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.
104 lines
3.3 KiB
C++
104 lines
3.3 KiB
C++
#ifndef PATH_HISTORY_HPP_1ITSMS5I
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#define PATH_HISTORY_HPP_1ITSMS5I
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#include <vanetza/facilities/path_point.hpp>
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#include <boost/circular_buffer.hpp>
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#include <boost/range/iterator_range.hpp>
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#include <cstddef>
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#include <list>
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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 RS_BSP_318 path history (Method One) parameters
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extern const units::Length cTraceAllowableError;
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extern const units::Length cTraceMaxDeltaDistance;
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extern const units::Angle cTraceDeltaPhi;
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/**
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* Implementation of Path History Reference Design (Method One)
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* \see NHTSA Document "VSC-A Final Report: Appendix B-2" from September 2011
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*/
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class PathHistory
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{
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public:
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struct Parameters
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{
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units::Length allowable_error = cTraceAllowableError;
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units::Length chord_length_threshold = cTraceMaxDeltaDistance;
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units::Angle small_delta_phi = cTraceDeltaPhi;
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units::Length retention_distance = 500.0 * units::si::meter;
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};
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PathHistory();
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explicit PathHistory(const Parameters& params);
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/**
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* Consider one further path point for inclusion into path history
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* \param a path point, expected to be newer than any previously given point
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*/
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void addSample(const PathPoint&);
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/**
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* Drop all samples and concise points, e.g. on pseudonym (AT) change
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*/
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void clear();
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/**
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* Get current reference point, i.e. last provided path point
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* \return current reference point (fallback is a default constructed PathPoint)
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*/
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const PathPoint& getReferencePoint() const;
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/**
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* Get concise list of path points
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* \note previously given path points are only included if the algorithm
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* presented in above mentioned document as "Method One" selects them
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* \return list of path points, some given points might be omitted
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*/
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const std::list<PathPoint>& getConcisePoints() const { return m_concise; }
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/**
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* Newest concise points covering at least a distance (crossing point included)
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* \param distance minimum distance to cover
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* \return view of the newest concise points
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*/
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMinLength(units::Length distance) const;
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/// As above but capped at max_points
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMinLength(units::Length distance, std::size_t max_points) const;
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/**
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* Newest concise points covering at most a distance (crossing point excluded)
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* \param distance maximum distance to cover
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* \return view of the newest concise points
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*/
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMaxLength(units::Length distance) const;
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/// As above but capped at max_points
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMaxLength(units::Length distance, std::size_t max_points) const;
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private:
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void updateConcisePoints();
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void truncateConcisePoints();
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const PathPoint& starting() const;
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const PathPoint& previous() const;
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const PathPoint& next() const;
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Parameters m_params;
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boost::circular_buffer<PathPoint> m_samples;
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std::list<PathPoint> m_concise;
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};
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} // namespace facilities
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} // namespace vanetza
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#endif /* PATH_HISTORY_HPP_1ITSMS5I */
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