Fix tracker segfault and var init from valgrind

CMakeLists.txt

@@ -12,6 +12,7 @@ SET (PROJECT_TEST_DIR "${PROJECT_SOURCE_DIR}/test")
 SET (PROJECT_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src")
 SET (PROJECT_BINARY_DIR "${PROJECT_ROOT}/bin")
 SET (PROJECT_BINARY_TEST_DIR "${PROJECT_ROOT}/bin/test")
+SET (PROJECT_BINARY_TEST_UNIT_DIR "${PROJECT_ROOT}/bin/test/unit")
 SET (PROJECT_LIB_DIR "${PROJECT_ROOT}/lib")
 MESSAGE ("Source path: ${PROJECT_SOURCE_DIR}")
 MESSAGE ("Binary path: ${PROJECT_BINARY_DIR}")
@@ -90,4 +91,14 @@ add_executable(testAmbiguity
   ${PROJECT_SOURCE_DIR}/process/ambiguity/Ambiguity.cpp
   ${PROJECT_SOURCE_DIR}/process/meta/HammingNumber.cpp)
 target_link_libraries(testAmbiguity catch2 fftw3 fftw3_threads)
-set_target_properties(testAmbiguity PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_TEST_DIR}")
+set_target_properties(testAmbiguity PROPERTIES 
+  RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_TEST_UNIT_DIR}")
+
+add_executable(testTracker
+  ${PROJECT_TEST_DIR}/unit/process/tracker/TestTracker.cpp
+  ${PROJECT_SOURCE_DIR}/data/Detection.cpp
+  ${PROJECT_SOURCE_DIR}/data/Track.cpp
+  ${PROJECT_SOURCE_DIR}/process/tracker/Tracker.cpp)
+target_link_libraries(testTracker catch2)
+set_target_properties(testTracker PROPERTIES 
+  RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_TEST_UNIT_DIR}")

src/blah2.cpp

@@ -269,8 +269,8 @@ int main(int argc, char **argv)
           timing_helper(timing_name, timing_time, time, "detector");
 
           // tracker process
-          // track = tracker->process(detection, time[0]/1000);
-          // timing_helper(timing_name, timing_time, time, "tracker");
+          track = tracker->process(detection, time[0]/1000);
+          timing_helper(timing_name, timing_time, time, "tracker");
 
           // output IqData meta data
           jsonIqData = x->to_json(time[0]/1000);
@@ -305,12 +305,12 @@ int main(int argc, char **argv)
           delete detection2;
 
           // output tracker data
-          // jsonTracker = track->to_json(time[0]/1000);
-          // for (int i = 0; i < (jsonTracker.size() + MTU - 1) / MTU; i++)
-          // {
-          //   subdata = jsonTracker.substr(i * MTU, MTU);
-          //   socket_track.write_some(asio::buffer(subdata, subdata.size()), err);
-          // }
+          jsonTracker = track->to_json(time[0]/1000);
+          for (int i = 0; i < (jsonTracker.size() + MTU - 1) / MTU; i++)
+          {
+            subdata = jsonTracker.substr(i * MTU, MTU);
+            socket_track.write_some(asio::buffer(subdata, subdata.size()), err);
+          }
 
           // output radar data timer
           timing_helper(timing_name, timing_time, time, "output_radar_data");

src/capture/Capture.cpp

@@ -14,6 +14,7 @@ Capture::Capture(std::string _type, uint32_t _fs, uint32_t _fc, std::string _pat
   fs = _fs;
   fc = _fc;
   path = _path;
+  replay = false;
 }
 
 void Capture::process(IqData *buffer1, IqData *buffer2)

src/capture/rspduo/RspDuo.cpp

@@ -70,6 +70,7 @@ RspDuo::RspDuo(uint32_t _fc, std::string _path)
   dab_notch_fg = false;
   chunk_time_nr = DEF_CHUNK_TIME_NR;
   path = _path;
+  capture = false;
 }
 
 std::string RspDuo::set_file(std::string path)

src/data/Track.cpp

@@ -3,6 +3,7 @@
 #include <sstream>
 #include <iomanip>
 #include <cstdlib>
+#include <stdexcept>
 
 #include "rapidjson/document.h"
 #include "rapidjson/writer.h"
@@ -124,7 +125,8 @@ void Track::promote(uint64_t index, uint32_t m, uint32_t n)
         _m++;
       }
     }
-    // promote track to ACTIVE if passes test
+
+    // promote track to ACTIVE if passes threshold
     if (_m >= m)
     {
       state.at(index).at(state.at(index).size()-1) = STATE_ACTIVE;
@@ -134,11 +136,37 @@ void Track::promote(uint64_t index, uint32_t m, uint32_t n)
 
 void Track::remove(uint64_t index)
 {
-  id.erase(id.begin() + index);
-  state.erase(state.begin() + index);
-  current.erase(current.begin() + index);
-  acceleration.erase(acceleration.begin() + index);
-  associated.erase(associated.begin() + index);
+  // Check if the index is within bounds for each vector
+  if (index < id.size()) {
+    id.erase(id.begin() + index);
+  } else {
+    // Throw an exception if the index is out of bounds
+    throw std::out_of_range("Index out of bounds for 'id' vector");
+  }
+
+  if (index < state.size()) {
+    state.erase(state.begin() + index);
+  } else {
+    throw std::out_of_range("Index out of bounds for 'state' vector");
+  }
+
+  if (index < current.size()) {
+    current.erase(current.begin() + index);
+  } else {
+    throw std::out_of_range("Index out of bounds for 'current' vector");
+  }
+
+  if (index < acceleration.size()) {
+    acceleration.erase(acceleration.begin() + index);
+  } else {
+    throw std::out_of_range("Index out of bounds for 'acceleration' vector");
+  }
+
+  if (index < associated.size()) {
+    associated.erase(associated.begin() + index);
+  } else {
+    throw std::out_of_range("Index out of bounds for 'associated' vector");
+  }
 }
 
 std::string Track::to_json(uint64_t timestamp)
@@ -171,17 +199,22 @@ std::string Track::to_json(uint64_t timestamp)
         document.GetAllocator());
       rapidjson::Value associatedDelay(rapidjson::kArrayType);
       rapidjson::Value associatedDoppler(rapidjson::kArrayType);
+      rapidjson::Value associatedState(rapidjson::kArrayType);
       for (size_t j = 0; j < associated.at(i).size(); j++)
       {
         associatedDelay.PushBack(associated.at(i).at(j).get_delay().at(0), 
           document.GetAllocator());
         associatedDoppler.PushBack(associated.at(i).at(j).get_doppler().at(0), 
           document.GetAllocator());
+        associatedState.PushBack(rapidjson::Value(state.at(i).at(j).c_str(), 
+          document.GetAllocator()).Move(), document.GetAllocator());
       }
       object1.AddMember("associated_delay", 
         associatedDelay, document.GetAllocator());
       object1.AddMember("associated_doppler", 
         associatedDoppler, document.GetAllocator());
+      object1.AddMember("associated_state", 
+        associatedState, document.GetAllocator());
       dataArray.PushBack(object1, document.GetAllocator());
     }
   }

src/data/Track.h

@@ -3,8 +3,12 @@
 /// @brief A class to store track data.
 /// @details The ID is 4 digit hexadecimal with 16^4 = 65536 combinations.
 /// @details The state can be TENTATIVE, ASSOCIATED, ACTIVE or COASTING.
-/// @details Associated detections use null detections when no updates.
-/// @details Current is seperated from associated for smoothing.
+/// @details - TENTATIVE when a track is initialised.
+/// @details - TENTATIVE when an ASSOCIATED track fails to associate.
+/// @details - ASSOCIATED when a TENTATIVE track has an associated detection.
+/// @details - ACTIVE when track passes the promotion threshold.
+/// @details - COASTING when an ACTIVE track fails to associate.
+/// @details Current track is used for smoothing output.
 /// @author 30hours
 /// @todo I feel promote() should be implemented in the tracker.
 

src/process/tracker/Tracker.cpp

@@ -80,8 +80,8 @@ void Tracker::update(Detection *detection, uint64_t current)
       // associate detections
       if (delay[j] > delayPredict-1 &&
         delay[j] < delayPredict+1 &&
-        doppler[j] > dopplerPredict-(2/cpi) &&
-        doppler[j] < dopplerPredict+(2/cpi))
+        doppler[j] > dopplerPredict-1*(1/cpi) &&
+        doppler[j] < dopplerPredict+1*(1/cpi))
       {
         Detection associated(delay[j], doppler[j], snr[j]);
         track.set_current(i, associated);
@@ -90,7 +90,7 @@ void Tracker::update(Detection *detection, uint64_t current)
         doNotInitiate[j] = true;
         state = "ASSOCIATED";
         track.set_state(i, state);
-        // check for track promotion
+        // promote track if passes threshold
         track.promote(i, m, n);
         break;
       }
@@ -103,6 +103,11 @@ void Tracker::update(Detection *detection, uint64_t current)
       state = "COASTING";
       track.set_state(i, state);
     }
+    else if (track.get_state(i) == "ASSOCIATED")
+    {
+      state = "TENTATIVE";
+      track.set_state(i, state);
+    }
     else
     {
       track.set_state(i, track.get_state(i));
@@ -112,7 +117,7 @@ void Tracker::update(Detection *detection, uint64_t current)
     // remove if tentative or coasting too long
     if (track.get_nInactive(i) > nDelete)
     {
-      track.remove(i+nRemove);
+      track.remove(i-nRemove);
       nRemove++;
     }
   }