mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-18 20:23:34 +08:00
adsb: warnings fixes & remove UTM_GLOBAL_POSITION (#21663)
- warn about full traffic conflict buffer at 1/60hz. - add conflict expiry for buffer. - use only events for buffer full warning. mavlink_log_critical no longer needed. - use icao address for conflict warnings id, stop using uas_id. UTM_GLOBAL_POSITION assumed deprecated. - stop spamming when buffer is full - fix warning wording if buffer is full. - remove UTM_GLOBAL_POSITION Fixes failing unit test: * [adsbTest] Reduce conflict timestamps - not enough time has passed in ci - failed ci output - (passes locally with make tests TESTFILTER=AdsbConflict) - Timestamp: 6000000000 - Time now: 457720038 - Time since timestamp: 0 - Old Conflict warning expired: 0 - -------------------- - adsb_conflict._traffic_state 0 - ../../src/lib/adsb/AdsbConflictTest.cpp:244: Failure - Value of: adsb_conflict._traffic_state == TRAFFIC_STATE::REMIND_CONFLICT - Actual: false - Expected: true
This commit is contained in:
asimopunov
+101
-92
@@ -108,12 +108,14 @@ void AdsbConflict::remove_icao_address_from_conflict_list(int traffic_index)
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{
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_traffic_buffer.icao_address.remove(traffic_index);
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_traffic_buffer.timestamp.remove(traffic_index);
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PX4_INFO("icao_address removed. Buffer Size: %d", (int)_traffic_buffer.timestamp.size());
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}
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void AdsbConflict::add_icao_address_from_conflict_list(uint32_t icao_address)
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{
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_traffic_buffer.timestamp.push_back(hrt_absolute_time());
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_traffic_buffer.icao_address.push_back(icao_address);
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PX4_INFO("icao_address added. Buffer Size: %d", (int)_traffic_buffer.timestamp.size());
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}
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void AdsbConflict::get_traffic_state()
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@@ -129,7 +131,6 @@ void AdsbConflict::get_traffic_state()
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if (old_conflict && _conflict_detected) {
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old_conflict_warning_expired = (hrt_elapsed_time(&_traffic_buffer.timestamp[traffic_index]) > CONFLICT_WARNING_TIMEOUT);
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}
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if (new_traffic && _conflict_detected && !_traffic_buffer_full) {
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@@ -154,65 +155,56 @@ void AdsbConflict::get_traffic_state()
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}
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void AdsbConflict::remove_expired_conflicts()
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{
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for (uint8_t traffic_index = 0; traffic_index < _traffic_buffer.timestamp.size();) {
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if (hrt_elapsed_time(&_traffic_buffer.timestamp[traffic_index]) > TRAFFIC_CONFLICT_LIFETIME) {
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events::send<uint32_t>(events::ID("navigator_traffic_expired"), events::Log::Notice,
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"Traffic Conflict {1} Expired and removed from buffer",
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_traffic_buffer.icao_address[traffic_index]);
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remove_icao_address_from_conflict_list(traffic_index);
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} else {
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traffic_index++;
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}
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}
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}
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bool AdsbConflict::handle_traffic_conflict()
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{
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get_traffic_state();
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char uas_id[UTM_GUID_MSG_LENGTH]; //GUID of incoming UTM messages
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//convert UAS_id byte array to char array for User Warning
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for (int i = 0; i < 5; i++) {
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snprintf(&uas_id[i * 2], sizeof(uas_id) - i * 2, "%02x", _transponder_report.uas_id[PX4_GUID_BYTE_LENGTH - 5 + i]);
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}
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uint64_t uas_id_int = 0;
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for (int i = 0; i < 8; i++) {
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uas_id_int |= (uint64_t)(_transponder_report.uas_id[PX4_GUID_BYTE_LENGTH - i - 1]) << (i * 8);
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}
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bool take_action = false;
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switch (_traffic_state) {
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case TRAFFIC_STATE::ADD_CONFLICT:
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case TRAFFIC_STATE::REMIND_CONFLICT: {
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take_action = send_traffic_warning(math::degrees(_transponder_report.heading) + 180,
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(int)fabsf(_crosstrack_error.distance), _transponder_report.flags, uas_id,
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take_action = send_traffic_warning((int)(math::degrees(_transponder_report.heading) + 180.f),
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(int)fabsf(_crosstrack_error.distance), _transponder_report.flags,
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_transponder_report.callsign,
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uas_id_int);
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_transponder_report.icao_address);
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}
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break;
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case TRAFFIC_STATE::REMOVE_OLD_CONFLICT: {
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mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC UPDATE: %s is no longer in conflict!",
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_transponder_report.flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ?
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_transponder_report.callsign : uas_id);
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events::send<uint64_t>(events::ID("navigator_traffic_resolved"), events::Log::Critical, "Traffic Conflict Resolved",
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uas_id_int);
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events::send<uint32_t>(events::ID("navigator_traffic_resolved"), events::Log::Notice,
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"Traffic Conflict Resolved {1}!",
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_transponder_report.icao_address);
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_last_traffic_warning_time = hrt_absolute_time();
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}
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break;
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case TRAFFIC_STATE::BUFFER_FULL: {
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if (_traffic_state_previous != TRAFFIC_STATE::BUFFER_FULL) {
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PX4_WARN("Too much traffic! Showing all messages from now on");
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if ((_traffic_state_previous != TRAFFIC_STATE::BUFFER_FULL)
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&& (hrt_elapsed_time(&_last_buffer_full_warning_time) > TRAFFIC_WARNING_TIMESTEP)) {
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events::send(events::ID("buffer_full"), events::Log::Notice, "Too much traffic! Showing all messages from now on");
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_last_buffer_full_warning_time = hrt_absolute_time();
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}
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//stop buffering incoming conflicts
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take_action = send_traffic_warning(math::degrees(_transponder_report.heading) + 180,
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(int)fabsf(_crosstrack_error.distance), _transponder_report.flags, uas_id,
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_transponder_report.callsign,
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uas_id_int);
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//disable conflict warnings when buffer is full
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}
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break;
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@@ -242,49 +234,67 @@ void AdsbConflict::set_conflict_detection_params(float crosstrack_separation, fl
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bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seperation, uint16_t tr_flags,
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char uas_id[UTM_GUID_MSG_LENGTH], char tr_callsign[UTM_CALLSIGN_LENGTH], uint64_t uas_id_int)
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char tr_callsign[UTM_CALLSIGN_LENGTH], uint32_t icao_address)
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{
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switch (_conflict_detection_params.traffic_avoidance_mode) {
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case 0: {
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PX4_WARN("TRAFFIC %s! dst %d, hdg %d",
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tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id,
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traffic_seperation,
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traffic_direction);
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if (tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) {
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PX4_WARN("Traffic alert - UTM callsign %s! Separation Distance %d, Heading %d, ICAO Address %d",
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tr_callsign,
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traffic_seperation,
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traffic_direction, (int)icao_address);
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}
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_last_traffic_warning_time = hrt_absolute_time();
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break;
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}
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case 1: {
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mavlink_log_critical(&_mavlink_log_pub, "Warning TRAFFIC %s! dst %d, hdg %d\t",
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tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id,
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traffic_seperation,
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traffic_direction);
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if (tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN) {
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PX4_WARN("Traffic alert - UTM callsign %s! Separation Distance %d, Heading %d, ICAO Address %d",
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tr_callsign,
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traffic_seperation,
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traffic_direction, (int)icao_address);
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}
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/* EVENT
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* @description
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* - ID: {1}
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* - Distance: {2m}
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* - Direction: {3} degrees
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* - ICAO Address: {1}
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* - Traffic Separation Distance: {2m}
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* - Heading: {3} degrees
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*/
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events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic"), events::Log::Critical, "Traffic alert",
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uas_id_int, traffic_seperation, traffic_direction);
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events::send<uint32_t, int32_t, int16_t>(events::ID("navigator_traffic"), events::Log::Notice,
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"Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}",
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icao_address, traffic_seperation, traffic_direction);
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_last_traffic_warning_time = hrt_absolute_time();
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break;
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}
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case 2: {
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mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Returning home! dst %d, hdg %d\t",
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tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id,
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traffic_seperation,
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traffic_direction);
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/* EVENT
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* @description
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* - ID: {1}
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* - Distance: {2m}
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* - Direction: {3} degrees
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* - ICAO Address: {1}
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* - Traffic Separation Distance: {2m}
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* - Heading: {3} degrees
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*/
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events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_rtl"), events::Log::Critical,
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"Traffic alert, returning home",
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uas_id_int, traffic_seperation, traffic_direction);
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events::send<uint32_t, int32_t, int16_t>(events::ID("navigator_traffic_rtl"), events::Log::Notice,
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"Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, returning home",
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icao_address, traffic_seperation, traffic_direction);
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_last_traffic_warning_time = hrt_absolute_time();
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return true;
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@@ -292,19 +302,17 @@ bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seper
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}
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case 3: {
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mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Landing! dst %d, hdg % d\t",
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tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id,
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traffic_seperation,
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traffic_direction);
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/* EVENT
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* @description
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* - ID: {1}
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* - Distance: {2m}
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* - Direction: {3} degrees
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* - ICAO Address: {1}
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* - Traffic Separation Distance: {2m}
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* - Heading: {3} degrees
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*/
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events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_land"), events::Log::Critical,
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"Traffic alert, landing",
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uas_id_int, traffic_seperation, traffic_direction);
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events::send<uint32_t, int32_t, int16_t>(events::ID("navigator_traffic_land"), events::Log::Notice,
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"Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, landing",
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icao_address, traffic_seperation, traffic_direction);
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_last_traffic_warning_time = hrt_absolute_time();
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return true;
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@@ -313,19 +321,18 @@ bool AdsbConflict::send_traffic_warning(int traffic_direction, int traffic_seper
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}
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case 4: {
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mavlink_log_critical(&_mavlink_log_pub, "TRAFFIC: %s Holding position! dst %d, hdg %d\t",
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tr_flags & transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN ? tr_callsign : uas_id,
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traffic_seperation,
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traffic_direction);
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/* EVENT
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* @description
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* - ID: {1}
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* - Distance: {2m}
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* - Direction: {3} degrees
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* - ICAO Address: {1}
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* - Traffic Separation Distance: {2m}
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* - Heading: {3} degrees
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*/
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events::send<uint64_t, int32_t, int16_t>(events::ID("navigator_traffic_hold"), events::Log::Critical,
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"Traffic alert, holding position",
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uas_id_int, traffic_seperation, traffic_direction);
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events::send<uint32_t, int32_t, int16_t>(events::ID("navigator_traffic_hold"), events::Log::Notice,
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"Traffic alert - ICAO Address {1}! Separation Distance {2}, Heading {3}, holding position",
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icao_address, traffic_seperation, traffic_direction);
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_last_traffic_warning_time = hrt_absolute_time();
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return true;
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@@ -391,8 +398,7 @@ void AdsbConflict::fake_traffic(const char *callsign, float distance, float dire
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void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav,
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float &alt_uav)
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{
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/*
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//Test with buffer size of 10
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//first conflict
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fake_traffic("LX001", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 1, lat_uav, lon_uav,
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@@ -402,19 +408,20 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav,
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fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav,
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alt_uav);
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fake_traffic("LX0002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav,
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alt_uav);
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fake_traffic("LX0002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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fake_traffic("LX002", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 2, lat_uav, lon_uav,
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alt_uav);
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//stop spamming
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//new conflicts
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fake_traffic("LX003", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 3, lat_uav, lon_uav,
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alt_uav);
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fake_traffic("LX004", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 4, lat_uav, lon_uav,
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alt_uav);
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@@ -445,6 +452,9 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav,
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alt_uav);
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//buffer full
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//buffer full conflicts
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fake_traffic("LX011", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 11, lat_uav, lon_uav,
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alt_uav);
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@@ -458,7 +468,7 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav,
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alt_uav);
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//end conflict
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//end conflicts
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fake_traffic("LX001", 5000, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 1, lat_uav, lon_uav,
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alt_uav);
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@@ -474,30 +484,29 @@ void AdsbConflict::run_fake_traffic(double &lat_uav, double &lon_uav,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 4, lat_uav, lon_uav,
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alt_uav);
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//new conflicts with space in buffer
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fake_traffic("LX013", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 13, lat_uav, lon_uav,
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alt_uav);
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//spam
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fake_traffic("LX013", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 13, lat_uav, lon_uav,
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alt_uav);
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//new conflict
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fake_traffic("LX014", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 14, lat_uav, lon_uav,
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alt_uav);
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//spam
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fake_traffic("LX014", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 14, lat_uav, lon_uav,
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alt_uav);
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//new conflict
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fake_traffic("LX015", 5, 1.0f, 0.0f, 0.0f, 90000.0f, 90000.0f,
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transponder_report_s::ADSB_EMITTER_TYPE_LIGHT, 15, lat_uav, lon_uav,
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alt_uav);
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for (size_t i = 0; i < _traffic_buffer.icao_address.size(); i++) {
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PX4_INFO("%u ", static_cast<unsigned int>(_traffic_buffer.icao_address[i]));
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}
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*/
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}
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@@ -46,7 +46,6 @@
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#include <uORB/topics/transponder_report.h>
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#include <uORB/topics/vehicle_command.h>
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#include <systemlib/mavlink_log.h>
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#include <px4_platform_common/events.h>
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#include <px4_platform_common/board_common.h>
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@@ -57,14 +56,15 @@ using namespace time_literals;
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static constexpr uint8_t NAVIGATOR_MAX_TRAFFIC{10};
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static constexpr uint8_t UTM_GUID_MSG_LENGTH{11};
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static constexpr uint8_t UTM_CALLSIGN_LENGTH{9};
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static constexpr uint64_t CONFLICT_WARNING_TIMEOUT{60_s};
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||||
|
||||
static constexpr float TRAFFIC_TO_UAV_DISTANCE_EXTENSION{1000.0f};
|
||||
|
||||
static constexpr uint64_t TRAFFIC_WARNING_TIMESTEP{60_s}; //limits the max warning rate when traffic conflict buffer is full
|
||||
|
||||
static constexpr uint64_t TRAFFIC_CONFLICT_LIFETIME{120_s}; //limits the time a conflict can be in the buffer without being seen (as a conflict)
|
||||
|
||||
struct traffic_data_s {
|
||||
double lat_traffic;
|
||||
@@ -118,7 +118,7 @@ public:
|
||||
|
||||
|
||||
bool send_traffic_warning(int traffic_direction, int traffic_seperation, uint16_t tr_flags,
|
||||
char uas_id[UTM_GUID_MSG_LENGTH], char tr_callsign[UTM_CALLSIGN_LENGTH], uint64_t uas_id_int);
|
||||
char tr_callsign[UTM_CALLSIGN_LENGTH], uint32_t icao_address);
|
||||
|
||||
transponder_report_s _transponder_report{};
|
||||
|
||||
@@ -132,6 +132,8 @@ public:
|
||||
void run_fake_traffic(double &lat_uav, double &lon_uav,
|
||||
float &alt_uav);
|
||||
|
||||
void remove_expired_conflicts();
|
||||
|
||||
bool _conflict_detected{false};
|
||||
|
||||
TRAFFIC_STATE _traffic_state{TRAFFIC_STATE::NO_CONFLICT};
|
||||
@@ -144,15 +146,15 @@ protected:
|
||||
|
||||
private:
|
||||
|
||||
orb_advert_t _mavlink_log_pub{nullptr};
|
||||
|
||||
crosstrack_error_s _crosstrack_error{};
|
||||
|
||||
|
||||
transponder_report_s tr{};
|
||||
|
||||
orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
|
||||
|
||||
TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};
|
||||
|
||||
hrt_abstime _last_traffic_warning_time{0};
|
||||
|
||||
hrt_abstime _last_buffer_full_warning_time{0};
|
||||
};
|
||||
|
||||
@@ -50,7 +50,7 @@ TEST_F(AdsbConflictTest, detectTrafficConflict)
|
||||
for (uint32_t i = 0; i < traffic_dataset_size; i++) {
|
||||
|
||||
|
||||
printf("---------------%d--------------\n", i);
|
||||
//printf("---------------%d--------------\n", i);
|
||||
|
||||
struct traffic_data_s traffic = traffic_dataset[i];
|
||||
|
||||
@@ -64,10 +64,10 @@ TEST_F(AdsbConflictTest, detectTrafficConflict)
|
||||
|
||||
adsb_conflict.detect_traffic_conflict(lat_now, lon_now, alt_now, vx_now, vy_now, vz_now);
|
||||
|
||||
printf("conflict_detected %d \n", adsb_conflict._conflict_detected);
|
||||
//printf("conflict_detected %d \n", adsb_conflict._conflict_detected);
|
||||
|
||||
printf("------------------------------\n");
|
||||
printf("------------------------------\n \n");
|
||||
//printf("------------------------------\n");
|
||||
//printf("------------------------------\n \n");
|
||||
|
||||
EXPECT_TRUE(adsb_conflict._conflict_detected == traffic.in_conflict);
|
||||
}
|
||||
@@ -191,7 +191,6 @@ TEST_F(AdsbConflictTest, trafficAlerts)
|
||||
|
||||
TEST_F(AdsbConflictTest, trafficReminder)
|
||||
{
|
||||
|
||||
struct traffic_buffer_s used_buffer;
|
||||
used_buffer.icao_address.push_back(2345);
|
||||
used_buffer.icao_address.push_back(1234);
|
||||
@@ -201,11 +200,11 @@ TEST_F(AdsbConflictTest, trafficReminder)
|
||||
used_buffer.icao_address.push_back(5000);
|
||||
|
||||
used_buffer.timestamp.push_back(3_s);
|
||||
used_buffer.timestamp.push_back(800_s);
|
||||
used_buffer.timestamp.push_back(80_s);
|
||||
used_buffer.timestamp.push_back(10_s);
|
||||
used_buffer.timestamp.push_back(1000_s);
|
||||
used_buffer.timestamp.push_back(100_s);
|
||||
used_buffer.timestamp.push_back(20000_s);
|
||||
used_buffer.timestamp.push_back(6000_s);
|
||||
used_buffer.timestamp.push_back(6587_s);
|
||||
used_buffer.timestamp.push_back(187_s);
|
||||
|
||||
struct traffic_buffer_s full_buffer;
|
||||
full_buffer.icao_address.push_back(2345);
|
||||
@@ -220,15 +219,15 @@ TEST_F(AdsbConflictTest, trafficReminder)
|
||||
full_buffer.icao_address.push_back(99999);
|
||||
|
||||
full_buffer.timestamp.push_back(1_s);
|
||||
full_buffer.timestamp.push_back(800_s);
|
||||
full_buffer.timestamp.push_back(100_s);
|
||||
full_buffer.timestamp.push_back(20000_s);
|
||||
full_buffer.timestamp.push_back(6000_s);
|
||||
full_buffer.timestamp.push_back(19000_s);
|
||||
full_buffer.timestamp.push_back(5000_s);
|
||||
full_buffer.timestamp.push_back(2_s);
|
||||
full_buffer.timestamp.push_back(80_s);
|
||||
full_buffer.timestamp.push_back(10_s);
|
||||
full_buffer.timestamp.push_back(1000_s);
|
||||
full_buffer.timestamp.push_back(58943_s);
|
||||
full_buffer.timestamp.push_back(100_s);
|
||||
full_buffer.timestamp.push_back(900_s);
|
||||
full_buffer.timestamp.push_back(500_s);
|
||||
full_buffer.timestamp.push_back(2_s);
|
||||
full_buffer.timestamp.push_back(100_s);
|
||||
full_buffer.timestamp.push_back(5843_s);
|
||||
|
||||
|
||||
TestAdsbConflict adsb_conflict;
|
||||
|
||||
Reference in New Issue
Block a user