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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
#include <vanetza/asn1/its/Heading.h>
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#include <vanetza/asn1/its/r2/Heading.h>
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#include <vanetza/facilities/detail/macros.ipp>
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#include <vanetza/units/angle.hpp>
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ASSERT_EQUAL_ENUM(HeadingValue_wgs84North);
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ASSERT_EQUAL_ENUM(HeadingValue_wgs84East);
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ASSERT_EQUAL_ENUM(HeadingValue_wgs84South);
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ASSERT_EQUAL_ENUM(HeadingValue_wgs84West);
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ASSERT_EQUAL_ENUM(HeadingValue_unavailable);
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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 is_available(const ASN1_PREFIXED(Heading)& hd)
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{
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return hd.headingValue != ASN1_PREFIXED(HeadingValue_unavailable);
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}
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bool similar_heading(const ASN1_PREFIXED(Heading)& a, const ASN1_PREFIXED(Heading)& b, Angle limit)
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{
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// HeadingValues are tenth of degree (900 equals 90 degree east)
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static_assert(ASN1_PREFIXED(HeadingValue_wgs84East) == 900, "HeadingValue interpretation fails");
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bool result = false;
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if (is_available(a) && is_available(b)) {
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using vanetza::units::degree;
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const Angle angle_a { a.headingValue / 10.0 * degree };
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const Angle angle_b { b.headingValue / 10.0 * degree };
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result = similar_heading(angle_a, angle_b, limit);
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}
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return result;
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}
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bool similar_heading(const ASN1_PREFIXED(Heading)& a, Angle b, Angle limit)
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{
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bool result = false;
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if (is_available(a)) {
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using vanetza::units::degree;
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result = similar_heading(Angle { a.headingValue / 10.0 * degree}, b, limit);
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}
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return result;
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}
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} // namespace facilities
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} // namespace vanetza
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