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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ADSB: improve readability of unit tests
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
@@ -4,7 +4,6 @@
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#include "AdsbConflictTest.h"
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class TestAdsbConflict : public AdsbConflict
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{
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public:
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@@ -25,8 +24,6 @@ public:
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TEST_F(AdsbConflictTest, detectTrafficConflict)
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{
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int collision_time_threshold = 60;
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float crosstrack_separation = 500.0f;
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@@ -42,19 +39,15 @@ TEST_F(AdsbConflictTest, detectTrafficConflict)
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uint32_t traffic_dataset_size = sizeof(traffic_dataset) / sizeof(traffic_dataset[0]);
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TestAdsbConflict adsb_conflict;
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adsb_conflict.set_conflict_detection_params(crosstrack_separation, vertical_separation, collision_time_threshold, 1);
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for (uint32_t i = 0; i < traffic_dataset_size; i++) {
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//printf("---------------%d--------------\n", i);
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struct traffic_data_s traffic = traffic_dataset[i];
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// GIVEN traffic dataset (which should result in conflict)
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adsb_conflict._transponder_report.lat = traffic.lat_traffic;
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adsb_conflict._transponder_report.lon = traffic.lon_traffic;
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adsb_conflict._transponder_report.altitude = traffic.alt_traffic;
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@@ -62,22 +55,17 @@ TEST_F(AdsbConflictTest, detectTrafficConflict)
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adsb_conflict._transponder_report.hor_velocity = traffic.vxy_traffic;
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adsb_conflict._transponder_report.ver_velocity = traffic.vz_traffic;
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// WHEN detect traffic conflict is called
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adsb_conflict.detect_traffic_conflict(lat_now, lon_now, alt_now, vx_now, vy_now, vz_now);
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//printf("conflict_detected %d \n", adsb_conflict._conflict_detected);
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//printf("------------------------------\n");
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//printf("------------------------------\n \n");
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// THEN expect conflict to be detected
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EXPECT_TRUE(adsb_conflict._conflict_detected == traffic.in_conflict);
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}
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}
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TEST_F(AdsbConflictTest, trafficAlerts)
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{
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struct traffic_buffer_s used_buffer;
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used_buffer.icao_address.push_back(2345);
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used_buffer.icao_address.push_back(1234);
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@@ -116,84 +104,98 @@ TEST_F(AdsbConflictTest, trafficAlerts)
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full_buffer.timestamp.push_back(1000_s);
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full_buffer.timestamp.push_back(58943_s);
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struct traffic_buffer_s empty_buffer = {};
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TestAdsbConflict adsb_conflict;
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// GIVEN used buffer
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adsb_conflict.set_traffic_buffer(used_buffer);
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// WHEN no conflict detected
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bool conflict_detected = false;
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hrt_abstime now = 0_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 00001;
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adsb_conflict.get_traffic_state(now);
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// THEN expect no conflict
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
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// GIVEN conflict detected
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conflict_detected = true;
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now = 1_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 9876;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict to be added to buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
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// GIVEN empty buffer
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adsb_conflict.set_traffic_buffer(empty_buffer);
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// WHEN conflict detected
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conflict_detected = true;
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now = 0_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 9876;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict to be added to buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
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// GIVEN full buffer
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adsb_conflict.set_traffic_buffer(full_buffer);
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// WHEN conflict detected
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conflict_detected = true;
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now = 1_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 7777;
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adsb_conflict.get_traffic_state(now);
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// THEN expect buffer full
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::BUFFER_FULL);
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// WHEN conflict set to false again
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conflict_detected = false;
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now = 2_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 7777;
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adsb_conflict.get_traffic_state(now);
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// THEN expect no conflict message
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
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// WHEN existing conflict is set to false
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conflict_detected = false;
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now = 3_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict to be removed from buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
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// GIVEN used buffer
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adsb_conflict.set_traffic_buffer(used_buffer);
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// WHEN conflict is set to false again
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conflict_detected = false;
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now = 0_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict to be removed from buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
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}
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TEST_F(AdsbConflictTest, trafficReminder)
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@@ -236,65 +238,77 @@ TEST_F(AdsbConflictTest, trafficReminder)
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full_buffer.timestamp.push_back(100_s);
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full_buffer.timestamp.push_back(5843_s);
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TestAdsbConflict adsb_conflict;
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// GIVEN buffer with 8685 at t=100
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adsb_conflict.set_traffic_buffer(used_buffer);
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// WHEN conflict detected at t=200
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bool conflict_detected = true;
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hrt_abstime now = 200_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict reminder
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT);
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// WHEN INSTEAD conflict is detected only 1s later
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conflict_detected = true;
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now = 201_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN do not sent conflict notification again
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
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// GIVEN full buffer with 8685 at t=100
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adsb_conflict.set_traffic_buffer(full_buffer);
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// WHEN conflict detected at t=400
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conflict_detected = true;
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now = 400_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict reminder
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT);
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// WHEN INSTEAD conflict is detected only 1s later
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conflict_detected = true;
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now = 401_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN do not sent conflict notification again
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
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// WHEN conflict is set to false
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conflict_detected = false;
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now = 600_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 8685;
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adsb_conflict.get_traffic_state(now);
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// THEN expect conflict to be removed from buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
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// WHEN new conflict is detected
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conflict_detected = true;
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now = 700_s;
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adsb_conflict.set_conflict(conflict_detected);
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adsb_conflict._transponder_report.icao_address = 7777;
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adsb_conflict.get_traffic_state(now);
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// THEN expect new conflict to be added to buffer
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printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
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EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
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}
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