Keep the colleague's microbu-esp32c5 tree in this repository
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
This commit is contained in:
Ashin Walpola
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#include <vanetza/common/byte_order.hpp>
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#include <vanetza/geodesy/country_data_reader.hpp>
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#include <vanetza/geodesy/country_database.hpp>
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#include <gtest/gtest.h>
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#include <cstring>
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#include <vector>
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using namespace vanetza;
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using namespace vanetza::geodesy;
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using vanetza::units::degree;
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namespace
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{
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template<ByteOrder Order, typename T>
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void append(std::vector<uint8_t>& buf, T v)
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{
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EndianType<T, Order> e;
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e = host_cast(v);
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auto raw = e.get();
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const auto* p = reinterpret_cast<const uint8_t*>(&raw);
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buf.insert(buf.end(), p, p + sizeof(raw));
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}
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void append_u16le(std::vector<uint8_t>& buf, uint16_t v)
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{
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append<ByteOrder::LittleEndian>(buf, v);
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}
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void append_u32le(std::vector<uint8_t>& buf, uint32_t v)
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{
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append<ByteOrder::LittleEndian>(buf, v);
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}
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void append_f64le(std::vector<uint8_t>& buf, double v)
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{
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uint64_t bits;
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std::memcpy(&bits, &v, sizeof(bits));
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append<ByteOrder::LittleEndian>(buf, bits);
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}
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// Build WKB Polygon (LE) for a rectangle
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std::vector<uint8_t> make_rect_wkb(double lon_min, double lat_min, double lon_max, double lat_max)
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{
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std::vector<uint8_t> wkb;
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wkb.push_back(0x01); // LE
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append_u32le(wkb, 3); // Polygon
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append_u32le(wkb, 1); // 1 ring
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append_u32le(wkb, 5); // 5 points (closed)
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append_f64le(wkb, lon_min); append_f64le(wkb, lat_min);
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append_f64le(wkb, lon_max); append_f64le(wkb, lat_min);
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append_f64le(wkb, lon_max); append_f64le(wkb, lat_max);
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append_f64le(wkb, lon_min); append_f64le(wkb, lat_max);
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append_f64le(wkb, lon_min); append_f64le(wkb, lat_min);
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return wkb;
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}
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std::vector<uint8_t> make_entry(uint16_t m49, const std::vector<uint8_t>& wkb)
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{
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std::vector<uint8_t> entry;
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append_u16le(entry, m49);
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append_u32le(entry, static_cast<uint32_t>(wkb.size()));
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entry.insert(entry.end(), wkb.begin(), wkb.end());
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return entry;
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}
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const uint16_t germany_m49 = 276;
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const uint16_t france_m49 = 250;
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std::vector<uint8_t> make_test_data()
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{
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// Germany bounding box (rough): lon 5.9-15.0, lat 47.3-55.1
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auto de_wkb = make_rect_wkb(5.9, 47.3, 15.0, 55.1);
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// France bounding box (rough): lon -5.1-9.6, lat 42.3-51.1
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auto fr_wkb = make_rect_wkb(-5.1, 42.3, 9.6, 51.1);
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auto de_entry = make_entry(germany_m49, de_wkb);
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auto fr_entry = make_entry(france_m49, fr_wkb);
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std::vector<uint8_t> data;
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append_u16le(data, vanetza::geodesy::detail::country_data_format_version);
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data.insert(data.end(), de_entry.begin(), de_entry.end());
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data.insert(data.end(), fr_entry.begin(), fr_entry.end());
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return data;
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}
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} // anonymous namespace
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TEST(CountryDatabase, initially_empty)
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{
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CountryDatabase db;
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EXPECT_TRUE(db.empty());
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}
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TEST(CountryDatabase, load_from_buffer)
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{
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auto data = make_test_data();
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CountryDatabase db;
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EXPECT_TRUE(db.load(data.data(), data.size()));
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EXPECT_FALSE(db.empty());
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}
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TEST(CountryDatabase, berlin_inside_germany)
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{
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auto data = make_test_data();
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CountryDatabase db;
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ASSERT_TRUE(db.load(data.data(), data.size()));
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GeodeticPosition berlin(52.52 * degree, 13.405 * degree);
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EXPECT_TRUE(db.is_inside(M49Code(germany_m49), berlin));
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}
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TEST(CountryDatabase, paris_inside_france)
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{
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auto data = make_test_data();
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CountryDatabase db;
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ASSERT_TRUE(db.load(data.data(), data.size()));
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GeodeticPosition paris(48.8566 * degree, 2.3522 * degree);
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EXPECT_TRUE(db.is_inside(M49Code(france_m49), paris));
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}
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TEST(CountryDatabase, berlin_not_in_france)
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{
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auto data = make_test_data();
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CountryDatabase db;
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ASSERT_TRUE(db.load(data.data(), data.size()));
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GeodeticPosition berlin(52.52 * degree, 13.405 * degree);
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EXPECT_FALSE(db.is_inside(M49Code(france_m49), berlin));
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}
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TEST(CountryDatabase, mid_atlantic_in_no_country)
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{
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auto data = make_test_data();
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CountryDatabase db;
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ASSERT_TRUE(db.load(data.data(), data.size()));
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GeodeticPosition ocean(40.0 * degree, -30.0 * degree);
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EXPECT_FALSE(db.is_inside(M49Code(germany_m49), ocean));
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EXPECT_FALSE(db.is_inside(M49Code(france_m49), ocean));
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}
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TEST(CountryDatabase, unknown_country_code)
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{
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auto data = make_test_data();
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CountryDatabase db;
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ASSERT_TRUE(db.load(data.data(), data.size()));
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GeodeticPosition berlin(52.52 * degree, 13.405 * degree);
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EXPECT_FALSE(db.is_inside(M49Code(999), berlin));
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}
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TEST(CountryDatabase, load_invalid_data)
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{
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std::vector<uint8_t> bad_data = {0x14};
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CountryDatabase db;
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std::string error;
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EXPECT_FALSE(db.load(bad_data.data(), bad_data.size(), &error));
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EXPECT_FALSE(error.empty());
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EXPECT_TRUE(db.empty());
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}
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#ifdef VANETZA_WITH_EMBEDDED_COUNTRY_DATA
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TEST(CountryDatabase, embedded_not_empty)
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{
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auto db = CountryDatabase::embedded();
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EXPECT_FALSE(db.empty());
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}
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TEST(CountryDatabase, embedded_ingolstadt_in_germany)
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{
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auto db = CountryDatabase::embedded();
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// Ingolstadt, Germany
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GeodeticPosition ingolstadt(48.7665 * degree, 11.4258 * degree);
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EXPECT_TRUE(db.is_inside(M49Code(germany_m49), ingolstadt));
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}
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TEST(CountryDatabase, embedded_etsi_hq_in_france)
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{
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auto db = CountryDatabase::embedded();
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// ETSI headquarters, Sophia Antipolis, France
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GeodeticPosition etsi_hq(43.6244 * degree, 7.0494 * degree);
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EXPECT_TRUE(db.is_inside(M49Code(france_m49), etsi_hq));
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}
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#endif // VANETZA_WITH_EMBEDDED_COUNTRY_DATA
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