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.
112 lines
3.1 KiB
C++
112 lines
3.1 KiB
C++
#include "areas.hpp"
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#include "position_vector.hpp"
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#include "serialization.hpp"
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namespace vanetza
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{
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namespace geonet
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{
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constexpr std::size_t LongPositionVector::length_bytes;
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constexpr std::size_t ShortPositionVector::length_bytes;
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LongPositionVector::LongPositionVector() : position_accuracy_indicator(false)
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{
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}
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GeodeticPosition LongPositionVector::position() const
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{
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return GeodeticPosition {
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static_cast<units::GeoAngle>(latitude),
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static_cast<units::GeoAngle>(longitude)
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};
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}
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ShortPositionVector::ShortPositionVector(const LongPositionVector& lpv) :
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gn_addr(lpv.gn_addr), timestamp(lpv.timestamp),
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latitude(lpv.latitude), longitude(lpv.longitude)
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{
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}
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bool operator==(const LongPositionVector& lhs, const LongPositionVector& rhs)
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{
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return lhs.gn_addr == rhs.gn_addr
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&& lhs.timestamp == rhs.timestamp
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&& lhs.latitude == rhs.latitude
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&& lhs.longitude == rhs.longitude
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&& lhs.speed == rhs.speed
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&& lhs.heading == rhs.heading
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&& lhs.position_accuracy_indicator == rhs.position_accuracy_indicator;
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}
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bool operator!=(const LongPositionVector& lhs, const LongPositionVector& rhs)
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{
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return !(lhs == rhs);
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}
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bool operator==(const ShortPositionVector& lhs, const ShortPositionVector& rhs)
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{
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return lhs.gn_addr == rhs.gn_addr
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&& lhs.timestamp == rhs.timestamp
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&& lhs.latitude == rhs.latitude
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&& lhs.longitude == rhs.longitude;
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}
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bool operator!=(const ShortPositionVector& lhs, const ShortPositionVector& rhs)
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{
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return !(lhs == rhs);
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}
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bool is_empty(const LongPositionVector& pv)
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{
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static const LongPositionVector zero;
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return pv == zero;
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}
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bool is_valid(const LongPositionVector& pv)
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{
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static const geo_angle_i32t limit_lat { 90.0 * units::degree };
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static const geo_angle_i32t limit_lon { 180.0 * units::degree };
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static const heading_u16t limit_hdg { 360.0 * units::degree };
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if (is_empty(pv)) {
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return false;
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} else if (pv.latitude < -limit_lat || pv.latitude > limit_lat) {
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return false;
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} else if (pv.longitude < -limit_lon || pv.longitude > limit_lon) {
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return false;
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} else if (pv.heading > limit_hdg) {
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return false;
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}
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return true;
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}
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void serialize(const LongPositionVector& lpv, OutputArchive& ar)
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{
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serialize(lpv.gn_addr, ar);
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serialize(lpv.timestamp, ar);
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serialize(lpv.latitude, ar);
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serialize(lpv.longitude, ar);
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uint16_t paiAndSpeed = lpv.speed.value().raw();
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paiAndSpeed |= lpv.position_accuracy_indicator ? 0x8000 : 0x0000;
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serialize(host_cast(paiAndSpeed), ar);
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serialize(lpv.heading, ar);
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}
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void deserialize(LongPositionVector& lpv, InputArchive& ar)
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{
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deserialize(lpv.gn_addr, ar);
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deserialize(lpv.timestamp, ar);
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deserialize(lpv.latitude, ar);
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deserialize(lpv.longitude, ar);
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uint16_t paiAndSpeed = 0;
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deserialize(paiAndSpeed, ar);
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lpv.position_accuracy_indicator = ((paiAndSpeed & 0x8000) != 0);
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lpv.speed = LongPositionVector::speed_u15t::from_value(paiAndSpeed);
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deserialize(lpv.heading, ar);
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}
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} // namespace geonet
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} // namespace vanetza
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