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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
#ifndef GRADUAL_STATE_MACHINE_HPP_CGPVG4CS
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#define GRADUAL_STATE_MACHINE_HPP_CGPVG4CS
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#include <vanetza/common/clock.hpp>
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#include <vanetza/dcc/channel_load.hpp>
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#include <vanetza/dcc/state_machine.hpp>
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#include <set>
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#include <string>
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namespace vanetza
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{
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namespace dcc
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{
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/**
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* Reactive Transmit Rate Control (TRC) based on a state machine.
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*
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* This implementation complies with ETSI TS 102 687 v1.2.1,
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* i.e. transitions can only happen gradually between neighbouring states.
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* No ramping up or cooling down timing behaviour exists (not specified anymore).
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*/
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class GradualStateMachine : public StateMachine
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{
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public:
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struct State
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{
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constexpr State(ChannelLoad limit, Clock::duration off_time) :
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lower_limit(limit), off_time(off_time) {}
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ChannelLoad lower_limit;
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Clock::duration off_time;
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bool operator<(const State& other) const { return lower_limit < other.lower_limit; }
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};
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using StateContainer = std::set<State>;
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GradualStateMachine(const StateContainer&);
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GradualStateMachine(StateContainer&&);
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void update(ChannelLoad) override;
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Clock::duration transmission_interval() const override;
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std::string state() const;
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private:
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void repair();
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StateContainer m_states;
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StateContainer::const_iterator m_current;
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};
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/**
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* CBR mapping as per TS 102 687 V1.2.1 Table A.1 (max T_on = 1ms)
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*/
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static const GradualStateMachine::StateContainer etsiStates1ms = {
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{ ChannelLoad(0.00), std::chrono::milliseconds(100) },
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{ ChannelLoad(0.30), std::chrono::milliseconds(200) },
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{ ChannelLoad(0.40), std::chrono::milliseconds(400) },
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{ ChannelLoad(0.50), std::chrono::milliseconds(500) },
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{ ChannelLoad(0.60), std::chrono::milliseconds(1000) }
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};
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/**
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* CBR mapping as per TS 102 686 V1.2.1 Table A.2 (max T_on = 500 us)
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*/
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static const GradualStateMachine::StateContainer etsiStates500us = {
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{ ChannelLoad(0.00), std::chrono::milliseconds(50) },
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{ ChannelLoad(0.30), std::chrono::milliseconds(100) },
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{ ChannelLoad(0.40), std::chrono::milliseconds(200) },
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{ ChannelLoad(0.50), std::chrono::milliseconds(250) },
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{ ChannelLoad(0.65), std::chrono::milliseconds(1000) }
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};
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} // namespace dcc
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} // namespace vanetza
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#endif /* GRADUAL_STATE_MACHINE_HPP_CGPVG4CS */
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