ADD: added comments to entity library and changed drone.yml and removed some specific ide files

.drone.yml

@@ -0,0 +1,52 @@
+kind: pipeline
+type: kubernetes
+name: default-build 
+
+steps:
+  - name: submodules
+    image: alpine/git
+    commands:
+      - sed -i 's/ssh\\:..git@/https\\:\\/\\//' .gitmodules
+      - sed -i 's/\:12000//' .gitmodules
+      - git submodule update --init --recursive --jobs=4
+
+  - name: build
+    image: kmaster.ti.unibw-hamburg.de:30808/debianbullseye
+    commands:
+    - sed -i 's/ssh\\:..git@/https\\:\\/\\//' .gitmodules
+    - sed -i 's/\:12000//' .gitmodules
+    - git submodule update --init --recursive --jobs=4
+    - mkdir -p build && cd build
+    - CC=clang-11 CXX=clang++-11 cmake -DCMAKE_BUILD_TYPE=DEBUG ..
+    - make -j
+    - make test
+
+  # - name: EntiyLibrary
+  #   image: kmaster.ti.unibw-hamburg.de:30808/drone-ftewa-codechecker
+  #   pull: always
+  #   settings:
+  #     CODECHECKER_URL: "http://codechecker:8001"
+  #     CODECHECKER_PRODUCT: "EntiyLibrary"
+  #     CODECHECKER_USER:
+  #       from_secret: CODECHECKER_USER_SECRET
+  #     CODECHECKER_PASS:
+  #       from_secret: CODECHECKER_PASS_SECRET
+  #   when:
+  #     event:
+  #       include:
+  #       - push
+  #       - pull_request
+        
+---
+kind: secret
+name: CODECHECKER_USER_SECRET
+get:
+  path: codechecker-client
+  name: username
+
+---
+kind: secret
+name: CODECHECKER_PASS_SECRET
+get:
+  path: codechecker-client
+  name: password

.gitignore

@@ -1,2 +1,3 @@
 build/
-.cache
+.cache
+.vscode

.vscode/launch.json

@@ -1,16 +0,0 @@
-{
-    // Use IntelliSense to learn about possible attributes.
-    // Hover to view descriptions of existing attributes.
-    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
-    "version": "0.2.0",
-    "configurations": [
-        {
-            "name": "Debug-SensorManager",
-            "type": "gdb",
-            "request": "launch",
-            "target": "./test_SensorManager",
-            "cwd": "${workspaceRoot}/build",
-            "valuesFormatting": "parseText"
-        }
-    ]
-}

cmake/Modules/protobuf.cmake

@@ -16,7 +16,7 @@ function(protobuf_generate_cpp)
                         ${ARGN})
 
     FILE(GLOB PROTO_FILES ${protobuf_PROTO_PATH}/*.proto)
-    set(PROTOC ${CMAKE_BINARY_DIR}/libs/OrderLibrary/libs/SimCore/libs/whisper-com/libs/protobuf/protoc)
+    set(PROTOC ${CMAKE_BINARY_DIR}/libs/OrderLibrary/libs/SimCore/libs/SimCom/libs/protobuf/protoc)
     message(STATUS "protoc path: " ${PROTOC})
 
    FOREACH(proto ${PROTO_FILES})
@@ -29,7 +29,7 @@ function(protobuf_generate_cpp)
      add_custom_command(
          OUTPUT "${protoDIR}/${protoFILENAME}.pb.cc"
          DEPENDS "${protoDIR}/${protoFILENAME}.proto"
-         COMMAND ${PROTOC} --cpp_out=${protoDIR} --proto_path=${protoDIR} --proto_path="${CMAKE_SOURCE_DIR}/libs/OrderLibrary/libs/SimCore/include/SimCore/Messages/Protos" --proto_path="${CMAKE_SOURCE_DIR}/libs/OrderLibrary/libs/SimCore/libs/whisper-com/libs/protobuf/src" "${protoDIR}/${protoFILENAME}.proto"
+         COMMAND ${PROTOC} --cpp_out=${protoDIR} --proto_path=${protoDIR} --proto_path="${CMAKE_SOURCE_DIR}/libs/OrderLibrary/libs/SimCore/include/SimCore/Messages/Protos" --proto_path="${CMAKE_SOURCE_DIR}/libs/OrderLibrary/libs/SimCore/libs/SimCom/libs/protobuf/src" "${protoDIR}/${protoFILENAME}.proto"
 
          )
     

codecheck.skip

@@ -0,0 +1,4 @@
+
+-/usr/*
+-*/tests/test_*
+-*/libs/*

include/Entities/Entity.hpp

@@ -1,5 +1,7 @@
 #pragma once
 
+#define LOGURU_WITH_STREAMS 1
+#include <loguru.hpp>
 #include <Entities/Tracklist/Tracklist.hpp>
 
 #include "DirectCommunicationServer.hpp"
@@ -31,24 +33,6 @@
 
 namespace Entities {
 
-    // struct SensorClientData
-    // { 
-    //     std::string SensorName;
-    //     bool isActive;
-    //     SimCore::Identifier SensorID;
-    //     // std::shared_ptr<WHISPER::InternalUDPSender> SensorSender;
-    // };
-
-    struct EffectorClientData
-    { 
-        std::string EffectorName;
-        bool isActive;
-        SimCore::Identifier EffectorID;
-        std::shared_ptr<WHISPER::InternalUDPSender> EffectorSender;
-    };
-
-
-
     class Entity {
         public: 
              Entity(const SimCore::Identifier OwnID,
@@ -64,59 +48,95 @@ namespace Entities {
                     bool online);
              ~Entity();
 
+            /**
+             * @brief starts the Entity APP
+            */
             void start();
+
+            /**
+             * @brief stops the Entity
+            */
             void stop();
-            void setPosition(SimCore::Position);
+
+            /**
+             * @brief sets the current entity position 
+            */
+            void setPosition(SimCore::Position pos);
+
+            /**
+             * @brief sets the speed of the Entity 
+             * @param speed - double
+            */
             void setSpeed(double speed);
+            /**
+             * @brief set the course of the entity (heading, course over ground) in degree
+             * @param course - double
+            */
             void setCourse(double course);
+
+            /**
+             * @brief sets the pitch (climb angle) in degree
+             * @param pitch - double
+            */
             void setPitch( double pitch);
 
         protected:
 
            
-
+            /**
+             * @brief is the child worker function which is called on every circle 
+            */
             virtual void childWorker() = 0;
+
+            /**
+             * @brief is function whick is called to stop the specific child class
+            */
             virtual void stopChild() = 0;
 
 
         protected:
 
+            /// @brief shared_ptr of the own track 
             std::shared_ptr<SimCore::SimTrack> OwnShipTrack = nullptr;
-
+            /// @brief name of the entity (marking)
-            std::unique_ptr<TrackList::TrackList> TrackList_ = nullptr;
-
-
             std::string EntityName_;
+            /// @brief Entity Kind var (is enum)
             SimCore::Kind::EntityKind EntityKind_;
+            /// @brief Entity Side (is enum)
             SimCore::Side::EntitySide EntitySide_;
+            /// @brief Radar cross section
             double RCS_;
-
+            /// @brief port of the movement worker
             ushort MovemntWorkerPort_;
+            /// @brief port which the sensor are connecting to 
             ushort SensorPort_;
-
+            /// @brief shared ptr of the Podcontroller
-
             std::shared_ptr<kubecontrol::PodController> PodController_;
+            /// @brief unique ptr of the sensor manager
             std::unique_ptr<SensorManager> SensorManager_;
+            /// @brief broadcast server the own ship message is use to send
             std::shared_ptr<WHISPER::InternalUDPSender> BroadcastServer_;
-
+            /// @brief address of the ground thruth (default = 239.0.0.1)
-
             std::string GroundTruthAddr_;
+            /// @brief port of the ground thruth 
             std::uint32_t GroundTruthPort_; 
+            /// @brief port on which commands are received
+            ushort CommandPort_;
 
 
 
         private:
+            /// @brief indicates if entity is  startet in a kubernetes cluster
             bool online_;
-
+            /// @brief vector of all startet threads
-
+            std::vector<std::thread> threads_;
-            std::vector<std::thread> threads;
+            ///
-
+            std::atomic_bool stopMainLoop_ = false;
-            std::atomic<bool> stopMainLoop = false;
             void MainLoop();
 
 
             void startMovementWorker();
-            std::atomic<bool> MovementWorkerStarted = false;
+            std::atomic_bool MovementWorkerStarted_ = false;
             std::shared_ptr<DirectCommunication::DirectCommunicationServer> MovemtServer_ = nullptr;
             void handleMovement();
             std::string MovementPodUUID_;
@@ -124,7 +144,7 @@ namespace Entities {
 
             std::shared_ptr<DirectCommunication::DirectCommunicationServer> CommandCommsServer_ = nullptr;
 
-            void handleExternalComms(std::string msg);
+            void handleExternalComms(const std::string &msg);
 
             
 

include/Entities/SensorControl.hpp

@@ -1,5 +1,6 @@
 #pragma once
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SensorTracklistItem.hpp"
 #include "SimCore/SimCore.hpp"
 #include <SimCore/Messages/SimTrack.hpp>
 #include <kubecontrol/KubePod.hpp>
@@ -20,7 +21,8 @@ namespace Sensor
         SensorControl(SimCore::Identifier ID, std::string Name, std::string IP, SimCore::SensorKinds sensorKind);
 
 
-        
+        SimCore::SensorTracklistItem getSensorTracklistItem();
+
       
 
         TrackList::TrackList TrackStore;

include/Entities/SensorManager.hpp

@@ -4,6 +4,7 @@
 #include "Entities/SensorControl.hpp"
 #include "Entities/Tracklist/Trackfusion.hpp"
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SensorTracklistUpdate.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "SimCore/Messages/TracklistUpdate.hpp"
 #include "SimCore/SimCore.hpp"
@@ -15,6 +16,7 @@
 #include <memory>
 #include <string>
 #include <sys/types.h>
+#include <vector>
 namespace Entities 
 {
 
@@ -68,6 +70,20 @@ namespace Entities
              */
             std::shared_ptr<Sensor::SensorControl> getSensorByUUID(std::string uuid);
 
+            /**
+             * @brief Get the Sensor List As Vector of shared pointer of sensorcontrols
+             * 
+             * @return std::vector<std::shared_ptr<Sensor::SensorControl>> 
+             */
+            std::vector<std::shared_ptr<Sensor::SensorControl>> getSensorListAsVector();
+
+
+            /**
+             * @brief Get the Sensor List As Map of shared pointer of sensorcontrols
+             * 
+             * @return std::map<std::string, std::shared_ptr<Sensor::SensorControl>> 
+             */
+            std::map<std::string, std::shared_ptr<Sensor::SensorControl>> getSensorListAsMap();
 
 
             /**
@@ -117,7 +133,17 @@ namespace Entities
              * 
              * @return std::unique_ptr<SimCore::TracklistUpdate> 
              */
-            std::unique_ptr<SimCore::TracklistUpdate> getTrackListUpdate();
+            std::unique_ptr<SimCore::TracklistUpdate> getTrackListUpdateFusioned();
+
+            /**
+             * @brief Get the Track List Update Raw
+             * 
+             * in this list every sensor has its own tracks without a sensorfusion over all sensors
+             * 
+             * @return std::unique_ptr<SimCore::SensorTracklistUpdate> 
+             */
+            std::unique_ptr<SimCore::SensorTracklistUpdate> getTrackListUpdateRaw();
+
 
             /**
              * @brief send the ownShipTrack to all connected Sensors

include/Entities/Tracklist/Tracklist.hpp

@@ -3,6 +3,7 @@
 
 #include "SimCore/Identifier.hpp"
 #include "SimCore/IdentifierMaker.hpp"
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 #include "nlohmann/json.hpp"
 #include <atomic>
@@ -16,6 +17,7 @@
 #include <string>
 #include <thread>
 #include <loguru.hpp>
+#include <SimCore/CallBackTimer.hpp>
 
 namespace TrackList 
 {
@@ -24,21 +26,36 @@ namespace TrackList
     {
         public: 
             TrackList();
-            void addTrack(std::shared_ptr<SimCore::SimTrack> Track);
+            ~TrackList();
-            std::shared_ptr<SimCore::SimTrack> getTrack(SimCore::Identifier);
+            TrackList(const TrackList &other);
+            TrackList& operator=(const TrackList & oter);
+
+            void addTrack(std::shared_ptr<SimCore::SensorTrack> Track);
+            std::shared_ptr<SimCore::SensorTrack> getTrack(SimCore::Identifier);
             
             void deleteTrack(std::string ID);
             void deleteTrack(SimCore::Identifier);
-            std::shared_ptr<SimCore::SimTrack> getTrackBySringID(std::string ID);
+            std::shared_ptr<SimCore::SensorTrack> getTrackBySringID(std::string ID);
 
             size_t getSize();
 
             void getJsonTRackList(nlohmann::json &message);
-            
+            std::map<std::string, std::shared_ptr<SimCore::SensorTrack>> getTrackStore();
+
+            /**
+             * @brief cheks the trackstore for old tracks to delete
+             * 
+             */
+            void checkTrackStore();
 
         private: 
             mutable std::mutex mx_;
-            std::map<std::string, std::shared_ptr<SimCore::SimTrack>> TrackStore_;
+            std::map<std::string, std::shared_ptr<SimCore::SensorTrack>> TrackStore_;
+
+            /// seconds after the last updated a track gets deleted 
+            const int trackNoUpdateTime = 10;
+
+            CallBackTimer timer_;
 
 
     };

src/Entities/Entity.cpp

@@ -1,4 +1,4 @@
-#include "DirectCommunicationServer.hpp"
+#include <DirectCommunicationServer.hpp>
 #include "Entities/Movement.hpp"
 #include "Entities/SensorManager.hpp"
 #include "Orders/MoveOrder.hpp"
@@ -56,6 +56,7 @@ namespace Entities
                    EntitySide_(EntitySide),
                    GroundTruthPort_(GroundTruthPort),
                    GroundTruthAddr_(GroundTruthAddr),
+                   CommandPort_(CommandPort),
                    SensorPort_(SensorPort),
                    online_(online)
                  
@@ -79,7 +80,6 @@ namespace Entities
 
         // BroadcastServer_ = std::make_shared<WHISPER::InternalUDPSender>("239.0.0.1", 10000);
 
-        // TrackList_ = std::make_unique<TrackList::TrackList>();
 
     }
 
@@ -98,7 +98,7 @@ namespace Entities
 
         Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
         moveorder.setPosition(pos);
-        if(MovementWorkerStarted == true)
+        if(MovementWorkerStarted_ == true)
         {
             MovemtServer_->sendMessage(moveorder.buildMessage());
             LOG_S(INFO)<<"Move Order send";
@@ -109,7 +109,7 @@ namespace Entities
         OwnShipTrack->Speed.setValue(val);
         Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
         moveorder.Speed.setValue(val);
-        if(MovementWorkerStarted == true)
+        if(MovementWorkerStarted_ == true)
         {
             MovemtServer_->sendMessage(moveorder.buildMessage());
             LOG_S(INFO)<<"Move Order send with Speed";
@@ -120,7 +120,7 @@ namespace Entities
         OwnShipTrack->Course.setValue(val);
         Orders::MoveOrder moveorder(OwnShipTrack->getIdentifier());
         moveorder.Course.setValue(val);
-        if(MovementWorkerStarted == true)
+        if(MovementWorkerStarted_ == true)
         {
             MovemtServer_->sendMessage(moveorder.buildMessage());
             LOG_S(INFO)<<"Move Order send with Course";
@@ -135,13 +135,9 @@ namespace Entities
 
     void Entity::start()
     {   
-
+        stopMainLoop_ = false;
-        stopMainLoop = false;
    
-
+        threads_.emplace_back(std::thread(&Entity::MainLoop,this));
-        threads.emplace_back(std::thread(&Entity::MainLoop,this));
-       
-
 
     }
 
@@ -160,18 +156,18 @@ namespace Entities
         SensorManager_->stop();    
     
 
-        for (std::vector<std::thread>::iterator it = threads.begin(); it != threads.end();)
+        for (std::vector<std::thread>::iterator it = threads_.begin(); it != threads_.end();)
         {
             if (it->joinable()) 
             {
 
                 it->join();
-                it = threads.erase(it);
+                it = threads_.erase(it);
             }
         
         }
 
-        LOG_S(ERROR)<< "Remaining Threads: " << threads.size();
+        LOG_S(ERROR)<< "Remaining Threads: " << threads_.size();
         // std::this_thread::sleep_for(std::chrono::milliseconds(30000));
 
         // exit(0);
@@ -184,10 +180,13 @@ namespace Entities
             LOG_S(INFO)<<"__ONLINE__";
             MovementPodUUID_ = xg::newGuid().str();
             LOG_S(INFO)<<this->OwnShipTrack->getIdentifier().getUUID();
-            kubecontrol::KubePod MovementPod(this->OwnShipTrack->getIdentifier().getUUID(),MovementPodUUID_,"movementimage:latest");
+            std::string MovementImage = "movementimage:latest";
+            std::string component = "MovementCalculation";
+            std::string uuid = this->OwnShipTrack->getIdentifier().getUUID();
+            kubecontrol::KubePod MovementPod(uuid,MovementPodUUID_,MovementImage);
             
             MovementPod.setEnvironmentVar("SERVER_IP", SimCore::UtilFunctions::getOwnIP());
-            MovementPod.setComponent("MovementCalculation");
+            MovementPod.setComponent(component);
             
             PodController_->startPod(MovementPod);
             LOG_S(INFO)<<PodController_->getServerAddress();
@@ -204,7 +203,7 @@ namespace Entities
            {
                 LOG_S(INFO)<< "POS: LAT: "<< OwnShipTrack->getPosition().getGeodesicPos()(SimCore::LATITUDE) << " LON: " << OwnShipTrack->getPosition().getGeodesicPos()(SimCore::LONGITUDE);
 
-                MovementWorkerStarted = true;
+                MovementWorkerStarted_ = true;
                 MovemtServer_->sendMessage(OwnShipTrack->buildMessage());
                 LOG_S(INFO)<< "Initial Message send to MovementWorker";
            }
@@ -214,7 +213,7 @@ namespace Entities
 
     void Entity::handleMovement()
     {
-        if (!MovementWorkerStarted) 
+        if (!MovementWorkerStarted_) 
             {
                 startMovementWorker();
             }else 
@@ -229,20 +228,20 @@ namespace Entities
 
             if (MovemtServer_->countClients() == 0) 
             {
-                MovementWorkerStarted = false;
+                MovementWorkerStarted_ = false;
                 LOG_S(WARNING)<<"Movementclient lost";
             }
         // std::this_thread::sleep_for(std::chrono::milliseconds(500));
 
     }
 
-    void Entity::handleExternalComms(std::string msg)
+    void Entity::handleExternalComms(const std::string &msg)
     {
     try {
    
        WHISPER::Message whisperMsg(msg);
-        LOG_S(INFO)<<"New Message from TCP Client";
+        // LOG_S(INFO)<<"New Message from TCP Client";
-        LOG_S(INFO)<<"Message Type is: " << whisperMsg.msgType_;
+        // LOG_S(INFO)<<"Message Type is: " << whisperMsg.msgType_;
 
         switch (whisperMsg.msgType_) 
         {
@@ -303,8 +302,15 @@ namespace Entities
                     }
                     if (TrackListRequest->EntityID == OwnShipTrack->getIdentifier()) 
                     {
+                        if (TrackListRequest->requestedFusioned() == true) 
+                        {
                         std::string senderUUID = whisperMsg.senderUUID_;    
-                        CommandCommsServer_->sendMessage(SensorManager_->getTrackListUpdate()->buildMessage(),senderUUID);
+                        CommandCommsServer_->sendMessage(SensorManager_->getTrackListUpdateFusioned()->buildMessage(),senderUUID);
+                        }else {
+                         std::string senderUUID = whisperMsg.senderUUID_;    
+                         CommandCommsServer_->sendMessage(SensorManager_->getTrackListUpdateRaw()->buildMessage(),senderUUID);
+                        }
+                        
                     }
                 break;
                }
@@ -339,7 +345,7 @@ namespace Entities
                case SimCore::START: 
                case SimCore::STOP : 
                case SimCore::SHUT_DOWN :
-               {
+               { 
                 LOG_S(INFO)<<"shutdown received";
                 
                  this->stop();
@@ -355,6 +361,7 @@ namespace Entities
 
         default:
         {
+        DLOG_S(INFO)<<"Message Type is: " << whisperMsg.msgType_;
 
         }
 
@@ -372,7 +379,7 @@ namespace Entities
     void Entity::MainLoop()
     {
         LOG_S(INFO)<< "main loop started";
-        while (!stopMainLoop) 
+        while (!stopMainLoop_) 
         {   
            handleMovement();
            childWorker();

src/Entities/SensorControl.cpp

@@ -1,6 +1,7 @@
 #include <SimCore/Messages/SensorData.hpp>
 #include "Entities/Tracklist/Tracklist.hpp"
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Messages/SensorTracklistItem.hpp"
 #include "nlohmann/json_fwd.hpp"
 #include <Entities/SensorControl.hpp>
 #include <memory>
@@ -17,6 +18,22 @@ namespace Sensor
     {
     }
 
+
+
+    SimCore::SensorTracklistItem SensorControl::getSensorTracklistItem()
+    {
+        auto data = std::make_shared<SimCore::SensorData>(this->getID(),this->getName(),this->getIP(),this->getSensorKind());
+        SimCore::SensorTracklistItem item(data);
+
+        for(auto [key, track]: TrackStore.getTrackStore())
+        {
+            item.updateTrack(track);
+        }
+
+        return item;
+    }
+
+
     
 
 

src/Entities/SensorManager.cpp

@@ -37,7 +37,7 @@ namespace Entities
     void SensorManager::startSensor(std::shared_ptr<kubecontrol::KubePod> pod,SimCore::SensorKinds SensorKind)
     {
         PodController_->startPod(pod);
-        SensorStore[pod->getUUID()] = std::make_unique<Sensor::SensorControl>(SimCore::Identifier(pod->getUUID()),pod->getName(),pod->getIp(),SensorKind);
+        // SensorStore[pod->getUUID()] = std::make_unique<Sensor::SensorControl>(SimCore::Identifier(pod->getUUID()),pod->getName(),pod->getIp(),SensorKind);
     }
 
 
@@ -87,6 +87,26 @@ namespace Entities
     }
 
 
+
+    std::vector<std::shared_ptr<Sensor::SensorControl>> SensorManager::getSensorListAsVector()
+    {
+        std::vector<std::shared_ptr<Sensor::SensorControl>> SensorVector;
+            for (auto [key, value] : SensorStore) 
+            {
+            SensorVector.push_back(value);
+            }
+
+        return SensorVector;
+
+    }
+
+
+    std::map<std::string, std::shared_ptr<Sensor::SensorControl>> SensorManager::getSensorListAsMap()
+    {
+        return SensorStore;
+    }
+
+
     size_t SensorManager::getSensorCount()
     {
         return SensorStore.size();
@@ -96,6 +116,7 @@ namespace Entities
 
 
 
+
      void SensorManager::handlSensorMessages(std::string Message)
      {
        WHISPER::Message msg(Message);
@@ -129,20 +150,17 @@ namespace Entities
     void SensorManager::updateTracklistForSensor(std::string uuidSensor, std::shared_ptr<SimCore::SensorTrack> track)
     {
 
-        auto sensor= getSensorByUUID(uuidSensor);
+        auto sensor = getSensorByUUID(uuidSensor);
 
 
         if(sensor == nullptr)
         {
-            return;
+         SensorStore[track->getSensorData()->getID().getUUID()] = std::make_unique<Sensor::SensorControl>(track->getSensorData()->getID(),track->getSensorData()->getName(),track->getSensorData()->getIP(),track->getSensorData()->getSensorKind());
+         sensor = getSensorByUUID(uuidSensor); 
         }
+        
         sensor->TrackStore.addTrack(track);
-        // auto it = SensorStore.find(uuidSensor);
+        
-        // if( it != SensorStore.end())
-        // {
-        //     it->second->TrackStore.addTrack(std::move(track));
-        // }
-
     }
 
 
@@ -169,29 +187,29 @@ namespace Entities
         nlohmann::json sonar;
         nlohmann::json visual;
 
-        for(const auto& [key, value] : SensorStore )
+        for(const auto& [key, sensorItem] : SensorStore )
         {
 
             nlohmann::json sensor;
-            sensor["SensorName"] = value->getName();
+            sensor["SensorName"] = sensorItem->getName();
-            sensor["SensorID"] = value->getID().getUUID();
+            sensor["SensorID"] = sensorItem->getID().getUUID();
-            sensor["SensorStatus"] = SimCore::toString(value->getSensorStatus());
+            sensor["SensorStatus"] = SimCore::toString(sensorItem->getSensorStatus());
             sensor["SensorEnabled"] = "false";
-            if (value->getSensorStatus() == SimCore::Status::ACTIVE) 
+            if (sensorItem->getSensorStatus() == SimCore::Status::ACTIVE) 
             {
                 sensor["SensorEnabled"] = "true";
             }
             sensor["SensorDamaged"] = "false";
-            if (value->getSensorStatus() == SimCore::Status::DEFEKT || value->getSensorStatus() == SimCore::Status::DEGRADED) 
+            if (sensorItem->getSensorStatus() == SimCore::Status::DEFEKT || sensorItem->getSensorStatus() == SimCore::Status::DEGRADED) 
             {
                 sensor["SensorDamaged"] = "true";
             }
             nlohmann::json contacts;
-            value->TrackStore.getJsonTRackList(contacts);
+            sensorItem->TrackStore.getJsonTRackList(contacts);
             sensor["SensorContacts"] = contacts["Entities"];
 
             
-            switch (value->getSensorKind()) {
+            switch (sensorItem->getSensorKind()) {
                case SimCore::SensorKinds::RADAR:
                {
 
@@ -246,12 +264,32 @@ namespace Entities
     }
 
 
-    std::unique_ptr<SimCore::TracklistUpdate> SensorManager::getTrackListUpdate()
+    std::unique_ptr<SimCore::TracklistUpdate> SensorManager::getTrackListUpdateFusioned()
     {
 
         return std::move(Trackfusion_.getTrackListUpdate(OwnId_));
     }
 
+    std::unique_ptr<SimCore::SensorTracklistUpdate> SensorManager::getTrackListUpdateRaw()
+    {
+
+        auto Update = std::make_unique<SimCore::SensorTracklistUpdate>(OwnId_);
+
+            
+        for(auto [key,item]: SensorStore)
+        {   
+            Update->addTrack(item->getSensorTracklistItem());
+        }
+
+        return Update;
+        
+
+
+
+
+    }
+
+
 
     void SensorManager::sendOwnShipTrackToSensors()
     {

src/Entities/Tracklist/Tracklist.cpp

@@ -1,4 +1,6 @@
 #include <Entities/Tracklist/Tracklist.hpp>
+#include <chrono>
+#include "SimCore/Messages/SensorTrack.hpp"
 #include "SimCore/Messages/SimTrack.hpp"
 
 
@@ -6,83 +8,126 @@
 namespace TrackList
 {
 
-      TrackList::TrackList()
+      TrackList::TrackList():mx_()
-            {
+        {
 
-                TrackStore_ =  std::map<std::string, std::shared_ptr<SimCore::SimTrack>>();
+            TrackStore_ =  std::map<std::string, std::shared_ptr<SimCore::SensorTrack>>();
+            timer_.start(1000, std::bind(&TrackList::checkTrackStore,this));
+        }
+
+
+        TrackList::~TrackList()
+        {
+            if (timer_.is_running()) {
+                timer_.stop();
+            }
+        }
+        TrackList::TrackList(const TrackList &other):mx_()
+        {
+            this->TrackStore_ = other.TrackStore_;
+        }
+       TrackList& TrackList::operator=(const TrackList & other)
+        {   
+            this->TrackStore_ = other.TrackStore_;
+            return *this;
+        }
+
+        void TrackList::addTrack(std::shared_ptr<SimCore::SensorTrack> Track)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+                
+            auto [iterator, inserted] = TrackStore_.try_emplace(Track->getIdentifier().getUUID(),Track);
+            // LOG_S(INFO)<< Track->Name.getValue()<<" was: " << (inserted ? "inserted: " : "ignored:  ");
+            if (!inserted) { TrackStore_[Track->getIdentifier().getUUID()] = Track; }
+
+
+        }
+        std::shared_ptr<SimCore::SensorTrack> TrackList::getTrack(const SimCore::Identifier ID)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+
+            auto it =  TrackStore_.find(ID.getUUID());
+            return it->second;
+        }
+
+        std::shared_ptr<SimCore::SensorTrack> TrackList::getTrackBySringID(std::string ID)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+
+            auto it =  TrackStore_.find(ID);
+            return it->second;
+        }
+
+        void TrackList::deleteTrack(std::string ID)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+            auto it =  TrackStore_.find(ID);
+            TrackStore_.erase(it);
+        }
+
+        void TrackList::deleteTrack(SimCore::Identifier ID)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+            auto it =  TrackStore_.find(ID.getUUID());
+            TrackStore_.erase(it);
+        }
+
+            std::map<std::string, std::shared_ptr<SimCore::SensorTrack>> TrackList::getTrackStore()
+            {
+            return TrackStore_;
             }
 
-            void TrackList::addTrack(std::shared_ptr<SimCore::SimTrack> Track)
+
+        void TrackList::getJsonTRackList(nlohmann::json &message)
+        {
+            std::lock_guard<std::mutex> lock(mx_);
+            try {
+            for (std::map<std::string, std::shared_ptr<SimCore::SensorTrack>>::iterator it=TrackStore_.begin(); it!=TrackStore_.end(); ++it)
+            {
+                nlohmann::json j;
+                j["id"] = it->first;
+                j["Name"] = it->second->Name.getValue();
+                j["Course"] = it->second->Course.getValue();
+                j["Speed"] = it->second->Speed.getValue();
+                j["External"] = false;
+                j["Position"] = {it->second->getPosition().getGeodesicPos()[SimCore::LATITUDE], it->second->getPosition().getGeodesicPos()[SimCore::LONGITUDE]};
+                j["Height"] = it->second->getPosition().getGeodesicPos()[SimCore::HEIGHT];
+                j["Type"] = SimCore::Kind::EntityKindMap[it->second->EntityKind.getValue()];
+                j["Side"] = SimCore::Side::EntitySideMap[it->second->EntitySide.getValue()];
+
+                message["Entities"].push_back(j);
+            }
+            }catch (const std::exception e) {
+                LOG_S(ERROR)<< e.what();
+            }
+        }
+
+            size_t TrackList::getSize()
             {
                 std::lock_guard<std::mutex> lock(mx_);
-                  
+                return TrackStore_.size();
-                auto [iterator, inserted] = TrackStore_.try_emplace(Track->getIdentifier().getUUID(),Track);
-                // LOG_S(INFO)<< Track->Name.getValue()<<" was: " << (inserted ? "inserted: " : "ignored:  ");
-                if (!inserted) { TrackStore_[Track->getIdentifier().getUUID()] = Track; }
-
 
             }
-            std::shared_ptr<SimCore::SimTrack> TrackList::getTrack(const SimCore::Identifier ID)
-            {
-               std::lock_guard<std::mutex> lock(mx_);
 
-               auto it =  TrackStore_.find(ID.getUUID());
-               return it->second;
-            }
 
-            std::shared_ptr<SimCore::SimTrack> TrackList::getTrackBySringID(std::string ID)
+            void TrackList::checkTrackStore()
             {
                 std::lock_guard<std::mutex> lock(mx_);
 
-               auto it =  TrackStore_.find(ID);
+                for (auto iter = TrackStore_.begin(); iter != TrackStore_.end();)
-               return it->second;
+                {
-            }
+                   
-
+                    if(duration_cast<std::chrono::seconds>(std::chrono::system_clock::now() - iter->second->getLastUpdateTime()).count() >= trackNoUpdateTime)
-            void TrackList::deleteTrack(std::string ID)
+                    {
-            {
+                       iter = TrackStore_.erase(iter);
-                std::lock_guard<std::mutex> lock(mx_);
+                    }else {
-                auto it =  TrackStore_.find(ID);
+                        iter++;
-                TrackStore_.erase(it);
+                    }
-            }
-
-            void TrackList::deleteTrack(SimCore::Identifier ID)
-            {
-                std::lock_guard<std::mutex> lock(mx_);
-                auto it =  TrackStore_.find(ID.getUUID());
-                TrackStore_.erase(it);
-            }
-
-
-           void TrackList::getJsonTRackList(nlohmann::json &message)
-            {
-                std::lock_guard<std::mutex> lock(mx_);
-                try {
-               for (std::map<std::string, std::shared_ptr<SimCore::SimTrack>>::iterator it=TrackStore_.begin(); it!=TrackStore_.end(); ++it)
-               {
-                    nlohmann::json j;
-                    j["id"] = it->first;
-                    j["Name"] = it->second->Name.getValue();
-                    j["Course"] = it->second->Course.getValue();
-                    j["Speed"] = it->second->Speed.getValue();
-                    j["External"] = false;
-                    j["Position"] = {it->second->getPosition().getGeodesicPos()[SimCore::LATITUDE], it->second->getPosition().getGeodesicPos()[SimCore::LONGITUDE]};
-                    j["Height"] = it->second->getPosition().getGeodesicPos()[SimCore::HEIGHT];
-                    j["Type"] = SimCore::Kind::EntityKindMap[it->second->EntityKind.getValue()];
-                    j["Side"] = SimCore::Side::EntitySideMap[it->second->EntitySide.getValue()];
-
-                    message["Entities"].push_back(j);
-               }
-                }catch (const std::exception e) {
-                    LOG_S(ERROR)<< e.what();
                 }
+
+
             }
 
-              size_t TrackList::getSize()
-              {
-                  std::lock_guard<std::mutex> lock(mx_);
-                  return TrackStore_.size();
-
-              }
 
 
 

tests/test_SensorManager.cpp

@@ -215,7 +215,10 @@ SCENARIO("Testing the SimCore SensorManager with local sensors")
         std::string tracklist1 = SensorManager_->getTracklistStringBySensor();
         std::string tracklist2 = SensorManager_->getTracklistStringFusioned();
 
-        LOG_S(INFO)<<tracklist2;
+        LOG_S(INFO)<<tracklist1;
+
+       
+
      
       THEN("check if Track attributes are correct")
       {     
@@ -234,7 +237,14 @@ SCENARIO("Testing the SimCore SensorManager with local sensors")
         REQUIRE(  j2.size() == 8);
 
         REQUIRE(SensorManager_->getSensorCount() == 4);
-        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+
+        REQUIRE(SensorManager_->getTrackListUpdateRaw()->getSensors().size() == 4);
+        REQUIRE(SensorManager_->getTrackListUpdateRaw()->getSensors().at(0).getTracksCount() == 3);
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(10000));
+
+        REQUIRE(SensorManager_->getSensorListAsVector().at(0)->TrackStore.getSize() == 0);
 
       
         SensorManager_->stop();

tests/test_Tracklist.cpp

@@ -34,6 +34,7 @@ SCENARIO("Testing the SimCore Sensor")
     track->setPosition(pos);
     track->Speed.setValue(speed);
     track->Course.setValue(course);
+    auto SensorTrack = std::make_shared<SimCore::SensorTrack>(track);
 
 
     SimCore::SensorData Sensor1(SimCore::Identifier(),"ARPA","127.0.0.1", SimCore::SensorKinds::RADAR);
@@ -45,7 +46,7 @@ SCENARIO("Testing the SimCore Sensor")
   
     WHEN("constructing Track Object with data")
     {
-      List.addTrack(track);
+      List.addTrack(SensorTrack);
       THEN("check if Track attributes are correct")
       { 
 
@@ -55,7 +56,7 @@ SCENARIO("Testing the SimCore Sensor")
         REQUIRE(List.getTrack(id)->Course.getValue() == course);
         // REQUIRE(List.getTrack(id)->getSensorCount() == 1);
         track->Course.setValue(270);
-        List.addTrack(track);
+        List.addTrack(SensorTrack);
         // REQUIRE(List.getTrack(id)->Course.getValue() == 270);
         // REQUIRE(List.getTrack(id)->getSensorCount() == 2);
         std::this_thread::sleep_for(std::chrono::milliseconds(3000));