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FLASHING.md says how to take a newer version of the colleague's tree (copy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).

microbu-esp32c5/external/vanetza-idf/vanetza/units/CMakeLists.txt

@@ -0,0 +1 @@
+add_test_subdirectory(tests)

microbu-esp32c5/external/vanetza-idf/vanetza/units/acceleration.hpp

@@ -0,0 +1,18 @@
+#ifndef ACCELERATION_HPP_RA28A31X
+#define ACCELERATION_HPP_RA28A31X
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/acceleration.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+typedef boost::units::quantity<boost::units::si::acceleration> Acceleration;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* ACCELERATION_HPP_RA28A31X */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/angle.hpp

@@ -0,0 +1,29 @@
+#ifndef ANGLE_HPP_QWPLNJ3B
+#define ANGLE_HPP_QWPLNJ3B
+
+#include <boost/units/absolute.hpp>
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/angle/degrees.hpp>
+#include <boost/units/systems/si/plane_angle.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+namespace si = boost::units::si;
+using boost::units::degree::degree;
+using boost::units::degree::degrees;
+using boost::units::absolute;
+
+typedef boost::units::quantity<boost::units::si::plane_angle> Angle;
+typedef boost::units::quantity<boost::units::degree::plane_angle> GeoAngle;
+typedef boost::units::quantity<boost::units::absolute<boost::units::degree::plane_angle>> TrueNorth;
+
+BOOST_UNITS_STATIC_CONSTANT(true_north_degrees, TrueNorth::unit_type);
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* ANGLE_HPP_QWPLNJ3B */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/angular_velocity.hpp

@@ -0,0 +1,17 @@
+#ifndef ANGULARVELOCITY_HPP_J3BOZAPV
+#define ANGULARVELOCITY_HPP_J3BOZAPV
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/angular_velocity.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+typedef boost::units::quantity<boost::units::si::angular_velocity> AngularVelocity;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* ANGULARVELOCITY_HPP_J3BOZAPV */

microbu-esp32c5/external/vanetza-idf/vanetza/units/area.hpp

@@ -0,0 +1,19 @@
+#ifndef AREA_HPP_FSPQEWF1
+#define AREA_HPP_FSPQEWF1
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/area.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+namespace si = boost::units::si;
+typedef boost::units::quantity<boost::units::si::area> Area;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* AREA_HPP_FSPQEWF1 */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/curvature.hpp

@@ -0,0 +1,23 @@
+#ifndef RECIPROCALLENGTH_HPP_6VHZDL7G
+#define RECIPROCALLENGTH_HPP_6VHZDL7G
+
+#include <boost/units/derived_dimension.hpp>
+#include <boost/units/physical_dimensions/length.hpp>
+#include <boost/units/systems/si/base.hpp>
+#include <boost/units/quantity.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+typedef boost::units::derived_dimension<boost::units::length_base_dimension, -1>::type curvature_dimension;
+typedef boost::units::unit<curvature_dimension, boost::units::si::system> curvature;
+typedef boost::units::quantity<curvature> Curvature;
+
+BOOST_UNITS_STATIC_CONSTANT(reciprocal_metre, curvature);
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* RECIPROCALLENGTH_HPP_6VHZDL7G */

microbu-esp32c5/external/vanetza-idf/vanetza/units/frequency.hpp

@@ -0,0 +1,18 @@
+#ifndef FREQUENCY_HPP_UKBSKAIH
+#define FREQUENCY_HPP_UKBSKAIH
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/frequency.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+typedef boost::units::quantity<boost::units::si::frequency> Frequency;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* FREQUENCY_HPP_UKBSKAIH */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/length.hpp

@@ -0,0 +1,19 @@
+#ifndef LENGTH_HPP_56IO9TDB
+#define LENGTH_HPP_56IO9TDB
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/length.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+namespace si = boost::units::si;
+typedef boost::units::quantity<si::length> Length;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* LENGTH_HPP_56IO9TDB */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/tests/CMakeLists.txt

@@ -0,0 +1,3 @@
+include(UseGTest)
+
+add_gtest(Time time.cpp LINK_LIBRARIES common)

microbu-esp32c5/external/vanetza-idf/vanetza/units/tests/time.cpp

@@ -0,0 +1,19 @@
+#include <gtest/gtest.h>
+#include <vanetza/units/time.hpp>
+#include <boost/units/systems/si/prefixes.hpp>
+#include <chrono>
+
+using namespace vanetza::units;
+namespace sc = std::chrono;
+
+TEST(Time, clock_cast_from_quantity)
+{
+    EXPECT_EQ(sc::milliseconds(3), clock_cast(3.0 * si::milli * si::seconds));
+    EXPECT_EQ(sc::seconds(354), clock_cast(354 * si::seconds));
+}
+
+TEST(Time, clock_cast_from_chrono)
+{
+    EXPECT_EQ(0.5 * si::seconds, clock_cast(sc::milliseconds(500)));
+    EXPECT_EQ(7200 * si::seconds, clock_cast(sc::hours(2)));
+}

microbu-esp32c5/external/vanetza-idf/vanetza/units/time.hpp

@@ -0,0 +1,51 @@
+#ifndef TIME_HPP_GFC1AX6E
+#define TIME_HPP_GFC1AX6E
+
+#include <vanetza/common/clock.hpp>
+#include <boost/units/quantity.hpp>
+#include <boost/units/systems/si/time.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+namespace si = boost::units::si;
+typedef boost::units::quantity<boost::units::si::time> Duration;
+
+/**
+ * Convert a Boost.Units duration to a std::chrono::duration
+ * \tparam U unit type
+ * \tparam T value type
+ * \param duration Boost.Units based duration
+ * \return std::chrono::duration representative of duration
+ */
+template<typename U, typename T>
+Clock::duration clock_cast(const boost::units::quantity<U, T>& duration)
+{
+    using chrono_type = std::chrono::duration<Duration::value_type>;
+    const Duration quantity { duration };
+    const chrono_type chrono_duration { quantity / si::seconds };
+    return std::chrono::duration_cast<Clock::duration>(chrono_duration);
+}
+
+/**
+ * Convert std::chrono::duration to a Boost.Units quantity
+ * \tparam T type representing ticks
+ * \tparam P tick period type
+ * \param duration std::chrono::duration based duration
+ * \return Boost.Units quantity representing duration
+ */
+template<class T, class P>
+Duration clock_cast(const std::chrono::duration<T, P>& duration)
+{
+    using chrono_type = std::chrono::duration<Duration::value_type>;
+    const auto value = std::chrono::duration_cast<chrono_type>(duration);
+    return value.count() * si::seconds;
+}
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* TIME_HPP_GFC1AX6E */
+

microbu-esp32c5/external/vanetza-idf/vanetza/units/velocity.hpp

@@ -0,0 +1,28 @@
+#ifndef VELOCITY_HPP_0BLFAIDT
+#define VELOCITY_HPP_0BLFAIDT
+
+#include <boost/units/quantity.hpp>
+#include <boost/units/base_units/metric/knot.hpp>
+#include <boost/units/systems/si/velocity.hpp>
+
+namespace vanetza
+{
+namespace units
+{
+
+namespace metric
+{
+
+BOOST_UNITS_STATIC_CONSTANT(knot, boost::units::metric::knot_base_unit::unit_type);
+BOOST_UNITS_STATIC_CONSTANT(knots, boost::units::metric::knot_base_unit::unit_type);
+
+} // namespace metric
+
+typedef boost::units::quantity<boost::units::si::velocity> Velocity;
+typedef boost::units::quantity<boost::units::metric::knot_base_unit::unit_type> NauticalVelocity;
+
+} // namespace units
+} // namespace vanetza
+
+#endif /* VELOCITY_HPP_0BLFAIDT */
+