Ashin Walpola
0e9525162d
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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
#include "autotalks_link.hpp"
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#include "autotalks.hpp"
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#include <vanetza/net/osi_layer.hpp>
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const unsigned SendBufferSize = 2000;
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AutotalksLink::AutotalksLink(boost::asio::io_context& io) : io_(io)
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{
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vanetza::autotalks::autotalks_device_init();
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vanetza::autotalks::init_rx(this);
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}
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AutotalksLink::~AutotalksLink(void)
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{
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vanetza::autotalks::autotalks_device_deinit();
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}
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void AutotalksLink::request(const vanetza::access::DataRequest& request, std::unique_ptr<vanetza::ChunkPacket> packet)
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{
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uint8_t toSend[SendBufferSize];
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size_t j = 0;
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constexpr std::size_t layers = num_osi_layers(vanetza::OsiLayer::Physical, vanetza::OsiLayer::Application);
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std::array<boost::asio::const_buffer, layers> const_buffers;
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for (auto& layer : vanetza::osi_layer_range<vanetza::OsiLayer::Physical, vanetza::OsiLayer::Application>()) {
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const auto index = distance(vanetza::OsiLayer::Physical, layer);
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packet->layer(layer).convert(buffers_[index]);
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const_buffers[index] = boost::asio::buffer(buffers_[index]);
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for (size_t i = 0; i < buffers_[index].size() && j < SendBufferSize; i++)
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toSend[j++] = buffers_[index][i];
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}
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uint16_t datalen = j;
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vanetza::autotalks::insert_autotalks_header_transmit(request, packet, (uint8_t*) toSend, datalen);
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}
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void AutotalksLink::data_received(uint8_t* pBuf, uint16_t size, v2x_receive_params_t rx_params)
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{
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vanetza::ByteBuffer buffer(size);
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for (uint16_t i = 0; i < size; i++)
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buffer[i] = pBuf[i];
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vanetza::CohesivePacket packet(std::move(buffer), vanetza::OsiLayer::Physical);
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boost::optional<vanetza::EthernetHeader> eth = vanetza::autotalks::strip_autotalks_rx_header(packet, rx_params);
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if (callback_ && eth)
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{
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boost::asio::post(io_, [this, packet = std::move(packet), eth]() mutable
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{
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callback_(std::move(packet), *eth);
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});
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}
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}
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void AutotalksLink::indicate(IndicationCallback cb)
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{
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callback_ = cb;
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}
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