Ashin Walpola
d107534eb2
obu-firmware builds against the vanetza-idf C-ITS library, which until now came from the colleague's microbu-esp32c5 tree beside the repository and was not tracked here, so a clone of this repository could not build the firmware it ships. The library alone is now part of obu-firmware, as obu-firmware/external/vanetza-idf: their external/vanetza-idf at commit cf4b99f, unchanged (9775 files; see its PROVENANCE.md). CMake takes it from there by default; -DVANETZA_IDF_DIR still points the build elsewhere. The rest of the colleague's tree (their own VAM firmware, PKI tooling, station-link Python tools, the V2X2MAP bridge) stays out of this repository and gitignored; nothing is pushed to their repository. NOTES.md, docs/06, TODO.md and the pcap verifier's usage line point at the new location.
64 lines
2.8 KiB
C++
64 lines
2.8 KiB
C++
#pragma once
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#include <vanetza/facilities/path_history.hpp>
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#include <vanetza/facilities/path_point.hpp>
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#include <chrono>
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#include <type_traits>
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namespace vanetza
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{
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namespace facilities
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{
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// C2C-CC BSP CAM trace limits (RS_BSP_318)
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static const units::Length cCamTraceMinLength = 200.0 * units::si::meter;
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static constexpr std::size_t cCamTraceMaxPoints = 23;
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template<typename SomePathSequence, typename SomePathPoint>
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void copy(const facilities::PathHistory& src, SomePathSequence& dest,
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units::Length min_distance = cCamTraceMinLength, std::size_t max_points = cCamTraceMaxPoints)
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{
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using SomePathDeltaTime = typename std::remove_pointer<decltype(SomePathPoint::pathDeltaTime)>::type;
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static const auto scDeltaTimeStepLength = boost::posix_time::milliseconds(10);
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static const auto scMaxDeltaTime = scDeltaTimeStepLength * 65535;
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// ETSI TS 102 894-2: first PathPoint relative to the reference position, each subsequent
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// one relative to the previous PathPoint (incremental deltas); newest first (RS_BSP_287).
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facilities::PathPoint prev = src.getReferencePoint();
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bool first_point = true; // only the first PathPoint may be clamped (stationary marker)
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for (const PathPoint& point : src.getConcisePointsMinLength(min_distance, max_points)) {
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auto delta_time = prev.time - point.time; // positive: point is in past
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auto delta_latitude = round(point.latitude - prev.latitude, tenth_microdegree);
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auto delta_longitude = round(point.longitude - prev.longitude, tenth_microdegree);
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if (delta_latitude < -131071 || delta_latitude > 131071) {
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continue; // delta latitude not encodable
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} else if (delta_longitude < -131071 || delta_longitude > 131071) {
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continue; // delta longitude not encodable
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} else if (delta_time >= scDeltaTimeStepLength) {
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if (delta_time > scMaxDeltaTime) {
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if (first_point) {
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delta_time = scMaxDeltaTime; // RS_BSP_289: clamp the first PathPoint (stationary marker)
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} else {
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break; // later overflow (old stationary) drops the disconnected older trail
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}
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}
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SomePathPoint* path_point = asn1::allocate<SomePathPoint>();
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path_point->pathPosition.deltaLatitude = delta_latitude;
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path_point->pathPosition.deltaLongitude = delta_longitude;
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path_point->pathPosition.deltaAltitude = DeltaAltitude::DeltaAltitude_unavailable;
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path_point->pathDeltaTime = asn1::allocate<SomePathDeltaTime>();
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*(path_point->pathDeltaTime) = delta_time.total_milliseconds() / scDeltaTimeStepLength.total_milliseconds();
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ASN_SEQUENCE_ADD(&dest, path_point);
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prev = point;
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first_point = false;
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}
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}
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}
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} // namespace facilities
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} // namespace vanetza
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