + http_data = add_miscellaneous(http_data) + ros_data = add_miscellaneous(ros_data) + dump_http(http_data, subdir_name, msg_type="aisships") + dump_ros(ros_data, subdir_name, msg_type="aisships") + elif file == "myGPS.json": + ros_data = gps_converter(file) + ros_data = add_miscellaneous(ros_data) + dump_ros(ros_data, subdir_name, msg_type="gps") diff --git a/src/integration_tests/testplans/aisships.yaml b/src/integration_tests/testplans/aisships.yaml new file mode 100644 index 000000000..b891e24a7 --- /dev/null +++ b/src/integration_tests/testplans/aisships.yaml @@ -0,0 +1,2241 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 +expected_outputs: +- type: ROS + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 1 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.57311529566738 + longitude: + dtype: float32 + val: -125.24765753295085 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 178.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -111 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 2 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.14648856122213 + longitude: + dtype: float32 + val: -124.56496857296953 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 33.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 3 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.460478648157704 + longitude: + dtype: float32 + val: -125.13289150254302 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 275.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 0.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -7 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 4 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.906845738250354 + longitude: + dtype: float32 + val: -124.68009066623256 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 82.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 5 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18352535432236 + longitude: + dtype: float32 + val: -124.35908765324045 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 9.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 63 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 6 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.509678910612216 + longitude: + dtype: float32 + val: -124.71992162347318 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -15 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 7 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5164134766584 + longitude: + dtype: float32 + val: -124.59903638392628 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 158.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 8 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.6610511707211 + longitude: + dtype: float32 + val: -124.7700961617359 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 78.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 9 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.618295754536 + longitude: + dtype: float32 + val: -124.3751400130934 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 302.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -83 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 10 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.45495016044448 + longitude: + dtype: float32 + val: -124.68179483877347 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 358.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -37 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 11 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.11783644273227 + longitude: + dtype: float32 + val: -124.49750158984929 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 260.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 98 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 12 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.362149797306216 + longitude: + dtype: float32 + val: -124.92830580697543 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 299.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 10.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 94 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 13 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.28578482932685 + longitude: + dtype: float32 + val: -124.9991064891701 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 318.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -91 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 14 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.18363342625423 + longitude: + dtype: float32 + val: -124.51577196451622 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 12.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -25 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 15 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.34848473605084 + longitude: + dtype: float32 + val: -125.24444837839258 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 62.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -14 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 16 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.547728049710344 + longitude: + dtype: float32 + val: -125.17269927256511 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 135.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -59 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 17 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.73904635356762 + longitude: + dtype: float32 + val: -124.73677329863713 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 188.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 6.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -65 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 18 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.12676681107224 + longitude: + dtype: float32 + val: -125.17467366126981 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 15.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 11.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 102 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 19 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.75047750569519 + longitude: + dtype: float32 + val: -124.83993728669918 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 142.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 2.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -119 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 20 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.54624764604642 + longitude: + dtype: float32 + val: -124.20840438780192 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 278.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -78 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 21 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.230589903667095 + longitude: + dtype: float32 + val: -124.69328748895164 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 185.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 15.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 89 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 22 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.940815793206426 + longitude: + dtype: float32 + val: -124.7767424220235 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 97.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 54 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 23 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.47648500918056 + longitude: + dtype: float32 + val: -125.40758533494669 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 282.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 70 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 24 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.25904273931113 + longitude: + dtype: float32 + val: -124.61631294200224 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 292.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 8.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 58 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 25 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.5857088077203 + longitude: + dtype: float32 + val: -124.39932124841845 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 20.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 6 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 26 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.394141613868996 + longitude: + dtype: float32 + val: -124.565511045911 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 182.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 7.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -92 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 27 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.21315956433256 + longitude: + dtype: float32 + val: -124.68582455039865 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 194.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 9.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 116 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 28 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.398751576265816 + longitude: + dtype: float32 + val: -124.8875253604767 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 10.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 3.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -52 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - dtype: HelperAISShip + id: + dtype: uint32 + val: 29 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.648315806948254 + longitude: + dtype: float32 + val: -125.30765308764265 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 310.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 12.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -43 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 diff --git a/src/integration_tests/testplans/aisships_http.yaml b/src/integration_tests/testplans/aisships_http.yaml new file mode 100644 index 000000000..defaf026d --- /dev/null +++ b/src/integration_tests/testplans/aisships_http.yaml @@ -0,0 +1,69 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml + +inputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: 79 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + +expected_outputs: +- type: HTTP + name: aisships + data: + dtype: AISShips + ships: + - ID: 0 + lat: 48.486730711983434 + lon: -124.2584587833453 + headingDegrees: 48.0 + speedKmph: 13.0 + rot: 1.4609593839707884 + width: 10 + length: 20 + timestamp: '2024-07-10 03:55:13' diff --git a/src/integration_tests/testplans/example.yaml b/src/integration_tests/testplans/example.yaml index 49b68f666..d5200e1c0 100644 --- a/src/integration_tests/testplans/example.yaml +++ b/src/integration_tests/testplans/example.yaml @@ -1,15 +1,12 @@ -# Example testplan - Does not currently show HTTP I/O -timeout_sec: 3 - +timeout: 3 required_packages: - name: local_pathfinding - configs: # Start local_pathfinding with default configuration + configs: - name: network_systems configs: - - all_disable.yaml - - example/example_en.yaml - - mock_ais/mock_ais_en_default.yaml - + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml inputs: - type: ROS name: cached_fib_in @@ -17,30 +14,66 @@ inputs: dtype: uint64 val: 6 - type: ROS - name: mock_gps + name: aisship data: - dtype: GPS - lat_lon: + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: dtype: HelperLatLon latitude: - dtype: float32 - val: 1 + dtype: float32 + val: 48.486730711983434 longitude: - dtype: float32 - val: -1 - speed: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: dtype: HelperSpeed speed: - dtype: float32 - val: 5 + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 + - type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 heading: - dtype: HelperHeading - heading: - dtype: float32 - val: 180 - # Global Path used to test list datatype parsing, it's not actually monitored in this example + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 - type: ROS - name: global_path + name: local_path data: dtype: Path waypoints: @@ -65,14 +98,81 @@ expected_outputs: data: dtype: uint64 val: 5 - # monitoring an input as an output is allowed - type: ROS - name: cached_fib_in + name: aisships data: - dtype: uint64 - val: 6 + dtype: AISShips + ships: + - dtype: HelperAISShip + id: + dtype: uint32 + val: 0 + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: 48.486730711983434 + longitude: + dtype: float32 + val: -124.2584587833453 + cog: + dtype: HelperHeading + heading: + dtype: float32 + val: 48.0 + sog: + dtype: HelperSpeed + speed: + dtype: float32 + val: 13.0 + rot: + dtype: HelperROT + rot: + dtype: int8 + val: -55 + width: + dtype: HelperDimension + dimension: + dtype: float32 + val: 10 + length: + dtype: HelperDimension + dimension: + dtype: float32 + val: 20 - type: ROS - name: mock_ais_ships + name: gps data: - dtype: AISShips - DONT_CARE: True + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 + - type: ROS + name: local_path + data: + dtype: Path + waypoints: + - dtype: HelperLatLon + latitude: + dtype: float32 + val: 2 + longitude: + dtype: float32 + val: -2 + - dtype: HelperLatLon + latitude: + dtype: float32 + val: 3 + longitude: + dtype: float32 + val: -3 diff --git a/src/integration_tests/testplans/globalpath.yaml b/src/integration_tests/testplans/globalpath.yaml new file mode 100644 index 000000000..d6dc3e099 --- /dev/null +++ b/src/integration_tests/testplans/globalpath.yaml @@ -0,0 +1,33 @@ +# Example testplan - Does not currently show HTTP I/O +timeout_sec: 3 + +required_packages: + - name: local_pathfinding + configs: # Start local_pathfinding with default configuration + - name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml + +inputs: + - type: HTTP + name: globalpath + data: + dtype: Path + waypoints: + - latitude: 2.0 + longitude: -2.0 + - latitude: 3.0 + longitude: -3.0 + +expected_outputs: + - type: HTTP + name: globalpath + data: + dtype: GlobalPath + waypoints: + - latitude: 1.0 + longitude: -1.0 + - latitude: 2.0 + longitude: 2.0 diff --git a/src/integration_tests/testplans/gps.yaml b/src/integration_tests/testplans/gps.yaml new file mode 100644 index 000000000..a8974ba5c --- /dev/null +++ b/src/integration_tests/testplans/gps.yaml @@ -0,0 +1,45 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml +inputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 +expected_outputs: +- type: ROS + name: gps + data: + dtype: GPS + lat_lon: + dtype: HelperLatLon + latitude: + dtype: float32 + val: -124.80127511028725 + longitude: + dtype: float32 + val: -123.92537339005594 + heading: + dtype: HelperHeading + heading: + dtype: float32 + val: 14.4 diff --git a/src/integration_tests/testplans/path_http.yaml b/src/integration_tests/testplans/path_http.yaml new file mode 100644 index 000000000..c1540bd92 --- /dev/null +++ b/src/integration_tests/testplans/path_http.yaml @@ -0,0 +1,60 @@ +timeout: 3 +required_packages: +- name: local_pathfinding + configs: null +- name: network_systems + configs: + - all_disable.yaml + - example/example_en.yaml + - mock_ais/mock_ais_en_default.yaml + +inputs: + - type: HTTP + name: globalpath + data: + dtype: Path + waypoints: + - latitude: 2.0 + longitude: -2.0 + - latitude: 3.0 + longitude: -3.0 + - type: ROS + name: local_path + data: + dtype: Path + waypoints: + - dtype: HelperLatLon + latitude: + dtype: float32 + val: 2 + longitude: + dtype: float32 + val: -2 + - dtype: HelperLatLon + latitude: + dtype: float32 + val: 3 + longitude: + dtype: float32 + val: -3 + +expected_outputs: + - type: HTTP + name: globalpath + data: + dtype: GlobalPath + waypoints: + - latitude: 1.0 + longitude: -1.0 + - latitude: 2.0 + longitude: 2.0 + - type: HTTP + name: localpath + data: + dtype: Path + waypoints: + - latitude: "49.37711663428484" + longitude: "-123.27156381625609" + - latitude: "49.378315644557176" + longitude: "-123.27180418927239" + timestamp: "2024-03-09T11:00:23.443318" diff --git a/src/local_pathfinding/src/build/pyompl.cpython-310-x86_64-linux-gnu.so b/src/local_pathfinding/src/build/pyompl.cpython-310-x86_64-linux-gnu.so index 65826c625..b7c29bd43 100755 Binary files a/src/local_pathfinding/src/build/pyompl.cpython-310-x86_64-linux-gnu.so and b/src/local_pathfinding/src/build/pyompl.cpython-310-x86_64-linux-gnu.so differ diff --git a/src/website/.gitignore b/src/website/.gitignore index ffba29b02..e05aa551c 100644 --- a/src/website/.gitignore +++ b/src/website/.gitignore @@ -5,6 +5,7 @@ node_modules /.pnp .pnp.js + # testing /coverage