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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
138 lines
4.4 KiB
C++
138 lines
4.4 KiB
C++
#include "cam_application.hpp"
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#include <vanetza/btp/ports.hpp>
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#include <vanetza/asn1/cam.hpp>
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#include <vanetza/asn1/packet_visitor.hpp>
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#include <vanetza/facilities/cam_functions.hpp>
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#include <chrono>
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#include <functional>
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#include <iostream>
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#include <stdexcept>
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// This is a very simple CA application sending CAMs at a fixed rate.
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using namespace vanetza;
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using namespace vanetza::facilities;
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using namespace std::chrono;
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CamApplication::CamApplication(PositionProvider& positioning, Runtime& rt) :
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positioning_(positioning), runtime_(rt), cam_interval_(seconds(1))
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{
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schedule_timer();
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}
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void CamApplication::set_interval(Clock::duration interval)
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{
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cam_interval_ = interval;
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runtime_.cancel(this);
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schedule_timer();
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}
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void CamApplication::set_station_id(std::uint32_t station_id)
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{
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station_id_ = station_id;
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}
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void CamApplication::print_generated_message(bool flag)
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{
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print_tx_msg_ = flag;
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}
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void CamApplication::print_received_message(bool flag)
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{
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print_rx_msg_ = flag;
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}
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CamApplication::PortType CamApplication::port()
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{
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return btp::ports::CAM;
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}
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void CamApplication::indicate(const DataIndication&, UpPacketPtr packet)
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{
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asn1::PacketVisitor<asn1::Cam> visitor;
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std::shared_ptr<const asn1::Cam> cam = boost::apply_visitor(visitor, *packet);
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std::cout << "CAM application received a packet with " << (cam ? "decodable" : "broken") << " content" << std::endl;
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if (cam && print_rx_msg_) {
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std::cout << "Received CAM contains\n";
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print_indented(std::cout, *cam, " ", 1);
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}
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}
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void CamApplication::schedule_timer()
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{
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runtime_.schedule(cam_interval_, std::bind(&CamApplication::on_timer, this, std::placeholders::_1), this);
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}
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void CamApplication::on_timer(Clock::time_point)
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{
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schedule_timer();
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vanetza::asn1::Cam message;
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ItsPduHeader_t& header = message->header;
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header.protocolVersion = 2;
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header.messageID = ItsPduHeader__messageID_cam;
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header.stationID = station_id_;
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const auto time_now = duration_cast<milliseconds>(runtime_.now().time_since_epoch());
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uint16_t gen_delta_time = time_now.count();
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CoopAwareness_t& cam = message->cam;
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cam.generationDeltaTime = gen_delta_time * GenerationDeltaTime_oneMilliSec;
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auto position = positioning_.position_fix();
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if (!has_horizontal_position(position)) {
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std::cerr << "Skip CAM generation without position fix" << std::endl;
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return;
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}
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BasicContainer_t& basic = cam.camParameters.basicContainer;
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basic.stationType = StationType_passengerCar;
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copy(position, basic.referencePosition);
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cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
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BasicVehicleContainerHighFrequency& bvc = cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency;
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bvc.heading.headingValue = 0;
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bvc.heading.headingConfidence = HeadingConfidence_equalOrWithinOneDegree;
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bvc.speed.speedValue = 0;
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bvc.speed.speedConfidence = SpeedConfidence_equalOrWithinOneCentimeterPerSec;
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bvc.driveDirection = DriveDirection_forward;
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bvc.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable;
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bvc.vehicleLength.vehicleLengthValue = VehicleLengthValue_unavailable;
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bvc.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_noTrailerPresent;
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bvc.vehicleWidth = VehicleWidth_unavailable;
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bvc.curvature.curvatureValue = 0;
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bvc.curvature.curvatureConfidence = CurvatureConfidence_unavailable;
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bvc.curvatureCalculationMode = CurvatureCalculationMode_yawRateUsed;
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bvc.yawRate.yawRateValue = YawRateValue_unavailable;
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std::string error;
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if (!message.validate(error)) {
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throw std::runtime_error("Invalid high frequency CAM: %s" + error);
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}
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if (print_tx_msg_) {
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std::cout << "Generated CAM contains\n";
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print_indented(std::cout, message, " ", 1);
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}
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DownPacketPtr packet { new DownPacket() };
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packet->layer(OsiLayer::Application) = std::move(message);
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DataRequest request;
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request.its_aid = aid::CA;
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request.transport_type = geonet::TransportType::SHB;
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request.communication_profile = geonet::CommunicationProfile::ITS_G5;
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auto confirm = Application::request(request, std::move(packet));
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if (!confirm.accepted()) {
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throw std::runtime_error("CAM application data request failed");
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}
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}
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