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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
56 lines
2.2 KiB
C++
56 lines
2.2 KiB
C++
#include "positioning.hpp"
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#include <vanetza/common/stored_position_provider.hpp>
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#ifdef SOCKTAP_WITH_GPSD
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# include "gps_position_provider.hpp"
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#endif
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using namespace vanetza;
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namespace po = boost::program_options;
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std::unique_ptr<vanetza::PositionProvider>
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create_position_provider(boost::asio::io_context& io_context, const po::variables_map& vm, const Runtime& runtime)
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{
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std::unique_ptr<vanetza::PositionProvider> positioning;
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if (vm["positioning"].as<std::string>() == "gpsd") {
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#ifdef SOCKTAP_WITH_GPSD
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positioning.reset(new GpsPositionProvider {
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io_context, vm["gpsd-host"].as<std::string>(), vm["gpsd-port"].as<std::string>()
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});
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#endif
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} else if (vm["positioning"].as<std::string>() == "static") {
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std::unique_ptr<StoredPositionProvider> stored { new StoredPositionProvider() };
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PositionFix fix;
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fix.timestamp = runtime.now();
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fix.latitude = vm["latitude"].as<double>() * units::degree;
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fix.longitude = vm["longitude"].as<double>() * units::degree;
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fix.confidence.semi_major = vm["pos_confidence"].as<double>() * units::si::meter;
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fix.confidence.semi_minor = fix.confidence.semi_major;
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stored->position_fix(fix);
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positioning = std::move(stored);
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}
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return positioning;
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}
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void add_positioning_options(po::options_description& options)
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{
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#ifdef SOCKTAP_WITH_GPSD
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const char* default_positioning = "gpsd";
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#else
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const char* default_positioning = "static";
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#endif
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options.add_options()
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("positioning,p", po::value<std::string>()->default_value(default_positioning), "Select positioning provider")
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#ifdef SOCKTAP_WITH_GPSD
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("gpsd-host", po::value<std::string>()->default_value("localhost"), "gpsd's server hostname")
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("gpsd-port", po::value<std::string>()->default_value(gpsd::default_port), "gpsd's listening port")
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#endif
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("latitude", po::value<double>()->default_value(48.7668616), "Latitude of static position")
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("longitude", po::value<double>()->default_value(11.432068), "Longitude of static position")
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("pos_confidence", po::value<double>()->default_value(5.0), "95% circular confidence of static position")
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;
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}
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