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ADSB: pass now timestamp as arguemnt of get_traffic_state()

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That enables us to time the unit tests better plus saves some flash and CPU.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-12-18 14:50:37 +01:00
parent bdc6957c11
commit 741e3e8589
3 changed files with 34 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/adsb/AdsbConflict.cpp
+7 -8
View File
@@ -118,9 +118,8 @@ void AdsbConflict::add_icao_address_from_conflict_list(uint32_t icao_address)
PX4_INFO("icao_address added. Buffer Size: %d", (int)_traffic_buffer.timestamp.size());
}
void AdsbConflict::get_traffic_state()
void AdsbConflict::get_traffic_state(hrt_abstime now)
{
const int traffic_index = find_icao_address_in_conflict_list(_transponder_report.icao_address);
const bool old_conflict = (traffic_index >= 0);
@@ -130,7 +129,7 @@ void AdsbConflict::get_traffic_state()
bool old_conflict_warning_expired = false;
if (old_conflict && _conflict_detected) {
old_conflict_warning_expired = (hrt_elapsed_time(&_traffic_buffer.timestamp[traffic_index]) > CONFLICT_WARNING_TIMEOUT);
old_conflict_warning_expired = now > _traffic_buffer.timestamp[traffic_index] + CONFLICT_WARNING_TIMEOUT;
}
if (new_traffic && _conflict_detected && !_traffic_buffer_full) {
@@ -142,7 +141,7 @@ void AdsbConflict::get_traffic_state()
} else if (old_conflict && _conflict_detected
&& old_conflict_warning_expired) {
_traffic_buffer.timestamp[traffic_index] = hrt_absolute_time();
_traffic_buffer.timestamp[traffic_index] = now;
_traffic_state = TRAFFIC_STATE::REMIND_CONFLICT;
} else if (old_conflict && !_conflict_detected) {
@@ -152,7 +151,6 @@ void AdsbConflict::get_traffic_state()
} else {
_traffic_state = TRAFFIC_STATE::NO_CONFLICT;
}
}
void AdsbConflict::remove_expired_conflicts()
@@ -172,8 +170,9 @@ void AdsbConflict::remove_expired_conflicts()
bool AdsbConflict::handle_traffic_conflict()
{
const hrt_abstime now = hrt_absolute_time();
get_traffic_state();
get_traffic_state(now);
bool take_action = false;
@@ -192,7 +191,7 @@ bool AdsbConflict::handle_traffic_conflict()
events::send<uint32_t>(events::ID("navigator_traffic_resolved"), events::Log::Notice,
"Traffic Conflict Resolved {1}!",
_transponder_report.icao_address);
_last_traffic_warning_time = hrt_absolute_time();
_last_traffic_warning_time = now;
}
break;
@@ -201,7 +200,7 @@ bool AdsbConflict::handle_traffic_conflict()
if ((_traffic_state_previous != TRAFFIC_STATE::BUFFER_FULL)
&& (hrt_elapsed_time(&_last_buffer_full_warning_time) > TRAFFIC_WARNING_TIMESTEP)) {
events::send(events::ID("buffer_full"), events::Log::Notice, "Too much traffic! Showing all messages from now on");
_last_buffer_full_warning_time = hrt_absolute_time();
_last_buffer_full_warning_time = now;
}
//disable conflict warnings when buffer is full
src/lib/adsb/AdsbConflict.h
+1 -1
View File
@@ -111,7 +111,7 @@ public:
void add_icao_address_from_conflict_list(uint32_t icao_address);
void get_traffic_state();
void get_traffic_state(hrt_abstime now);
void set_conflict_detection_params(float crosstrack_separation, float vertical_separation,
int collision_time_threshold, uint8_t traffic_avoidance_mode);
src/lib/adsb/AdsbConflictTest.cpp
+26 -13
View File
@@ -126,17 +126,19 @@ TEST_F(AdsbConflictTest, trafficAlerts)
adsb_conflict.set_traffic_buffer(used_buffer);
bool conflict_detected = false;
hrt_abstime now = 0_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 00001;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
conflict_detected = true;
now = 1_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 9876;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
@@ -144,9 +146,10 @@ TEST_F(AdsbConflictTest, trafficAlerts)
adsb_conflict.set_traffic_buffer(empty_buffer);
conflict_detected = true;
now = 0_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 9876;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
@@ -154,25 +157,28 @@ TEST_F(AdsbConflictTest, trafficAlerts)
adsb_conflict.set_traffic_buffer(full_buffer);
conflict_detected = true;
now = 1_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 7777;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::BUFFER_FULL);
conflict_detected = false;
now = 2_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 7777;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
conflict_detected = false;
now = 3_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
@@ -180,9 +186,10 @@ TEST_F(AdsbConflictTest, trafficAlerts)
adsb_conflict.set_traffic_buffer(used_buffer);
conflict_detected = false;
now = 0_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
@@ -235,17 +242,19 @@ TEST_F(AdsbConflictTest, trafficReminder)
adsb_conflict.set_traffic_buffer(used_buffer);
bool conflict_detected = true;
hrt_abstime now = 200_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT);
conflict_detected = true;
now = 201_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
@@ -253,33 +262,37 @@ TEST_F(AdsbConflictTest, trafficReminder)
adsb_conflict.set_traffic_buffer(full_buffer);
conflict_detected = true;
now = 400_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT);
conflict_detected = true;
now = 401_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
conflict_detected = false;
now = 600_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 8685;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
conflict_detected = true;
now = 700_s;
adsb_conflict.set_conflict(conflict_detected);
adsb_conflict._transponder_report.icao_address = 7777;
adsb_conflict.get_traffic_state();
adsb_conflict.get_traffic_state(now);
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);