Description:
Handles connections between Dronology and Ground Control Stations (GCS). Forwards commands monitoring and other messages from Dronology to its registered GCS and passes messages describing the state of the UAVs managed by each GCS back to dronology.

Description:
Python based system that manages and controls UAVs. Communicates with Dronology via the Ground Station middleware. Each GCS is responsible for communicating directly with each UAV sending it commands and monitoring its state including its current position flight mode and health.

Description:
Manages all aspects of displaying flights and UAVs in real-time and interacting with them. The flight view displays active routes UAV coordinates and their current health. The map uses zoom and panning features to follow one or more selected UAV.

Description:
The internal simulator provides low-fidelity features for supporting quick initial tests of a virtual UAV. Features include takeoff goto land and battery health.

Description:
Provides capabilities for creating and managing flight routes within Dronology.

Description:
Provides 3 dimensional coordinate system currently based on longitude latitude and altitude. Provides conversion between various coordinate systems.

Description:
Provides basic flight related capabilities for UAVs.

Description:
Provides capabilities for executing flights assigned to a UAV.

Description:
Provides capabilities for executing missions with multiple UAVs

Description:
Single UAV flight plan assignments (taking an existing route instantiating it and assigning to a UAV)

Description:
Provides capabilities for creating and executing complex flight patters for multiple UAVs

Description:
Collision Avoidance API and general services

Description:
Simple collision avoidance implementation that stops UAVs when they violate a minimum safety distance.

Description:
Core component for managing different types of UAVs.

Description:
Provides capabilities for activating and deactivating both Virtual and Physical UAVs within Dronology.

Description:
Provides capabilities for registering UAVs i.e. providing meta-data regarding the UAV (such as payload wingspan equipment...)

Description:
Provides basic capabilities for simulating the flight of Virtual UAVs.

Description:

Description:
Provides capabilities for logging UAV related events (such as assigned flights executed missions...).

Description:
Provides capabilities for connecting to multiple GCS' sending commands to and receiving messages from UAVs.

Description:
User interface for managing UAVs routes and planning flights.

Description:
Provides capabilities for selecting existing routes and assigning them to active UAVs

Description:
"Provides capabilities for creating new flight routes on a map that are stored in Dronology "

Description:
Provides basic data collection capabilities for internal data from Dronology (such as assigned flights) and data provided by the UAV (e.g. location data and status)

Description:
"Provides map functionality for displaying routes and UAVs leveraging off-the-shelf map providers (such as OSM and google maps). "

Description:
When requested the _VehicleCore_ shall shall transition the UAV between states according to allowed state transitions as depicted in the UAV state transition diagram

Description:
If a client registers for notifications the _UIMiddleware_ shall send notifications for specific events

Description:
The _VehicleCore_ shall assign a unique ID to each activated UAV.

Description:
The _SingleUAVFlightPlanScheduler_ shall only execute one flight plan at a time for each UAV.

Description:
The _UAVActivationManager_ shall ensure that only one instance of each registered drone is active at any time.

Description:
The _VehicleCore_ shall associate a {{UAV_TYPE}} for each UAV defining its basic attributes.

Description:
Each waypoint shall be specified using coordinates that include longitude latitude and altitude.

Description:
When a flight plan is executed the _VehicleCore_ shall send the next waypoint to the UAV.

Description:
The _SingleUAVFlightPlanScheduler_ shall maintain a managed list of pending flight plans for Each UAV.

Description:
If requested the _SingleUAVFlightPlanScheduler_ shall unassign the flight plan assigned to a UAV that is awaiting execution.

Description:
If a UAV has pending flight plans then when it reaches the final waypoint of its current flight plan the _SingleUAVFlightPlanScheduler_ shall execute the next assigned flight plan.

Description:
When a UAV's current flight is cancelled the _SingleUAVFlightPlanScheduler_ shall in turn cancel all scheduled flight plans for that UAV.

Description:
The _UIMiddleware_ shall provide an interface for registering UI clients.

Description:
The _UIMiddleware_ shall only assign one control-client at a time for each UAV.

Description:
If a command is issued by the _VaadinUI_ for an UAV the _VaadinUI_ shall request control of that UAV.

Description:
When the _RealTimeFlightUI_ is loaded a map shall be displayed.

Description:
The _RealTimeFlightUI_ shall display the location of active UAVs as icons on the map.

Description:
When a stationary or moving object is within the proximity of a UAV the _ObjectAvoidance_ system shall issue evasive directives to the UAV

Description:
If a UAV takes evasive actions the system will ensure that it will eventually reach its destination

Description:
The _ObjectAvoidance_ system only issues commands within the capabilities of the UAV

Description:
When a UAV has an active onboard Obstacle Avoidance then the _ObstacleAvoidance_ system shall not issue directives

Description:
When a _GCS_ requests activation of a newly detected UAV the _GCSMiddleware_ shall forward the request to Dronology.

Description:
The _UAVActivationManager_ shall only activate UAVs that are registered.

Description:
When the _GCS_ loses the connection to an UAV the _GCS_ shall attempt to reconnect

Description:
"When the ""return to home"" command is issued the _FlightManager_ shall return the UAV to its original launch location without issuing any additional waypoint or routing commands."

Description:
The _FlightRouteManager_ shall define flight routes as an ordered sequence of waypoints in which the first waypoint represents the first target location and the final waypoint represents the final target location.

Description:
The _FlightRouteManager_ shall ensure that all flight routes represent a {{VALID_FLIGHT_ROUTE}}.

Description:
The _FlightRouteManager_ shall persist flight routes.

Description:
When a flight route requires a customized takeoff altitude that differs from the system's default takeoff altitude it shall be specified in the flight route.

Description:
When requested the _CoordinateSystem_ shall transform coordinates to alternate formats.

Description:
When given two coordinates the _CoordinateSystem_ shall compute the distance between them.

Description:
When given two coordinates the _CoordinateSystem_ shall compute the direction from the first coordinate to the second coordinate.

Description:
"When the ""hover in place"" command is issued the _FlightManager_ shall halt the UAV in place and maintain its current position."

Description:
If a flight route is assigned to a UAV which is currently hovering in place the _FlightManager_ shall assign the route and maintain the hover in place mode.

Description:
"If a flight plan is active and the ""hover in place"" command is rescinded the _FlightManager_ shall notify the UAV to continue to the originally designated waypoint."

Description:
When a flight plan is activated for a UAV currently on the ground the _FlightSchedulingandExecution _shall notify the UAV to takeoff vertically until it reaches the prescribed altitude.

Description:
The _MissionPlanner _shall manage predefined FlightPatterns

Description:
When requested if a mission is currently active the _MissionPlanner _shall cancel the active mission.

Description:
When requested the _SingleUAVFlightPlanScheduler_ shall schedule a route for execution.

Description:
If a route contains a specific {{UAV_ID}} the _SingleUAVFlightPlanScheduler_ shall assign the route to the given UAV.

Description:
If a scheduled flight is not manually assigned to a UAV the _SingleUAVFlightPlanScheduler_ shall assign the route automatically to an UAV

Description:
If a UAV does not have any pending flight plans then when it reaches the final waypoint of its current flight plan the _SingleUAVFlightPlanScheduler_ shall notify the UAV to hover in place.

Description:
If requested the _SingleUAVFlightPlanScheduler_ shall abort the currently executing flight plan of an UAV

Description:
A flight pattern shall document the longitude latitude and altitude of waypoints in a flight route as offsets from the starting position of the UAV.

Description:
When a group of UAVs are assigned flight patterns as part of a mission the system shall provide a warning if any paths overlap.

Description:
The _VehicleCore_ shall support UAVs connected via the _GCS_

Description:
The _VehicleCore_ shall support virtual UAVs

Description:
When a UAV is deactivated the _UAVActivationManager_ shall cancel all current and scheduled flight plans

Description:
When the maximum numbers of allowed activated UAVs has been reached the _UAVActivationManager_ shall reject any further activation requests.

Description:
The _UAVRegistrationManager_ shall store UAV meta-data information such as the UAV's technical characteristics

Description:
The _InternalSimulator_ shall approximate the behavior of a UAV.

Description:
When given a takeoff command the _InternalSimulator_ shall move the UAV to the takeoff altitude corresponding to its current longitude and latitude.

Description:
When given a goto command the _InternalSimulator_ shall update the location of the UAV at increments of {{SIMULATION_STEP_SIZE}} meters moving it towards the target destination until the destination is reached.

Description:
When given a landing command the _InternalSimulator_ shall move the UAV from to the ground altitude corresponding to its current longitude and latitude.

Description:
The _InternalSimulator_ shall approximate the state of the battery

Description:
The _ActivityLogger_ shall log all flight plan related events.

Description:
The _ActivityLogger_ shall log all commands sent to and messages received from a _CGS_.

Description:
The _UIMiddleware_ shall provide a list of all active UAVs

Description:
The _UIMiddleware_ shall provide a list of all existing routes

Description:
The _UIMiddleware_ accepts commands from UIs and forwards to Dronology

Description:
The _UIMiddleware_ shall enable the creation and modification of flight routes

Description:
The _UIMiddleware_ shall enable an existing route to be assigned to an active UAV.

Description:
The _UIMiddleware_ shall accept and activate a mission plan upon request.

Description:
When the _VaadinUI_ is activated the _VaadinUI_ shall be configured according to stored configuration parameters.

Description:
When loading the map view it shall be positioned at the pre-defined location

Description:
The _RouteAssignmentUI_ shall provide means to select an existing routes and assign them to a UAV.

Description:
When a route is assigned or removed from a UAV the _RouteAssignmentUI_ shall notify Dronology.

Description:
When requested by the user the _RouteAssignmentUI_ shall display details about the selected UAV and its flight plans.

Description:
When a UAV is selected the _RouteAssignmentUI_ shall display its active flight plans.

Description:
A user may reorder routes or remove flight plans assigned to a UAV as long as the flight has not started execution.

Description:
When a user shall cancels a pending flight plan the _RouteAssignmentUI_ shall notify Dronology.

Description:
The _RouteCreationUI_ shall distinguish between starting ending and intermediate waypoint markers.

Description:
The _RouteCreationUI_ shall only accept valid altitude and speed values for waypoint.

Description:
Each route shall include a unique ID a textual description and a set of waypoints all of which are editable in the UI.

Description:
When requested the _RouteCreationUI_ shall send a newly created or modified route to dronology.

Description:
The _RouteCreationUI_ shall allow the user to create and modify a route.

Description:
The _RouteCreationUI_ shall allow a user to delete a route.

Description:
When the _RouteCreationUI_ is loaded a list of all existing routes shall be displayed.

Description:
The _RealTimeFlightUI_ shall display the name and status of all currently activated UAVs

Description:
The _RealTimeFlightUI_ shall display all currently active flight plans on the map.

Description:
The _RealTimeFlightUI_ shall allow users to apply flight operations to one or more selected UAVs.

Description:
The _RealTimeFlightUI_ shall allow users to perform emergency operations (e.g. hovering multiple UAVs sending multiple UAVs to home) to a group of UAVs

Description:
The _RealTimeFlightUI_ shall allow users to follow one or multiple UAVs on the map.

Description:
The _RealTimeFlightUI_ shall notify users when an emergency occurs.

Description:
The _DronologyRuntimeMonitor_ shall provide functionality to retrieve monitoring messages and distribute them to clients

Description:
When a new monitoring message is received the _DronologyRuntimeMonitor_ shall forward the message to all subscribed clients

Description:
The _DronologyRuntimeMonitor_ shall be able to receive messages from any Dronology component

Description:
The _GCSMiddleware_ shall handle multiple _GCS_

Description:
The _GCSMiddleware _ shall follow a predefined set of steps to establish a connection between a _GCS_ and Dronology

Description:
The _GCSMiddleware_ shall handle state messages monitoring messages and mode change messages received from an _GCS_.

Description:
The _GCSMiddleware_ shall forward commands sent from Dronology to a _GCS_

Description:
When the connection to the _GCS_ from the _GCSMiddleware_ is lost the _GCSMiddleware_ shall notify Dronology and deactivate all associated UAVs.

Description:
When the _GCS_ receives a UAV command from the _GCSMiddleware_ the _GCS_ shall forward the command to the respective UAV.

Description:
The _GCS_ shall assign a message frequency for all UAVs.

Description:
The _GCS_ shall report newly connected UAVs to the _GCSMiddleware_.

Description:
The _GCS_ shall transmit the UAV's current location to the _GCSMiddleware_

Description:
The _GCS_ shall transmit the UAV's properties to the _GCSMiddleware_

Description:
The _MissionPlanner_ shall execute flight plans for multiple UAVs concurrently.

Description:
The _MapComponent_ shall support different types of map layers (e.g. terrain satellite)

Description:
A client shall register with the _UIMiddleware_ to receive flight route event notifications whenever a flight route is created modified or deleted.

Description:
A client shall register with the _UIMiddleware_ to receive UAV type specification events whenever a new UAV type specification is created modified or deleted.

Description:
A client shall register with the _UIMiddleware_ to receive notifications whenever a new UAV type configuration is created modified or deleted.

Description:
A client shall register with the _UIMiddleware_ to receive notifications whenever a new flight plan is activated or executed

Description:
A client shall register with the _UIMiddleware_ to receive notifications whenever UAV instances are activated or deactivated.

Description:
A client may register with the _UIMiddleware_ to receive notifications whenever unexpected events occur.

Description:
All waypoints shall be specified using degrees longitude and latitude using Decimal Degrees format (e.g. 38.6556758 -77.7872153)

Description:
Altitude shall be specified in meters

Description:
When a UAV is initially activated on the ground it is in the {{ON_GROUND}} state

Description:
Each UAV has zero or more pending flight plans.

Description:
When a flight plan is assigned to a UAV in the {{ON_GROUND}} state it transitions to the {{AWAITING_TAKEOFF_CLEARANCE}} state.

Description:
When permission is granted to UAV in the {{AWAITING_TAKEOFF_CLEARANCE}} state it transitions to {{TAKING_OFF}} state.

Description:
When a UAV in the TAKING_OFF state achieves the target altitude it transitions to FLYING state.

Description:
When a UAV is in {{FLYING}} state and has no currently executing flight plan it transitions to {{IN_AIR}}

Description:
Flight routes shall be created externally and uploaded to Dronology via the UI middleware.

Description:
If the flight plan queue is empty when the UAV reaches the final waypoint of its current flight plan then its state is set to {{IN_AIR}}.

Description:
By default the pending flight plansof a UAV's shall be serviced in FCFS order.

Description:
The pending flight plans of a UAV may be reordered

Description:
A flight plan shall be unassigned from a UAV by removing it from the UAV's flight plan queue.

Description:
All flight plans executed and waypoints reached shall be logged to a dedicated flight log file.

Description:
The name state battery level speed and current coordinates of each UAV shall be displayed.

Description:
If no scale information is provided in the configuration the map shall display at a scale of {{MAP_DEFAULT_SCALE}}.

Description:
When loading the map it shall be scaled as specified in the configuration.

Description:
Unless otherwise configured in the configuration parameters the map shall be centered at White Field University of Notre Dame South Bend IN.

Description:
The UAV location shall be updated on the map at the currently defined {{UI_UAV_REFRESH_RATE}}

Description:
Configuration parameters including map coordinates scale map style and color scheme shall be stored in a JSON Object on the server

Description:
Upon loading the UI requests all existing routes from the _UIMiddleware_. Once the _UIMiddleware_ respond to the request the UI displays all existing routes

Description:
Position reckoning shall utilize the WGS-84 reference system.

Description:
All commands sent to and messages received from a _CGC_ shall be logged to a dedicated GCS log file

Description:
The UI shall display the waypoints and their connections.

Description:
When routes are assigned to a UAV a request shall be sent to the _UIMiddleware_ to update the assignment in Dronology.

Description:
The _GCSMiddleware_ shall handle multiple _GCS_ at the same time.

Description:
In step one the _GCS_ announces itself to the _GCSMiddleware_ providing its unique ID.

Description:
The _MissionPlanner _shall synchronize and coordinate the flights of multiple UAVs.

Description:
Waypoints in a flight route shall be colored so as to differentiate between the starting waypoint ending waypoint and all remaining intermediate waypoints.

Description:
The open street map component shall support multiple map providers.

Description:
The _DronologyRuntimeMonitor_ shall allow to publish arbitrary monitoring messages and subscribe to certain message types

Description:
The _MissionPlanner_ shall provide an interface to support the execution of predefined missions specified in JSON.

Description:
When a UAV is executing flight plans and reaches a synchronization point which is followed by a delay task it shall wait to proceed until the delay specified in seconds is expired

Description:
When a mode change message to {USER_CONTROLLED}} is received the Vehicle shall transition to {USER_CONTROLLED}}.

Description:
Flight routes shall be specified in the standard XML_FlightRoute format.

Description:
Upon receipt of a new or modified flight route from the UI middleware the _FlightRouteManager_ shall check that it is a {{VALID_FLIGHT_ROUTE}} i.e. that all waypoints are valid coordinates and that the flight route contains at least one waypoint.

Description:
When a flight route is uploaded to Dronology the _FlightRouteManager_ shall save it under a unique name as an xml file.

Description:
When the _UIMiddleware_ requests a flight route identified by its unique name the _FlighRouteManager _shall retrieve the associated file.

Description:
The flight route xml format includes an optional takeoff altitude tag

Description:
The default coordinate representation shall use LLA (longitude latitude altitude) format.

Description:
When requested the _CoordinateSystem_ shall transform coordinates transformed from the default representation to n-vectors.

Description:
When requested the _CoordinateSystem_ shall be transform coordinates from the default representation to p-vectors.

Description:
When requested coordinates shall be transformed from n-vectors to the default representation.

Description:
When requested coordinates shall be transformed from p-vectors to the default representation.

Description:
Distances computed between two coordinates shall be accurate within 1 meter over a distance of 400 000 meters.

Description:
Direction between two coordinates shall be specified using a velocity vector from the first coordinate.

Description:
When the UAV is commanded to return to home the current flight plan shall be removed and a new flight plan shall be created containing only a single waypoint representing its original launch coordinates.

Description:
"When the UAV is commanded to hover in place its state is changed to ""hover in place"" and a command is sent to the GCS."

Description:
If the UAV is in 'hover in place' mode then no waypoints directives for that UAV shall be sent to the _GCS_.

Description:
When the hover in place command is rescinded the UAV's state is reverted to its previous state.

Description:
At the start of a flight plan the system shall send the first target waypoint to the UAV's _GCS_.

Description:
When the _VehicleCore_ receives the UAV's current coordinates and if the UAV has an assigned target waypoint then the _VehicleCore_ shall compute the current distance to the target waypoint.

Description:
If the computed distance from the UAV to the target waypoint is less than {{THRESHOLD_WAYPOINT_DISTANCE}} than the waypoint shall be considered reached.

Description:
When the UAV reaches a target waypoint if additional waypoints are specified in the flight plan then the _VehicleCore_ shall send the next waypoint to the UAV's _GCS_.

Description:
When the takeoff command is issued the _FlightSchedulingAndExecution _checks for a pre-specified altitude in the flight plan.

Description:
If a takeoff altitude is prescribed in the flight plan assigned to a UAV currently on the ground then that altitude is used as the target takeoff altitude.

Description:
If no takeoff altitude is prescribed in the flight plan assigned to a UAV currently on the ground then the system-wide default altitude is used as the target takeoff altitude.

Description:
If a UAV is in the air when a flight plan is assigned the takeoff altitude in the flight plan is ignored.

Description:
Each individual UAV that is included in a MissionPlan shall have an ordered list of one or more flight routes assigned to it.

Description:
The flight plans of two or more UAVs shall be synchronized by inserting shared synchronization points between the ordered list of flight routes assigned to each participating UAV.

Description:
When a UAV is executing flight plans and reaches a synchronization point it shall wait to proceed until all other UAVs sharing the same synchronization point have also reached this point.

Description:
The MissionPlan shall be specified as a JSON file (see attached example).

Description:
When a predefined FlightPattern is included in a MissionPlan it shall be expanded prior to use into a set of waypoints and synchronization points for each of the participating UAVs.

Description:
The FlightPattern for synchronized takeoff shall direct each UAV to takeoff to a unique altitude synchronize with other UAVs fly at the unique altitude to the longitude and latitude of the first waypoint of the subsequent route synchronize with other UAVs descend or ascend to the target waypoint and synchronize with other UAVs to complete the flight pattern.

Description:
The FlightPattern for synchronized landing shall direct each UAV to synchronize at the final waypoint of the preceding route ascend or descend to a unique altitude synchronize fly to the longitude and latitude of the home coordinates synchronize and then descend to the landing altitude.

Description:
When requested by the user a currently executing mission plan shall be cancelled by removing all pending flight plans and removing all synchronization points.

Description:
When a flight route is scheduled for execution its waypoints takeoff altitude and identifier shall be used to instantiate a new flight plan

Description:
When a flight plan is assigned to a specific UAV it shall be placed in the UAV's execution queue.

Description:
If a flight plan is not assigned to a specific UAV the flight plan scheduler shall automatically assign it to the next available UAV.

Description:
When a UAV is issued a return-to-home command during a flight then the current flight plan is aborted and all scheduled flight plans are removed from its flight plan queue.

Description:
If the flight plan queue is not empty when the UAV reaches the final waypoint of its current flight plan then the next flight plan is removed from the queue and set as the currently executed flight plan.

Description:
The currently executing flight plan ID is associated with the UAV executing it.

Description:
Each UAV can only store one currently executing flight plan ID.

Description:
When the flight plan is aborted it shall be removed from the associated UAV.

Description:
An aborted flight plan shall not be reassigned to any UAV

Description:
When the flight plan is aborted the UAV switches to hover in place mode

Description:
When a UAV which has been receiving evasive directives is no longer in close proximity to an object the _ObjectAvoidance_ system shall stop sending directives and the UAV will continue towards its destination.

Description:
The _ObjectAvoidance_ system shall retrieve UAV properties and shall check all directives against them.

Description:
The _ObjectAvoidance_ system shall retrieve the state of the UAVs onboard ObjectAvoidance status.

Description:
The _ObjectAvoidance_ system shall maintain a list of UAV states

Description:
The ObjectAvoidance system shall compute pair-wise distances between UAVs

Description:
If an obstacle is detected within a distance of {{MIN_STOPPING_DISTANCE}} the _ObjectAvoidance_ system shall issue a 'hover in place' command

Description:
Each Virtual and Physical drone is associated with a predefined {{UAV_TYPE}} defining its basic attributes.

Description:
An activation request for a UAV that is received from the _GCS_Middleware_ is only accepted if the UAV provides an ID unique from all other currently activated UAVs.

Description:
An internally simulated UAV is instantiated with an ID that is unique from the IDs of all other currently activated UAVs.

Description:
The _VehicleCore_ shall support UAVs capable of receiving and responding to commands sent via the ground control station

Description:
The system shall support internally simulated UAVs

Description:
When a UAV is {{IN_AIR}} state and is assigned a flight plan to execute it transitions to {{FLYING}}

Description:
When a UAV is in {{IN_AIR}} state and receives a command to land it transitions to {{LANDING}} state

Description:
When a UAV is in {{LANDING}} state and reaches zero altitude it transitions to {{ON_GROUND}}

Description:
If the presented {{UAV_ID}} represents a currently activated UAV then the _GCS_Middleware_ will be notified and no additional activation will be performed.

Description:
When receiving a new activation request from the _GCS_Middleware_ the _UAVActivationManager_ shall check that the presented {{UAV_ID}} represents a currently registered and non-activated UAV.

Description:
If the presented {{UAV_ID}} does not represent a currently registered UAV then the _UAVActivationManager_ will reject the activation and notify the _GCS_Middleware_

Description:
If the presented {{UAV_ID}} represents a currently registered UAV then the _UAVActivationManager_ shall activate the UAV.

Description:
When a UAV is deactivated all scheduled flight plans shall be removed from the UAV's flightplan pool.

Description:
The maximum number of activated UAVS shall be defined as {{MAX_UAV}}

Description:
When given a takeoff command the _InternalSimulator_ shall move with infinite acceleration the UAV to the takeoff altitude corresponding to its current longitude and latitude.

Description:
When given a goto command the _InternalSimulator_ shall compute the next coordinate based upon the angle of travel and the step-size.

Description:
While responding to a goto command the _InternalSimulator_ shall continue moving in steps towards the target coordinates until the target has been reached.

Description:
When given a land command the _InternalSimulator_ shall immediately change the UAV's current altitude to the ground altitude.

Description:
When a simulated UAV is in flight the _InternalSimulator_ shall reduce the battery every second by {{SIMULATOR_BATTERY_DRAIN_VOLTS}}.

Description:
When given a takeoff command the _NVECSimulator_ shall move with infinite acceleration the UAV to the takeoff altitude corresponding to its current longitude and latitude.

Description:
When given a goto command the _NVECSimulator_ shall compute the next coordinate based upon the normal vector and altitude of the current position and the normal vector and altitude of the destination. The simulator shall move the UAV with infinite acceleration and use numerical methods to hone in on the next coordinate which will be {{SIMULATION_STEP_SIZE}} meters from the current position along the travel path.

Description:
While responding to a goto command the _NVECSimulator_ shall continue moving in steps towards the target coordinates until the target has been reached.

Description:
When given a land command the _NVECSimulator_ shall immediately change the UAV's current altitude to the ground altitude.

Description:
When a simulated UAV is in flight the _NVECSimulator_ shall reduce the battery every second by {{SIMULATOR_BATTERY_DRAIN_VOLTS}}.

Description:
When a flight plan is initiated a log event shall be created that includes the name of the route the UAV it is assigned to and the initiation time stamp.

Description:
When a flight plan is executed a log event shall be created that includes the name of the route the UAV it is assigned to and the execution time stamp.

Description:
When a UAV reaches a waypoint while executing a flight plan a log event shall be created that includes the coordinates of the waypoint the UAV the flight plan is assigned to the flight plan ID and the timestamp.

Description:
"The timestamp and the type of action shall be logged into the mission log for each flight plan related event. This includes (1) time of scheduling (2) time of execution (3) time of completing plan (4) reordering plan (5) canceling plan"

Description:
Each command sent to a _GCS_ via the _GCS_Middleware_ shall be logged

Description:
Each connection request handshake and mode change message shall be logged

Description:
While the log level {{HW_TRACE}} is active each state and monitoring message shall be logged.

Description:
A client shall register to the _UIMiddleware_ using a unique id

Description:
The _UIMiddleware_ shall forward control requests from UI clients to hold a control lock on a UAV.

Description:
The UI middleware shall forward control requests from UI clients to release a control lock on a UAV.

Description:
The _UIMiddleware_ shall monitor liveness of clients holding control locks on individual UAVs.

Description:
If the heartbeat fails for a client holding one or more control locks after {{CLIENT_HEARTBEAT_TIME}} then the _UIMiddleware_ shall release all of its control locks.

Description:
The _UIMiddleware_ returns a list of UAV proxy objects containing information about all active UAVs including location battery level ground speed and health status.

Description:
The _UIMiddleware_ retrieves and returns a list of previously saved flight routes

Description:
The _UIMiddleware_ accepts hover in place commands associated with a unique {{UAV_ID}} and forwards to Dronology

Description:
The _UIMiddleware_ accepts takeoff commands associated with a unique {{UAV_ID}} and forwards to Dronology

Description:
The _UIMiddleware_ accepts return to home commands associated with a unique UAV ID and forwards to Dronology

Description:
When requested by a UI client the _UIMiddleware_ shall create a new flight route with a unique ID.

Description:
When requested by a UI client the _UIMiddleware_ shall support the modification of an existing flight route with an given ID.

Description:
The _UIMiddleware_ shall assign the list of waypoints from a route to an active UAV in order to create a flight plan.

Description:
The _UIMiddleware_ shall forward a mission plan request to dronology.

Description:
Before issuing commands to an UAV the _VaadinUI_ shall request control via the _UIMiddleware_.

Description:
The user shall select a UAV and then assign routes to it from an available route list.

Description:
A route shall be assigned to a selected UAV using the mouse to drag and drop or double clicking on the route.

Description:
When route assignments are removed from a UAV a request shall be sent to the _UIMiddleware_ to remove the assignment in Dronology.

Description:
When detailed information is requested by the user for a UAV the UI shall request the UAV_Data object from the _UIMiddleware_.

Description:
When the user requests to view flight plans assigned to a UAV the UI requests the pending flight plans from the UAV_FlightInfo object and displays them.

Description:
Flight plans assigned to an UAV that have not yet been executed may be reordered by dragging a route within the list of assigned routes to a new position.

Description:
Flight plans assigned to an UAV that have not yet been executed may be deleted by selecting the route and clicking the deselect button.

Description:
Each UAV shall have a cancel pending flight plan button associated with it.

Description:
When the user presses the cancel pending flight plan button a request is sent to the _UI_Middleware_ to cancel the flight.

Description:
Waypoint colors shall be updated as the flight route is edited (e.g. when a new first or last waypoint is added.) If current edits are canceled the colors shall be reset to reflect current waypoints.

Description:
The altitude and speed values shall not exceed the current maximum {{UAV_MAX_ALTITUDE}}. {{UAV_MAX_GROUND_SPEED}} set in the system.

Description:
The UI shall provide respective fields for displaying and modifying the ID textual description waypoints and other route information.

Description:
The route information shall be represented using the Standard Route XML format and transmitted to the _UIMiddleware_

Description:
The _RouteCreationUI_ shall support route creation and modification in tabular mode by displaying a editable table showing each waypoint and the velocity of the UAV approaching the waypoint.

Description:
"The _RouteCreationUI_ shall support route creation and modification in visual mode allowing the user to click on a location in order to create modify or delete a waypoint. "

Description:
Consecutive waypoints in a route on a map shall be connected by lines.

Description:
When selected by the user multiple routes shall be displayed simultaneously on the map.

Description:
When the user presses the route delete button a confirmation message shall be displayed and if confirmed by the user then the route shall be deleted.

Description:
Upon loading the UI shall request information about all activated UAVs from the _UIMiddleware_ . Once the _UIMiddleware_ respond to the request the UI shall display a list of all currently activated UAVs.

Description:
The UI shall periodically request the list of all activated UAVs from the _UIMiddleware_ and updates the display of currently activated UAVs

Description:
When the _RealTimeFlightUI_ is loaded a map shall be displayed with the default zoom level and center coordinates specified in a configuration file.

Description:
When the map is loaded and the all active UAVs list is obtained the _UIRealTimeFlightView_ shall display an icon on the map for each registered UAV based on its current location.

Description:
Different types of UAVs shall have different icons.

Description:
For each activated UAV the UI shall display information about that UAV (i.e. longitude latitude altitude groud speed battery level etc.)

Description:
The UI shall periodically request current locations of all registered UAVs from the _UIMiddleware_ and update their locations on the map.

Description:
The UI shall differentiate between completed current and not yet traversed flight segments.

Description:
Operations shall include RTL takeoff hover-in-place and resend command.

Description:
When requested by the user the UI shall apply the requested emergency action to all selected UAVs; if no UAV is selected the UI shall apply the emergency action to all UAVs by default.

Description:
"When ""UI follow mode"" is initiated the map shall automatically zoom and pan so that all selected UAVs are centered and their active routes constitutes 60% of the view."

Description:
"When ""UI follow mode"" is active the map should continually zoom and pan so that all selected UAVs are centered and their active routes constitutes 60% of the view."

Description:
When the UAV's battery level drops below a predefined threshold then the UAV health indicator is activated.

Description:
Clients shall be able to subscribe to any number of topics

Description:
Topics shall be organized in a hierarchical manner meaning that clients can subscribe to all messages messages from certain GCS UAVS and properties

Description:
The _DronologyRuntimeMonitor_ shall provide means to define wildcards i.e. a client receives messages from all topics associated with the wildcard

Description:
A monitoring message shall contain a (hierarchical) identifier describing the topic a message type a timestamp and arbitrary serializeable data attached to the message

Description:
The _GCSMiddleware_ shall specify a predefined {{GCS_PORT}} where _GCS_ can connect.

Description:
The _GCSMiddleware_ shall accept connections with multiple _GCS_

Description:
The _GCSMiddleware_ shall only accept one connection for each _GCS_.

Description:
Each _GCS_ connecting to the _GCSMiddleware_ shall be identified through a unique {{GROUNDSTATION_ID}}.

Description:
In step two the _GCSMiddleware_ accepts the connection and sends a handshake message.

Description:
In step three the _GCS_ announces its current set of recognized UAVs to the _GCSMiddleware_.

Description:
The _GCSMiddleware_ shall call the _UAVActivationManager_ to request UAV activation.

Description:
The _GCS_ shall be informed of the result of the activation request.

Description:
When the activation request is approved the _GCSMiddleware_ shall send a predefined activation confirmation message to the _GCS_.

Description:
When the activation request is denied the _GCSMiddleware_ shall send a predefined activation denied message to the _GCS_.

Description:
UAV Monitoring messages shall be formatted as JSON objects and contain arbitrary information regarding a single UAV.

Description:
UAV State messages shall be formatted as JSON objects and contain both mandatory and optional elements.

Description:
The _GCSMiddleware_ shall be able to handle and send a setMonitoringFrequency command to the respective _GCS_ containing the desired Frequency in ms.

Description:
The _GCSMiddleware_ shall be able to handle and send a setStateFrequency command to the respective _GCS_ containing the desired Frequency in ms.

Description:
Each command shall include a unique {{UAV_ID}}

Description:
Each movement command shall specify one of the following command types: {{GOTO_WAYPOINT SET_GROUNDSPEED SET_VELOCITY TAKEOFF LAND HOVER}}

Description:
The {{GOTO_WAYPOINT}} command shall include a target latitude longitude and altitude coordinate

Description:
The {{SET_GROUNDSPEED}} command shall specify ground speed in meters per second.

Description:
The {{SET_VELOCITY}} shall specify a velocity vector specified using NED (North East Down) directions.

Description:
The {{TAKEOFF}} command shall specify the target altitude

Description:
When a socket error or time-out occurs all UAVs associated with the _GCS_ shall be deactivated.

Description:
The _GCS_ shall transform commands into a vehicle specific format.

Description:
The default message frequency for UAV monitoring messages shall be {{UAV_MESSAGE_MON_FREQUENCY}}

Description:
The default message frequency for UAV state messages shall be {{UAV_MESSAGE_STATE_FREQUENCY}}

Description:
Message frequency shall be defined in units of seconds.

Description:
When the _GCS_ receives a set frequency command from the _GCSMiddleware_ it shall adjust its messange frequency accordingly.

Description:
The _GCS_ shall send the home location a time stamp and the {{UAV_ID}} to the _GCSMiddleware_.

Description:
If the _GCS_ receives notification that the UAV is incorrectly registered then the _GCS_ closes the connection with the UAV.

Description:
If the connection to an UAV is lost and the _GCS_ fails to reconnect the _GCS_ shall notify the _GCSMiddleware_.

Description:
After {{UAV_RECONNECT_TIMEOUT}} has been reached if connection to the UAV can not be reestablished the _GCS_ shall send a UAV Timeout message containing the {{UAV_ID}} to the _GCSMiddleware_.

Description:
The _GCS_ requests the UAV's current coordinates every {{UAV_MESSAGE_STATE_FREQUENCY}} seconds.

Description:
The _GCS_ shall send the UAV's current coordinates to the _GCSMiddleware_ when they are received from the UAV.

Description:
The _GCS_ requests the UAV's properties every {{UAV_MESSAGE_MONITORING_FREQUENCY}} seconds.

Description:
The _GCS_ shall send the UAV's current properties to the _GCSMiddleware_ when they are received from the UAV.

Description:
The properties that the _GCS_ sends to the _GCSMiddleware_ shall be defined in JSON

Description:
The active flight plan shall be displayed at the top of the list of pending flight plans.

Description:
The display of active flight plans shall include time in flight traveled distance remaining distance completed and total waypoints.

Description:
If a user attempts to create a route without providing a name then the system shall not save the route.

Description:
UAV State messages shall be formatted as JSON objects and contain the {{UAV_ID}} and the {{MODE}}

Description:
The _UIMiddleware_ accepts resend waypoint commands associated with a unique {{UAV_ID}} and forwards to Dronology

Description:
The _RouteCreationUI_ shall provide capabilities to modify existing routes.

Description:
Each movement command shall specify one of the following command types: {{SET_MONITORING_FREQUENCY SET_STATE_FREQUENCY}}

Description:

Description:

Description:

Description:
Currently the UI refreshing rate to update drone info is hard-coded as once per 1000ms. Create a field in the configuration file and make it configurable.

Description:
"Follow the example on https://gist.github.com/kimmellj/bd97790d66c5fd1408e0 and create a singleton class for all UI parameters. Search for Java Singleton for other singleton examples. The current parameters include: project_name map_center_lan map_center_lon and map_default_zoom. In the future we will use this class for configurable parameters."

Description:

Description:

Description:
"We need an immutable class holding three doubles for X Y and Z in the WGS-84 reference frame. Here is some background information about the WGS-84 reference frame: * The origin of this frame is at the center of mass of the Earth * The X-axis points towards where the equator meets the prime meridean (latitude 0 longitude 0) * The Z-axis points towards the geographic north pole (latitude 90 longitude undefined) * The Y-axis can be derived using right hand rule and points towards latitude 0 longitude 90 This class should have the following instance fields: * x - the position along the X-axis in meters * y - the position along the Y-axis in meters * z - the position along the Z-axis in meters This class should have the following methods: * toLla - takes no arguments and returns the latitude longitude and altitude for this position * toNvec - takes no arguments and returns the n-vector plus altitude for this position"

Description:
"We need an immutable class holding three doubles for latitude longitude and altitude (LLA). This class should have the following data members: * latitude - the angle north of the equator in degrees (negative angles define latitudes in the southern hemisphere) * longitude - the angle east of the prime meridian in degrees (negative angles define longitudes in the western hemisphere) * altitude - the distance above sea level or more precisely the distance above the surface of the WGS-84 reference ellipsoid. For this project we need this distance in meters (though traditionally in aviation this distance is measured in feet so be careful when using this class) This class should have the following methods * toPvec - takes no arguments and maps LLA to an X Y and Z coordinate in the WGS-84 reference frame. * toNvec - takes no arguments and maps LLA to a coordinate defined by an N-vector plus altitude. An N-vector is a normal vector on the surface of the WGS-84 reference ellipsoid. This ellipsoid defines the position of sea level everywhere on Earth. By pairing this with an altitude we can precisely define a position. N-vectors have nice properties that make dead reckoning easier and more accurate (Dead reckoning is the process of calculating a drones current position by using a previously determined position and advancing that position based upon known or estimated speeds over elapsed time and course. See https://en.wikipedia.org/wiki/Dead_reckoning for more info). To learn more about the nice properties that n-vectors have see this article http://www.navlab.net/Publications/A_Nonsingular_Horizontal_Position_Representation.pdf from The Journal of Navigation. Perhaps Coordinate.java may be modified into the LlaCoordinate class we need."

Description:
"An N-vector is a normal Vector that points out from the surface of the WGS-84 reference ellipsoid. The normal vector is combined with an altitude which represents the distance above (or below) the reference ellipsoid (note this is the distance above sea level as sea level is defined as the surface of the ellipsoid in WGS-84). The n-vector and altitude together precisely define a position on Earth. The n-vector should be a unit vector (i.e. a vector with a magnitude = 1). The altitude should be in meters. Why we need this: In dead reckoning calculations we need to take a position and add a velocity vector to it. Drones often stay at constant elevations as they travel around the Earth. This is a problem when using p-vectors and velocity vectors. The instantaneous velocity is tangent to the reference ellipsoid and thus follows the curvature of the Earth. In aviation it is common to use n-vectors because there is a nice formula that addresses this exact problem. This also makes programming easier when considering edge cases like a drone flying east near the meridian where longitude = 180 degrees. Using latitude and longitude for this calculation requires special logic to handle the transition to longitude = -179.9999... degrees but no special logic is required when using n-vectors. N-vectors also handle gracefully the poles where longitude is undefined. For more information about n-vectors see [this article|http://www.navlab.net/Publications/A_Nonsingular_Horizontal_Position_Representation.pdf] The following instance fields are needed in the nvector class: * x - the x component of the n-vector * y - the y component of the n-vector * z - the z component of the n-vector * altitude - the distance above sea level in meters The following methods are needed in the n-vector class: * toLla - takes no arguments and maps the n-vector and altitude to a latitude longitude and altitude. * toPvec - takes no arguments and maps the n-vector and altitude to an X Y and Z coordinate in the WGS-84 reference frame. "

Description:
"NvecInterpolator does position reckoning in WGS-84 and a replacement simulator that uses it needs to be created * Do movement simulator and battery simulator * Replicate all base functionality of simple simulator "

Description:
"Everyone should get to work with the position class that they are most comfortable with. And to enable everyone to get the most out of the position classes distance functions should be provided to all classes. That is what motivates this abstract base class. The class should have these methods: laser Distance (that takes another WGS-84 position) -> returns a double travel distance(that takes another WGS-84 position) -> returns a double toNvector() -> returns an NVector toPVector() -> returns a PVector toLlaCoordinate() -> returns an LlaCoordinate toRotMatrix() -> returns a matrix that can take displacement vectors from ECEF and rotate them into NED vectors"