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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
64 lines
2.8 KiB
C++
64 lines
2.8 KiB
C++
#pragma once
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#include <vanetza/facilities/path_history.hpp>
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#include <vanetza/facilities/path_point.hpp>
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#include <chrono>
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#include <type_traits>
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namespace vanetza
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{
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namespace facilities
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{
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// C2C-CC BSP CAM trace limits (RS_BSP_318)
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static const units::Length cCamTraceMinLength = 200.0 * units::si::meter;
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static constexpr std::size_t cCamTraceMaxPoints = 23;
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template<typename SomePathSequence, typename SomePathPoint>
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void copy(const facilities::PathHistory& src, SomePathSequence& dest,
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units::Length min_distance = cCamTraceMinLength, std::size_t max_points = cCamTraceMaxPoints)
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{
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using SomePathDeltaTime = typename std::remove_pointer<decltype(SomePathPoint::pathDeltaTime)>::type;
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static const auto scDeltaTimeStepLength = boost::posix_time::milliseconds(10);
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static const auto scMaxDeltaTime = scDeltaTimeStepLength * 65535;
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// ETSI TS 102 894-2: first PathPoint relative to the reference position, each subsequent
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// one relative to the previous PathPoint (incremental deltas); newest first (RS_BSP_287).
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facilities::PathPoint prev = src.getReferencePoint();
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bool first_point = true; // only the first PathPoint may be clamped (stationary marker)
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for (const PathPoint& point : src.getConcisePointsMinLength(min_distance, max_points)) {
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auto delta_time = prev.time - point.time; // positive: point is in past
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auto delta_latitude = round(point.latitude - prev.latitude, tenth_microdegree);
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auto delta_longitude = round(point.longitude - prev.longitude, tenth_microdegree);
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if (delta_latitude < -131071 || delta_latitude > 131071) {
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continue; // delta latitude not encodable
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} else if (delta_longitude < -131071 || delta_longitude > 131071) {
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continue; // delta longitude not encodable
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} else if (delta_time >= scDeltaTimeStepLength) {
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if (delta_time > scMaxDeltaTime) {
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if (first_point) {
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delta_time = scMaxDeltaTime; // RS_BSP_289: clamp the first PathPoint (stationary marker)
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} else {
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break; // later overflow (old stationary) drops the disconnected older trail
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}
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}
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SomePathPoint* path_point = asn1::allocate<SomePathPoint>();
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path_point->pathPosition.deltaLatitude = delta_latitude;
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path_point->pathPosition.deltaLongitude = delta_longitude;
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path_point->pathPosition.deltaAltitude = DeltaAltitude::DeltaAltitude_unavailable;
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path_point->pathDeltaTime = asn1::allocate<SomePathDeltaTime>();
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*(path_point->pathDeltaTime) = delta_time.total_milliseconds() / scDeltaTimeStepLength.total_milliseconds();
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ASN_SEQUENCE_ADD(&dest, path_point);
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prev = point;
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first_point = false;
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}
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}
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}
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} // namespace facilities
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} // namespace vanetza
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