mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-17 01:47:36 +08:00
Silvan Fuhrer
741e3e8589
That enables us to time the unit tests better plus saves some flash and CPU. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
301 lines
9.5 KiB
C++
301 lines
9.5 KiB
C++
#include <gtest/gtest.h>
|
|
|
|
#include "AdsbConflict.h"
|
|
|
|
#include "AdsbConflictTest.h"
|
|
|
|
|
|
class TestAdsbConflict : public AdsbConflict
|
|
{
|
|
public:
|
|
TestAdsbConflict() : AdsbConflict() {}
|
|
~TestAdsbConflict() = default;
|
|
|
|
void set_traffic_buffer(const traffic_buffer_s &traffic_buffer)
|
|
{
|
|
_traffic_buffer = traffic_buffer;
|
|
}
|
|
|
|
void set_conflict(bool &conflict_detected)
|
|
{
|
|
_conflict_detected = conflict_detected;
|
|
}
|
|
};
|
|
|
|
|
|
TEST_F(AdsbConflictTest, detectTrafficConflict)
|
|
{
|
|
|
|
|
|
int collision_time_threshold = 60;
|
|
|
|
float crosstrack_separation = 500.0f;
|
|
float vertical_separation = 500.0f;
|
|
|
|
double lat_now = 32.617013;
|
|
double lon_now = -96.490564;
|
|
float alt_now = 1000.0f;
|
|
|
|
float vx_now = 0.0f;
|
|
float vy_now = 0.0f;
|
|
float vz_now = 0.0f;
|
|
|
|
uint32_t traffic_dataset_size = sizeof(traffic_dataset) / sizeof(traffic_dataset[0]);
|
|
|
|
|
|
TestAdsbConflict adsb_conflict;
|
|
|
|
adsb_conflict.set_conflict_detection_params(crosstrack_separation, vertical_separation, collision_time_threshold, 1);
|
|
|
|
for (uint32_t i = 0; i < traffic_dataset_size; i++) {
|
|
|
|
|
|
//printf("---------------%d--------------\n", i);
|
|
|
|
struct traffic_data_s traffic = traffic_dataset[i];
|
|
|
|
|
|
adsb_conflict._transponder_report.lat = traffic.lat_traffic;
|
|
adsb_conflict._transponder_report.lon = traffic.lon_traffic;
|
|
adsb_conflict._transponder_report.altitude = traffic.alt_traffic;
|
|
adsb_conflict._transponder_report.heading = traffic.heading_traffic;
|
|
adsb_conflict._transponder_report.hor_velocity = traffic.vxy_traffic;
|
|
adsb_conflict._transponder_report.ver_velocity = traffic.vz_traffic;
|
|
|
|
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("------------------------------\n");
|
|
//printf("------------------------------\n \n");
|
|
|
|
EXPECT_TRUE(adsb_conflict._conflict_detected == traffic.in_conflict);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
TEST_F(AdsbConflictTest, trafficAlerts)
|
|
{
|
|
|
|
struct traffic_buffer_s used_buffer;
|
|
used_buffer.icao_address.push_back(2345);
|
|
used_buffer.icao_address.push_back(1234);
|
|
used_buffer.icao_address.push_back(1897);
|
|
used_buffer.icao_address.push_back(0567);
|
|
used_buffer.icao_address.push_back(8685);
|
|
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(100_s);
|
|
used_buffer.timestamp.push_back(20000_s);
|
|
used_buffer.timestamp.push_back(6000_s);
|
|
used_buffer.timestamp.push_back(6587_s);
|
|
|
|
struct traffic_buffer_s full_buffer;
|
|
full_buffer.icao_address.push_back(2345);
|
|
full_buffer.icao_address.push_back(1234);
|
|
full_buffer.icao_address.push_back(1897);
|
|
full_buffer.icao_address.push_back(0567);
|
|
full_buffer.icao_address.push_back(8685);
|
|
full_buffer.icao_address.push_back(5000);
|
|
full_buffer.icao_address.push_back(0000);
|
|
full_buffer.icao_address.push_back(2);
|
|
full_buffer.icao_address.push_back(589742397);
|
|
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(1000_s);
|
|
full_buffer.timestamp.push_back(58943_s);
|
|
|
|
|
|
|
|
struct traffic_buffer_s empty_buffer = {};
|
|
|
|
|
|
TestAdsbConflict adsb_conflict;
|
|
|
|
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(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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
|
|
|
|
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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
|
|
|
|
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(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(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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
|
|
|
|
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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::REMOVE_OLD_CONFLICT);
|
|
|
|
}
|
|
|
|
TEST_F(AdsbConflictTest, trafficReminder)
|
|
{
|
|
struct traffic_buffer_s used_buffer;
|
|
used_buffer.icao_address.push_back(2345);
|
|
used_buffer.icao_address.push_back(1234);
|
|
used_buffer.icao_address.push_back(1897);
|
|
used_buffer.icao_address.push_back(0567);
|
|
used_buffer.icao_address.push_back(8685);
|
|
used_buffer.icao_address.push_back(5000);
|
|
|
|
used_buffer.timestamp.push_back(3_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(187_s);
|
|
|
|
struct traffic_buffer_s full_buffer;
|
|
full_buffer.icao_address.push_back(2345);
|
|
full_buffer.icao_address.push_back(1234);
|
|
full_buffer.icao_address.push_back(1897);
|
|
full_buffer.icao_address.push_back(0567);
|
|
full_buffer.icao_address.push_back(8685);
|
|
full_buffer.icao_address.push_back(5000);
|
|
full_buffer.icao_address.push_back(0000);
|
|
full_buffer.icao_address.push_back(2);
|
|
full_buffer.icao_address.push_back(589742397);
|
|
full_buffer.icao_address.push_back(99999);
|
|
|
|
full_buffer.timestamp.push_back(1_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(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;
|
|
|
|
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(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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::NO_CONFLICT);
|
|
|
|
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(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(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(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(now);
|
|
|
|
printf("adsb_conflict._traffic_state %d \n", adsb_conflict._traffic_state);
|
|
EXPECT_TRUE(adsb_conflict._traffic_state == TRAFFIC_STATE::ADD_CONFLICT);
|
|
|
|
}
|