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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
135 lines
4.0 KiB
C++
135 lines
4.0 KiB
C++
#include <vanetza/asn1/cam.hpp>
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#include <vanetza/facilities/cam_functions.hpp>
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#include <boost/algorithm/clamp.hpp>
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#include <boost/math/constants/constants.hpp>
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#include <boost/units/cmath.hpp>
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#include <boost/units/systems/si/prefixes.hpp>
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#include <boost/units/systems/angle/degrees.hpp>
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namespace vanetza
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{
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namespace facilities
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{
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using vanetza::units::Angle;
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static const auto microdegree = units::degree * units::si::micro;
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static const auto tenth_microdegree = units::si::deci * microdegree;
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bool similar_heading(Angle a, Angle b, Angle limit)
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{
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using namespace boost::units;
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using boost::math::double_constants::pi;
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static const Angle full_circle = 2.0 * pi * si::radian;
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const Angle abs_diff = fmod(abs(a - b), full_circle);
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return abs_diff <= limit || abs_diff >= full_circle - limit;
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}
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template<typename T, typename U>
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long round(const boost::units::quantity<T>& q, const U&)
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{
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boost::units::quantity<U> v { q };
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return std::round(v.value());
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}
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AltitudeConfidence_t to_altitude_confidence(units::Length confidence)
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{
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const double alt_con = confidence / units::si::meter;
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if (alt_con < 0 || std::isnan(alt_con)) {
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return AltitudeConfidence_unavailable;
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} else if (alt_con <= 0.01) {
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return AltitudeConfidence_alt_000_01;
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} else if (alt_con <= 0.02) {
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return AltitudeConfidence_alt_000_02;
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} else if (alt_con <= 0.05) {
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return AltitudeConfidence_alt_000_05;
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} else if (alt_con <= 0.1) {
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return AltitudeConfidence_alt_000_10;
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} else if (alt_con <= 0.2) {
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return AltitudeConfidence_alt_000_20;
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} else if (alt_con <= 0.5) {
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return AltitudeConfidence_alt_000_50;
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} else if (alt_con <= 1.0) {
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return AltitudeConfidence_alt_001_00;
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} else if (alt_con <= 2.0) {
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return AltitudeConfidence_alt_002_00;
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} else if (alt_con <= 5.0) {
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return AltitudeConfidence_alt_005_00;
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} else if (alt_con <= 10.0) {
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return AltitudeConfidence_alt_010_00;
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} else if (alt_con <= 20.0) {
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return AltitudeConfidence_alt_020_00;
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} else if (alt_con <= 50.0) {
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return AltitudeConfidence_alt_050_00;
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} else if (alt_con <= 100.0) {
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return AltitudeConfidence_alt_100_00;
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} else if (alt_con <= 200.0) {
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return AltitudeConfidence_alt_200_00;
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} else {
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return AltitudeConfidence_outOfRange;
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}
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}
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AltitudeValue_t to_altitude_value(units::Length alt)
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{
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using boost::units::isnan;
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static_assert(AltitudeValue_oneCentimeter == 1, "AltitudeValue encodes an integer number of centimeters");
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if (!isnan(alt)) {
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alt = boost::algorithm::clamp(alt, -1000.0 * units::si::meter, 8000.0 * units::si::meter);
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return round(alt, units::si::centi * units::si::meter);
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} else {
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return AltitudeValue_unavailable;
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}
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}
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} // namespace facilities
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} // namespace vanetza
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#define ASN1_PREFIX ASN1_RELEASE1_PREFIX
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#define ITS_RELEASE 1
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#include "detail/cam.ipp"
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#include "detail/heading.ipp"
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#include "detail/path_history.ipp"
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#include "detail/reference_position.ipp"
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#undef ASN1_PREFIX
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#undef ITS_RELEASE
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#define ASN1_PREFIX ASN1_RELEASE2_PREFIX
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#define ITS_RELEASE 2
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#include "detail/cam.ipp"
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#include "detail/heading.ipp"
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#include "detail/path_history.ipp"
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#include "detail/reference_position.ipp"
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namespace vanetza
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{
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namespace facilities
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{
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bool check_service_specific_permissions(const asn1::r1::Cam& cam, security::CamPermissions ssp)
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{
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return check_service_specific_permissions(cam->cam.camParameters, ssp);
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}
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bool check_service_specific_permissions(const asn1::r2::Cam& cam, security::CamPermissions ssp)
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{
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return check_service_specific_permissions(cam->cam.camParameters, ssp);
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}
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void print_indented(std::ostream& os, const asn1::r1::Cam& cam, const std::string& indent, unsigned start)
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{
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print_indented(os, cam.content(), indent, start);
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}
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void print_indented(std::ostream& os, const asn1::r2::Cam& cam, const std::string& indent, unsigned start)
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{
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print_indented(os, cam.content(), indent, start);
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}
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} // namespace facilities
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} // namespace vanetza
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