kinavis-traffic

Target tracking, collision assessment and avoidance for the KINAVIS crates.

Radar plots and AIS reports are observations of numbered targets. Traffic turns them into tracks — extrapolated position, course, speed, age — and reports acquisitions and losses as events, returning a TrafficView. Tracks are stored inline with a fixed history: no allocation, bare-metal capable. The picture is ~15 KiB regardless of target count and deliberately not Copy: keep it behind a reference or in a static.

assess_traffic computes each target's CPA/TCPA against own ship's snapshot and raises CpaAlarm inside the vessel's CpaPolicy; avoid_all finds the smallest course alteration, within COLREGs and ship constraints, that clears every target.

use kinavis_kernel::{Instant, Position, Speed, TargetId, Utc};
use kinavis_traffic::{TargetObservation, Traffic, TrackingPolicy, WhenFull};
use core::time::Duration;

// Three plots to acquire, stale after half a minute, dropped after three,
// nothing faster than sixty knots; and when the picture is full, the
// target that has gone quietest makes way for the newcomer.
let policy = TrackingPolicy::new(
    3,
    Duration::from_secs(30),
    Duration::from_secs(180),
    Speed::from_knots(60.0)?,
)?
.when_full(WhenFull::EvictStalest);
let mut traffic = Traffic::new(policy);

// Three radar plots of one target, a minute apart, heading north at 12 knots.
let start = Instant::<Utc>::from_unix_seconds(1_789_000_000);
for minute in 0_u32..3 {
    let position = Position::from_degrees(50.0 + 0.2 * f64::from(minute) / 60.0, -1.0)?;
    let at = start.checked_add(Duration::from_secs(60 * u64::from(minute))).unwrap();
    traffic.ingest(TargetObservation::new(TargetId::new(7), position, at))?;
}

let view = traffic.view(start.checked_add(Duration::from_secs(150)).unwrap());
let target = &view.targets()[0];
println!("{} {} at {}", target.target, target.motion.unwrap().course_over_ground, target.position);
# Ok::<(), kinavis::NavigationError>(())

Feature flags

• std (default) — standard library maths in the kernel.
• libm — for no_std targets: --no-default-features --features libm.
• serde — serialisation of observations, policies and view entries.

License

Licensed under either of Apache License, Version 2.0 or MIT license at your option.

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in this crate by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.